CN115807798A - Digital electro-hydraulic valve, engineering machinery, and multi-mode self-adaptive control method and system - Google Patents
Digital electro-hydraulic valve, engineering machinery, and multi-mode self-adaptive control method and system Download PDFInfo
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Abstract
The invention discloses a digital electro-hydraulic valve, an engineering machine, a multi-mode self-adaptive control method and a multi-mode self-adaptive control system, wherein oil inlets of a second main valve and a third main valve in the electro-hydraulic valve are respectively connected with a port P; an oil outlet of the second main valve is connected with the port A, an oil inlet of the first main valve is connected with the port A, and an oil outlet of the first main valve is connected with the port Ti; an oil outlet of the third main valve is connected with the port B, an oil inlet of the fourth main valve is connected with the port B, and an oil outlet of the fourth main valve is connected with the port Ti; temperature and pressure sensors for detecting the temperature and pressure of the port P, the port A and the port B are respectively and electrically connected with a digital control unit on the valve; each displacement sensor for detecting the valve core position of each main valve is electrically connected with the digital control unit on the valve; and the digital control unit on the valve is in communication connection with the digital control unit of the host. The invention realizes the accurate perception, integrated acquisition and transmission of multi-source information of the electro-hydraulic valve and is convenient for the accurate and reliable control and intelligent upgrade of the electro-hydraulic valve.
Description
Technical Field
The invention belongs to the technical field of electro-hydraulic valves, and particularly relates to a digital electro-hydraulic valve, an engineering machine, a multi-mode self-adaptive control method and a multi-mode self-adaptive control system.
Background
The hydraulic transmission system is a key transmission device of engineering machinery equipment, and controls multiple hydraulic actuators (a hydraulic oil cylinder and a hydraulic motor) of an engineering machinery host to coordinate through a hydraulic multi-way valve, so that multifunctional control such as speed control and position control is realized. Therefore, in order to realize the multifunctional control of the multiple actuators, the traditional hydraulic multi-way valve for the engineering machinery integrates multiple valve cores into a common valve body with a complex pore passage, and the functional control of the multiple actuators is realized by matching a flow passage inside the valve body with the valve cores, wherein the valve body is complex in structural design, difficult to cast and process and high in cost; the valve core adopts the mode of fixedly connecting the oil inlet and the oil return machine, the independent control of the oil inlet flow and the oil return back pressure cannot be realized, and the system has high energy consumption and low flexibility. The valve is not provided with a controller and a sensor, the valve is controlled by adopting a simple open loop, a host controller cannot obtain parameter information such as pressure, temperature, valve element displacement and flow on the valve, integrated and accurate closed-loop control cannot be realized, and the fault diagnosis function is not provided, so that the system control precision is low, the load adaptability is poor, and the high-end and intelligent requirements of engineering machinery host products cannot be met.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a digital electro-hydraulic valve, an engineering machine, a multi-mode self-adaptive control method and a multi-mode self-adaptive control system, so that multi-source information of the electro-hydraulic valve is accurately sensed, integrally acquired and transmitted, and the electro-hydraulic valve is convenient to accurately, reliably control and intelligently upgrade.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
in a first aspect, there is provided a digital electro-hydraulic valve comprising: the valve body is provided with an on-valve digital control unit, an oil inlet P port, an oil outlet Ti port, a working oil port A port for connecting a rodless cavity of an oil cylinder and a working oil port B port for connecting a rod cavity of the oil cylinder; a first main valve, a second main valve, a third main valve, a fourth main valve, a first displacement sensor, a second displacement sensor, a third displacement sensor, a fourth displacement sensor, a first temperature and pressure sensor, a second temperature and pressure sensor, a third temperature and pressure sensor and a fourth temperature and pressure sensor are arranged in the valve body; the oil inlet of the second main valve and the oil inlet of the third main valve are respectively connected with an oil inlet P; the oil outlet of the second main valve is connected with a working oil port A, the oil inlet of the first main valve is connected with a working oil port A, and the oil outlet of the first main valve is connected with an oil outlet Ti port; an oil outlet of the third main valve is connected with a working oil port B, an oil inlet of the fourth main valve is connected with a working oil port B, and an oil outlet of the fourth main valve is connected with an oil outlet Ti port; a second temperature and pressure sensor and a third temperature and pressure sensor for detecting the temperature and the pressure of the port P of the oil inlet are respectively and electrically connected with the digital control unit on the valve; a first temperature and pressure sensor for detecting the temperature and pressure of the working oil port A and a fourth temperature and pressure sensor for detecting the temperature and pressure of the working oil port B are respectively and electrically connected with the digital control unit on the valve; a first displacement sensor for detecting the valve core position of the first main valve, a second displacement sensor for detecting the valve core position of the second main valve, a third displacement sensor for detecting the valve core position of the third main valve and a fourth displacement sensor for detecting the valve core position of the fourth main valve are respectively and electrically connected with the digital control unit on the valve; and the digital control unit on the valve is used for being in communication connection with the digital control unit of the host.
Furthermore, a first pilot valve for driving the valve core of the first main valve, a second pilot valve for driving the valve core of the second main valve, a third pilot valve for driving the valve core of the third main valve, and a fourth pilot valve for driving the valve core of the fourth main valve are arranged in the valve body; the electromagnet of the first pilot valve, the electromagnet of the second pilot valve, the electromagnet of the third pilot valve and the electromagnet of the fourth pilot valve are respectively and electrically connected with the digital control unit on the valve.
In a second aspect, there is provided a multi-mode adaptive control method, comprising a host digital control unit and the digital electrohydraulic valve of the first aspect, the host digital control unit and the digital on-valve control unit being communicatively connected, the method being performed by the host digital control unit and comprising: acquiring an input signal of a control handle, and a valve core displacement of each main valve, a temperature signal and a pressure signal of each oil port, which are acquired by a digital control unit on the valve; judging the current working condition according to the input signal of the control handle; carrying out load analysis according to the current working condition and the pressure signals of all the oil ports; and sending a control command to an on-valve digital control unit according to the result of the load analysis, wherein the control command is used for executing the multi-mode self-adaptive control of the digital electro-hydraulic valve.
Further, the current operating condition includes: the oil cylinder extends out and retracts.
Further, the load analysis specifically includes: and judging whether the oil cylinder is loaded by tension according to the current working condition and pressure signals collected by the first warm-pressing sensor, the second warm-pressing sensor, the third warm-pressing sensor and the fourth warm-pressing sensor.
Further, the multi-mode adaptive control includes: an independent control mode of oil cylinder extension-oil inlet flow and oil return back pressure is adopted; at the moment, the oil cylinder is in the extending process and does not carry tension load, and hydraulic oil flows into a rodless cavity of the oil cylinder through the oil inlet P port and the second main valve; and hydraulic oil in a rod cavity of the oil cylinder flows out through the fourth main valve and the oil return port Ti.
Further, the multi-mode adaptive control includes: cylinder extension-cylinder regeneration mode; at the moment, the oil cylinder is in the extending process, tension load is applied, and hydraulic oil flows into a rodless cavity of the oil cylinder through the oil inlet P port and the second main valve; hydraulic oil in a rod cavity of the oil cylinder flows out through a fourth main valve and an oil return port Ti; and hydraulic oil flows into a rod cavity of the oil cylinder through the oil inlet P port and the third main valve and is used for forming regeneration flow and adjusting oil return back pressure.
Further, the multi-mode adaptive control includes: an oil cylinder retraction-oil inlet flow and oil return back pressure independent control mode is adopted; at the moment, the oil cylinder is in the retraction process and does not carry tension load, and hydraulic oil flows into a rod cavity of the oil cylinder through the oil inlet P port and the third main valve; and hydraulic oil in a rodless cavity of the oil cylinder flows out through the first main valve and the oil return port Ti.
Further, the multi-mode adaptive control includes: cylinder retraction-cylinder regeneration mode; at the moment, the oil cylinder is in the retraction process and is under tension load, and hydraulic oil flows into a rod cavity of the oil cylinder through the oil inlet P port and the third main valve; hydraulic oil in a rodless cavity of the oil cylinder flows out through a first main valve and an oil return port Ti; hydraulic oil flows into a rodless cavity of the oil cylinder through the oil inlet P port and the second main valve and is used for forming regeneration flow and adjusting return oil backpressure.
Further, the multi-mode adaptive control includes: starting an impact control mode; at the moment, if the oil cylinder extends out, the first main valve is opened according to the set flow and is continuously set for a set time so as to reduce the oil inlet pressure of the rodless cavity of the oil cylinder; if the oil cylinder retracts, the fourth main valve is opened according to the set flow and continues for the set time, and the oil inlet pressure of the rod cavity of the oil cylinder is reduced.
Further, the multi-mode adaptive control includes: an oil return micro-start control mode; at the moment, if the oil cylinder extends out, the fourth main valve is set to be opened firstly, and then the second main valve is set to be opened; if the oil cylinder retracts, the first main valve is firstly opened, and then the third main valve is opened.
In a third aspect, a multi-mode adaptive control system is provided, which includes a host digital control unit and the digital electrohydraulic valve of the first aspect, where the host digital control unit and the digital electrohydraulic valve are connected in communication, and the system includes: the data acquisition module is used for acquiring input signals of the control handle, and valve core displacement of each main valve, temperature signals and pressure signals of each oil port, which are acquired by the digital control unit on the valve; the working condition judgment module is used for judging the current working condition according to the input signal of the control handle; the charge analysis module is used for carrying out load analysis according to the current working condition and the pressure signals of all the oil ports; and the multi-mode self-adaptive control module is used for sending a control instruction to the digital control unit on the valve according to the result of the load analysis and executing the multi-mode self-adaptive control by the digital electrohydraulic valve.
In a fourth aspect, a working machine is provided, the working machine being provided with the digital electro-hydraulic valve of the first aspect.
Compared with the prior art, the invention has the following beneficial effects:
(1) According to the invention, the valve body is provided with the on-valve digital control unit, and the valve body is internally provided with first to fourth main valves, first to fourth displacement sensors, and first to fourth temperature and pressure sensors; an oil inlet of the second main valve and an oil inlet of the third main valve are respectively connected with an oil inlet P; the oil outlet of the second main valve is connected with a working oil port A, the oil inlet of the first main valve is connected with a working oil port A, and the oil outlet of the first main valve is connected with an oil outlet Ti port; an oil outlet of the third main valve is connected with a working oil port B, an oil inlet of the fourth main valve is connected with a working oil port B, and an oil outlet of the fourth main valve is connected with an oil outlet Ti port; a second temperature and pressure sensor and a third temperature and pressure sensor for detecting the temperature and the pressure of the port P of the oil inlet are respectively and electrically connected with the digital control unit on the valve; the first temperature and pressure sensor for detecting the temperature and pressure of the working oil port A and the fourth temperature and pressure sensor for detecting the temperature and pressure of the working oil port B are respectively and electrically connected with the digital control unit on the valve; a first displacement sensor for detecting the valve core position of the first main valve, a second displacement sensor for detecting the valve core position of the second main valve, a third displacement sensor for detecting the valve core position of the third main valve and a fourth displacement sensor for detecting the valve core position of the fourth main valve are respectively and electrically connected with the digital control unit on the valve; the digital control unit on the valve is used for being in communication connection with the digital control unit of the host; the accurate sensing, integrated acquisition and transmission of multi-source information of the electro-hydraulic valve are realized, and the accurate and reliable control and intelligent upgrading of the electro-hydraulic valve are facilitated;
(2) The invention realizes the information fusion and intercommunication between the digital control unit on the valve and the digital control unit of the host computer in a bus communication mode, realizes the closed-loop control of the displacement, the pressure and the flow of the valve core and improves the control precision of the system;
(3) According to the invention, through a bus communication mode, multi-source sensing information on the valve can be transmitted to the host digital control unit in a digital signal form, so that the real-time monitoring and fault diagnosis of parameter information of the electro-hydraulic valve are realized, and the reliability of system operation and healthy operation and maintenance are improved;
(4) The invention adopts the independent control of the oil inlet valve port and the oil return valve port, and the control is flexible; all the connecting structures are interchangeable, and the modular design is adopted, so that the structure is simple, and the maintenance is convenient;
(5) Based on the valve port independent control structure and the information fusion function, the invention provides a multi-mode load adaptation control method, reduces the energy consumption of the system, and improves the operation efficiency and the host control performance.
Drawings
FIG. 1 is a schematic diagram of a three-dimensional structure of a digital electro-hydraulic valve according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a three-dimensional structure of a digital electrohydraulic valve according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a control principle of a digital electrohydraulic valve according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a control process of a digital electrohydraulic valve according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of independent adjustment of oil inlet flow in an embodiment of the present invention;
FIG. 6 is a schematic illustration of independent regulation of return back pressure in an embodiment of the present invention;
FIG. 7 is a schematic view of the start-up pressure surge regulation in an embodiment of the present invention;
FIG. 8 is a schematic diagram of the simultaneous operation of the oil inlet and return valve spools in the embodiment of the present invention;
FIG. 9 is a schematic view of a control for micro-actuation of a return spool in an embodiment of the present invention;
FIG. 10 is a schematic diagram of an oil inlet pressure build-up state in an embodiment of the present invention;
FIG. 11 is a schematic diagram of an oil inlet non-suppressed pressure state in an embodiment of the present invention;
in the figure: 1. an on-valve digital control unit; 2. a fourth pilot valve; 3. a fourth temperature and pressure sensor; 4. a third pilot valve; 5. a third temperature and pressure sensor; 6. a second temperature and pressure sensor; 7. a second pilot valve; 8. a first temperature and pressure sensor; 9. a first pilot valve; 10. a first main valve; 11. a first displacement sensor; 12. a second main valve; 13. a second displacement sensor; 14. a third main valve; 15. an oil cylinder; 16. a third displacement sensor; 17. a fourth main valve; 18. a fourth displacement sensor; 19. a host digital control unit.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
as shown in fig. 1 to 3, the digital valve port independent control electrohydraulic valve comprises a valve body, wherein an upper valve digital control unit 1, an oil inlet port P, an oil outlet port Ti, a working oil port a for connecting a rodless cavity of an oil cylinder 15 and a working oil port B for connecting a rod cavity of the oil cylinder 15 are arranged on the valve body.
The valve body is internally provided with a first main valve 10, a second main valve 12, a third main valve 14, a fourth main valve 17, a first displacement sensor 11, a second displacement sensor 13, a third displacement sensor 16, a fourth displacement sensor 18, a first temperature and pressure sensor 8, a second temperature and pressure sensor 6, a third temperature and pressure sensor 5 and a fourth temperature and pressure sensor 3.
An oil inlet of the second main valve 12 and an oil inlet of the third main valve 14 are respectively connected with an oil inlet P; an oil outlet of the second main valve 12 is connected with a working oil port A, an oil inlet of the first main valve 10 is connected with a working oil port A, and an oil outlet of the first main valve 10 is connected with an oil outlet Ti port; an oil outlet of the third main valve 14 is connected with a working oil port B, an oil inlet of the fourth main valve 17 is connected with the working oil port B, and an oil outlet of the fourth main valve 17 is connected with an oil outlet Ti port.
A second warm-pressing sensor 6 and a third warm-pressing sensor 5 for detecting the temperature and the pressure of the port P of the oil inlet are respectively and electrically connected with the digital control unit 1 on the valve; the first warm-pressing sensor 8 for detecting the temperature and pressure of the working oil port A and the fourth warm-pressing sensor 3 for detecting the temperature and pressure of the working oil port B are respectively and electrically connected with the digital control unit 1 on the valve.
A first displacement sensor 11 for detecting a spool position of the first main valve 10, a second displacement sensor 13 for detecting a spool position of the second main valve 12, a third displacement sensor 16 for detecting a spool position of the third main valve 14, and a fourth displacement sensor 18 for detecting a spool position of the fourth main valve 17 are electrically connected to the on-valve digital control unit 1, respectively.
The on-valve digital control unit 1 is adapted to be communicatively connected to a host digital control unit 19.
A first pilot valve 9 for driving a valve core of a first main valve 10, a second pilot valve 7 for driving a valve core of a second main valve 12, a third pilot valve 4 for driving a valve core of a third main valve 14 and a fourth pilot valve 2 for driving a valve core of a fourth main valve 17 are further arranged in the valve body; the electromagnet of the first pilot valve 9, the electromagnet of the second pilot valve 7, the electromagnet of the third pilot valve 4 and the electromagnet of the fourth pilot valve 2 are respectively electrically connected with the digital control unit 1) on the valve.
The invention can realize the following functions:
(1) The oil inlet and return independent control function is as follows: when the oil cylinder 15 extends out of the working condition, the second main valve 12 independently controls oil inlet of the rodless cavity, and the fourth main valve 17 independently controls oil return of the rod cavity; when the oil cylinder 15 retracts to a working condition, the third main valve 14 independently controls oil inlet of the rod cavity, and the first main valve 10 independently controls oil return of the rodless cavity; the control flexibility is improved;
(2) Multi-source information perception function: the first displacement sensor 11, the second displacement sensor 13, the third displacement sensor 16 and the fourth displacement sensor 18 respectively detect the displacement of each main valve core; a third warm-pressing sensor 5 and a second warm-pressing sensor 6 detect the oil pressure and temperature of the port P, and a first warm-pressing sensor 8 and a fourth warm-pressing sensor 3 detect the oil pressure and temperature of the port A and the port B respectively; real-time accurate sensing of parameter information on the valve is realized;
(3) The integration and fusion functions of the information on the valve and the host information are as follows: the digital control unit 1 on the valve is arranged, displacement, pressure and temperature signals on the valve are integrally collected through the digital control unit 1 on the valve, are converted into digital signal forms, and are integrally transmitted to the host digital control unit 19 through a bus communication mode; meanwhile, control signals and the like output by the host digital control unit 19 are integrally transmitted to the digital control unit 1 on the valve in a bus communication mode; the integrated transmission and fusion control of the information on the valve and the information of the host computer are realized;
(4) The system has the accurate and reliable control function: based on the multi-source information sensing and fusion function, the functions of electro-hydraulic valve core displacement, pressure and flow closed-loop control, valve parameter real-time monitoring, fault diagnosis and the like can be realized, and the control precision and the reliability operation capability of the system are improved.
According to the invention, the digital control unit 1 and the sensors on the integrated valve realize accurate sensing and integrated transmission of multi-state information on the valve, and are convenient for realizing accurate and reliable control and intelligent upgrading of the electro-hydraulic valve; the digital control unit 1 on the valve and the digital control unit 19 of the host computer are in information fusion and intercommunication, so that accurate closed-loop control and fault diagnosis are realized, and the control precision and reliability of the system are improved; the electro-hydraulic valve adopts a modular design, all the connecting structures can be interchanged, the structure is simple, and the maintenance is convenient; and the oil inlet valve core and the oil return valve core are designed in an independent control mode, so that the independent adjustment of oil inlet flow and oil return pressure is realized.
Example two:
based on the digital electro-hydraulic valve with independently controlled valve ports, the embodiment provides a multi-mode load self-adaptive control method, which can improve the control precision of a system, reduce the energy consumption of the system and improve the control performance of a host. As shown in fig. 1 to 11, the hydraulic control system includes a host digital control unit 19 and a digital electrohydraulic valve according to the first embodiment, the host digital control unit 19 is in communication connection with the digital control unit 1 on the valve, and the method is executed by the host digital control unit 19, as shown in fig. 3, and includes:
(1) Acquiring a signal, namely acquiring an input signal of a control handle and valve core displacement of each main valve, temperature signals and pressure signals of each oil port, which are acquired by a digital control unit 1 on the valve; wherein, the on-valve signal is integrated and collected and processed by the on-valve digital control unit 1; the signal of the control handle is collected and processed by a host digital control unit 19;
(2) Judging the working condition, namely judging the current working condition according to the input signal of the control handle; the host digital control unit 19 judges two working conditions of cylinder extension and cylinder retraction according to the control handle signal;
(3) Analyzing and calculating the load, and judging whether the oil cylinder is under tension load; according to the current working condition of the oil cylinder 15 and the pressure signals collected by the first warm-pressing sensor 8, the second warm-pressing sensor 6, the third warm-pressing sensor 5 and the fourth warm-pressing sensor 3, judging a first tensile load: the oil cylinder extends out; judging tension load: retracting the oil cylinder;
(4) And performing multi-mode load self-adaptive control according to the result of the load analysis, and sending a control instruction to the digital control unit 1 on the valve, wherein the control instruction is used for the digital electro-hydraulic valve to perform the multi-mode self-adaptive control.
4.1 independent control mode for oil cylinder extension-oil inlet flow and oil return back pressure
At this time, when the oil cylinder 15 is in the extension process, no tension load is generated, the second main valve 12 and the fourth main valve 17 act, the second main valve 12 is an oil inlet valve core, and the fourth main valve 17 is an oil return valve core; hydraulic oil flows into a rodless cavity of the oil cylinder 15 through the oil inlet P and the second main valve 12; the hydraulic oil in the rod cavity of the oil cylinder 15 flows out through the fourth main valve 17 and the oil return port Ti. The oil inlet flow and the oil return back pressure can be independently adjusted, the back pressure of the system is reduced while the flow control precision is improved, the control mode is flexible, the control precision of the system is improved, and the energy consumption of the system is reduced. The schematic diagrams of the independent adjustment of the oil inlet flow and the oil return back pressure are respectively shown in fig. 5 and fig. 6.
4.2 Cylinder extension-Cylinder regeneration mode
At this time, when the oil cylinder 15 is in an extending process, a tensile force is loaded, the second main valve 12, the third main valve 14 and the fourth main valve 17 act, the second main valve 12 is an oil inlet valve core, the fourth main valve 17 is an oil return valve core, the third main valve 14 is a regeneration valve core, and hydraulic oil flows into a rodless cavity of the oil cylinder 15 through an oil inlet port P and the second main valve 12; hydraulic oil in a rod cavity of the oil cylinder 15 flows out through a fourth main valve 17 and an oil return port Ti; hydraulic oil flows into a rod cavity of the oil cylinder 15 through the oil inlet P and the third main valve 14 to form regeneration flow regulation oil return back pressure. The oil inlet flow, the regeneration flow and the oil return back pressure can be independently adjusted, the operation speed is improved by utilizing the regeneration flow, and the energy conservation of the system is realized.
4.3 independent control mode for oil cylinder retraction-oil inlet flow and oil return back pressure
At this time, the oil cylinder 15 is in the retraction process, tension load is not applied, the third main valve 14 and the first main valve 10 act, the third main valve 14 is an oil inlet valve core, the first main valve 10 is an oil return valve core, and hydraulic oil flows into a rod cavity of the oil cylinder 15 through the oil inlet P and the third main valve 14; the hydraulic oil in the rodless cavity of the oil cylinder 15 flows out through the first main valve 10 and the oil return port Ti. The oil inlet flow and the oil return back pressure can be independently adjusted, the back pressure of the system is reduced while the flow control precision is improved, the control mode is flexible, the control precision of the system is improved, and the energy consumption of the system is reduced. Schematic diagrams of changes of the oil inlet flow and the oil return back pressure along with the opening degree of the valve core are respectively shown in fig. 5 and fig. 6.
4.4 Cylinder retraction-Cylinder regeneration mode
At this time, when the oil cylinder 15 is in the retraction process, the tension load is applied, the third main valve 14, the second main valve 12 and the first main valve 10 operate, the third main valve 14 is an oil inlet valve core, the first main valve 10 is an oil return valve core, the second main valve 12 is a regeneration valve core, and the hydraulic oil flows into the rod cavity of the oil cylinder 15 through the oil inlet port P and the third main valve 14; hydraulic oil in a rodless cavity of the oil cylinder 15 flows out through the first main valve 10 and the oil return port Ti; hydraulic oil flows into a rodless cavity of the oil cylinder 15 through the oil inlet P and the second main valve 12 to form regeneration flow regulation oil return back pressure. The oil inlet flow, the regeneration flow and the oil return back pressure can be independently adjusted, the operation speed is improved by utilizing the regeneration flow, and the energy conservation of the system is realized.
4.5 starting the Impulse control mode
In order to reduce the pressure impact when the oil cylinder 15 is started, a starting control mode can be introduced in modes of 4.1-4.4. Taking the oil cylinder extending as an example, in 4.1 and 4.2 modes, at the moment when the oil cylinder 15 extends and starts, the first main valve 10 is opened for a short time and in a small amplitude, the oil inlet cavity is the same as the oil tank T for a short time, the pressure impact at the starting moment is reduced, the system operation performance is improved, the first main valve 10 is independently controlled in the process, and the opening time and the amplitude can be adjusted so as to adapt to the load impact characteristic. The impact control effect is shown schematically in fig. 7. At this time, if the oil cylinder 15 extends out, the first main valve 10 is opened according to a set flow and continues for a set time, so as to reduce the oil inlet pressure of the rodless cavity of the oil cylinder 15; if the oil cylinder 15 retracts, the fourth main valve 17 is opened according to the set flow rate and continues for the set time, so as to reduce the oil inlet pressure of the rod cavity of the oil cylinder 15.
4.6 oil return micro-start control mode
Under the modes of 4.1 to 4.4, the situation that the opening of the oil inlet valve core and the oil return valve core is absolutely and simultaneously ensured due to unavoidable errors exists, the phenomena that the oil inlet valve core opens firstly and the oil return valve core opens later are easy to occur, and the oil inlet pressure building is serious. The problem is not solved, a 4.6 oil return micro-start control mode is introduced, the oil return valve core is slightly started earlier than the oil inlet valve core, and the oil inlet pressure building phenomenon is eliminated. The schematic diagram of the oil return micro-start control and effect is shown in fig. 8 to 11. At this time, if the oil cylinder 15 extends, the fourth main valve 17 is firstly opened, and then the second main valve 12 is opened; if the cylinder 15 is retracted, the first main valve 10 is opened first, and then the third main valve 14 is opened.
Based on the valve port independent control structure and the information fusion function, the invention provides a multi-mode load adaptation control method, reduces the energy consumption of the system, and improves the operation efficiency and the host control performance.
Example three:
based on the second embodiment of the present invention, this embodiment provides a multi-mode load adaptive control system, which includes a host digital control unit 19 and the first embodiment of the present invention of the digital electrohydraulic valve, where the host digital control unit 19 is in communication connection with the digital electrohydraulic valve, and the system includes:
the data acquisition module is used for acquiring input signals of the control handle, and valve core displacement of each main valve, temperature signals and pressure signals of each oil port, which are acquired by the digital control unit 1 on the valve;
the working condition judging module is used for judging the current working condition according to the input signal of the control handle;
the charge analysis module is used for carrying out load analysis according to the current working condition and the pressure signals of all the oil ports;
and the multi-mode self-adaptive control module is used for sending a control instruction to the digital control unit 1 on the valve according to the result of the load analysis and executing the multi-mode self-adaptive control by the digital electrohydraulic valve.
Example four:
the embodiment provides a construction machine, and the construction machine is provided with a digital electrohydraulic valve in the first embodiment or a multi-mode load self-adaptive control system in the third embodiment.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (13)
1. A digital electro-hydraulic valve, comprising: the valve body is provided with an on-valve digital control unit (1), an oil inlet P port, an oil outlet Ti port, a working oil port A port for connecting a rodless cavity of the oil cylinder (15) and a working oil port B port for connecting a rod cavity of the oil cylinder (15);
a first main valve (10), a second main valve (12), a third main valve (14), a fourth main valve (17), a first displacement sensor (11), a second displacement sensor (13), a third displacement sensor (16), a fourth displacement sensor (18), a first temperature and pressure sensor (8), a second temperature and pressure sensor (6), a third temperature and pressure sensor (5) and a fourth temperature and pressure sensor (3) are arranged in the valve body;
an oil inlet of the second main valve (12) and an oil inlet of the third main valve (14) are respectively connected with an oil inlet P; the oil outlet of the second main valve (12) is connected with a working oil port A, the oil inlet of the first main valve (10) is connected with the working oil port A, and the oil outlet of the first main valve (10) is connected with an oil outlet Ti port; an oil outlet of the third main valve (14) is connected with a working oil port B, an oil inlet of the fourth main valve (17) is connected with the working oil port B, and an oil outlet of the fourth main valve (17) is connected with an oil outlet Ti port;
a second warm-pressure sensor (6) and a third warm-pressure sensor (5) for detecting the temperature and the pressure of the port P of the oil inlet are respectively and electrically connected with the digital control unit (1) on the valve; a first temperature and pressure sensor (8) for detecting the temperature and pressure of the working oil port A and a fourth temperature and pressure sensor (3) for detecting the temperature and pressure of the working oil port B are respectively and electrically connected with the digital control unit (1) on the valve;
a first displacement sensor (11) for detecting the valve core position of the first main valve (10), a second displacement sensor (13) for detecting the valve core position of the second main valve (12), a third displacement sensor (16) for detecting the valve core position of the third main valve (14) and a fourth displacement sensor (18) for detecting the valve core position of the fourth main valve (17) are respectively and electrically connected with the digital control unit (1) on the valve;
the digital control unit (1) on the valve is used for being in communication connection with a host digital control unit (19).
2. The digital electro-hydraulic valve according to claim 1, wherein a first pilot valve (9) for driving the spool of the first main valve (10), a second pilot valve (7) for driving the spool of the second main valve (12), a third pilot valve (4) for driving the spool of the third main valve (14), and a fourth pilot valve (2) for driving the spool of the fourth main valve (17) are further disposed in the valve body; and the electromagnet of the first pilot valve (9), the electromagnet of the second pilot valve (7), the electromagnet of the third pilot valve (4) and the electromagnet of the fourth pilot valve (2) are respectively and electrically connected with the digital control unit (1) on the valve.
3. A multi-mode adaptive control method, comprising a host digital control unit (19) and the digital electro-hydraulic valve of any one of claims 1~2, the host digital control unit (19) communicatively coupled to the on-valve digital control unit (1), the method performed by the host digital control unit (19), comprising:
acquiring an input signal of a control handle and valve core displacement of each main valve, temperature signals and pressure signals of each oil port, which are acquired by a digital control unit (1) on the valve;
judging the current working condition according to the input signal of the control handle;
carrying out load analysis according to the current working condition and the pressure signals of all the oil ports;
and sending a control command to the digital control unit (1) on the valve according to the result of the load analysis, wherein the control command is used for the digital electro-hydraulic valve to execute multi-mode adaptive control.
4. The multi-mode adaptive control method according to claim 3, wherein the current operating conditions include: the oil cylinder extends out and retracts.
5. The multi-mode adaptive control method according to claim 4, wherein the load analysis specifically comprises: and judging whether the oil cylinder is loaded by tension according to the current working condition and pressure signals acquired by the first warm-pressing sensor (8), the second warm-pressing sensor (6), the third warm-pressing sensor (5) and the fourth warm-pressing sensor (3).
6. The multi-mode adaptive control method according to claim 5, wherein the multi-mode adaptive control comprises: an independent control mode of oil cylinder extension-oil inlet flow and oil return back pressure is adopted; at the moment, the oil cylinder (15) is in the extending process and does not carry tension load, and hydraulic oil flows into a rodless cavity of the oil cylinder (15) through the oil inlet P port and the second main valve (12); the hydraulic oil in the rod cavity of the oil cylinder (15) flows out through a fourth main valve (17) and an oil return port Ti.
7. The multi-mode adaptive control method according to claim 5, wherein the multi-mode adaptive control comprises: cylinder extension-cylinder regeneration mode; at the moment, the oil cylinder (15) is under tension load in the extension process, and hydraulic oil flows into a rodless cavity of the oil cylinder (15) through an oil inlet P port and the second main valve (12); hydraulic oil in a rod cavity of the oil cylinder (15) flows out through a fourth main valve (17) and an oil return port Ti; hydraulic oil flows into a rod cavity of the oil cylinder (15) through an oil inlet P port and the third main valve (14) and is used for forming regeneration flow and adjusting oil return back pressure.
8. The multi-mode adaptive control method according to claim 5, wherein the multi-mode adaptive control comprises: an oil cylinder retraction-oil inlet flow and oil return back pressure independent control mode is adopted; at the moment, the oil cylinder (15) is in the retraction process and does not carry tension load, and hydraulic oil flows into a rod cavity of the oil cylinder (15) through an oil inlet P port and a third main valve (14); the hydraulic oil in the rodless cavity of the oil cylinder (15) flows out through the first main valve (10) and the oil return port Ti.
9. The multi-mode adaptive control method according to claim 5, wherein the multi-mode adaptive control comprises: cylinder retraction-cylinder regeneration mode; at the moment, the oil cylinder (15) is under tension load in the retraction process, and hydraulic oil flows into a rod cavity of the oil cylinder (15) through an oil inlet P port and a third main valve (14); hydraulic oil in a rodless cavity of the oil cylinder (15) flows out through the first main valve (10) and the oil return port Ti; hydraulic oil flows into a rodless cavity of the oil cylinder (15) through the port P of the oil inlet and the second main valve (12) and is used for forming regeneration flow and adjusting oil return back pressure.
10. The multi-mode adaptive control method according to claim 5, wherein the multi-mode adaptive control comprises: starting an impact control mode; at the moment, if the oil cylinder (15) extends out, the first main valve (10) is opened according to the set flow and continues for the set time, and the oil inlet pressure of the rodless cavity of the oil cylinder (15) is reduced; if the oil cylinder (15) retracts, the fourth main valve (17) is opened according to the set flow and continues for the set time, and the oil inlet pressure of the rod cavity of the oil cylinder (15) is reduced.
11. The multi-mode adaptive control method according to claim 5, wherein the multi-mode adaptive control comprises: an oil return micro-start control mode; at this time, if the oil cylinder (15) extends, the fourth main valve (17) is set to be opened firstly, and then the second main valve (12) is set to be opened; if the cylinder (15) retracts, the first main valve (10) is set to be opened first, and then the third main valve (14) is set to be opened.
12. A multi-mode adaptive control system comprising a host digital control unit (19) and the digital electro-hydraulic valve of any one of claims 1~2, the host digital control unit (19) and the digital electro-hydraulic valve being communicatively coupled, comprising:
the data acquisition module is used for acquiring input signals of the control handle, and valve core displacement of each main valve, temperature signals and pressure signals of each oil port, which are acquired by the digital control unit (1) on the valve;
the working condition judgment module is used for judging the current working condition according to the input signal of the control handle;
the charge analysis module is used for carrying out load analysis according to the current working condition and the pressure signals of all the oil ports;
and the multi-mode adaptive control module is used for sending a control instruction to the digital control unit (1) on the valve according to the result of the load analysis, and is used for executing the multi-mode adaptive control of the digital electro-hydraulic valve.
13. A work machine, characterized in that the work machine is provided with a digital electro-hydraulic valve according to any one of claims 1~2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211660510.2A CN115807798A (en) | 2022-12-23 | 2022-12-23 | Digital electro-hydraulic valve, engineering machinery, and multi-mode self-adaptive control method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211660510.2A CN115807798A (en) | 2022-12-23 | 2022-12-23 | Digital electro-hydraulic valve, engineering machinery, and multi-mode self-adaptive control method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117759767A (en) * | 2023-12-22 | 2024-03-26 | 江苏汇智高端工程机械创新中心有限公司 | Multi-state information detection and fault diagnosis digital driving unit and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117759767A (en) * | 2023-12-22 | 2024-03-26 | 江苏汇智高端工程机械创新中心有限公司 | Multi-state information detection and fault diagnosis digital driving unit and method |
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