CN116123167A - Dual-valve-core CAN bus control unit and control method - Google Patents

Dual-valve-core CAN bus control unit and control method Download PDF

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Publication number
CN116123167A
CN116123167A CN202211722869.8A CN202211722869A CN116123167A CN 116123167 A CN116123167 A CN 116123167A CN 202211722869 A CN202211722869 A CN 202211722869A CN 116123167 A CN116123167 A CN 116123167A
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China
Prior art keywords
control
valve
end cover
oil
load
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CN202211722869.8A
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Chinese (zh)
Inventor
孙辉
孙珍菊
肖刚
刘灿杰
吕涵
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Jiangsu Advanced Construction Machinery Innovation Center Ltd
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Jiangsu Advanced Construction Machinery Innovation Center Ltd
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Priority to CN202211722869.8A priority Critical patent/CN116123167A/en
Publication of CN116123167A publication Critical patent/CN116123167A/en
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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
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • 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
    • F15B13/0416—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor with means or adapted for load sensing
    • F15B13/0417—Load sensing elements; Internal fluid connections therefor; Anti-saturation or pressure-compensation valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K31/00—Actuating devices; Operating means; Releasing devices
    • F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
    • F16K31/04—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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

Abstract

The invention relates to a double-valve-core CAN bus control unit which comprises a control end cover and an end cover plate, wherein the control end cover and the end cover plate are in sealing installation, an electro-hydraulic proportional pilot valve assembly and a displacement sensor assembly are integrated on the control end cover, an oil inlet duct and an oil return duct are formed in the control end cover, a control plate and a plug are arranged on the control end cover, and signals of the displacement sensor assembly are connected to the control plate. The control method can realize multi-mode control, and the control mode is judged according to the working condition in the self-adaptive control mode; the manual setting control mode can be set into a displacement closed-loop control mode, a flow closed-loop control mode or a pressure closed-loop control mode. The control unit is used as an independent electric control unit to be matched with the main valve, so that the control precision is higher, the control method is more flexible, and the volume is smaller; each control mode can realize the closed-loop accurate control of the position of the main valve core, so that the main valve core can quickly and accurately reach the preset position, and the responsiveness and the stability of the main valve are effectively improved.

Description

Dual-valve-core CAN bus control unit and control method
Technical Field
The invention relates to the technical field of hydraulic control of engineering machinery, in particular to a double-valve-core CAN bus control unit and a control method.
Background
The electrohydraulic valve is used as a key hydraulic element of engineering machinery, and along with the automatic and intelligent development of the engineering machinery, key elements such as the hydraulic valve and the like are also developed towards digitization and intelligent development. Meanwhile, with the rapid development of computer information technology and network communication technology, the development of digital, intelligent and integrated hydraulic components and complete machine systems has become a necessary trend. Digital hydraulic products such as digital control electrohydraulic valves, electric proportional control variable pumps and the like based on CAN buses and DSPs gradually appear on the market.
The traditional double-valve-core electrohydraulic proportional controller adopts an external independent controller to output a specific voltage or current signal to realize the control of a controlled object, the control of the double-valve-core electrohydraulic valve is mainly open-loop control, the control performance is poor, the controller gradually develops into constant-current driving along with the development of the controller, the influence of the heat resistance characteristic of a load can be restrained, the closed-loop control can be realized, and the control performance is good. In the seventh and eighties of the last century, two control modes of analog type and switch type are formed in the control mode, and the analog type control is based on the operation of a power amplifier in a linear amplifying region, and has the defects of high power consumption, high temperature rise, low energy utilization rate and the like; the switch type is mainly Pulse Width Modulation (PWM), and a digital signal is output by a controller to control a controlled object. The controller based on PWM control has the advantages of flexible control, high efficiency and the like. Along with the higher and higher requirements of controlled objects, the controllers of the electrohydraulic valves are also developing in the direction of intellectualization and integration, and some CAN bus control units are developed and succeeded abroad, but the domestic CAN bus control units are still immature, and the market has great demands on the CAN bus control units with low power consumption, stable operation and reliability, so that the research and development of the CAN bus control units are significant, the promotion of the updating and the substitution of the proportional controller products is facilitated, and important basis is provided for the intellectualization and the automatic landing of hydraulic core parts.
The traditional double-valve-core electric control valve comprises a main valve body and an end cover, auxiliary parts such as a main valve core, an oil supplementing valve and the like are distributed on the main valve body, and an electro-hydraulic proportional pilot valve is distributed on the end cover. The whole valve controls the reversing of the pilot valve core through a control signal output by an external controller, so that the movement of the main valve core is controlled, the movement of the main valve core is completely dependent on an instruction signal of the external controller, integrated sensors are not arranged in a valve body and an end cover of the double-valve-core electric control valve, closed-loop control cannot be realized, and load self-adaptive control cannot be realized. The existing traditional double-valve-core electric control valve depends on an external controller to control the movement of a main valve, and as sensing elements such as a sensor and the like are not integrated in the main valve, the open-loop control can only be realized, the control precision is low, and the response speed is low; the control command of the whole machine controller is passively received for the traditional electric control valve, the electric control valve cannot automatically switch the control program according to the load working condition change, and the flexibility is low.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a double-valve-core CAN bus control unit and a control method, wherein the control unit is used as an independent electric control unit to be matched with a main valve, and has the advantages of higher control precision, more flexible control method and smaller volume; each control mode can realize the closed-loop accurate control of the position of the main valve core, so that the main valve core can quickly and accurately reach the preset position, and the responsiveness and the stability of the main valve are effectively improved.
In a first aspect, the present invention provides a dual spool CAN bus control unit.
The double-valve-core CAN bus control unit comprises a control end cover and an end cover plate, wherein the control end cover is in sealing installation with the end cover plate, two first installation holes and two second installation holes are formed in the control end cover, electro-hydraulic proportional pilot valve assemblies are respectively arranged in the first installation holes, displacement sensor assemblies are respectively arranged in the second installation holes, an oil inlet channel and an oil return channel which penetrate through the first installation holes are formed in the control end cover, a controller cover plate is arranged on the control end cover, a control plate is arranged in the controller cover plate, a plug is arranged on the controller cover plate, and the displacement sensor assemblies are in signal connection with the control plate.
Optionally, the axes of the two first mounting holes and the axes of the two second mounting holes are located in the same plane, and the two first mounting holes are located on two sides of the two second mounting holes.
In a second aspect, the invention provides a dual spool CAN bus control method.
The control method of the double-valve-core CAN bus comprises a main pump, a flow valve, a reversing valve, an execution oil cylinder and the double-valve-core CAN bus control unit, wherein the main pump supplies oil to two electro-hydraulic proportional pilot valve assemblies, two working oil ports of one electro-hydraulic proportional pilot valve assembly are respectively connected to two ends of the reversing valve, two working oil ports of the other electro-hydraulic proportional pilot valve assembly are respectively connected to two ends of the flow valve, and two working oil ports of the reversing valve are respectively connected to a large cavity and a small cavity of the execution oil cylinder, and the control method comprises the following steps:
step S1, setting parameters of an upper computer;
step S2, setting an upper computer control mode, and if the upper computer control mode is an adaptive control mode, executing step S3 and step S4; if the control mode is set manually, executing step S5;
s3, calculating a load value;
step S4, judging whether the load value in the step S3 is tension load or resistance load, and if the load value is tension load, executing oil inlet speed control and oil return speed control; if the load is a resistance load, executing oil inlet speed control and oil return pressure control;
step S5, setting a control mode of each main valve core as follows: a displacement closed-loop control mode, a flow closed-loop control mode or a pressure closed-loop control mode;
and S6, collecting data and transmitting the data to the controller.
Optionally, when the load value is less than 0, the current load is a tensile load; when the load value is more than or equal to 0, the current load is a resistance load.
Alternatively, one of the two displacement sensor assemblies is used to detect displacement of the spool of the flow valve, and the other is used to detect displacement of the spool of the reversing valve.
Optionally, the displacement closed-loop control mode: and performing closed-loop control according to the errors of the detection values of the two displacement sensor assemblies and the corresponding actually required displacement values to obtain a first control current and a second control current which are in one-to-one correspondence with the opening degree of the two electro-hydraulic proportional pilot valve assemblies.
Optionally, the flow closed-loop control mode: and performing closed-loop control according to errors of the real-time flow value and the actually required flow value of the corresponding valve port to obtain a first control current and a second control current which are in one-to-one correspondence with the opening degree of the two electro-hydraulic proportional pilot valve assemblies.
Optionally, a first temperature and pressure integrated sensor is arranged on an oil path entering the large cavity of the execution oil cylinder, and a second temperature and pressure integrated sensor is arranged on an oil path entering the small cavity of the execution oil cylinder.
Optionally, the pressure closed loop control mode: and performing closed-loop control according to errors of the pressure values detected by the first temperature-pressure integrated sensor and the second temperature-pressure integrated sensor and the actually required pressure values, and obtaining a first control current and a second control current which are in one-to-one correspondence with the opening degree of the two electro-hydraulic proportional pilot valve assemblies.
Optionally, a pressure reducing valve is arranged on an oil path for supplying oil to the two electro-hydraulic proportional pilot valve assemblies by the main pump, and a compensating valve is arranged on a connecting oil path of the main pump and the flow valve.
Compared with the prior art, the technical scheme of the invention has at least the following beneficial effects:
1. the invention designs a double-valve-core CAN bus electric control unit which is used as an independent electric control unit to be matched with a main valve, and compared with the traditional electrohydraulic valve, the electrohydraulic valve matched with the CAN bus electric control unit has higher control precision, more flexible control method and smaller whole valve area;
2. the invention designs the double-valve-core CAN bus electric control unit, and an LVDT displacement sensor is integrated in the double-valve-core CAN bus electric control unit, so that the closed-loop accurate control of the position of the main valve core CAN be realized, the main valve core CAN quickly and accurately reach the preset position, and the responsiveness and the stability of the main valve are improved;
3. the invention designs the double-valve-core CAN bus electric control unit, and a controller is integrated in the double-valve-core CAN bus electric control unit, so that a valve group control program CAN be cured in advance, and the debugging time for valve group control in the whole machine control is saved;
4. the CAN bus electric control unit of the invention combines the parameters of the whole machine execution oil cylinder and the signals of the main valve opening temperature and pressure sensor, CAN calculate the load working condition, realizes the self-adaptive adjustment of the main valve flow and pressure closed-loop control algorithm, and improves the control flexibility of the main valve;
5. the CAN bus electric control unit is provided with the upper computer application software, CAN conveniently set the whole valve parameters, control the mode configuration, reduce the requirements on the professional skills of users, and is convenient to popularize and apply.
Drawings
FIG. 1 is a schematic diagram of a dual spool CAN bus control unit of the invention;
FIG. 2 is a control schematic diagram of a dual spool CAN bus control unit according to the invention;
fig. 3 is a flow chart of the dual spool CAN bus control method of the present invention.
In the accompanying drawings: the device comprises a 1-end cover plate, a 2-second mounting hole, a 3-second mounting hole, a 4-sealing ring, a 5-control end cover, a 6-control plate, a 7-controller cover plate, an 8-plug, a 9-sealing ring, a 10-expansion plug, a 11-expansion plug, a 12-first mounting hole, a 13-sealing ring, a 14-sealing ring, a 15-first mounting hole and a 16-expansion plug;
4.1-electrohydraulic proportional pilot valve assembly, 4.2-electrohydraulic proportional pilot valve assembly, 4.3-reducing valve, 4.4-main pump, 4.5-compensating valve, 4.6-flow valve, 4.7-displacement sensor assembly, 4.8-reversing valve, 4.9-displacement sensor assembly, 4.10-first temperature and pressure integrated sensor, 4.11-actuating cylinder, 4.12-second temperature and pressure integrated sensor and 4.13-upper computer.
Detailed Description
Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Example 1
As shown in fig. 1, the double-valve-core CAN bus control unit comprises a control end cover 5 and an end cover plate 1, wherein the control end cover 5 and the end cover plate 1 are in sealing installation and are provided with a sealing ring 4, two first mounting holes 12/15 and two second mounting holes 2/3 are formed in the control end cover 5, electro-hydraulic proportional pilot valve assemblies 4.1/4.2 are respectively arranged in the first mounting holes 12/15, displacement sensor assemblies 4.7/4.9 are respectively arranged in the second mounting holes 2/3, an oil inlet duct and an oil return duct which penetrate through the first mounting holes 12/15 are formed in the control end cover 5, a controller cover plate 7 is arranged on the control end cover 5, a sealing ring 9 is arranged between the control end cover 5 and the controller cover plate 7, a control plate 6 is arranged in the controller cover plate 7, a connector 8 is arranged on the controller cover plate 7 and is used for being connected with an external power supply, and the displacement sensor assemblies are connected to the control plate 6 through signals; and a sealing ring 13 and a sealing ring 14 are respectively arranged on the control end cover 5 corresponding to the two second mounting holes 2/3 and are used for sealing when the main valve is mounted.
In this embodiment, the axes of the two first mounting holes and the axes of the two second mounting holes are designed to be located in the same plane, and the two first mounting holes are located at two sides of the two second mounting holes. The oil ducts which are not used in the work and lead to the outside are respectively blocked by the tension plugs, such as the tension plugs 10, the tension plugs 11 and the tension plugs 16 in figure 1.
Example two
As shown in fig. 2 and 3, the dual-valve CAN bus control method includes a main pump 4.4, a flow valve 4.6, a reversing valve 4.8, an execution cylinder 4.11, and the dual-valve CAN bus control unit in the first embodiment, where the main pump 4.4 supplies oil to two electro-hydraulic proportional pilot valve assemblies 4.1 and 4.2, two working ports of one electro-hydraulic proportional pilot valve assembly are respectively connected to two ends of the reversing valve 4.8, two working ports of the other electro-hydraulic proportional pilot valve assembly are respectively connected to two ends of the flow valve 4.6, and two working ports of the reversing valve 4.8 are respectively connected to a large cavity and a small cavity of the execution cylinder 4.11, and the control method includes:
step S1, setting parameters of an upper computer, wherein parameters such as basic parameters of a main valve and a numerical range of a sensor matched with a CAN bus control unit are set in upper computer software;
step S2, setting an upper computer control mode, if the upper computer control mode is an adaptive control mode, calculating working conditions according to the detected sensor information by a controller, judging the most suitable control mode in the current state, and executing the step S3 and the step S4; if the control mode is set manually, the control mode of each main valve core is considered to be set, and step S5 is executed;
s3, calculating a load value;
step S4, judging whether the load value in the step S3 is tension load or resistance load, and if the load value is tension load, executing oil inlet speed control and oil return speed control; if the load is a resistance load, executing oil inlet speed control and oil return pressure control;
step S5, setting a control mode of each main valve core as follows: a displacement closed-loop control mode, a flow closed-loop control mode or a pressure closed-loop control mode;
and S6, collecting data and transmitting the data to the controller.
The controller calculates the load according to the pressure sensor signal and the actuator parameter and the formula (1):
F=Ph*Ah-Pr*Ar (1)
wherein: f-load force, unit N;
ph-cylinder large chamber pressure, unit bar;
pr-cylinder small cavity pressure, unit bar;
ah-equivalent action area of large cavity of oil cylinder, unit mm 2 ；
Ar-cylinder small cavity equivalent action area, mm 2 ；
When the load value is less than 0 (namely F is less than 0), the current load is a tensile load; when the load value is greater than or equal to 0 (i.e., F is greater than or equal to 0), then the current load is a resistive load.
One of the two displacement sensor assemblies 4.7, 4.9 is used for detecting the displacement of the spool of the flow valve 4.6, and the other is used for detecting the displacement of the spool of the reversing valve 4.8.
When the manual setting control mode is selected, the displacement closed-loop control mode is as follows: and performing closed-loop control according to the errors of the detection values of the two displacement sensor assemblies 4.7 and 4.9 and the corresponding actually required displacement values to obtain a first control current and a second control current which are in one-to-one correspondence with the opening degree of the two electro-hydraulic proportional pilot valve assemblies 4.1 and 4.2.
When the manual setting control mode is selected, the flow closed-loop control mode is as follows: performing closed-loop control according to errors of the real-time flow value and the actually required flow value of the corresponding valve port to obtain a first control current and a second control current which are in one-to-one correspondence with the opening degree of the two electro-hydraulic proportional pilot valve assemblies 4.1 and 4.2;
specifically, information of a first temperature-pressure integrated sensor 4.10, a second temperature-pressure integrated sensor 4.12 and two displacement sensor assemblies 4.7 and 4.9 is collected, the actual flow Q of a valve port is calculated according to a formula (2), an error is formed between the actual flow Q of the valve port and the required flow Qreq, closed-loop control of the flow is performed, and the temperature of the valve port is used for correcting a flow coefficient Cd.
Figure DEST_PATH_IMAGE001
（2）
Wherein: q-valve port flow;
cd—valve port flow coefficient;
a (x) -valve port area;
P 1 -inlet pressure;
P 2 -outlet pressure.
In this embodiment, a first temperature and pressure integrated sensor 4.10 is disposed on an oil path entering a large cavity of the execution cylinder 4.11, and a second temperature and pressure integrated sensor 4.12 is disposed on an oil path entering a small cavity of the execution cylinder 4.11.
When the manual setting control mode is selected, the pressure closed-loop control mode is: and performing closed-loop control according to errors of the pressure values detected by the first temperature-pressure integrated sensor 4.10 and the second temperature-pressure integrated sensor 4.12 and the actually required pressure values to obtain a first control current and a second control current which are in one-to-one correspondence with the opening degree of the two electro-hydraulic proportional pilot valve assemblies 4.1 and 4.2.
The oil way of the main pump 4.4 for supplying oil to the two electro-hydraulic proportional pilot valve assemblies is provided with a pressure reducing valve 4.3, and the oil way of the main pump 4.4 connected with the flow valve 4.6 is provided with a compensating valve 4.5.
The following describes the multi-mode control mode of the dual spool CAN bus control unit with reference to the schematic diagram of fig. 2:
(1) Adaptive control mode: (1) the upper computer 4.13 is provided with equivalent areas Ah and Ar of large and small cavities of an oil cylinder, and the numerical ranges of the first temperature and pressure integrated sensor 4.10 and the second temperature and pressure integrated sensor 4.12 are set; (2) setting an adaptive control mode on the upper computer 4.13; (3) load calculation: acquiring inlet and outlet temperature and pressure signals of a first temperature and pressure integrated sensor 4.10 and a second temperature and pressure integrated sensor 4.12 and valve core displacement signals of a displacement sensor assembly 4.7 and a displacement sensor assembly 4.9 according to a double-valve core CAN bus control unit, converting analog quantity into digital quantity through A/D conversion, and carrying out load calculation according to a formula (1); (4) and (3) tensile load judgment: carrying out tension load judgment according to a load judgment rule, if the tension load is the tension load, automatically matching the control mode I by the CAN bus controller, and if the resistance load is the resistance load, automatically matching the control mode II by the CAN bus controller; (5) the controller outputs a control current I and a control current II to control the electro-hydraulic proportional pilot valve assembly 4.1 and the electro-hydraulic proportional pilot valve assembly 4.2 reversing valve, and at the moment, the pilot oil can reach the right side of the flow valve 4.6 and the left position/right position of the reversing valve 4.8, so that the oil of the main pump 4.4 reaches the large cavity/small cavity of the oil cylinder 4.11.
(2) Manually setting a control mode: (1) the upper computer 4.13 is provided with equivalent areas Ah and Ar of large and small cavities of an oil cylinder, and the numerical ranges of the first temperature and pressure integrated sensor 4.10 and the second temperature and pressure integrated sensor 4.12 are set; (2) setting a manual control mode on the upper computer 4.13;
if a double-spool displacement closed-loop control mode is set: and according to the information of the displacement sensor assembly 4.7 and the displacement sensor assembly 4.9, carrying out displacement closed-loop control on the displacement and the error of the required displacement, and finally outputting a first control current and a second control current to control the reversing of the electro-hydraulic proportional pilot valve assembly 4.1 and the electro-hydraulic proportional pilot valve assembly 4.2, so that the pilot oil is respectively applied to the left position/right position of the reversing valve 4.8 and the right position of the flow valve 4.6, and the oil of the main pump 4.4 passes through the compensating valve 4.5, the flow valve 4.6 and the reversing valve 4.8 and reaches the large/small cavity of the oil cylinder 4.11.
If a double-spool flow closed-loop control mode is set: according to the information of the displacement sensor assembly 4.7 and the displacement sensor assembly 4.9, calculating a valve port area A (x), calculating a flow coefficient Cd according to the temperature information of the first temperature-pressure integrated sensor 4.10 and the second temperature-pressure integrated sensor 4.12, calculating a valve port pressure difference DeltaP according to the pressure sensor signals of the first temperature-pressure integrated sensor 4.10 and the second temperature-pressure integrated sensor 4.12, calculating real-time valve port flow Q according to a formula (2) through the calculated A (x), cd and DeltaP, performing flow closed-loop control with a required flow Qreq error, finally outputting a control current I and a control current II, controlling the reversing of the electro-hydraulic proportional pilot valve assembly 4.1 and the electro-hydraulic proportional pilot valve assembly 4.2, enabling the pilot oil of the main pump 4.4 to be respectively applied to the left position/right position of the reversing valve 4.8 and the right position of the flow valve 4.6, and enabling the oil of the main pump 4.4 to be applied to the large/small cavity of the oil cylinder 4.11 through the compensating valve 4.5, the flow valve 4.6 and the reversing valve 4.8.
If the double-spool pressure closed-loop control mode is set: and according to the pressure sensor signals of the first temperature-pressure integrated sensor 4.10 and the second temperature-pressure integrated sensor 4.12, performing pressure closed-loop control by making errors with the required pressure, and finally outputting a first control current and a second control current to control the reversing of the electro-hydraulic proportional pilot valve assembly 4.1 and the electro-hydraulic proportional pilot valve assembly 4.2, so that the pilot oil is respectively applied to the left position/right position of the reversing valve 4.8 and the right position of the flow valve 4.6, and the oil of the main pump 4.4 passes through the compensating valve 4.5, the flow valve 4.6 and the reversing valve 4.8 to reach the large/small cavity of the oil cylinder 4.11.
Compared with the prior art, the double-valve-core CAN bus control unit and the control method have at least the following advantages:
1. the invention designs a double-valve-core CAN bus electric control unit which is used as an independent electric control unit to be matched with a main valve, and compared with the traditional electrohydraulic valve, the electrohydraulic valve matched with the CAN bus electric control unit has higher control precision, more flexible control method and smaller whole valve area;
2. the invention designs the double-valve-core CAN bus electric control unit, and an LVDT displacement sensor is integrated in the double-valve-core CAN bus electric control unit, so that the closed-loop accurate control of the position of the main valve core CAN be realized, the main valve core CAN quickly and accurately reach the preset position, and the responsiveness and the stability of the main valve are improved;
3. the invention designs the double-valve-core CAN bus electric control unit, and a controller is integrated in the double-valve-core CAN bus electric control unit, so that a valve group control program CAN be cured in advance, and the debugging time for valve group control in the whole machine control is saved;
4. the CAN bus electric control unit of the invention combines the parameters of the whole machine execution oil cylinder and the signals of the main valve opening temperature and pressure sensor, CAN calculate the load working condition, realizes the self-adaptive adjustment of the main valve flow and pressure closed-loop control algorithm, and improves the control flexibility of the main valve;
5. the CAN bus electric control unit is provided with the upper computer application software, CAN conveniently set the whole valve parameters, control the mode configuration, reduce the requirements on the professional skills of users, and is convenient to popularize and apply.
The above embodiments do not limit the scope of the invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. The double-valve-core CAN bus control unit is characterized by comprising a control end cover and an end cover plate, wherein the control end cover is in sealing installation with the end cover plate, two first mounting holes and two second mounting holes are formed in the control end cover, electro-hydraulic proportional pilot valve assemblies are respectively arranged in the first mounting holes, displacement sensor assemblies are respectively arranged in the second mounting holes, an oil inlet channel and an oil return channel which penetrate through the first mounting holes are formed in the control end cover, a controller cover plate is arranged on the control end cover, a control plate is arranged in the controller cover plate, a plug is arranged on the controller cover plate, and the displacement sensor assemblies are in signal connection with the control plate.
2. The control unit of claim 1, wherein the axes of the two first mounting holes and the axes of the two second mounting holes are in the same plane, and the two first mounting holes are located on both sides of the two second mounting holes.
3. The double-valve-core CAN bus control method is characterized by comprising a main pump, a flow valve, a reversing valve, an execution oil cylinder and the double-valve-core CAN bus control unit as claimed in claim 1 or 2, wherein the main pump supplies oil to two electro-hydraulic proportional pilot valve assemblies, two working oil ports of one electro-hydraulic proportional pilot valve assembly are respectively connected to two ends of the reversing valve, two working oil ports of the other electro-hydraulic proportional pilot valve assembly are respectively connected to two ends of the flow valve, and two working oil ports of the reversing valve are respectively connected to a large cavity and a small cavity of the execution oil cylinder, and the control method comprises the following steps:
step S1, setting parameters of an upper computer;
step S2, setting an upper computer control mode, and if the upper computer control mode is an adaptive control mode, executing step S3 and step S4; if the control mode is set manually, executing step S5;
s3, calculating a load value;
step S4, judging whether the load value in the step S3 is tension load or resistance load, and if the load value is tension load, executing oil inlet speed control and oil return speed control; if the load is a resistance load, executing oil inlet speed control and oil return pressure control;
step S5, setting a control mode of each main valve core as follows: a displacement closed-loop control mode, a flow closed-loop control mode or a pressure closed-loop control mode;
and S6, collecting data and transmitting the data to the controller.
4. A control method according to claim 3, wherein when the load value is < 0, the current load is a tensile load; when the load value is more than or equal to 0, the current load is a resistance load.
5. A control method according to claim 3, wherein one of the two displacement sensor assemblies is for detecting displacement of the spool of the flow valve, and the other is for detecting displacement of the spool of the reversing valve.
6. The control method of claim 5, wherein the displacement closed-loop control mode: and performing closed-loop control according to the errors of the detection values of the two displacement sensor assemblies and the corresponding actually required displacement values to obtain a first control current and a second control current which are in one-to-one correspondence with the opening degree of the two electro-hydraulic proportional pilot valve assemblies.
7. A control method according to claim 3, wherein the flow closed loop control mode: and performing closed-loop control according to errors of the real-time flow value and the actually required flow value of the corresponding valve port to obtain a first control current and a second control current which are in one-to-one correspondence with the opening degree of the two electro-hydraulic proportional pilot valve assemblies.
8. The control method according to claim 3, wherein a first temperature-pressure integrated sensor is provided on an oil path into the large chamber of the execution cylinder, and a second temperature-pressure integrated sensor is provided on an oil path into the small chamber of the execution cylinder.
9. The control method of claim 8, wherein the pressure closed loop control mode: and performing closed-loop control according to errors of the pressure values detected by the first temperature-pressure integrated sensor and the second temperature-pressure integrated sensor and the actually required pressure values, and obtaining a first control current and a second control current which are in one-to-one correspondence with the opening degree of the two electro-hydraulic proportional pilot valve assemblies.
10. A control method according to claim 3, wherein the main pump is provided with a pressure reducing valve in an oil passage for supplying oil to the two electro-hydraulic proportional pilot valve assemblies, and a compensating valve is provided in a connecting oil passage between the main pump and the flow valve.
CN202211722869.8A 2022-12-30 2022-12-30 Dual-valve-core CAN bus control unit and control method Pending CN116123167A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116991095A (en) * 2023-06-30 2023-11-03 江苏汇智高端工程机械创新中心有限公司 CAN bus electric control unit and control method
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

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116991095A (en) * 2023-06-30 2023-11-03 江苏汇智高端工程机械创新中心有限公司 CAN bus electric control unit and control method
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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