CN116241524B - Digital flow generation device of engineering machinery and control method - Google Patents

Digital flow generation device of engineering machinery and control method Download PDF

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Publication number
CN116241524B
CN116241524B CN202310248242.1A CN202310248242A CN116241524B CN 116241524 B CN116241524 B CN 116241524B CN 202310248242 A CN202310248242 A CN 202310248242A CN 116241524 B CN116241524 B CN 116241524B
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opening area
valve
area
opening
total
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CN116241524A (en
Inventor
王峰
吴佳明
张琪
林梓畅
张浩翔
林振川
乔艺涵
汪佳佳
徐兵
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Zhejiang University ZJU
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Zhejiang University ZJU
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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
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • 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
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more 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
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/007—Simulation or modelling
    • 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • 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
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/20—Hydro energy

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The utility model discloses a digital flow generating device of engineering machinery and a control method, the device mainly draws oil in an oil tank through a hydraulic pump under the drive of a motor, the oil tank is also connected with pipelines provided with proportional valves or switching valves, the outlets of the pipelines are inserted into the oil tank, the inlets of the pipelines are communicated with the output pipeline of the hydraulic pump, and the opening area of the proportional valves and the on-off of each switching valve are controlled by a controller. The controller can realize stepless adjustment from zero to the largest hydraulic valve opening area by controlling the opening areas of the proportional valve and the switching valve, change the output flow characteristic of the flow source and realize various flow simulation with lower cost. In addition, the response speed of the switch valve is high, the digital flow generating device can accurately simulate the flow output of different characteristics, and a high-efficiency, low-cost and high-precision solution is provided for the matching test of the flow source in the hydraulic system of the engineering machinery.

Description

Digital flow generation device of engineering machinery and control method
Technical Field
The application relates to the technical field of engineering machinery, in particular to a digital flow generating device and a control method of engineering machinery.
Background
Engineering machinery hydraulic systems are often used in the industrial application process, and the engineering machinery hydraulic systems generally control the flow directions of hydraulic oil of hydraulic execution mechanisms driving different actions of engineering machinery through a plurality of control valves respectively to form different actions of the engineering machinery, and work such as pressure transmission, lubrication and the like is performed in the actual working process. Because of the importance of engineering machinery hydraulic systems, engineering machinery hydraulic systems are widely used by people in most industrial processes and work.
The flow output characteristics of the hydraulic flow source have great influence on the control performance of the hydraulic system of the engineering machinery. In the current engineering machinery hydraulic test bed, the matching degree of the flow source and the system and the influence caused by different dynamic characteristics of the flow source are usually explored by adopting modes of changing different flow sources, manually debugging mechanical parameters of the flow sources and the like. However, this approach consumes significant labor, material and time costs, resulting in inefficiency of the test.
Disclosure of Invention
The present application aims to provide a digital flow generating device and a control method for a construction machine, which can improve the problems.
Embodiments of the present application are implemented as follows:
in a first aspect, the present application provides a digital flow generating device for an engineering machine, comprising:
the oil tank is provided with a plurality of oil tanks,
the motor is arranged on the side of the motor,
the hydraulic pump is used for pumping out the oil in the oil tank under the drive of the motor;
the proportional valve and the output pipeline of the switch valve are inserted into the oil tank, and the input pipeline of the proportional valve and the input pipeline of the switch valve are communicated with the output pipeline of the hydraulic pump;
the first pressure sensor is arranged on an output pipeline of the hydraulic pump and is used for detecting a first hydraulic value in the output pipeline of the hydraulic pump;
and the controller is respectively and electrically connected with the first pressure sensor, the proportional valve and the switching valve, and is used for acquiring a first hydraulic value fed back by the first pressure sensor, controlling the opening area of the proportional valve and controlling the on-off of the switching valve according to the first hydraulic value, the target output flow and the output flow of the hydraulic pump.
It can be understood that the application discloses a digital flow generating device of engineering machinery, mainly through the hydraulic pump with the fluid in the oil tank take out under the drive of motor, still be connected with the pipeline of installing proportional valve or ooff valve in the oil tank, the export of these pipelines inserts the oil tank, the entry intercommunication of these pipelines is on the output pipeline of hydraulic pump, the opening area of proportional valve and the break-make of each ooff valve are controlled by the controller. The controller can realize stepless adjustment from zero to the largest hydraulic valve opening area by controlling the opening areas of the proportional valve and the switching valve, change the output flow characteristic of the flow source and realize various flow simulation with lower cost. In addition, the response speed of the switch valve is high, the digital flow generating device can accurately simulate the flow output of different characteristics, and a high-efficiency, low-cost and high-precision solution is provided for the matching test of the flow source in the hydraulic system of the engineering machinery.
In an alternative embodiment of the present application, the number of the on-off valves is at least two, and the opening area of each on-off valve is an integer multiple of the unit area a.
In an alternative embodiment of the present application, the maximum opening area of the proportional valve is a unit area a. It will be appreciated that the proportional valve may effect adjustment of the opening area from 0 to unit area a under the control of the controller.
In an alternative embodiment of the present application, the opening area of each of the switching valves is 2 per unit area a x Multiple, where x is a non-negative integer.
In an alternative embodiment of the present application, the number of the proportional valves is one, and the number of the switch valves is three; the engineering machinery digital flow generating device comprises a first switch valve, a second switch valve and a third switch valve; the opening area of the first switch valve is 1 time of the unit area A, the opening area of the second switch valve is 2 times of the unit area A, and the opening area of the third switch valve is 4 times of the unit area A.
In a second aspect, the present application provides a control method of a digital flow generator of a construction machine, which is applied to the digital flow generator of a construction machine according to any one of the first aspect, and includes:
s1, obtaining target output flow of the engineering machinery digital flow generating device;
s2, acquiring a first hydraulic value fed back by the first pressure sensor;
s3, controlling the opening area of the proportional valve and the on-off state of the switch valve according to the target output flow, the first hydraulic value and the output flow of the hydraulic pump.
It can be understood that the application discloses a control method of a digital flow generating device of engineering machinery, which can calculate the total opening area of a switching valve and a proportional valve in a pipeline for diverting a hydraulic pump according to the target output flow, the current hydraulic pump outlet pressure value and the output flow of the hydraulic pump, and adjust the opening area of the proportional valve and the on-off state of the switching valve so that the sum of the opening area of the switching valve which is opened and the opening area of the proportional valve meets the total opening area.
In an alternative embodiment of the present application, step S3 includes:
s31, calculating the total opening area of the proportional valve and the switch valve according to the target output flow, the first hydraulic value and the output flow of the hydraulic pump;
s32, closing the proportional valve and opening the corresponding switching valve under the condition that the total opening area is an integral multiple of the unit area A, so that the opening area of the opened switching valve meets the total opening area;
and S33, when the total opening area is a non-integral multiple of the unit area A, opening the corresponding switching valve, and adjusting the opening area of the proportional valve so that the sum of the opening area of the switching valve which is opened and the opening area of the proportional valve meets the total opening area.
In an alternative embodiment of the present application, step S31 includes:
calculating the total opening area of the proportional valve and the switching valve according to the following formula:
wherein A is total Represents the total area of the openings, Q pump Represents the output flow rate of the hydraulic pump, Q desired Representing the target output flow, C d Represents flow coefficient, ρ represents oil density, p pump Representing the first hydraulic pressure value, i.e. the outlet pressure of the hydraulic pump.
In an alternative embodiment of the present application, step S32 includes at least one of:
when the total area of the openings is 1 time of the unit area A, closing the proportional valve, opening the corresponding first switch valve, and closing other switch valves;
when the total area of the openings is 2 times of the unit area A, closing the proportional valve, opening the corresponding second switching valve, and closing other switching valves;
when the total area of the openings is 3 times of the unit area A, closing the proportional valve, opening the corresponding first switch valve and second switch valve, and closing other switch valves;
when the total area of the openings is 4 times of the unit area A, closing the proportional valve, opening the corresponding third switch valve, and closing other switch valves;
when the total area of the openings is 5 times of the unit area A, closing the proportional valve, opening the corresponding first switch valve and third switch valve, and closing other switch valves;
when the total area of the openings is 6 times of the unit area A, the proportional valve is closed, the corresponding second switch valve and third switch valve are opened, and other switch valves are closed;
and when the total area of the openings is 7 times of the unit area A, closing the proportional valve, and opening the corresponding first switch valve, second switch valve and third switch valve.
In an alternative embodiment of the present application, step S33 includes at least one of:
opening the corresponding switching valve under the condition that the total opening area is a non-integral multiple of the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the switching valve which is opened and the opening area of the proportional valve meets the total opening area, wherein the method comprises at least one of the following steps:
closing all the switching valves within the range that the total opening area is 0 to 1 times of the unit area A, and adjusting the opening area of the proportional valve so that the opening area of the proportional valve meets the total opening area;
opening the first switching valve in a range that the total opening area is 1 to 2 times of the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the first switching valve and the opening area of the proportional valve meets the total opening area;
opening the second switching valve in a range that the total opening area is 2 to 3 times of the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the second switching valve and the opening area of the proportional valve meets the total opening area;
opening the first switching valve and the second switching valve in a range that the total opening area is 3 to 4 times of the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the first switching valve, the opening area of the second switching valve and the opening area of the proportional valve meets the total opening area;
opening the third switching valve in a range of 4 to 5 times the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the third switching valve and the opening area of the proportional valve satisfies the total opening area;
opening the first switching valve and the third switching valve in a range that the total opening area is 5 to 6 times of the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the first switching valve, the opening area of the third switching valve and the opening area of the proportional valve meets the total opening area;
opening the second switching valve and the third switching valve in a range that the total opening area is 6 to 7 times of the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the second switching valve, the opening area of the third switching valve and the opening area of the proportional valve meets the total opening area;
and opening the first switch valve, the second switch valve and the third switch valve within the range that the total opening area is 7 times to 8 times of the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the first switch valve, the opening area of the second switch valve, the opening area of the third switch valve and the opening area of the proportional valve meets the total opening area.
In a third aspect, the present application discloses a control device of a digital flow generating device of a construction machine, comprising a processor and a memory connected to each other, wherein the memory is adapted to store a computer program, the computer program comprising program instructions, the processor being configured to invoke the program instructions to perform the method according to any of the second aspects.
In a fourth aspect, the present application discloses a computer-readable storage medium storing a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of any of the second aspects.
The beneficial effects are that:
the application discloses engineering machine tool digital flow generating device draws the fluid in the oil tank out mainly through the hydraulic pump under the drive of motor, still is connected with the pipeline of installing proportional valve or ooff valve in the oil tank, and the export of these pipelines inserts the oil tank, and the entry of these pipelines communicates on the output pipeline of hydraulic pump, and the open area of proportional valve and the break-make of each ooff valve are controlled by the controller. The controller can realize stepless adjustment from zero to the largest hydraulic valve opening area by controlling the opening areas of the proportional valve and the switching valve, change the output flow characteristic of the flow source and realize various flow simulation with lower cost. In addition, the response speed of the switch valve is high, the digital flow generating device can accurately simulate the flow output of different characteristics, and a high-efficiency, low-cost and high-precision solution is provided for the matching test of the flow source in the hydraulic system of the engineering machinery.
The application discloses a control method of a digital flow generating device of engineering machinery, which can calculate the total opening area of a switching valve and a proportional valve in a pipeline for diverting the hydraulic pump through target output flow, the current hydraulic pump outlet pressure value and the output flow of the hydraulic pump, and adjust the opening area of the proportional valve and the on-off state of the switching valve, so that the sum of the opening area of the switching valve which is opened and the opening area of the proportional valve meets the total opening area.
In order to make the above objects, features and advantages of the present application more comprehensible, alternative embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural diagram of a digital flow generator for construction machinery provided in the present application;
FIG. 2 is a schematic flow chart of a control method of a digital flow generator of an engineering machine;
fig. 3 is a system schematic diagram of the digital flow generator of the construction machine shown in fig. 1 applied to a hydraulic operation system test device of the construction machine.
Reference numerals:
the hydraulic load control system comprises a digital flow generating device 100 of engineering machinery, a valve-controlled cylinder system 200 to be tested, a hydraulic load simulation system 300, a motor 1, a hydraulic pump 2, a proportional valve 3, a first switch valve 4, a second switch valve 5, a third switch valve 6, a controller 7, a first pressure sensor 8, a hydraulic cavity 9, a first safety valve 10, an oil tank 11, a proportional reversing valve 12, a second safety valve 13, a fourth switch valve 14, a second pressure sensor 15, a proportional overflow valve 16, a third pressure sensor 17, a hydraulic cylinder 18 to be tested, a fourth pressure sensor 19, a speed sensor 20 and a loading hydraulic cylinder 21.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The flow output characteristics of the hydraulic flow source have great influence on the control performance of the hydraulic system of the engineering machinery. In the current engineering machinery hydraulic test bed, the matching degree of the flow source and the system and the influence caused by different dynamic characteristics of the flow source are usually explored by adopting modes of changing different flow sources, manually debugging mechanical parameters of the flow sources and the like. However, this approach consumes significant labor, material and time costs, resulting in inefficiency of the test.
To solve the above-mentioned problem, in a first aspect, the present application provides a digital flow generating device for construction machinery, including: the hydraulic system comprises an oil tank, a motor, a hydraulic pump, at least one proportional valve, at least one switch valve, a first pressure sensor and a controller. The digital flow generating device 100 of the construction machine shown in fig. 1 includes an oil tank 11, a motor 1, a hydraulic pump 2, one proportional valve 3,3 on-off valves, a first pressure sensor 8, and a controller 7. Wherein the 3 switching valves are a first switching valve 4, a second switching valve 5 and a third switching valve 6 respectively.
The hydraulic pump 2 is used for pumping out oil in the oil tank 11 under the drive of the motor 1;
the output pipelines of the proportional valve 3, the first switch valve 4, the second switch valve 5 and the third switch valve 6 are all inserted into the oil tank 11, and the proportional valve 3, the first switch valve 4, the second switch valve 5 and the third switch valve 6 are communicated with the input pipeline of the hydraulic pump 2 on the output pipeline of the hydraulic pump; the first pressure sensor 8 is arranged on an output pipeline of the hydraulic pump and is used for detecting a first hydraulic pressure value in the output pipeline of the hydraulic pump; the controller 7 is electrically connected with the first pressure sensor 8, the proportional valve 3 and the switch valve respectively, and is used for acquiring a first hydraulic value fed back by the first pressure sensor 8, controlling the opening area of the proportional valve 3 and controlling the on-off of the switch valve according to the first hydraulic value, the target output flow and the output flow of the hydraulic pump 2.
It can be understood that the application discloses a digital flow generating device of engineering machinery, which mainly extracts oil in an oil tank 11 through a hydraulic pump 2 under the drive of a motor 1, wherein pipelines provided with proportional valves 3 or switching valves are also connected in the oil tank 11, outlets of the pipelines are inserted into the oil tank 11, inlets of the pipelines are communicated with an output pipeline of the hydraulic pump 2, and the opening area of the proportional valves 3 and the on-off of each switching valve are controlled by a controller 7. The controller 7 can realize stepless adjustment from zero to the maximum hydraulic valve opening area by controlling the opening areas of the proportional valve 3 and the switching valve, change the output flow characteristic of the flow source and realize various flow simulation at lower cost. In addition, the response speed of the switch valve is high, the digital flow generating device can accurately simulate the flow output of different characteristics, and a high-efficiency, low-cost and high-precision solution is provided for the matching test of the flow source in the hydraulic system of the engineering machinery.
In an alternative embodiment of the present application, the maximum opening area of the proportional valve 3 is the unit area a. It will be appreciated that the proportional valve 3 may effect an adjustment of the opening area from 0 to a unit area a under the control of the controller 7.
In an alternative embodiment of the present application, the opening area of each switching valve is 2 per unit area A x Multiple, where x is a non-negative integer.
In an alternative embodiment of the present application, the opening area of the first switching valve 4 is 1 time the unit area a, the opening area of the second switching valve 5 is 2 times the unit area a, and the opening area of the third switching valve 6 is 4 times the unit area a.
In a second aspect, as shown in fig. 2, the present application provides a control method of a digital flow generator of a construction machine, which is applied to the digital flow generator of a construction machine according to any one of the first aspect, and includes:
s1, obtaining target output flow of the digital flow generating device of the engineering machinery.
The target output flow can be continuous flow of variable pumps, motor pumps and the like with different response times, or digital flow of a hydraulic free piston engine, a digital pump and the like.
S2, acquiring a first hydraulic value fed back by the first pressure sensor.
It will be appreciated that as shown in fig. 1, a first pressure sensor 8 is provided on the output conduit of the hydraulic pump for detecting a first hydraulic pressure value in the output conduit of the hydraulic pump, i.e. the current outlet pressure value of the hydraulic pump 2.
And S3, controlling the opening area of the proportional valve and the on-off of the switching valve according to the target output flow, the first hydraulic value and the output flow of the hydraulic pump.
It can be understood that the application discloses a control method of a digital flow generating device of engineering machinery, which can calculate the total opening area of a switching valve and a proportional valve 3 in a pipeline for dividing the hydraulic pump 2 through the target output flow, the current outlet pressure value of the hydraulic pump 2 and the output flow of the hydraulic pump 2, and adjust the opening area of the proportional valve 3 and the on-off state of the switching valve, so that the sum of the opening area of each opened switching valve and the opening area of the proportional valve 3 meets the total opening area.
In an alternative embodiment of the present application, step S3 includes:
s31, calculating the total opening area of the proportional valve and the switch valve according to the target output flow, the first hydraulic pressure value and the output flow of the hydraulic pump.
In an alternative embodiment of the present application, step S31 includes:
the total area of openings of the proportional valve and the on-off valve was calculated according to the following formula:
wherein A is total Represents the total area of the openings, Q pump Represents the output flow rate of the hydraulic pump 2, Q desired Represents the target output flow, C d Represents flow coefficient, ρ represents oil density, p pump A first hydraulic pressure value, i.e. the outlet pressure of the hydraulic pump 2, is indicated.
And S32, when the total opening area is an integral multiple of the unit area A, closing the proportional valve, and opening the corresponding switch valve so that the opening area of the opened switch valve meets the total opening area.
In an alternative embodiment of the present application, reference is made to table 1 for a control table of the on-off valve and the proportional valve in the case where the total area of the openings is an integer multiple of the unit area a. Step S32 includes at least one of:
when the total area of the openings is 1 time of the unit area A, the proportional valve 3 is closed, the corresponding first switch valve 4 is opened, and other switch valves are closed;
when the total area of the openings is 2 times of the unit area A, the proportional valve 3 is closed, the corresponding second switch valve 5 is opened, and the other switch valves are closed;
when the total area of the openings is 3 times of the unit area A, the proportional valve 3 is closed, the corresponding first switch valve 4 and second switch valve 5 are opened, and the other switch valves are closed;
when the total area of the openings is 4 times of the unit area A, the proportional valve 3 is closed, the corresponding third switch valve 6 is opened, and the other switch valves are closed;
when the total area of the openings is 5 times of the unit area A, the proportional valve 3 is closed, the corresponding first switch valve 4 and third switch valve 6 are opened, and the other switch valves are closed;
when the total area of the openings is 6 times of the unit area A, the proportional valve 3 is closed, the corresponding second switch valve 5 and third switch valve 6 are opened, and the other switch valves are closed;
when the total area of the openings is 7 times the unit area a, the proportional valve 3 is closed, and the corresponding first, second, and third switching valves 4, 5, and 6 are opened.
TABLE 1 first control Meter for switching valve and proportional valve
S33, when the total opening area is a non-integral multiple of the unit area A, opening the corresponding switching valve, and adjusting the opening area of the proportional valve 3 so that the sum of the opening area of the switching valve which is opened and the opening area of the proportional valve 3 meets the total opening area.
In an alternative embodiment of the present application, reference is made to table 2 for a control table for the on-off valve and the proportional valve in case the total area of the openings is a non-integer multiple of the unit area a. Step S33 includes at least one of:
opening the corresponding on-off valve under the condition that the total opening area is a non-integral multiple of the unit area A, and adjusting the opening area of the proportional valve 3 so that the sum of the opening area of the opened on-off valve and the opening area of the proportional valve 3 meets the total opening area, wherein the method comprises at least one of the following steps:
closing all the switching valves within the range of 0 to 1 time of the unit area A of the total opening area, and adjusting the opening area of the proportional valve 3 so that the opening area of the proportional valve 3 meets the total opening area;
opening the first switching valve 4 in a range of 1 to 2 times the unit area a, and adjusting the opening area of the proportional valve 3 so that the sum of the opening area of the first switching valve 4 and the opening area of the proportional valve 3 satisfies the opening total area;
opening the second switching valve 5 in a range of 2 to 3 times the unit area a, and adjusting the opening area of the proportional valve 3 so that the sum of the opening area of the second switching valve 5 and the opening area of the proportional valve 3 satisfies the opening total area;
opening the first switching valve 4 and the second switching valve 5 in a range of 3 to 4 times the total opening area of the unit area a, and adjusting the opening area of the proportional valve 3 so that the sum of the opening area of the first switching valve 4, the opening area of the second switching valve 5, and the opening area of the proportional valve 3 satisfies the total opening area;
opening the third switching valve 6 in a range of 4 to 5 times the unit area a, and adjusting the opening area of the proportional valve 3 so that the sum of the opening area of the third switching valve 6 and the opening area of the proportional valve 3 satisfies the opening total area;
opening the first switching valve 4 and the third switching valve 6 in a range of 5 to 6 times the unit area a of the total opening area, and adjusting the opening area of the proportional valve 3 so that the sum of the opening area of the first switching valve 4, the opening area of the third switching valve 6, and the opening area of the proportional valve 3 satisfies the total opening area;
opening the second switching valve 5 and the third switching valve 6 in a range of 6 to 7 times the unit area a, and adjusting the opening area of the proportional valve 3 so that the sum of the opening area of the second switching valve 5, the opening area of the third switching valve 6 and the opening area of the proportional valve 3 satisfies the opening total area;
the first switching valve 4, the second switching valve 5, and the third switching valve 6 are opened in a range of 7 to 8 times the total opening area of the unit area a, and the opening area of the proportional valve 3 is adjusted so that the sum of the opening area of the first switching valve 4, the opening area of the second switching valve 5, the opening area of the third switching valve 6, and the opening area of the proportional valve 3 satisfies the total opening area.
TABLE 2 second control Meter for switching valve and proportional valve
As shown in fig. 3, fig. 3 is a system schematic diagram of the digital flow rate generating device of the construction machine shown in fig. 1 applied to a hydraulic operation system test device of the construction machine. The test device for the hydraulic operation system of the engineering machinery comprises the digital flow generation device 100 of the engineering machinery shown in fig. 1, a tested valve control cylinder system 200 and a hydraulic load simulation system 300.
The cylinder-controlled-test system 200 includes a first relief valve 10, a proportional directional valve 12, a second relief valve 13, a cylinder-to-be-tested 18, a second relief valve 13, a third pressure sensor 17, a fourth pressure sensor 19, and a speed sensor 20.
Hydraulic load simulation system 300 includes fourth switch valve 14, proportional relief valve 16, loading cylinder 21, and second pressure sensor 15.
In fig. 3, the output pipeline of the hydraulic pump of the digital flow generator 100 of the engineering machine is connected with the hydraulic cavity 9, the proportional reversing valve 12 and the fourth switching valve 14 respectively; the cylinder under test 18 communicates with the loading cylinder 21.
In normal operation, the fourth switching valve 14 is closed and the flow generator outputs flow to the hydraulic chamber 9 and the proportional reversing valve 12. In the hydraulic volume 9, the digital flow, which fluctuates drastically, is filtered into a smooth continuous flow. In the proportional directional valve 12, the load flow to the hydraulic cylinder under test is controlled by adjusting the valve port opening. Meanwhile, the working position of the proportional reversing valve is switched, so that the movement direction of the tested hydraulic cylinder can be changed. The load force output by the loading hydraulic cylinder to the tested hydraulic cylinder can be changed by adjusting the setting pressure of the proportional relief valve. When the two hydraulic cylinders need to be reset, the fourth switching valve 14 is opened, and the output flow of the flow generating device passes through the fourth switching valve 14 and goes to the rodless cavity of the loading hydraulic cylinder, so that the two hydraulic cylinders move leftwards and return to the initial state.
In a third aspect, the present application provides a control device for a digital flow generator of a construction machine. The control device of the digital flow generating device of the engineering machinery comprises one or more processors and a memory. The processor and the memory are connected through a bus. The memory is for storing a computer program comprising program instructions and the processor is for executing the program instructions stored by the memory. Wherein the processor is configured to invoke the program instructions to perform the operations of any of the methods of the second aspect:
it should be appreciated that in embodiments of the invention, the processor may be a central processing unit (CentralProcessingUnit, CPU), which may also be other general purpose processors, digital signal processors (DigitalSignalProcessor, DSP), application specific integrated circuits (ApplicationSpecificIntegratedCircuit, ASIC), off-the-shelf programmable gate arrays (Field-ProgrammableGateArray, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may include read only memory and random access memory and provide instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory may also store information of the device type.
In a specific implementation, the processor described in the embodiment of the present invention may perform an implementation manner described by any method of the second aspect, or may perform an implementation manner of the terminal device described in the embodiment of the present invention, which is not described herein again.
In a fourth aspect, the present invention provides a computer readable storage medium storing a computer program comprising program instructions which when executed by a processor implement the steps of any of the methods of the second aspect.
The computer readable storage medium may be an internal storage unit of the terminal device of any of the foregoing embodiments, for example, a hard disk or a memory of the terminal device. The computer readable storage medium may be an external storage device of the terminal device, for example, a plug-in hard disk, a smart memory card (SmartMediaCard, SMC), a secure digital (SecureDigital, SD) card, a flash memory card (FlashCard), or the like, which are provided in the terminal device. Further, the computer-readable storage medium may further include both an internal storage unit and an external storage device of the terminal device. The computer-readable storage medium is used for storing the computer program and other programs and data required by the terminal device. The above-described computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In several embodiments provided in the present application, it should be understood that the disclosed terminal device and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the above-described division of units is merely a logical function division, and there may be another division manner in actual implementation, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment of the present invention.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method in the various embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RAM, randomAccessMemory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The terms "first," "second," "the first," or "the second," as used in various embodiments of the present disclosure, may modify various components without regard to order and/or importance, but these terms do not limit the corresponding components. The above description is only configured for the purpose of distinguishing an element from other elements. For example, the first user device and the second user device represent different user devices, although both are user devices. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.
When an element (e.g., a first element) is referred to as being "coupled" (operatively or communicatively) to "another element (e.g., a second element) or" connected "to another element (e.g., a second element), it is understood that the one element is directly connected to the other element or the one element is indirectly connected to the other element via yet another element (e.g., a third element). In contrast, it will be understood that when an element (e.g., a first element) is referred to as being "directly connected" or "directly coupled" to another element (a second element), then no element (e.g., a third element) is interposed therebetween.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the element defined by the phrase "comprising one … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element, and furthermore, elements having the same name in different embodiments of the present application may have the same meaning or may have different meanings, a particular meaning of which is to be determined by its interpretation in this particular embodiment or by further combining the context of this particular embodiment.
The above description is only illustrative of the principles of the technology being applied to alternative embodiments of the present application. It will be appreciated by persons skilled in the art that the scope of the invention referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the invention. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
The above description is only illustrative of the principles of the technology being applied to alternative embodiments of the present application. It will be appreciated by persons skilled in the art that the scope of the invention referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the invention. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.
The foregoing is merely an alternative embodiment of the present application and is not intended to limit the present application, and various modifications and variations may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (4)

1. A control method of a digital flow generating device of engineering machinery is applied to the digital flow generating device of engineering machinery, and the digital flow generating device of engineering machinery comprises the following steps:
the oil tank is provided with a plurality of oil tanks,
the motor is arranged on the side of the motor,
the hydraulic pump is used for pumping out the oil in the oil tank under the drive of the motor;
the proportional valve and the output pipeline of the switch valve are inserted into the oil tank, and the input pipeline of the proportional valve and the input pipeline of the switch valve are communicated with the output pipeline of the hydraulic pump;
the first pressure sensor is arranged on an output pipeline of the hydraulic pump and is used for detecting a first hydraulic value in the output pipeline of the hydraulic pump;
the controller is respectively and electrically connected with the first pressure sensor, the proportional valve and the switch valve, and is used for acquiring a first hydraulic value fed back by the first pressure sensor, controlling the opening area of the proportional valve and controlling the on-off of the switch valve according to the first hydraulic value, the target output flow and the output flow of the hydraulic pump;
the number of the switch valves is at least two, and the opening area of each switch valve is an integral multiple of the unit area A;
the maximum opening area of the proportional valve is unit area A;
the opening area of each switch valve is 2 of the unit area A x Multiple, wherein x is a non-negative integer;
the number of the proportional valves is one, and the number of the switch valves is three;
the engineering machinery digital flow generating device comprises a first switch valve, a second switch valve and a third switch valve; the opening area of the first switch valve is 1 time of the unit area A, the opening area of the second switch valve is 2 times of the unit area A, and the opening area of the third switch valve is 4 times of the unit area A;
characterized in that the method comprises:
obtaining a target output flow of the engineering machinery digital flow generating device;
acquiring a first hydraulic value fed back by the first pressure sensor;
calculating the total opening area of the proportional valve and the switching valve according to the target output flow, the first hydraulic value and the output flow of the hydraulic pump;
when the total opening area is an integral multiple of the unit area A, closing the proportional valve, and opening the corresponding switching valve, so that the opening area of the opened switching valve meets the total opening area;
and under the condition that the total opening area is a non-integral multiple of the unit area A, opening the corresponding switching valve, and adjusting the opening area of the proportional valve so that the sum of the opening area of the opened switching valve and the opening area of the proportional valve meets the total opening area.
2. The method for controlling a digital flow generator of construction machinery according to claim 1, wherein,
the calculating the total opening area of the proportional valve and the on-off valve according to the target output flow, the first hydraulic pressure value and the output flow of the hydraulic pump includes:
calculating the total opening area of the proportional valve and the switching valve according to the following formula:
wherein A is total Represents the total area of the openings, Q pump Represents the output flow rate of the hydraulic pump, Q desired Representing the target output flow, C d Represents flow coefficient, ρ represents oil density, p pump Representing the first hydraulic pressure value, i.e. the outlet pressure of the hydraulic pump.
3. The method for controlling a digital flow generator of construction machinery according to claim 1, wherein,
and when the total opening area is an integral multiple of the unit area A, closing the proportional valve, and opening the corresponding switching valve, so that the opening area of the opened switching valve meets the total opening area, wherein the method comprises at least one of the following steps:
when the total area of the openings is 1 time of the unit area A, closing the proportional valve, opening the corresponding first switch valve, and closing other switch valves;
when the total area of the openings is 2 times of the unit area A, closing the proportional valve, opening the corresponding second switching valve, and closing other switching valves;
when the total area of the openings is 3 times of the unit area A, closing the proportional valve, opening the corresponding first switch valve and second switch valve, and closing other switch valves;
when the total area of the openings is 4 times of the unit area A, closing the proportional valve, opening the corresponding third switch valve, and closing other switch valves;
when the total area of the openings is 5 times of the unit area A, closing the proportional valve, opening the corresponding first switch valve and third switch valve, and closing other switch valves;
when the total area of the openings is 6 times of the unit area A, the proportional valve is closed, the corresponding second switch valve and third switch valve are opened, and other switch valves are closed;
and when the total area of the openings is 7 times of the unit area A, closing the proportional valve, and opening the corresponding first switch valve, second switch valve and third switch valve.
4. The method for controlling a digital flow generator of construction machinery according to claim 1, wherein,
opening the corresponding switching valve under the condition that the total opening area is a non-integral multiple of the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the switching valve which is opened and the opening area of the proportional valve meets the total opening area, wherein the method comprises at least one of the following steps:
closing all the switching valves within the range that the total opening area is 0 to 1 times of the unit area A, and adjusting the opening area of the proportional valve so that the opening area of the proportional valve meets the total opening area;
opening the first switching valve in a range that the total opening area is 1 to 2 times of the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the first switching valve and the opening area of the proportional valve meets the total opening area;
opening the second switching valve in a range that the total opening area is 2 to 3 times of the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the second switching valve and the opening area of the proportional valve meets the total opening area;
opening the first switching valve and the second switching valve in a range that the total opening area is 3 to 4 times of the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the first switching valve, the opening area of the second switching valve and the opening area of the proportional valve meets the total opening area;
opening the third switching valve in a range of 4 to 5 times the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the third switching valve and the opening area of the proportional valve satisfies the total opening area;
opening the first switching valve and the third switching valve in a range that the total opening area is 5 to 6 times of the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the first switching valve, the opening area of the third switching valve and the opening area of the proportional valve meets the total opening area;
opening the second switching valve and the third switching valve in a range that the total opening area is 6 to 7 times of the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the second switching valve, the opening area of the third switching valve and the opening area of the proportional valve meets the total opening area;
and opening the first switch valve, the second switch valve and the third switch valve within the range that the total opening area is 7 times to 8 times of the unit area A, and adjusting the opening area of the proportional valve so that the sum of the opening area of the first switch valve, the opening area of the second switch valve, the opening area of the third switch valve and the opening area of the proportional valve meets the total opening area.
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CN105065361A (en) * 2015-09-09 2015-11-18 太原理工大学 Proportional flow unit under compound control of electromagnetic switch valves and proportional throttle valve in parallel
CN105422523A (en) * 2016-01-05 2016-03-23 浙江大学 Digital hydraulic flow regulation system
WO2020170594A1 (en) * 2019-02-20 2020-08-27 日立建機株式会社 Construction machine

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CN104712616B (en) * 2013-12-12 2017-04-12 上海旭恒精工机械制造有限公司 Internal circulation high-speed hydraulic system, hydraulic platform and hydraulic platform component

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105065361A (en) * 2015-09-09 2015-11-18 太原理工大学 Proportional flow unit under compound control of electromagnetic switch valves and proportional throttle valve in parallel
CN105422523A (en) * 2016-01-05 2016-03-23 浙江大学 Digital hydraulic flow regulation system
WO2020170594A1 (en) * 2019-02-20 2020-08-27 日立建機株式会社 Construction machine

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