CN116428173A - Engineering machinery overrunning load simulation device and control method thereof - Google Patents
Engineering machinery overrunning load simulation device and control method thereof Download PDFInfo
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Abstract
The application discloses an engineering machinery overrunning load simulation device and a control method thereof, wherein a controller can receive target simulation load parameters input by a user, and according to the target simulation load parameters, the on-off of a switching valve, the working mode of an electromagnetic reversing valve, the rotating speed of a motor and the input voltage of a proportional overflow valve are controlled, so that the output load of a hydraulic cylinder is controlled to reach the target simulation load parameters. Under the condition that the target simulated load type is the overrun load type, the controller calculates the rotating speed of the motor according to the target simulated load speed, so that the flow output by the hydraulic pump compensates the movement of the hydraulic cylinder at the target simulated load speed.
Description
Technical Field
The application relates to the field of engineering machinery, in particular to an engineering machinery overrunning load simulation device and a control method thereof.
Background
With the development of engineering machinery industry, people put higher and higher demands on the reliability, operability and system efficiency of engineering machinery. Work machines are typically driven by hydraulic systems, including travel systems and work systems, where the work system is critical. In order to improve the performance of the operating system, it is necessary to perform a matching optimization test with the actual working condition of the engineering machine.
The current load simulation device adopts a motor pump with constant flow output and a bypass overflow valve to drive a loading hydraulic cylinder, so that four-quadrant load simulation of the tested hydraulic cylinder is realized. However, this device requires the hydraulic pump to provide a flow output several times the average value when simulating the overrunning load, and places a great limitation on the type selection of the hydraulic pump.
Disclosure of Invention
The present invention has been made in view of the above problems, and an object of the present invention is to provide an overrunning load simulator for construction machinery and a control method thereof.
Embodiments of the present application are implemented as follows:
in a first aspect, the present application provides an engineering machinery overrunning load simulator, comprising:
the motor driver drives the motor to start under the control of the controller, so that the corresponding hydraulic pump is driven to work;
the hydraulic pump comprises a first oil port and a second oil port, and the first oil port is inserted into the oil tank through a first pipeline;
the electromagnetic reversing valve comprises a first inlet, a second inlet, a first outlet and a second outlet, wherein the first inlet is communicated with the second oil port through a second pipeline, and the second inlet is communicated with the oil tank through a third pipeline;
the input port of the proportional overflow valve is communicated with the second oil port, and the output port of the proportional overflow valve is communicated with the oil tank;
the rod cavity of the hydraulic cylinder is communicated with the first outlet through a fourth pipeline, and the rodless cavity of the hydraulic cylinder is communicated with the second outlet through a fifth pipeline;
the switch valve is arranged between the fourth pipeline and the fifth pipeline;
and the controller is respectively and electrically connected with the motor driver, the proportional overflow valve, the electromagnetic reversing valve and the switch valve.
It can be appreciated that the application discloses an engineering machinery overrunning load simulation device, which can receive a target simulation load parameter input by a user through a controller, and control the on-off of a switching valve, the working mode of an electromagnetic reversing valve, the rotating speed of a motor and the input voltage of a proportional overflow valve according to the target simulation load parameter, so as to control the output load of a hydraulic cylinder to reach the target simulation load parameter.
In an optional embodiment of the present application, the controller is configured to control on-off of the on-off valve; the controller is used for controlling the working state of the electromagnetic directional valve; the controller is used for controlling the driving signal of the motor driven by the motor driver so as to control the rotating speed of the motor; the controller is used for controlling the input voltage regulated by the proportional relief valve so as to control the relief pressure.
In an alternative embodiment of the present application, the working states of the electromagnetic directional valve include a first state, a second state and a third state; the electromagnetic directional valve is in the first state, the first inlet is communicated with the second outlet, and the second inlet is communicated with the first outlet; the electromagnetic directional valve is in the second state, the first inlet is communicated with the first outlet, and the second inlet is disconnected with the second outlet; the electromagnetic directional valve is in the third state, the first inlet is communicated with the first outlet, and the second inlet is communicated with the second outlet.
In an alternative embodiment of the present application, the input port of the proportional relief valve is in communication with the second conduit, and the output port of the proportional relief valve is in communication with the third conduit.
In a second aspect, the present application provides a method for controlling an overrunning load simulator of an engineering machine, which is applied to the controller of the overrunning load simulator of any one of the first aspects, and includes:
s1, acquiring target simulation load parameters input by a user, wherein the target simulation load parameters comprise target simulation load force and target simulation load speed of the hydraulic cylinder;
s2, judging a target simulated load type according to the target simulated load parameter;
s3, controlling the on-off of the switch valve, the working mode of the electromagnetic directional valve and the rotating speed of the motor according to the target simulated load type;
and S4, controlling the input voltage of the proportional overflow valve according to the target simulated load force, so as to control the output load force of the hydraulic cylinder to reach the target simulated load force.
The steps S1, S2, etc. are only step identifiers, and the execution sequence of the method is not necessarily performed in the order from small to large, for example, the step S2 may be executed first and then the step S1 may be executed, which is not limited in this application.
It can be understood that the application discloses a control method of an engineering machinery overrunning load simulation device, which is used for controlling the on-off of a switching valve, the working mode of an electromagnetic reversing valve, the rotating speed of a motor and the input voltage of a proportional overflow valve according to target simulation load parameters, so as to control the output load of a hydraulic cylinder to reach the target simulation load parameters. Under the condition that the target simulated load type is the overrun load type, the controller calculates the rotating speed of the motor according to the target simulated load speed, so that the flow output by the hydraulic pump compensates the movement of the hydraulic cylinder at the target simulated load speed.
In an alternative embodiment of the present application, the target load simulating force is a thrust force of the in-cylinder piston toward the rod cavity, and the target load simulating speed is a speed at which the in-cylinder piston moves toward the rodless cavity.
In an alternative embodiment of the present application, step S2 includes: judging the target simulated load parameter as a first impedance load type under the condition that the target simulated load force is larger than zero and the target simulated load speed is larger than zero; judging the target simulated load parameter as a first overrun load type under the condition that the target simulated load force is larger than zero and the target simulated load speed is smaller than zero; judging the target simulated load parameter as a second impedance load type under the condition that the target simulated load force is smaller than zero and the target simulated load speed is smaller than zero; and under the condition that the target simulated load force is smaller than zero and the target simulated load speed is larger than zero, judging the target simulated load parameter as a second overrun load type.
In an alternative embodiment of the present application, step S3 includes:
s31, controlling the switch valve to be closed and controlling the rotating speed of the motor to be smaller than a rotating speed threshold value under the condition that the target simulated load type is the first impedance load type or the second impedance load type;
s32, under the condition that the target simulation load type is the first impedance load type, controlling the electromagnetic directional valve to switch to a first state, enabling the first inlet to be communicated with the second outlet, enabling the second inlet to be communicated with the first outlet, enabling oil in the rodless cavity to sequentially pass through the electromagnetic directional valve and the proportional overflow valve and return to an oil tank, enabling the rod cavity to supplement oil from the oil tank through the electromagnetic directional valve, and enabling oil output by the hydraulic pump to return to the oil tank through the proportional overflow valve;
s33, under the condition that the target simulation load type is the second impedance load type, controlling the electromagnetic directional valve to switch to a third state, enabling the first inlet to be communicated with the first outlet, enabling the second inlet to be communicated with the second outlet, enabling oil in the rod cavity to sequentially pass through the electromagnetic directional valve and the proportional overflow valve and return to the oil tank, enabling the rodless cavity to supplement oil from the oil tank through the electromagnetic directional valve, and enabling oil output from the hydraulic pump to return to the oil tank through the proportional overflow valve.
In an alternative embodiment of the present application, step S3 further includes:
s34, calculating the rotating speed of the motor according to the target simulated load speed under the condition that the target simulated load type is the first overrunning load type or the second overrunning load type, so that the flow output by the hydraulic pump compensates the movement of the hydraulic cylinder at the target simulated load speed;
s35, when the target simulation load type is the first overrun load type, the switch valve is controlled to be opened, the electromagnetic directional valve is controlled to be switched to a second state, the first inlet is communicated with the first outlet, the second inlet is disconnected with the second outlet, oil in the rod cavity is led to the switch valve to supplement oil to the rodless cavity, part of output oil of the hydraulic pump returns to the oil tank through the proportional overflow valve, and part of output oil of the hydraulic pump is led to supplement oil to the rodless cavity through the electromagnetic directional valve;
and S36, under the condition that the target simulation load type is the second overrunning load type, the switching valve is controlled to be closed, the electromagnetic directional valve is controlled to be switched to a third state, the first inlet is communicated with the first outlet, the second inlet is communicated with the second outlet, the oil in the rodless cavity returns to the oil tank through the electromagnetic directional valve, part of the output oil of the hydraulic pump returns to the oil tank through the proportional overflow valve, and part of the output oil of the hydraulic pump supplements the oil to the rod cavity through the electromagnetic directional valve.
In an alternative embodiment of the present application, step S4 includes:
and calculating the input voltage of the proportional relief valve under the condition that the target simulated load type is the first impedance load type by the following formula:
and calculating the input voltage of the proportional relief valve under the condition that the target simulated load type is the second impedance load type by the following formula:
calculating the input voltage of the proportional relief valve and the motor rotating speed under the condition that the target simulated load type is the first overrun load type by the following formula:
and under the condition that the target simulated load type is the second overrun load type, calculating the input voltage of the proportional relief valve and the rotating speed of the motor by the following formula:
wherein p is P Representing the outlet pressure of the hydraulic pump, F representing the target simulated load force, A b Representing the effective area of the rodless chamber of the hydraulic cylinder, u representing the input voltage of the proportional relief valve, p max Representing the highest opening pressure of the proportional relief valve;
wherein A is a Representing the effective area of the rod cavity of the hydraulic cylinder;
wherein ω represents the rotational speed of the motor, v represents the target simulated load speed, q P Representing the pressure maintaining flow rate of the hydraulic pump forAnd ensuring that the proportional overflow valve works normally, wherein D represents the displacement of the hydraulic pump.
Taking the first overrunning load type as an example, the current engineering machinery operation system often adopts a differential loop to achieve the purpose of rapid movement of the piston when the piston of the hydraulic cylinder is retracted, and meanwhile, the energy consumption of a power source is reduced, and the target simulation load parameter is the first impedance load type. When the operation system is matched and optimized, in order to simulate the working condition of the first impedance load type, the hydraulic pump is required to provide flow output which is several times of the average value, and the proposed overrun load simulation device and the control method thereof are adopted to ensure that the flow source only needs to output a small amount of flow under the working condition, so as to compensate the flow gap caused by the area difference at two sides of the asymmetric hydraulic cylinder, greatly reduce the flow required by the flow source under the working condition and reduce the power grade of the load simulation device.
In a third aspect, the present application discloses a controller for a work machine override load simulator, comprising a processor and a memory connected to each other, the memory for storing a 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 an engineering machinery overrunning load simulation device and a control method thereof, wherein a controller can receive target simulation load parameters input by a user, and according to the target simulation load parameters, the on-off of a switching valve, the working mode of an electromagnetic reversing valve, the rotating speed of a motor and the input voltage of a proportional overflow valve are controlled, so that the output load of a hydraulic cylinder is controlled to reach the target simulation load parameters. Under the condition that the target simulated load type is the overrun load type, the controller calculates the rotating speed of the motor according to the target simulated load speed, so that the flow output by the hydraulic pump compensates the movement of the hydraulic cylinder at the target simulated load speed.
Taking the first overrunning load type as an example, the current engineering machinery operation system often adopts a differential loop to achieve the purpose of rapid movement of the piston when the piston of the hydraulic cylinder is retracted, and meanwhile, the energy consumption of a power source is reduced, and the target simulation load parameter is the first impedance load type. When the operation system is matched and optimized, in order to simulate the working condition of the first impedance load type, the hydraulic pump is required to provide flow output which is several times of the average value, and the proposed overrun load simulation device and the control method thereof are adopted to ensure that the flow source only needs to output a small amount of flow under the working condition, so as to compensate the flow gap caused by the area difference at two sides of the asymmetric hydraulic cylinder, greatly reduce the flow required by the flow source under the working condition and reduce the power grade of the load simulation device.
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 diagram of a construction machine overrunning load simulator provided herein;
FIG. 2 is a schematic flow chart of an overrunning load simulation device of engineering machinery and a control method thereof;
fig. 3 is a schematic diagram of a judgment standard model of a target simulated load type provided in the present application.
Reference numerals:
the hydraulic system comprises a controller 1, a motor driver 2, a motor 3, a hydraulic pump 4, a first oil port 41, a second oil port 42, a proportional overflow valve 5, an electromagnetic directional valve 6, a switching valve 7, a hydraulic cylinder 8, an oil tank 9, a first pipeline 101, a second pipeline 102, a third pipeline 103, a fourth pipeline 104 and a fifth pipeline 105.
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.
In a first aspect, as shown in fig. 1, the present application provides an overrunning load simulator for engineering machinery, including: the motor driver 2 and the motor 3, wherein the motor driver 2 drives the motor 3 to start under the control of the controller 1, so as to drive the corresponding hydraulic pump 4 to work; the hydraulic pump 4 including a first oil port 41 and a second oil port 42, the first oil port 41 being inserted into the oil tank 9 through the first pipe 101; the electromagnetic directional valve 6 comprises a first inlet P, a second inlet T, a first outlet A and a second outlet B, wherein the first inlet P is communicated with the second oil port 42 through a second pipeline 102, and the second inlet T is communicated with the oil tank 9 through a third pipeline 103; the input port of the proportional overflow valve 5 is communicated with the second oil port 42, and the output port of the proportional overflow valve 5 is communicated with the oil tank 9; the hydraulic cylinder 8, the rod cavity of the hydraulic cylinder 8 is communicated with the first outlet A through a fourth pipeline 104, and the rodless cavity of the hydraulic cylinder 8 is communicated with the second outlet B through a fifth pipeline 105; an on-off valve 7 provided between the fourth pipe 104 and the fifth pipe 105; the controller 1 is electrically connected with the motor driver 2, the proportional overflow valve 5, the electromagnetic directional valve 6 and the switch valve 7 respectively.
It can be understood that the application discloses an engineering machinery overrunning load simulation device, which can receive a target simulation load parameter input by a user through a controller 1, and control on-off of a switch valve 7, an operating mode of an electromagnetic reversing valve 6, a rotating speed of a motor 3 and an input voltage of a proportional overflow valve 5 according to the target simulation load parameter, so as to control an output load of a hydraulic cylinder 8 to reach the target simulation load parameter.
In an alternative embodiment of the present application, the controller 1 is used for controlling the on-off of the switch valve 7; the controller 1 is used for controlling the working state of the electromagnetic directional valve 6; the controller 1 is used for controlling a driving signal of the motor 3 driven by the motor driver 2, so as to control the rotating speed of the motor 3; the controller 1 is used for controlling the input voltage regulated by the proportional relief valve 5, thereby controlling the relief pressure.
In an alternative embodiment of the present application, the operating states of the electromagnetic directional valve 6 include a first state, a second state, and a third state; in the first state, the electromagnetic directional valve 6 has a first inlet P in communication with a second outlet B and a second inlet T in communication with a first outlet a; in the second state, the electromagnetic directional valve 6 is in communication with the first inlet P and the first outlet a, and the second inlet T is disconnected from the second outlet B; in the third state, the electromagnetic directional valve 6 has the first inlet P in communication with the first outlet a and the second inlet T in communication with the second outlet B.
In an alternative embodiment of the present application, the input port of the proportional relief valve 5 communicates with the second conduit 102 and the output port of the proportional relief valve 5 communicates with the third conduit 103.
In a second aspect, as shown in fig. 2, the present application provides a control method of an engineering machinery overrunning load simulator, applied to a controller of any one of the engineering machinery overrunning load simulators in the first aspect, including:
s1, acquiring target simulation load parameters input by a user, wherein the target simulation load parameters comprise target simulation load force and target simulation load speed of a hydraulic cylinder.
In an alternative embodiment of the present application, as shown in fig. 1, the target simulated load force is the thrust of the in-cylinder piston in the direction of the rod chamber, and the target simulated load speed is the speed at which the in-cylinder piston moves toward the rodless chamber.
S2, judging the target simulation load type according to the target simulation load parameters.
In an alternative embodiment of the present application, as shown in fig. 3, step S2 includes: under the condition that the target simulated load force is larger than zero and the target simulated load speed is larger than zero, judging that the target simulated load parameter is of a first impedance load type; under the condition that the target simulated load force is larger than zero and the target simulated load speed is smaller than zero, judging the target simulated load parameter as a first overrun load type; under the condition that the target simulated load force is smaller than zero and the target simulated load speed is smaller than zero, judging that the target simulated load parameter is of a second impedance load type; and under the condition that the target simulated load force is smaller than zero and the target simulated load speed is larger than zero, judging the target simulated load parameter as the second overrun load type.
S3, controlling the on-off of the switch valve, the working mode of the electromagnetic directional valve and the rotating speed of the motor according to the target simulated load type.
And S4, controlling the input voltage of the proportional overflow valve according to the target simulated load force, so as to control the output load force of the hydraulic cylinder to reach the target simulated load force.
The steps S1, S2, etc. are only step identifiers, and the execution sequence of the method is not necessarily performed in the order from small to large, for example, the step S2 may be executed first and then the step S1 may be executed, which is not limited in this application.
It can be understood that the application discloses a control method of an engineering machinery overrunning load simulation device, which is used for controlling the on-off of a switching valve, the working mode of an electromagnetic reversing valve, the rotating speed of a motor and the input voltage of a proportional overflow valve according to target simulation load parameters, so as to control the output load of a hydraulic cylinder to reach the target simulation load parameters. Under the condition that the target simulated load type is the overrun load type, the controller calculates the rotating speed of the motor according to the target simulated load speed, so that the flow output by the hydraulic pump compensates the movement of the hydraulic cylinder at the target simulated load speed.
In an alternative embodiment of the present application, step S3 includes:
s31, under the condition that the target simulation load type is the first impedance load type or the second impedance load type, the switch valve is controlled to be closed, and the rotating speed of the motor is controlled to be smaller than a rotating speed threshold value;
s32, under the condition that the target simulation load type is a first impedance load type, controlling the electromagnetic directional valve to switch to a first state, enabling the first inlet to be communicated with the second outlet, enabling the second inlet to be communicated with the first outlet, enabling oil in the rodless cavity to sequentially return to the oil tank through the electromagnetic directional valve and the proportional overflow valve, enabling the rod cavity to supplement oil from the oil tank through the electromagnetic directional valve, and enabling output oil of the hydraulic pump to return to the oil tank through the proportional overflow valve;
and S33, under the condition that the target simulation load type is the second impedance load type, controlling the electromagnetic directional valve to switch to a third state, enabling the first inlet to be communicated with the first outlet, enabling the second inlet to be communicated with the second outlet, enabling oil in the rod cavity to sequentially return to the oil tank through the electromagnetic directional valve and the proportional overflow valve, enabling the rodless cavity to supplement oil from the oil tank through the electromagnetic directional valve, and enabling output oil of the hydraulic pump to return to the oil tank through the proportional overflow valve.
In an alternative embodiment of the present application, step S3 further includes:
s34, under the condition that the target simulated load type is the first overrunning load type or the second overrunning load type, calculating the rotating speed of the motor according to the target simulated load speed, so that the flow output by the hydraulic pump compensates the movement of the hydraulic cylinder at the target simulated load speed;
s35, when the target simulation load type is the first overrun load type, the control switch valve is opened, the electromagnetic directional valve is controlled to switch to a second state, so that the first inlet is communicated with the first outlet, the second inlet is disconnected with the second outlet, oil in the rod cavity is supplied to the rodless cavity through the oil switch valve, part of output oil of the hydraulic pump returns to the oil tank through the proportional overflow valve, and part of output oil of the hydraulic pump is supplied to the rodless cavity through the electromagnetic directional valve;
and S36, under the condition that the target simulation load type is the second overrunning load type, the control switch valve is closed, the electromagnetic directional valve is controlled to switch to a third state, so that the first inlet is communicated with the first outlet, the second inlet is communicated with the second outlet, oil in the rodless cavity returns to the oil tank through the electromagnetic directional valve, part of output oil of the hydraulic pump returns to the oil tank through the proportional overflow valve, and part of output oil of the hydraulic pump supplements oil to the rod cavity through the electromagnetic directional valve.
In an alternative embodiment of the present application, step S4 includes:
in the case that the target analog load type is the first impedance load type, calculating the proportional relief valve input voltage by:
in the case that the target analog load type is the second impedance load type, calculating the proportional relief valve input voltage by:
under the condition that the target simulation load type is the first overrun load type, calculating the input voltage of the proportional relief valve and the rotating speed of the motor through the following formula:
under the condition that the target simulation load type is the second overrun load type, calculating the input voltage of the proportional relief valve and the rotating speed of the motor through the following formula:
wherein p is P Represents the outlet pressure of the hydraulic pump, F represents the target simulated load force, A b Representing the effective area of the rodless cavity of the hydraulic cylinder, u represents the input voltage of the proportional relief valve, p max Represents the highest opening pressure of the proportional relief valve;
wherein A is a Representing the effective area of the rod cavity of the hydraulic cylinder;
wherein ω represents the rotational speed of the motor, v represents the target simulated load speed, q P Representing the pressure maintaining flow of the hydraulic pump, which is used for ensuring the normal operation of the proportional overflow valve, and D represents the displacement of the hydraulic pump.
Taking the first overrunning load type as an example, the current engineering machinery operation system often adopts a differential loop to achieve the purpose of rapid movement of the piston when the piston of the hydraulic cylinder is retracted, and meanwhile, the energy consumption of a power source is reduced, and the target simulation load parameter is the first impedance load type. When the operation system is matched and optimized, in order to simulate the working condition of the first impedance load type, the hydraulic pump is required to provide flow output which is several times of the average value, and the proposed overrun load simulation device and the control method thereof are adopted to ensure that the flow source only needs to output a small amount of flow under the working condition, so as to compensate the flow gap caused by the area difference at two sides of the asymmetric hydraulic cylinder, greatly reduce the flow required by the flow source under the working condition and reduce the power grade of the load simulation device.
In a third aspect, the present application provides a controller for an overrunning load simulator of a work machine. The controller of the work machine override load simulator includes one or more processors and 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 present invention, the processor may be a central processing unit (Central Processing Unit, CPU), which may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSPs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGAs) 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 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 Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), 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 U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), 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 (10)
1. An overrunning load simulation device for engineering machinery, which is characterized by comprising:
the motor driver drives the motor to start under the control of the controller, so that the corresponding hydraulic pump is driven to work;
the hydraulic pump comprises a first oil port and a second oil port, and the first oil port is inserted into the oil tank through a first pipeline;
the electromagnetic reversing valve comprises a first inlet, a second inlet, a first outlet and a second outlet, wherein the first inlet is communicated with the second oil port through a second pipeline, and the second inlet is communicated with the oil tank through a third pipeline;
the input port of the proportional overflow valve is communicated with the second oil port, and the output port of the proportional overflow valve is communicated with the oil tank;
the rod cavity of the hydraulic cylinder is communicated with the first outlet through a fourth pipeline, and the rodless cavity of the hydraulic cylinder is communicated with the second outlet through a fifth pipeline;
the switch valve is arranged between the fourth pipeline and the fifth pipeline;
and the controller is respectively and electrically connected with the motor driver, the proportional overflow valve, the electromagnetic reversing valve and the switch valve.
2. The overrunning load simulator of claim 1, wherein the load simulator comprises a load simulator,
the controller is used for controlling the on-off of the switch valve;
the controller is used for controlling the working state of the electromagnetic directional valve;
the controller is used for controlling the driving signal of the motor driven by the motor driver so as to control the rotating speed of the motor;
the controller is used for controlling the input voltage regulated by the proportional relief valve so as to control the relief pressure.
3. The overrunning load simulator of claim 2, wherein,
the working states of the electromagnetic directional valve comprise a first state, a second state and a third state;
the electromagnetic directional valve is in the first state, the first inlet is communicated with the second outlet, and the second inlet is communicated with the first outlet;
the electromagnetic directional valve is in the second state, the first inlet is communicated with the first outlet, and the second inlet is disconnected with the second outlet;
the electromagnetic directional valve is in the third state, the first inlet is communicated with the first outlet, and the second inlet is communicated with the second outlet.
4. The overrunning load simulator of claim 1, wherein the load simulator comprises a load simulator,
the input port of the proportional overflow valve is communicated with the second pipeline, and the output port of the proportional overflow valve is communicated with the third pipeline.
5. A control method of an engineering machinery overrunning load simulation device is applied to a controller of the engineering machinery overrunning load simulation device according to any one of claims 1 to 4, and is characterized in that,
acquiring target simulation load parameters input by a user, wherein the target simulation load parameters comprise target simulation load force and target simulation load speed of the hydraulic cylinder;
judging a target simulated load type according to the target simulated load parameter;
according to the target simulated load type, controlling the on-off of the switch valve, the working mode of the electromagnetic reversing valve and the rotating speed of the motor;
and controlling the input voltage of the proportional relief valve according to the target simulated load force, so as to control the output load force of the hydraulic cylinder to reach the target simulated load force.
6. The method for controlling an overrunning load simulator of a construction machine according to claim 5, wherein,
the target simulated load force is the thrust of the piston in the cylinder towards the rod cavity, and the target simulated load speed is the speed of the piston in the cylinder moving towards the rodless cavity.
7. The method for controlling an overrunning load simulator of a construction machine according to claim 6, wherein,
the judging the target simulated load type according to the target simulated load parameter comprises the following steps:
judging the target simulated load parameter as a first impedance load type under the condition that the target simulated load force is larger than zero and the target simulated load speed is larger than zero;
judging the target simulated load parameter as a first overrun load type under the condition that the target simulated load force is larger than zero and the target simulated load speed is smaller than zero;
judging the target simulated load parameter as a second impedance load type under the condition that the target simulated load force is smaller than zero and the target simulated load speed is smaller than zero;
and under the condition that the target simulated load force is smaller than zero and the target simulated load speed is larger than zero, judging the target simulated load parameter as a second overrun load type.
8. The method for controlling an overrunning load simulator of a construction machine according to claim 7, wherein,
the step of controlling the on-off of the switch valve, the working mode of the electromagnetic reversing valve and the rotating speed of the motor according to the target simulated load type comprises the following steps:
when the target simulated load type is the first impedance load type or the second impedance load type, the switching valve is controlled to be closed, and the rotating speed of the motor is controlled to be smaller than a rotating speed threshold value;
when the target simulation load type is the first impedance load type, controlling the electromagnetic directional valve to switch to a first state, enabling the first inlet to be communicated with the second outlet, enabling the second inlet to be communicated with the first outlet, enabling oil in the rodless cavity to sequentially pass through the electromagnetic directional valve and the proportional overflow valve and return to an oil tank, enabling the rod cavity to supplement oil from the oil tank through the electromagnetic directional valve, and enabling oil output by the hydraulic pump to return to the oil tank through the proportional overflow valve;
and under the condition that the target simulation load type is the second impedance load type, controlling the electromagnetic directional valve to switch to a third state, so that the first inlet is communicated with the first outlet, the second inlet is communicated with the second outlet, oil in the rod cavity sequentially passes through the electromagnetic directional valve and the proportional overflow valve and returns to the oil tank, the rodless cavity supplements the oil from the oil tank through the electromagnetic directional valve, and the output oil of the hydraulic pump returns to the oil tank through the proportional overflow valve.
9. The method for controlling an overrunning load simulator of a construction machine according to claim 7, wherein,
the step of controlling the on-off of the switch valve, the working mode of the electromagnetic reversing valve and the rotating speed of the motor according to the target simulated load type comprises the following steps:
calculating the rotating speed of the motor according to the target simulated load speed under the condition that the target simulated load type is the first overrun load type or the second overrun load type, so that the flow output by the hydraulic pump compensates the movement of the hydraulic cylinder at the target simulated load speed;
when the target simulation load type is the first overrun load type, the switch valve is controlled to be opened, the electromagnetic directional valve is controlled to be switched to a second state, the first inlet is communicated with the first outlet, the second inlet is disconnected with the second outlet, oil in the rod cavity is led to the switch valve to supplement oil to the rodless cavity, part of output oil of the hydraulic pump returns to the oil tank through the proportional overflow valve, and part of output oil of the hydraulic pump is led to supplement oil to the rodless cavity through the electromagnetic directional valve;
and under the condition that the target simulation load type is the second overrunning load type, the switch valve is controlled to be closed, the electromagnetic directional valve is controlled to be switched to a third state, the first inlet is communicated with the first outlet, the second inlet is communicated with the second outlet, the oil in the rodless cavity returns to the oil tank through the electromagnetic directional valve, part of the output oil of the hydraulic pump returns to the oil tank through the proportional overflow valve, and part of the output oil of the hydraulic pump supplements the oil to the rod cavity through the electromagnetic directional valve.
10. The method for controlling an overrunning load simulator of a construction machine according to claim 9, wherein,
and controlling the input voltage of the proportional relief valve according to the target simulated load force, so as to control the output load force of the hydraulic cylinder to reach the target simulated load force, including:
and calculating the input voltage of the proportional relief valve under the condition that the target simulated load type is the first impedance load type by the following formula:
and calculating the input voltage of the proportional relief valve under the condition that the target simulated load type is the second impedance load type by the following formula:
calculating the input voltage of the proportional relief valve and the motor rotating speed under the condition that the target simulated load type is the first overrun load type by the following formula:
and under the condition that the target simulated load type is the second overrun load type, calculating the input voltage of the proportional relief valve and the rotating speed of the motor by the following formula:
wherein p is P Representing the outlet pressure of the hydraulic pump, F representing the target simulated load force, A b Representing the effective area of the rodless chamber of the hydraulic cylinder, u representing the input voltage of the proportional relief valve, p max Representing the highest opening pressure of the proportional relief valve;
wherein A is a Representing the effective area of the rod cavity of the hydraulic cylinder;
wherein ω represents the rotational speed of the motor, v represents the target simulated load speed, q P Representing the pressure maintaining flow of the hydraulic pump, ensuring the normal working of the proportional overflow valve, and D representing the displacement of the hydraulic pump.
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