CN117432673B - Hydraulic station, action control system and method of new energy furnace disassembly machine and electronic equipment - Google Patents

Hydraulic station, action control system and method of new energy furnace disassembly machine and electronic equipment Download PDF

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Publication number
CN117432673B
CN117432673B CN202311704204.9A CN202311704204A CN117432673B CN 117432673 B CN117432673 B CN 117432673B CN 202311704204 A CN202311704204 A CN 202311704204A CN 117432673 B CN117432673 B CN 117432673B
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Prior art keywords
reversing valve
motor
opening
pressure
servo
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CN117432673A (en
Inventor
刘永江
彭起飞
张小江
张贵斌
张大为
樊玉敏
马亮
李生文
陈栋
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Zhangjiakou Xuanhua Innowick Drilling Machinery Co ltd
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Zhangjiakou Xuanhua Innowick Drilling Machinery Co ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • 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
    • F15B13/026—Pressure compensating valves
    • 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
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
    • F16K37/0075—For recording or indicating the functioning of a valve in combination with test equipment
    • F16K37/0083—For recording or indicating the functioning of a valve in combination with test equipment by measuring valve parameters
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure

Abstract

The invention relates to the technical field of metallurgical equipment, in particular to a hydraulic station, an action control system, a method and electronic equipment of a new energy furnace dismantling machine. In the embodiment of the motion control system, the motion control system is provided with two sets, when the motion control system performs compound motion, the converging reversing valve does not act, and the two sets of actuating elements are respectively provided with power for the two sets of actuating elements, so that the phenomenon that one motion is slow and weak due to the mutual influence of the two motions is avoided. When only the telescopic operation of the large arm is needed, the converging reversing valve is opened, and the opening is the same as that of the servo reversing valve of the hydraulic cylinder, so that the telescopic speed is improved.

Description

Hydraulic station, action control system and method of new energy furnace disassembly machine and electronic equipment
Technical Field
The invention relates to the technical field of metallurgical equipment, in particular to a hydraulic station, an action control system and method of a new energy furnace disassembly machine and electronic equipment.
Background
The furnace disassembling machine is engineering machinery based on hydraulic transmission, is special equipment used in smelting industry, especially steel mill, and is mainly used in the operations of disassembling refractory layers of steel furnace, ladle, etc., drilling and expanding steel tapping hole, slag tapping hole, etc. When being equipped with tools such as hydraulic hammers, single hooks or buckets, the hydraulic hammer can also be used for the construction of engineering such as excavation, crushing, demolishing old facilities, stripping tunnel stones and the like.
The existing furnace dismantling machine mainly uses a diesel engine as a power source, and a few furnace dismantling machines driven by electric power mainly use power grid power supply driving. The transfer and activity sites of the furnace dismantling machine are limited by adopting a power grid power supply mode. Aiming at the defects of a power grid power supply furnace dismantling machine, each equipment manufacturer is tightly researched and developed with a new energy source furnace dismantling machine, the new energy source furnace dismantling machine uses a storage battery as a source of electric energy, and the existing hydraulic system and control mode are adopted, so that the endurance is difficult to meet the production requirement.
Based on the above, a hydraulic station of a new energy furnace disassembly machine needs to be developed and designed so as to improve the energy utilization rate of a hydraulic system and reduce energy consumption.
Disclosure of Invention
The embodiment of the invention provides a hydraulic station, an action control system, a method and electronic equipment of a new energy furnace dismantling machine, which are used for solving the problem of higher comprehensive energy consumption of a hydraulic system in the prior art.
In a first aspect, an embodiment of the present invention provides a hydraulic station of a new energy furnace disassembly machine, including:
the device comprises a motor, a load-sensitive variable pump, a servo reversing valve, a pressure detection device and a pressure compensation valve;
the pressure compensation valve is a two-position three-way servo valve and is provided with a first damping hole; the first port of the pressure compensation valve is communicated with the variable control port of the load sensitive variable pump, the second port of the pressure compensation valve and the oil inlet of the servo reversing valve are communicated with the outlet of the load sensitive variable pump, and the first end of the first damping hole is communicated with the first port of the pressure compensation valve;
the pressure detection device is used for collecting the oil inlet pressure of the servo reversing valve and the working port pressure of the servo reversing valve; the motor is in transmission with the load-sensitive variable pump;
when the oil return port of the servo reversing valve, the third port of the pressure compensation valve and the second end of the first damping hole are communicated with the oil return port of the oil tank, the working pressure difference is enabled to be close to a preset target pressure difference and the input power of the motor is enabled to be minimum by adjusting the rotating speed of the motor and/or the displacement of the load sensitive variable pump, wherein the working pressure difference is the difference between the oil inlet pressure of the servo reversing valve and the working port pressure of the servo reversing valve.
In a second aspect, an embodiment of the present invention provides an action control system, including two sets of hydraulic stations of the new energy furnace disassembly machine according to the first aspect, further including: a rotary motor, a hydraulic cylinder and a converging servo reversing valve;
the hydraulic stations of the two sets of new energy furnace disassembly machines are respectively a first hydraulic system and a second hydraulic system;
the two ports of the rotary motor are respectively communicated with two working ports of a first servo reversing valve, wherein the first servo reversing valve is a servo reversing valve of the first hydraulic system;
the two ports of the hydraulic cylinder are respectively communicated with two working ports of a second servo reversing valve, wherein the second servo reversing valve is a servo reversing valve of the second hydraulic system;
the oil inlet of the confluence servo reversing valve is communicated with the outlet of a first load-sensitive variable pump, and two working ports of the confluence servo reversing valve are respectively communicated with two ports of the hydraulic cylinder, wherein the first load-sensitive variable pump is a load-sensitive variable pump of the first hydraulic system;
when the first servo reversing valve is in the middle position, the opening of the confluence servo reversing valve is adjusted according to the opening of the second servo reversing valve;
And when the first servo reversing valve is non-neutral, the confluence servo reversing valve is neutral.
In a third aspect, an embodiment of the present invention provides a control method applied to the motion control system according to the second aspect, including:
acquiring a first opening indication and a second opening indication, wherein the first opening indication and the second opening indication correspond to the first servo reversing valve and the second servo reversing valve respectively;
according to the first opening indication, the second opening indication and a plurality of pressure values, the opening of the confluence servo reversing valve, the rotating speed of a first motor, the rotating speed of a second motor, the displacement of a first load sensitive variable pump and the displacement of a second load sensitive variable pump are adjusted, so that a first working pressure difference and a second working pressure difference tend to the preset target pressure difference, the input power of the first motor and the input power of the second motor tend to be minimum respectively, wherein the first load sensitive variable pump and the second load sensitive variable pump are the load sensitive variable pump of the first hydraulic system and the load sensitive variable pump of the second hydraulic system respectively, the first motor and the second motor are the motor of the first hydraulic system and the motor of the second hydraulic system respectively, and the plurality of pressure values are acquired based on pressure detection devices of hydraulic stations of the two sets of new energy furnace dismantling machines.
In one possible implementation manner, the adjusting the opening of the merging servo reversing valve, the rotation speed of the first motor, the rotation speed of the second motor, the displacement of the first load-sensitive variable pump and the displacement of the second load-sensitive variable pump according to the first opening indication, the second opening indication and the multiple pressure values includes:
if the first servo reversing valve is in the middle position, the opening degree of the confluence servo reversing valve is adjusted to be the same as that of the second servo reversing valve;
if the first servo reversing valve is not neutral, the confluence servo reversing valve is neutral;
for the first hydraulic system and the second hydraulic system, the following steps are respectively executed:
acquiring working pressure and working pressure difference, wherein the working pressure is the pressure of a working port of a working servo reversing valve, the working pressure difference is the difference between the pressure of an oil inlet of the working servo reversing valve and the working pressure, and the working servo reversing valve is a servo reversing valve communicated with an executing element driven by a hydraulic system;
if the deviation between the working pressure difference and the preset target pressure difference is larger than a first threshold value, the rotating speed of the motor and the displacement of the load sensitive variable pump are adjusted according to the difference between the preset target pressure difference and the working pressure difference;
Otherwise, determining a target rotating speed indication and a target opening indication according to the working pressure, the servo reversing valve opening indication and a motor power consumption model, and respectively adjusting the rotating speed of the motor and the opening of the pressure compensation valve according to the target rotating speed indication and the target opening indication, wherein the motor power consumption model expresses the relation between the working pressure, the opening of the servo reversing valve, the rotating speed of the motor and the opening of the pressure compensation valve and the motor input power, and the target rotating speed indication and the target opening indication are the motor rotating speed and the opening of the pressure compensation valve which enable the motor input power to be minimum under the condition of meeting the working pressure condition and the servo reversing valve opening indication.
In one possible implementation manner, the adjusting the rotation speed of the motor and the displacement of the load sensitive variable pump according to the difference between the preset target pressure difference and the working pressure difference includes:
adjusting the rotating speed of the motor according to a first formula and the difference between the preset target pressure difference and the working pressure difference, wherein the first formula is as follows:
in the method, in the process of the invention,for the rotational speed of the motor, ">Is the difference between the preset target pressure difference and the working pressure difference, +.>、/>And +.>The first coefficient, the second coefficient and the third coefficient are respectively;
Adjusting the opening of the pressure compensation valve according to a second formula and the difference between the preset target pressure difference and the working pressure difference to adjust the displacement of the load sensitive variable pump, wherein the second formula is as follows:
in the method, in the process of the invention,for opening of the pressure compensation valve, +.>、/>And +.>The fourth coefficient, the fifth coefficient and the sixth coefficient, respectively.
In one possible implementation, the motor power consumption model is constructed based on a plurality of data samples, including:
acquiring a plurality of sample sets, wherein the sample sets comprise working pressure data, opening data of a servo reversing valve, motor rotating speed data, opening data of a pressure compensation valve and motor input power data;
respectively inputting the plurality of sample sets into a basic relation model to obtain a plurality of equation sets, wherein the basic relation model represents the relation between the working pressure, the opening degree of a servo reversing valve, the motor rotating speed and the opening degree of a pressure compensation valve and the input power of a motor, and the basic relation model comprises a plurality of coefficients to be determined;
and solving the plurality of undetermined coefficients according to the plurality of equation sets, and taking the basic relation model substituted into the solutions of the plurality of undetermined coefficients as the motor power consumption model.
In one possible implementation, the basic relationship model is:
in the method, in the process of the invention,for the input power of the motor, I is the number of power indication coefficients, < >>Is->The number of power indication coefficients is the number of power indication coefficients,for the comprehensive influence->Is->Personal factor coefficient->Is->Factors influencing the input power of the motor include: working pressure, servo-reversing valveOpening degree, motor rotation speed and opening degree of the pressure compensation valve.
In one possible implementation manner, the determining the target rotation speed indication and the target opening indication according to the working pressure, the servo reversing valve opening indication and the motor power consumption model includes:
acquiring a rotating speed variable, an opening variable, a first disturbance quantity, a second disturbance quantity, a first disturbance inertia and a second disturbance inertia;
respectively inputting the rotation speed variable, the opening variable, the working pressure and the servo reversing valve opening indication into the motor power consumption model, obtaining the output of the motor power consumption model, and taking the output of the motor power consumption model as the pre-disturbance output;
scrambling the rotating speed variable and the opening variable according to the first disturbance quantity, the second disturbance quantity, the first disturbance inertia and the second disturbance inertia, wherein the scrambled rotating speed variable is the sum of the first disturbance quantity, the first disturbance inertia and the rotating speed variable, and the scrambled opening variable is the sum of the second disturbance quantity, the second disturbance inertia and the opening variable;
And (3) a post-interference output acquisition step: the scrambled rotating speed variable, the scrambled opening variable, the working pressure and the servo reversing valve opening indication are respectively input into the motor power consumption model, the output of the motor power consumption model is obtained, and the output of the motor power consumption model is taken as the scrambled output;
if the disturbance deviation ratio is greater than a threshold, the scrambled rotation speed variable and the scrambled opening variable are respectively used as a rotation speed variable and an opening variable, the rotation speed variable and the opening variable are scrambled according to a third formula, the disturbance deviation ratio, the first disturbance quantity, the second disturbance quantity, the first disturbance inertia and the second disturbance inertia, the disturbed output is used as a disturbed output, and the disturbed output is jumped to the disturbed output obtaining step, wherein the disturbance deviation ratio is the ratio of the difference between the disturbed output and the disturbed output to the disturbed output, and the third formula is:
in the method, in the process of the invention,for scrambled variable, ++>For the variable before scrambling, +.>For disturbance inertia->For disturbance quantity +.>Is the disturbance deviation proportion;
otherwise, the scrambled rotating speed variable and the scrambled opening variable are used as the target rotating speed indication and the target opening indication.
In a fourth aspect, embodiments of the present invention provide an electronic device comprising a memory and a processor, the memory having stored therein a computer program executable on the processor, the processor implementing the steps of the method as described in any one of the possible implementations of the third aspect or the third aspect above when the computer program is executed.
Compared with the prior art, the embodiment of the invention has the beneficial effects that:
the embodiment of the invention discloses a hydraulic station of a new energy furnace dismantling machine, which feeds back the pressure difference of an inlet and an outlet of a servo reversing valve through a pressure detection device, and adjusts the displacement of a load sensitive variable pump according to the pressure difference of the inlet and the outlet, so that the pressure and the flow of the hydraulic station of the new energy furnace dismantling machine are adapted to the requirements of an executing element, the operation feeling is improved, and the energy consumption is reduced in a mode of matching with the rotating speed of a motor.
In an embodiment of the motion control system of the present invention, an actuator for realizing a composite motion is provided: the rotary motor and the hydraulic cylinder are also provided with a converging reversing valve. The action control system is provided with two sets of hydraulic stations of the new energy furnace dismantling machine, when the combined action is performed, the converging reversing valve does not act, and the two sets of hydraulic stations of the new energy furnace dismantling machine respectively provide power for the two sets of execution elements, so that the mutual influence of the two actions is avoided, and one action is slow and weak. When only the telescopic operation of the large arm is needed, the converging reversing valve is opened, and the opening is the same as that of the servo reversing valve of the hydraulic cylinder, so that the telescopic speed is improved.
In the control method embodiment of the invention, aiming at an action control system, firstly, the opening degree of the converging servo reversing valve is determined according to the opening degree of the two servo reversing valves, and based on the opening degree of the two servo reversing valves and the opening degree of the converging servo reversing valve, firstly, a target pressure difference is taken as a target, and simultaneously, the rotating speed of a motor and the displacement of a load sensitive variable pump are adjusted, so that the response speed is improved, and when the deviation from the target pressure difference is smaller, the state of reducing the input power of the motor, namely, the state of energy-saving optimizing is brought into consideration, and the dynamic property and the energy consumption are considered.
In the embodiment of the control method, the rotating speed variable and the opening variable are input into the motor power consumption model, the rotating speed variable and the opening variable are continuously scrambled under the condition of meeting the working pressure and the opening of the servo reversing valve, so that the optimal solution of the motor power consumption is obtained, and disturbance inertia is added during scrambling, so that the problem of local optimum during optimizing is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other 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 an motion control system provided by an embodiment of the present invention;
FIG. 2 is a flow chart of a control method provided by an embodiment of the present invention;
fig. 3 is a functional block diagram of an electronic device according to an embodiment of the present invention.
In the figure:
a motor 101;
load-sensitive variable pump 102;
a servo directional valve 103;
a pressure detection device 104;
a pressure compensating valve 105;
a swing motor 106;
a hydraulic cylinder 107;
a confluence switching valve 108;
a first damping hole 109;
and a second damping hole 110.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the following description will be made with reference to the accompanying drawings.
The following describes in detail the embodiments of the present invention, and the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation procedure are given, but the protection scope of the present invention is not limited to the following embodiments.
Fig. 1 is a schematic diagram of an action control system according to an embodiment of the present invention.
As shown in fig. 1, a schematic diagram of an action control system provided by an embodiment of the present invention is shown, and the details are as follows:
in a first aspect, an embodiment of the present invention provides a hydraulic station of a new energy furnace disassembly machine, including:
a motor 101, a load-sensitive variable pump 102, a servo reversing valve 103, a pressure detection device 104, and a pressure compensation valve 105;
the pressure compensation valve 105 is a two-position three-way servo valve, and the pressure compensation valve 105 is provided with a first damping hole 109; a first port of the pressure compensation valve 105 is communicated with a variable control port of the load sensitive variable pump 102, a second port of the pressure compensation valve 105 and an oil inlet of the servo reversing valve 103 are communicated with an outlet of the load sensitive variable pump 102, and a first end of the first damping hole 109 is communicated with the first port of the pressure compensation valve 105;
the pressure detection device 104 is used for collecting the oil inlet pressure of the servo reversing valve 103 and the working port pressure of the servo reversing valve 103; the motor 101 is in transmission with the load-sensitive variable pump 102;
when the oil return port of the servo reversing valve 103, the third port of the pressure compensating valve 105 and the second end of the first damping hole 109 are communicated with the oil return port of the oil tank, the working pressure difference is the difference between the oil inlet pressure of the servo reversing valve 103 and the working port pressure of the servo reversing valve 103 by adjusting the rotation speed of the motor 101 and/or the displacement of the load sensitive variable pump 102 so that the working pressure difference tends to be a preset target pressure difference and the input power of the motor 101 tends to be minimum.
Illustratively, the hydraulic station of the new energy furnace disassembly machine in the embodiment of the invention is used for providing power for an actuator, such as a hydraulic cylinder 107 or a hydraulic motor, wherein the motor 101 drives the load sensitive variable pump 102 to provide required pressure and flow for the actuator through the servo reversing valve 103, and in order to reduce pressure loss and overflow loss in the hydraulic system to improve energy efficiency, the embodiment of the invention is provided with a pressure compensation valve 105 for adjusting the load sensitive variable pump 102. The pressure compensating valve 105 is a two-position three-way servo valve, and a first port of the valve is communicated with a variable control port of the load sensitive variable pump 102 to control the displacement of the load sensitive variable pump 102.
The displacement of the load-sensitive variable pump 102 is controlled by its control port, and when the control port pressure becomes large, the displacement of the load-sensitive variable pump 102 becomes large, and conversely, the displacement is reduced. A first orifice 109 is also connected to the first port of the pressure compensating valve 105, and the other end of the orifice is connected to the oil return port, thereby forming a pressure dividing circuit. Since the second port of the pressure compensating valve 105 communicates with the outlet of the load-sensitive variable pump 102, the pressure of the outlet passes through the pressure compensating valve 105 and the first damping hole 109, and a predetermined pressure is formed at the control port of the load-sensitive variable pump 102, so that the displacement of the load-sensitive variable pump 102 is stabilized at a predetermined displacement.
In addition, in some application scenarios, a second damping hole 110 is further provided on the third port on the pressure compensation valve 105, the damping of the second damping hole 110 is smaller than that of the first damping hole 109, when the displacement of the load sensitive variable pump 102 needs to be rapidly increased, the first port of the pressure compensation valve 105 is communicated with the third port, and the control port of the load sensitive variable pump 102 rapidly releases pressure through the third port of the pressure compensation valve 105 and the second damping hole 110, so that the displacement of the load sensitive variable pump 102 is rapidly increased, and the response speed to load changes is accelerated.
In fact, two factors are considered in the requirement of the displacement of the load-sensitive variable pump 102, the first factor to be considered in the setting of the displacement of the load-sensitive variable pump 102 is that a preset pressure difference is required to be formed between the pressure port and the working port of the servo reversing valve 103, when the preset pressure difference is established, the flow rate of the servo reversing valve 103 and the opening degree of the servo reversing valve 103 are in linear relation, the operation feeling is improved, in addition, since the working port pressure of the servo reversing valve 103 is the same as the pressure of the actuator, the preset pressure difference is formed, and since the pressure difference is usually smaller, the pressure at the outlet of the load-sensitive variable pump 102 is slightly higher than the pressure required by the operation of the actuator, the pressure loss is small, and the energy consumption is reduced.
A second factor to consider for the setting of the displacement of the load-sensitive variable displacement pump 102 is to reduce the effects due to the mechanical and volumetric losses of the pump itself and the loss of electrical energy of the motor 101. If the hydraulic station flow output of the final new energy furnace disassembly machine is changed only by the displacement of the load sensitive variable pump 102, the motor 101 may not work in a higher efficiency interval, resulting in an increase in mechanical loss and electromagnetic loss of the motor 101. Therefore, a preferred combination between the displacement of the load-sensitive variable displacement pump 102 and the rotational speed of the motor 101 is selected so that the electrical energy input by the motor 101 is minimized.
In addition, in addition to the effects of steering feel and energy saving, the setting of the displacement of the load-sensitive variable pump 102 needs to take into consideration the power response characteristics, that is, when the load of the actuator changes or the opening degree of the servo reversing valve 103 changes, the hydraulic station of the new energy furnace dismantling machine should be able to quickly make feedback.
According to the embodiment of the invention, the pressure detection device 104 is used for feeding back the pressure difference of the inlet and the outlet of the servo reversing valve 103, and the displacement of the load sensitive variable pump 102 is regulated according to the pressure difference of the inlet and the outlet, so that the pressure and the flow of the hydraulic station of the new energy furnace dismantling machine are adapted to the requirements of the executing element, the operation feeling is improved, and the energy consumption is reduced in a mode of matching with the rotating speed of the motor 101.
In a second aspect, an embodiment of the present invention provides an action control system, including two sets of hydraulic stations of the new energy furnace disassembly machine according to the first aspect, further including: a swing motor 106, a hydraulic cylinder 107, and a confluence switching valve 108;
the hydraulic stations of the two sets of new energy furnace disassembly machines are respectively a first hydraulic system and a second hydraulic system;
the two ports of the rotary motor 106 are respectively communicated with the two working ports of a first servo reversing valve, wherein the first servo reversing valve is a servo reversing valve of the first hydraulic system;
the two ports of the hydraulic cylinder 107 are respectively communicated with two working ports of a second servo reversing valve, wherein the second servo reversing valve is a servo reversing valve of the second hydraulic system;
an oil inlet of the confluence reversing valve 108 is communicated with an outlet of a first load-sensitive variable pump, and two working ports of the confluence reversing valve 108 are respectively communicated with two ports of the hydraulic cylinder 107, wherein the first load-sensitive variable pump is a load-sensitive variable pump of the first hydraulic system;
when the first servo reversing valve is in the neutral position, the opening of the confluence reversing valve 108 is adjusted according to the opening of the second servo reversing valve;
When the first servo steering valve is not neutral, the merge steering valve 108 is neutral.
By way of example, in hydraulic systems, there may often be situations where multiple actions are operating simultaneously, taking the case of a furnace breaker, the typical working action of which is to work by means of drilling, where both large arm tightening and swiveling actions are required. Because of the existence of the compound action, if a set of new energy source is adopted to provide power for two compound actions, the action with larger load is slow and weak, and the effect of the compound action is affected. Thus, in one solution, a dual pump system is employed, with two pumps powering the two actions.
While in other scenarios only a boom extension and retraction job may be required. For the case of telescopic boom, compared with the boom motion in the combined motion, the motion is more hoped to be quicker, so the mode of adopting double pump confluence is more reasonable.
In an embodiment of the present invention, an actuator for realizing a composite action is provided: the swing motor 106 and the hydraulic cylinder 107 are further provided with a confluence switching valve. The action control system is provided with two sets of hydraulic stations of the new energy furnace dismantling machine, when the combined action is carried out, the converging reversing valve does not act, the hydraulic stations of the two sets of new energy furnace dismantling machines respectively provide power for the two sets of execution elements, and when only the large-arm telescopic operation is needed to be executed, the converging reversing valve is opened, and the opening is the same as the opening of the servo reversing valve 103 of the hydraulic cylinder 107, so that the telescopic speed is improved.
As shown in fig. 2, there is shown a flowchart of a control method provided in a third aspect of the embodiment of the present invention, where the control method is applied to the motion control system according to the second aspect, and includes:
in step 201, a first opening indication and a second opening indication are obtained, wherein the first opening indication and the second opening indication correspond to the first servo reversing valve and the second servo reversing valve respectively;
in step 202, according to the first opening indication, the second opening indication, and a plurality of pressure values, the opening of the confluence reversing valve, the rotational speed of a first motor, the rotational speed of a second motor, the displacement of a first load-sensitive variable pump, and the displacement of a second load-sensitive variable pump are adjusted, so that a first working pressure difference and a second working pressure difference tend to the preset target pressure difference, and the input power of the first motor and the input power of the second motor tend to be minimum, respectively, wherein the first load-sensitive variable pump and the second load-sensitive variable pump are the load-sensitive variable pump of the first hydraulic system and the load-sensitive variable pump of the second hydraulic system, respectively, and the first motor and the second motor are the motors of the first hydraulic system and the motors of the second hydraulic system, respectively, and the plurality of pressure values are acquired based on pressure detection devices of hydraulic stations of the two sets of new energy dismantling furnace machines.
In one possible implementation manner, the adjusting the opening of the merging and reversing valve, the rotation speed of the first motor, the rotation speed of the second motor, the displacement of the first load-sensitive variable pump and the displacement of the second load-sensitive variable pump according to the first opening indication, the second opening indication and the multiple pressure values includes:
if the first servo reversing valve is in the middle position, the opening of the confluence reversing valve is adjusted to be the same as the opening of the second servo reversing valve;
if the first servo reversing valve is not in the middle position, the confluence reversing valve is in the middle position;
for the first hydraulic system and the second hydraulic system, the following steps are respectively executed:
acquiring working pressure and working pressure difference, wherein the working pressure is the pressure of a working port of a working servo reversing valve, the working pressure difference is the difference between the pressure of an oil inlet of the working servo reversing valve and the working pressure, and the working servo reversing valve is a servo reversing valve communicated with an executing element driven by a hydraulic system;
if the deviation between the working pressure difference and the preset target pressure difference is larger than a first threshold value, the rotating speed of the motor and the displacement of the load sensitive variable pump are adjusted according to the difference between the preset target pressure difference and the working pressure difference;
Otherwise, determining a target rotating speed indication and a target opening indication according to the working pressure, the servo reversing valve opening indication and a motor power consumption model, and respectively adjusting the rotating speed of the motor and the opening of the pressure compensation valve according to the target rotating speed indication and the target opening indication, wherein the motor power consumption model expresses the relation between the working pressure, the opening of the servo reversing valve, the rotating speed of the motor and the opening of the pressure compensation valve and the motor input power, and the target rotating speed indication and the target opening indication are the motor rotating speed and the opening of the pressure compensation valve which enable the motor input power to be minimum under the condition of meeting the working pressure condition and the servo reversing valve opening indication.
Illustratively, as described above, the input power of the motor is mainly affected by the overall efficiency of the motor itself and the overall efficiency of the load-sensitive variable displacement pump, and the optimum energy-saving effect can be achieved only when the efficiency integration therebetween is the highest, in which the response speed to the load change and the convenience of operation are also considered.
According to the embodiment of the invention, aiming at an action control system, firstly, the opening degree of the converging reversing valve is determined according to the opening degrees of the two servo reversing valves, and based on the opening degrees of the two servo reversing valves and the opening degree of the converging reversing valve, firstly, a target pressure difference is taken as a target, meanwhile, the rotating speed of a motor and the displacement of a load sensitive variable pump are adjusted, the response speed is improved, and when the deviation from the target pressure difference is smaller, the state of reducing the input power of the motor, namely the state of energy-saving optimizing, is entered, and both the dynamic property and the energy consumption are considered.
For the energy-saving optimizing aspect, the embodiment of the invention constructs a relation model of the working pressure, the opening degree of the servo reversing valve, the motor rotating speed and the opening degree of the pressure compensating valve and the input power of the motor based on experimental data, and searches a preferable and energy-saving combination of the motor rotating speed and the displacement of the load-sensitive variable pump from the model.
In one possible implementation manner, the adjusting the rotation speed of the motor and the displacement of the load sensitive variable pump according to the difference between the preset target pressure difference and the working pressure difference includes:
adjusting the rotating speed of the motor according to a first formula and the difference between the preset target pressure difference and the working pressure difference, wherein the first formula is as follows:
in the method, in the process of the invention,for the rotational speed of the motor, ">Is the difference between the preset target pressure difference and the working pressure difference, +.>、/>And +.>The first coefficient, the second coefficient and the third coefficient are respectively;
adjusting the opening of the pressure compensation valve according to a second formula and the difference between the preset target pressure difference and the working pressure difference to adjust the displacement of the load sensitive variable pump, wherein the second formula is as follows:
in the method, in the process of the invention,for opening of the pressure compensation valve, +.>、/>And +.>The fourth coefficient, the fifth coefficient and the sixth coefficient, respectively.
In terms of improving the power response speed, the embodiment of the invention respectively adjusts the rotating speed of the motor and the displacement of the load sensitive variable pump based on the deviation between the working pressure difference and the preset target pressure difference, and applies a first formula to adjust the rotating speed of the motor:
in the method, in the process of the invention,for the rotational speed of the motor, ">Is the difference between the preset target pressure difference and the working pressure difference, +.>、/>And +.>The first coefficient, the second coefficient and the third coefficient are respectively.
For the displacement aspect of the load sensitive variable pump, since the displacement of the pump is positively correlated with the opening of the pressure compensation valve, the embodiment of the invention applies the second formula to adjust the opening of the pressure compensation valve to realize the adjustment of the displacement of the load sensitive variable pump:
in the method, in the process of the invention,for opening of the pressure compensation valve, +.>、/>And +.>The fourth coefficient, the fifth coefficient and the sixth coefficient, respectively.
In one possible implementation, the motor power consumption model is constructed based on a plurality of data samples, including:
acquiring a plurality of sample sets, wherein the sample sets comprise working pressure data, opening data of a servo reversing valve, motor rotating speed data, opening data of a pressure compensation valve and motor input power data;
respectively inputting the plurality of sample sets into a basic relation model to obtain a plurality of equation sets, wherein the basic relation model represents the relation between the working pressure, the opening degree of a servo reversing valve, the motor rotating speed and the opening degree of a pressure compensation valve and the input power of a motor, and the basic relation model comprises a plurality of coefficients to be determined;
And solving the plurality of undetermined coefficients according to the plurality of equation sets, and taking the basic relation model substituted into the solutions of the plurality of undetermined coefficients as the motor power consumption model.
In one possible implementation, the basic relationship model is:
in the method, in the process of the invention,for the input power of the motor, I is the number of power indication coefficients, < >>Is->The number of power indication coefficients is the number of power indication coefficients,for the comprehensive influence->Is->Personal factor coefficient->Is->Factors influencing the input power of the motor include: working pressure, opening degree of the servo reversing valve, motor rotation speed and opening degree of the pressure compensation valve.
In one possible implementation manner, the determining the target rotation speed indication and the target opening indication according to the working pressure, the servo reversing valve opening indication and the motor power consumption model includes:
acquiring a rotating speed variable, an opening variable, a first disturbance quantity, a second disturbance quantity, a first disturbance inertia and a second disturbance inertia;
respectively inputting the rotation speed variable, the opening variable, the working pressure and the servo reversing valve opening indication into the motor power consumption model, obtaining the output of the motor power consumption model, and taking the output of the motor power consumption model as the pre-disturbance output;
Scrambling the rotating speed variable and the opening variable according to the first disturbance quantity, the second disturbance quantity, the first disturbance inertia and the second disturbance inertia, wherein the scrambled rotating speed variable is the sum of the first disturbance quantity, the first disturbance inertia and the rotating speed variable, and the scrambled opening variable is the sum of the second disturbance quantity, the second disturbance inertia and the opening variable;
and (3) a post-interference output acquisition step: the scrambled rotating speed variable, the scrambled opening variable, the working pressure and the servo reversing valve opening indication are respectively input into the motor power consumption model, the output of the motor power consumption model is obtained, and the output of the motor power consumption model is taken as the scrambled output;
if the disturbance deviation ratio is greater than a threshold, the scrambled rotation speed variable and the scrambled opening variable are respectively used as a rotation speed variable and an opening variable, the rotation speed variable and the opening variable are scrambled according to a third formula, the disturbance deviation ratio, the first disturbance quantity, the second disturbance quantity, the first disturbance inertia and the second disturbance inertia, the disturbed output is used as a disturbed output, and the disturbed output is jumped to the disturbed output obtaining step, wherein the disturbance deviation ratio is the ratio of the difference between the disturbed output and the disturbed output to the disturbed output, and the third formula is:
In the method, in the process of the invention,for scrambled variable, ++>For the variable before scrambling, +.>For disturbance inertia->For disturbance quantity +.>Is the disturbance deviation proportion;
otherwise, the scrambled rotating speed variable and the scrambled opening variable are used as the target rotating speed indication and the target opening indication.
Illustratively, as described above, embodiments of the present invention construct a motor power consumption model based on experimental data, and in terms of the construction, first a plurality of experimental data sets, each experimental data set comprising: working pressure data, opening data of a servo reversing valve, motor rotation speed data, opening data of a pressure compensation valve and motor input power data.
Then, building a basic model of the relation between the working pressure, the opening degree of the servo reversing valve, the motor rotating speed and the opening degree of the pressure compensation valve and the input power of the motor:
in the method, in the process of the invention,for the input power of the motor, I is the number of power indication coefficients, < >>Is->The number of power indication coefficients is the number of power indication coefficients,for the comprehensive influence->Is->Personal factor coefficient->Is->Factors influencing the input power of the motor include: working pressure, opening degree of the servo reversing valve, motor rotation speed and opening degree of the pressure compensation valve. / >
The model has a plurality of coefficients, the experimental data set is respectively substituted into the basic model, an equation about the plurality of coefficients is obtained, when the plurality of equations are combined and solved, the numerical values of the plurality of coefficients can be determined, and the numerical values of the plurality of coefficients are substituted into the basic model, so that the construction of the model is completed.
The above model gives an indication of the motor input power based on the operating pressure, the opening of the servo reversing valve, the motor speed and the opening of the pressure compensating valve, while we have optimized the goal of finding the combination of the motor speed and the pressure compensating valve that minimizes the motor input power based on the operating pressure and the opening of the servo reversing valve. Therefore, a model-based optimization process is also needed.
In the aspect of optimizing, the method and the device realize optimizing by continuously adding disturbance to the rotating speed variable and the opening variable according to the variation condition of the motor input power instruction output by the model under the condition of meeting the working pressure and the opening of the servo reversing valve.
Specifically, the working pressure, the opening degree of the servo reversing valve, the rotating speed variable and the opening degree variable are input into a model to obtain disturbance output, disturbance is added into the rotating speed variable and the opening degree variable, after the disturbance is carried out, the working pressure, the opening degree of the servo reversing valve, the rotating speed variable and the opening degree variable are input into the model again to obtain disturbance output, deviation of the disturbance output and the disturbance output is compared, the disturbance is carried out on the rotating speed variable and the opening degree variable according to the deviation until the deviation of the disturbance output and the disturbance output meets the expected requirement, iteration is completed at the moment, the rotating speed variable and the opening degree variable are used as target rotating speed indication and target opening degree indication, and the rotating speed of the motor and the opening degree of the pressure compensation valve are adjusted according to the target rotating speed indication and the target opening degree indication.
In fact, in order to avoid sinking into the local optimum, the above-mentioned optimizing process also adds disturbance inertia during scrambling to help to cross over the local optimum, so the scrambling process of the embodiment of the present invention is as follows:
in the method, in the process of the invention,for scrambled variable, ++>For the variable before scrambling, +.>For disturbance inertia->For disturbance quantity +.>Is the disturbance deviation ratio.
According to the hydraulic station implementation mode of the new energy furnace dismantling machine, the pressure detection device is used for feeding back the pressure difference of the inlet and the outlet of the servo reversing valve, and the displacement of the load sensitive variable pump is adjusted according to the pressure difference of the inlet and the outlet, so that the pressure and the flow of the hydraulic station of the new energy furnace dismantling machine are adapted to the requirements of the executing element, the operation feeling is improved, and the energy consumption is reduced in a mode of matching with the rotating speed of the motor.
In an embodiment of the motion control system of the present invention, an execution element for realizing a composite motion is provided: the rotary motor and the hydraulic cylinder are also provided with a converging reversing valve. The action control system is provided with two sets of hydraulic stations of the new energy furnace dismantling machine, when the combined action is performed, the converging reversing valve does not act, and the two sets of hydraulic stations of the new energy furnace dismantling machine respectively provide power for the two sets of execution elements, so that the mutual influence of the two actions is avoided, and one action is slow and weak. When only the telescopic operation of the large arm is needed, the converging reversing valve is opened, and the opening is the same as that of the servo reversing valve of the hydraulic cylinder, so that the telescopic speed is improved.
According to the embodiment of the invention, aiming at an action control system, firstly, the opening degree of the converging reversing valve is determined according to the opening degrees of the two servo reversing valves, and based on the opening degrees of the two servo reversing valves and the opening degree of the converging reversing valve, firstly, a target pressure difference is taken as a target, meanwhile, the rotating speed of a motor and the displacement of a load sensitive variable pump are adjusted, the response speed is improved, and when the deviation from the target pressure difference is smaller, the state of reducing the input power of the motor, namely the state of energy-saving optimizing, is entered, and both the dynamic property and the energy consumption are considered.
According to the invention, the rotation speed variable and the opening variable are input into the motor power consumption model, and under the condition of meeting the working pressure and the opening of the servo reversing valve, the optimal solution of the motor power consumption is obtained by continuously scrambling the rotation speed variable and the opening variable, and disturbance inertia is added during scrambling, so that the problem of local optimum during optimizing is avoided.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
The following are device embodiments of the invention, for details not described in detail therein, reference may be made to the corresponding method embodiments described above.
Fig. 3 is a functional block diagram of an electronic device provided by an embodiment of the present invention. As shown in fig. 3, the electronic apparatus 3 of this embodiment includes: a processor 300 and a memory 301, said memory 301 having stored therein a computer program 302 executable on said processor 300. The processor 300 implements the steps of the various control methods and embodiments described above, such as steps 201 through 202 shown in fig. 2, when executing the computer program 302.
Illustratively, the computer program 302 may be partitioned into one or more modules/units that are stored in the memory 301 and executed by the processor 300 to accomplish the present invention.
The electronic device 3 may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The electronic device 3 may include, but is not limited to, a processor 300, a memory 301. It will be appreciated by those skilled in the art that fig. 3 is merely an example of the electronic device 3 and does not constitute a limitation of the electronic device 3, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the electronic device 3 may further include an input-output device, a network access device, a bus, etc.
The processor 300 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, 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 301 may be an internal storage unit of the electronic device 3, such as a hard disk or a memory of the electronic device 3. The memory 301 may also be an external storage device of the electronic device 3, for example, a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, etc. that are provided on the electronic device 3. Further, the memory 301 may also include both an internal storage unit and an external storage device of the electronic device 3. The memory 301 is used for storing the computer program 302 and other programs and data required by the electronic device 3. The memory 301 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment 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, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, and will not be described herein again.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and the details or descriptions of other embodiments may be referred to for those parts of an embodiment that are not described in detail or are described in detail.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or combinations of computer software and electronic hardware. 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 the embodiments provided in the present invention, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other manners. For example, the apparatus/electronic device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on 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.
In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, 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 modules/units, 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 this understanding, the present invention may also be implemented by implementing all or part of the procedures in the methods of the above embodiments, or by instructing the relevant hardware by a computer program, where the computer program may be stored in a computer readable storage medium, and the computer program may be implemented by implementing the steps of the embodiments of the methods and apparatuses described above when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, an electrical carrier wave signal, a telecommunication signal, a software distribution medium, and so forth.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limited thereto; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and they should be included in the protection scope of the present invention.

Claims (6)

1. The motion control system is characterized by comprising two sets of hydraulic stations of the new energy furnace dismantling machine, and further comprising:
a swing motor (106), a hydraulic cylinder (107), and a confluence reversing valve (108);
wherein,
the hydraulic station of the new energy furnace dismantling machine comprises a motor (101), a load sensitive variable pump (102), a servo reversing valve (103), a pressure detection device (104) and a pressure compensation valve (105);
the pressure compensation valve (105) is a two-position three-way servo valve, and the pressure compensation valve (105) is provided with a first damping hole (109);
a first port of the pressure compensation valve (105) is communicated with a variable control port of the load sensitive variable pump (102), a second port of the pressure compensation valve (105) and an oil inlet of the servo reversing valve (103) are communicated with an outlet of the load sensitive variable pump (102), and a first end of the first damping hole (109) is communicated with the first port of the pressure compensation valve (105);
The pressure detection device (104) is used for collecting the oil inlet pressure of the servo reversing valve (103) and the working port pressure of the servo reversing valve (103);
the motor (101) is in transmission with the load-sensitive variable pump (102);
when the oil return port of the servo reversing valve (103), the third port of the pressure compensation valve (105) and the second end of the first damping hole (109) are communicated with the oil return port of an oil tank, the working pressure difference is made to be a preset target pressure difference and the input power of the motor (101) is made to be minimum by adjusting the rotating speed of the motor (101) and/or the displacement of the load sensitive variable pump (102);
the working pressure difference is the difference between the pressure of an oil inlet of the servo reversing valve (103) and the pressure of a working port of the servo reversing valve (103);
the hydraulic stations of the two sets of new energy furnace disassembly machines are respectively a first hydraulic system and a second hydraulic system;
two ports of the rotary motor (106) are respectively communicated with two working ports of a first servo reversing valve, wherein the first servo reversing valve is a servo reversing valve of the first hydraulic system;
two ports of the hydraulic cylinder (107) are respectively communicated with two working ports of a second servo reversing valve, wherein the second servo reversing valve is a servo reversing valve of the second hydraulic system;
An oil inlet of the confluence reversing valve (108) is communicated with an outlet of a first load-sensitive variable pump, and two working ports of the confluence reversing valve (108) are respectively communicated with two ports of the hydraulic cylinder (107), wherein the first load-sensitive variable pump is a load-sensitive variable pump of the first hydraulic system;
when the first servo reversing valve is in the middle position, the opening of the converging reversing valve (108) is adjusted according to the opening of the second servo reversing valve, wherein the first servo reversing valve, the second servo reversing valve and the converging reversing valve (108) are all reversing valves with O-shaped middle position functions;
when the first servo reversing valve is not neutral, the confluence reversing valve (108) is neutral.
2. A control method applied to the motion control system according to claim 1, comprising:
acquiring a first opening indication and a second opening indication, wherein the first opening indication and the second opening indication correspond to the first servo reversing valve and the second servo reversing valve respectively;
according to the first opening indication, the second opening indication and the pressure values, adjusting the opening of the confluence reversing valve, the rotating speed of the first motor, the rotating speed of the second motor, the displacement of the first load-sensitive variable pump and the displacement of the second load-sensitive variable pump so that a first working pressure difference and a second working pressure difference tend to the preset target pressure difference and the input power of the first motor and the input power of the second motor tend to be minimum respectively;
The first load-sensitive variable pump and the second load-sensitive variable pump are respectively the load-sensitive variable pump of the first hydraulic system and the load-sensitive variable pump of the second hydraulic system, the first motor and the second motor are respectively the motor of the first hydraulic system and the motor of the second hydraulic system, and the pressure values are acquired based on pressure detection devices of hydraulic stations of the two sets of new energy furnace disassembly machines;
wherein,
the adjusting the opening of the confluence reversing valve, the rotating speed of the first motor, the rotating speed of the second motor, the displacement of the first load sensitive variable pump and the displacement of the second load sensitive variable pump according to the first opening indication, the second opening indication and the pressure values comprises the following steps:
if the first servo reversing valve is in the middle position, the opening of the confluence reversing valve is adjusted to be the same as the opening of the second servo reversing valve;
if the first servo reversing valve is not in the middle position, the confluence reversing valve is in the middle position;
for the first hydraulic system and the second hydraulic system, the following steps are respectively executed:
acquiring working pressure and working pressure difference, wherein the working pressure is the pressure of a working port of a working servo reversing valve, the working pressure difference is the difference between the pressure of an oil inlet of the working servo reversing valve and the working pressure, and the working servo reversing valve is a servo reversing valve communicated with an executing element driven by a hydraulic system;
If the deviation between the working pressure difference and the preset target pressure difference is larger than a first threshold value, the rotating speed of the motor and the displacement of the load sensitive variable pump are adjusted according to the difference between the preset target pressure difference and the working pressure difference;
otherwise, determining a target rotating speed indication and a target opening indication according to the working pressure, the servo reversing valve opening indication and a motor power consumption model, and respectively adjusting the rotating speed of the motor and the opening of the pressure compensation valve according to the target rotating speed indication and the target opening indication, wherein the motor power consumption model expresses the relation between the working pressure, the opening of the servo reversing valve, the rotating speed of the motor and the opening of the pressure compensation valve and the motor input power, and the target rotating speed indication and the target opening indication are the motor rotating speed and the opening of the pressure compensation valve which enable the motor input power to be minimum under the condition of meeting the working pressure condition and the servo reversing valve opening indication;
wherein,
the adjusting the rotation speed of the motor and the displacement of the load sensitive variable pump according to the difference between the preset target pressure difference and the working pressure difference comprises the following steps:
adjusting the rotating speed of the motor according to a first formula and the difference between the preset target pressure difference and the working pressure difference, wherein the first formula is as follows:
In the method, in the process of the invention,for the rotational speed of the motor, ">Is the difference between the preset target pressure difference and the working pressure difference, +.>、/>And +.>The first coefficient, the second coefficient and the third coefficient are respectively;
adjusting the opening of the pressure compensation valve according to a second formula and the difference between the preset target pressure difference and the working pressure difference to adjust the displacement of the load sensitive variable pump, wherein the second formula is as follows:
in the method, in the process of the invention,for opening of the pressure compensation valve, +.>、/>And +.>The fourth coefficient, the fifth coefficient and the sixth coefficient, respectively.
3. The control method according to claim 2, characterized by further comprising, before said determining a target rotation speed indication and a target opening indication from said operating pressure, servo-switching valve opening indication, and motor power consumption model:
acquiring a plurality of sample sets, wherein the sample sets comprise working pressure data, opening data of a servo reversing valve, motor rotating speed data, opening data of a pressure compensation valve and motor input power data;
respectively inputting the plurality of sample sets into a basic relation model to obtain a plurality of equation sets, wherein the basic relation model represents the relation between the working pressure, the opening degree of a servo reversing valve, the motor rotating speed and the opening degree of a pressure compensation valve and the input power of a motor, and the basic relation model comprises a plurality of coefficients to be determined;
And solving the plurality of undetermined coefficients according to the plurality of equation sets, and taking the basic relation model substituted into the solutions of the plurality of undetermined coefficients as the motor power consumption model.
4. A control method according to claim 3, wherein the basic relationship model is:
in the method, in the process of the invention,for the input power of the motor, I is the number of power indication coefficients, < >>Is->Power indicator coefficient>For the comprehensive influence->Is->Personal factor coefficient->Is->Factors influencing the input power of the motor include: working pressure, opening degree of the servo reversing valve, motor rotation speed and opening degree of the pressure compensation valve.
5. The control method according to claim 2, wherein the determining the target rotation speed indication and the target opening indication based on the operating pressure, the servo reversing valve opening indication, and the motor power consumption model includes:
acquiring a rotating speed variable, an opening variable, a first disturbance quantity, a second disturbance quantity, a first disturbance inertia and a second disturbance inertia;
respectively inputting the rotation speed variable, the opening variable, the working pressure and the servo reversing valve opening indication into the motor power consumption model, obtaining the output of the motor power consumption model, and taking the output of the motor power consumption model as the pre-disturbance output;
Scrambling the rotating speed variable and the opening variable according to the first disturbance quantity, the second disturbance quantity, the first disturbance inertia and the second disturbance inertia, wherein the scrambled rotating speed variable is the sum of the first disturbance quantity, the first disturbance inertia and the rotating speed variable, and the scrambled opening variable is the sum of the second disturbance quantity, the second disturbance inertia and the opening variable;
and (3) a post-interference output acquisition step: the scrambled rotating speed variable, the scrambled opening variable, the working pressure and the servo reversing valve opening indication are respectively input into the motor power consumption model, the output of the motor power consumption model is obtained, and the output of the motor power consumption model is taken as the scrambled output;
if the disturbance deviation ratio is greater than a threshold, the scrambled rotation speed variable and the scrambled opening variable are respectively used as a rotation speed variable and an opening variable, the rotation speed variable and the opening variable are scrambled according to a third formula, the disturbance deviation ratio, the first disturbance quantity, the second disturbance quantity, the first disturbance inertia and the second disturbance inertia, the disturbed output is used as a disturbed output, and the disturbed output is jumped to the disturbed output obtaining step, wherein the disturbance deviation ratio is the ratio of the difference between the disturbed output and the disturbed output to the disturbed output, and the third formula is:
In the method, in the process of the invention,for scrambled variable, ++>For the variable before scrambling, +.>For disturbance inertia->For disturbance quantity +.>Is the disturbance deviation proportion;
otherwise, the scrambled rotating speed variable and the scrambled opening variable are used as the target rotating speed indication and the target opening indication.
6. An electronic device comprising a memory and a processor, the memory having stored therein a computer program executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the method according to any of the preceding claims 2-5.
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