CN117450122B - Hydraulic system, control method and rescue equipment - Google Patents
Hydraulic system, control method and rescue equipment Download PDFInfo
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Classifications
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- 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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
Abstract
The embodiment of the application provides a hydraulic system, a control method and rescue equipment, which are used for solving the problems that flow distribution in engineering mechanical equipment is difficult, response speed is low and the like. The hydraulic system comprises a hydraulic pump, a common rail pipeline, a controller, at least one actuating mechanism and a reversing valve corresponding to each actuating mechanism; the hydraulic pump is connected with the common rail pipeline, the reversing valve is positioned between the actuating mechanism and the common rail pipeline, and the controller is used for determining target total required flow according to the target speed corresponding to each actuating mechanism and determining target common rail pressure according to the load pressure; when the target total power determined by the target common rail pressure does not exceed the limit total power of the hydraulic system and the sum of the oil liquid required flows determined by the target speed does not exceed the limit total flow of the hydraulic system, determining the valve control current of the reversing valve corresponding to the actuating mechanism according to the load pressure of the actuating mechanism for each actuating mechanism, and providing the valve control current for the reversing valve.
Description
Technical Field
The application relates to the field of engineering machinery, in particular to a hydraulic system, a control method and rescue equipment.
Background
The hydraulic system is a core component of walking rescue equipment, and the performance of the hydraulic system directly influences the maneuverability, the operability, the energy conservation and the like of the rescue equipment. At present, the industry mainly adopts a positive flow hydraulic system, a negative flow hydraulic system, a load sensitive hydraulic system and the like, and all three adopt integrated multi-way valves. The multiway valve is used as a core control unit in a hydraulic system and plays an important role in pressure control and flow distribution. In the prior art, the hydraulic system related to the multi-way valve has complex layout and various pipelines, and particularly for an executing mechanism far away from the multi-way valve, the problems of slow response of the hydraulic system, large along-path pressure loss, large oil leakage risk, difficult flow distribution during the compound action of a plurality of mechanisms and the like can be faced.
Disclosure of Invention
The embodiment of the application provides a hydraulic system, a control method and rescue equipment, which are used for solving the problems that flow distribution in engineering mechanical equipment is difficult, response speed is low and the like.
In a first aspect, embodiments of the present application provide a hydraulic system including a hydraulic pump, a common rail line, a controller, at least one actuator, and a reversing valve corresponding to each actuator;
the output end of the hydraulic pump is connected with a high-pressure pipeline in the common rail pipeline;
for each group of actuating mechanism and reversing valve, a first working oil port and a second working oil port of the reversing valve are respectively connected with two ends of the actuating mechanism, an oil inlet of the reversing valve is connected with the high-pressure pipeline, and an oil return port of the reversing valve is connected with a low-pressure pipeline in the common rail pipeline;
the hydraulic pump is used for outputting high-pressure oil to a high-pressure pipeline in the common rail pipeline;
the common rail pipeline is used for conveying high-pressure oil liquid output by the hydraulic pump to the at least one executing mechanism through a reversing valve;
the controller is used for responding to the operation of a user and determining the target speed and the load pressure corresponding to each executing mechanism;
determining a target total demand flow of the hydraulic system according to the target speed corresponding to each executing mechanism, and determining a target common rail pressure of the common rail pipeline according to the maximum load pressure in the load pressures corresponding to each executing mechanism;
when the target total power does not exceed the limit total power of the hydraulic system and the sum of the oil liquid required flows does not exceed the limit total flow of the hydraulic system, determining the valve control current of a reversing valve corresponding to each actuating mechanism according to the load pressure of the actuating mechanism, and providing the valve control current for the reversing valve; the target total power is determined based on the target common rail pressure, and the sum of the oil demand flows is determined based on the target speed.
In one possible implementation, the at least one actuator includes a pressure sensor thereon.
In a possible implementation manner, the high-pressure pipeline comprises a common rail high-pressure sensor, and the low-pressure pipeline comprises a common rail low-pressure sensor.
In a second aspect, an embodiment of the present application provides a control method of a hydraulic system, applied to the hydraulic system in the first aspect, where the method includes:
responding to the operation of a user, and determining the target speed and the load pressure corresponding to each executing mechanism;
determining a target total demand flow of the hydraulic system according to the target speed corresponding to each executing mechanism, and determining a target common rail pressure of the common rail pipeline according to the maximum load pressure in the load pressures corresponding to each executing mechanism;
when the target total power does not exceed the limit total power of the hydraulic system and the sum of the oil liquid required flows does not exceed the limit total flow of the hydraulic system, determining the valve control current of a reversing valve corresponding to each actuating mechanism according to the load pressure of the actuating mechanism, and providing the valve control current for the reversing valve; the target total power is determined based on the target common rail pressure, and the sum of the oil demand flows is determined based on the target speed.
In a possible implementation manner, determining the target total required flow of the hydraulic system according to the target speed corresponding to each execution mechanism includes:
for any executing mechanism, determining the oil liquid required flow of the executing mechanism according to the target speed of the executing mechanism; and taking the sum of all the determined oil liquid required flows as a target total required flow of the hydraulic system.
In a possible implementation manner, the determining the target common rail pressure of the common rail pipeline according to the maximum load pressure in the load pressures corresponding to the execution mechanisms includes: acquiring a differential pressure regulating coefficient and a system set differential pressure, and taking the product of the differential pressure regulating coefficient and the system set differential pressure as a target differential pressure; and determining a target common rail pressure according to the target pressure difference and the maximum load pressure.
In a possible implementation manner, the determining the valve control current of the reversing valve corresponding to the actuator according to the load pressure of the actuator includes: for any executing mechanism, determining a compensation current corresponding to the executing mechanism through a control algorithm according to the current speed of the executing mechanism, and determining a feedforward current corresponding to the executing mechanism according to the load pressure, the flow regulation coefficient of the executing mechanism and the target common rail pressure; and taking the sum of the compensation current and the feedforward current as the valve control current of the reversing valve corresponding to the actuating mechanism.
In a possible implementation manner, the method further includes: when the target total power exceeds the limiting total power, acquiring current available engine power; and determining a differential pressure regulating coefficient according to the current available engine power, the target common rail pressure and the target total required flow.
In a possible implementation manner, the method further includes: when the sum of the oil liquid required flow rate determined by the target speed exceeds the limiting total flow rate, acquiring the current engine speed and the set maximum displacement of the hydraulic pump; and determining a flow regulating coefficient according to the sum of the current engine speed, the set maximum displacement and the oil liquid required flow.
In a third aspect, embodiments of the present application provide a rescue apparatus, including a hydraulic system according to the first aspect and different implementation manners of the first aspect, or implementing a control method of the hydraulic system according to the second aspect and different implementation manners of the second aspect.
The beneficial effects of the application are as follows:
in this application, the hydraulic pump is connected with the common rail line, a reversing valve is connected for each group of actuators, and the reversing valve is connected with the common rail line. After the user operates, the controller determines the target speed and the load pressure corresponding to each executing mechanism; and determining a target total demand flow of the hydraulic system based on the target speed and a target common rail pressure of the common rail line based on the load pressure. And when the target total power determined by the target common rail pressure does not exceed the limit total power of the hydraulic system and the target total flow determined by the target total demand flow does not exceed the limit total flow of the hydraulic system, determining the valve control current of the reversing valve corresponding to the actuating mechanism according to the load pressure of the actuating mechanism for each actuating mechanism, and providing the valve control current for the reversing valve. In the embodiment of the application, the multi-way valve is replaced by the reversing valves distributed near each executing mechanism, so that the hydraulic system and the pipeline layout thereof are simplified, the pressure loss of the system is reduced, and the hydraulic pump can directly convey high-pressure oil to the load port of the executing mechanism through the common rail pipeline. In addition, the variable-pressure common rail technology is adopted in the application, so that the distribution of the flow of the whole hydraulic system and the control of the system pressure can be realized. The hydraulic flow distribution is realized by adopting an electric control method, the dependence degree of the system on the flow distribution of the multi-way valve is greatly reduced, the response of the system is faster, and the action of the whole machine is controlled more agilely and lightly.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, 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 a load-sensitive system according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a distributed common rail hydraulic system according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a control framework of a distributed common rail hydraulic system according to an embodiment of the present disclosure;
FIG. 4 is a flow chart of a control method of a hydraulic system according to an embodiment of the present disclosure;
FIG. 5 is a logic diagram of a control method for a hydraulic system according to an embodiment of the present disclosure;
FIG. 6 is a schematic flow control diagram of a common rail hydraulic system according to an embodiment of the present disclosure;
fig. 7 is a schematic diagram of a control device of a common rail hydraulic system according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The hydraulic system in engineering machinery industry is a core component of the mechanical equipment and consists of a hydraulic pump, a multi-way valve and an executing mechanism. The hydraulic pump is used as a power source of the hydraulic system and is responsible for converting mechanical energy into hydraulic energy and providing required high-pressure oil to the hydraulic system. The multi-way valve has the functions of regulating and controlling the operation of each element of the hydraulic system, controlling the flow direction and the pressure of oil according to the operation requirement, and ensuring that each executing mechanism of the hydraulic system works cooperatively according to the requirement. The actuating mechanism is an end actuating part of the hydraulic system and can realize the working task of the hydraulic system according to the control signal. The application of the hydraulic system technology enables the mechanical equipment to have strong working capacity and flexibility, and can meet the excavation requirements under various working conditions. Meanwhile, the hydraulic system has the advantages of high efficiency, reliability, safety and the like, and provides stable power support for the operation of mechanical equipment.
At present, the industry mainly adopts a positive flow hydraulic system, a negative flow hydraulic system, a load sensitive hydraulic system and the like, and all three adopt integrated multi-way valves. As shown in fig. 1, fig. 1 exemplarily shows a structure of a load sensitive system. Wherein the system comprises 3 actuators. The dotted line is framed to form a multi-way valve, and the multi-way valve in the figure is integrated. For a common medium-sized hydraulic excavator, the common multi-way valve is about 10 groups of valve cores, and the number of the externally connected high-pressure pipelines can be about 12. However, for walking rescue machines, 20 groups of multi-way valves are needed, and the number of external high-pressure pipelines is up to more than 40. In addition, more than 10 actions are operated to coordinate under a specific rescue scene, so that high requirements are met on flow distribution of the multi-way valve, and accurate proportional distribution is difficult to achieve by adopting flow distribution controlled by hydraulic logic.
Taking a walking type rescue machine as an example, the walking type rescue machine is multifunctional rescue equipment in a disaster site, has various basic actions, and comprises twenty groups of actions such as complete machine walking, boarding rotation, lifting and descending of a movable arm, excavating and unloading of a bucket rod, lifting and descending of a supporting leg, deflection of the supporting leg and steering of wheels, and the actions are realized through a hydraulic system and involve execution mechanisms at different positions. The number of high-pressure pipelines around the multi-way valve reaches more than 40, and the pipeline layout is complicated. And because the distance between the multiway valve and the actuating mechanism such as the working arm, the chassis and the like is far, the pressure loss and oil leakage phenomena can occur in the hydraulic transmission process, and the response speed and the working efficiency of the hydraulic system are further affected. In addition, the proportional distribution of the system flow is also a big problem in the multi-mechanism compound action.
Based on the above-mentioned problems, the embodiments of the present application provide a hydraulic system, as shown in fig. 2, wherein the hydraulic system adopts a distributed common rail layout. The reversing valve part is arranged at the inlet of each actuating mechanism, and can directly supply high-pressure oil liquid generated by the hydraulic pump to a load port of the actuating mechanism through a common rail pipeline. As shown in fig. 2, each actuator shown in fig. 2 is a bucket cylinder, a telescopic arm cylinder, a bucket rod cylinder, a leg deflection cylinder, a boom cylinder, a swing motor, a claw cylinder, and a hydraulic pump, respectively. Each actuating mechanism is connected with a common rail pipeline in a distributed mode through a reversing valve. That is, in the present application, the flow direction of the high-pressure oil is: hydraulic pump, common rail pipeline, reversing valve and executing mechanism.
Referring to fig. 3, fig. 3 illustrates a schematic structural diagram of a hydraulic system according to an embodiment of the present application.
The hydraulic system comprises a pressure sensor 1, a hydraulic cylinder 2, a hydraulic motor 3, a hydraulic pump 4, an engine 5, a controller (Vehicle Control Unit, VCU) 6, a pump swing angle sensor 7, a main relief valve 8, a reversing valve 9, an electric proportional direct drive coil 10, a valve core displacement sensor 11, a common rail high pressure sensor 12, a common rail low pressure sensor 13 and a common rail pipeline 14.
Wherein the output of the hydraulic pump 4 is connected to a high pressure line in the common rail line 14. The hydraulic cylinder 2 and the hydraulic motor 3 are used as executing mechanisms, a first working oil port and a second working oil port of the reversing valve 9 are respectively connected with an upper cavity and a lower cavity of the executing mechanism for each group of executing mechanisms and reversing valves 9, an oil inlet of the reversing valve 9 is connected with a high-pressure pipeline of the common rail pipeline 14, and an oil return port of the reversing valve 9 is connected with a low-pressure pipeline of the common rail pipeline 14.
In some embodiments, the hydraulic pump 4 is configured to output high-pressure oil to the common rail 14. And a common rail line 14 for delivering the high-pressure oil output from the hydraulic pump 4 to the actuator via the directional valve 9. As an example, high-pressure oil in the common rail 14 can be fed to the hydraulic cylinder 2 or the hydraulic motor 3 via the directional valve 9.
In one possible implementation, the reversing valve 9 may be implemented as a three-position four-way reversing valve.
In some embodiments, the controller 6 is configured to determine the target speed and the load pressure corresponding to each actuator in response to a user operation. For example, the target opening degree generated by the handle may be determined according to the operation of the driver, and the target speed of the actuator may be determined according to the correspondence between the opening degree and the speed of the actuator. The hydraulic cylinder 2 and the hydraulic motor 3 respectively comprise a pressure sensor 1, and the load pressure of the actuating mechanism can be determined through the pressure sensor 1.
Further, a target total demand flow of the hydraulic system may be determined based on the target speed for each actuator, and a target common rail pressure for common rail line 14 may be determined based on a maximum load pressure of the load pressures for each actuator. Then, when it is determined that the target total power determined by the target common rail pressure does not exceed the defined total power of the hydraulic system and the target total flow determined by the target total demand flow does not exceed the defined total flow of the hydraulic system, for each actuator, determining a valve control current of the reversing valve 9 corresponding to the actuator according to the load pressure of the actuator, and providing the valve control current to the reversing valve 9.
In some embodiments, the two lines of the common rail line 14 each include a common rail high pressure sensor 12 and a common rail low pressure sensor 13. Specifically, the high-pressure line of the common rail line 14 includes the common rail high-pressure sensor 12, and the low-pressure line of the common rail line 14 includes the common rail low-pressure sensor 13.
In some scenarios, the system set pressure differential in common rail line 14 may be determined by common rail high pressure sensor 12 and common rail low pressure sensor 13.
The embodiment of the application provides a control method of a hydraulic system, and the control method is shown in fig. 4. The method may be performed by the hydraulic system shown in fig. 3, in particular by the controller 6 in the hydraulic system. For ease of description, the individual components are not identified below by reference numerals. The specific flow is as follows:
in response to a user operation, a target speed and a load pressure corresponding to each actuator are determined 401.
402, determining a target total demand flow of the hydraulic system according to a target speed corresponding to each actuator, and determining a target common rail pressure of the common rail pipeline according to a maximum load pressure in the load pressures corresponding to each actuator.
In some embodiments, for any actuator, the oil demand flow of the actuator may be determined according to a target speed of the actuator, and the target total demand flow of the hydraulic system may be determined according to a sum of all the oil demand flows.
Specifically, the sum of the oil demand flows and the flow adjustment coefficient may be integrated as a target total demand flow of the hydraulic system. As an example, the target total demand flow satisfies the condition shown in the following formula:
；
wherein,for indicating the target total demand flow,/->For indicating the flow regulation factor,/->For indicating the sum of the oil demand flows.
Wherein,which is used to indicate the oil demand flow of each actuator.
In some embodiments, when the hydraulic cylinder is extended, the oil demand flow satisfies the condition shown in the following formula:
；
wherein,for indicating the bore of the hydraulic cylinder, +.>For indicating a target speed of the hydraulic ram.
In some embodiments, when the hydraulic cylinder is retracted, the oil demand flow satisfies the condition shown in the following formula:
；
wherein,used for indicating the rod diameter of the hydraulic cylinder.
In some embodiments, when the actuator is a hydraulic motor, the oil demand flow satisfies the condition shown in the following equation:
；
wherein,for indicating the displacement of the hydraulic motor, < >>For indicating a target rotational speed of the hydraulic motor, i.e. a target speed +.>Speed ratio for indicating the speed reduction of the hydraulic motor, +.>For indicating the volumetric efficiency of the hydraulic motor.
In some embodiments, the target speed for each actuator satisfies the condition shown in the following equation:
；
wherein,indicating the target speed of the actuator n, +.>For indicating the highest set speed of the actuator n, < >>Indicating the operation instruction of the user.
In some scenarios, a user may execute a plurality of operation instructions on a plurality of actuators, respectively, so that the plurality of actuators together complete a composite action.
In some embodiments, in determining the target common rail pressure, this may be achieved by: acquiring a differential pressure regulating coefficient and a system set differential pressure, and taking the product of the differential pressure regulating coefficient and the system set differential pressure as a target differential pressure; further, the target common rail pressure may be determined from the target pressure difference and the maximum load pressure.
As one example, the target common rail pressure satisfies the condition shown in the following formula:
；
wherein,for indicating the target rail pressure +.>For indicating maximum load pressure +.>For representing a target pressure difference.
In some of the scenarios of the present invention,wherein-> For indicating the load pressure of each actuator.
In some of the scenarios of the present invention,wherein->For indicating the system set pressure difference +.>For representing the differential pressure adjustment coefficient. In some embodiments, +_in the first cycle>Default value is 1, which can be further determined by calculation.
403, when the target total power does not exceed the limit total power of the hydraulic system and the sum of the oil liquid required flows does not exceed the limit total flow of the hydraulic system, determining the valve control current of the reversing valve corresponding to the actuating mechanism according to the load pressure of the actuating mechanism for each actuating mechanism, and providing the valve control current for the reversing valve.
In some embodiments, the target total power is determined based on a target common rail pressure and the sum of the oil demand flows is determined based on a target speed.
In some embodiments, the target total power may be determined by the target common rail pressure and the target total demand flow and compared to a defined total power for the hydraulic system to determine if the target total power exceeds the defined total power.
In some embodiments, determining the valve control current of the reversing valve corresponding to the at least one actuator according to the load pressure of the at least one actuator may be implemented as follows: for any actuator, determining a compensation current corresponding to the actuator through a control algorithm according to the current speed of the actuator, and determining a feedforward current corresponding to the actuator according to the load pressure, the flow regulation coefficient of the actuator and the target common rail pressure. In some cases, each actuator includes a displacement speed sensor, and the current speed of each actuator can be obtained by using the displacement speed sensor.
Further, the sum of the compensation current and the feedforward current can be used as the valve control current of the reversing valve corresponding to the actuating mechanism.
As an example, the valve current of each actuator is divided into two parts, a feed forward current and a compensation current, which can be determined by a PID algorithm. The valve control current satisfies the condition shown in the following formula:
；
wherein,valve-controlled current for indicating actuator n, < >>A feed forward current for representing the execution structure n; />For representing the compensation current of the actuator n. The compensation current can acquire the actual speed of the executing mechanism through a displacement speed sensor, an encoder and the like, and PID control is performed by taking a PID current value as a controlled quantity.
In some embodiments, the feed-forward current satisfiesWhere f (x) is used to represent a valve element opening area-valve controlled current function model, which is related to reversing valve opening characteristics, typically a cubic function fit.
In some embodiments, the valve core opening area satisfies. Wherein A is N The valve element opening area of the reversing valve corresponding to the actuating mechanism n is represented; k (K) Q And the flow regulation coefficient is related to the valve core structure. Wherein,for indicating the actual valve front-valve back pressure difference of actuator n, +.>Can be determined by the difference between the rail pressure sensor and the pressure sensor in the actuator n.
In some embodiments, the currently available engine power is obtained when the target total power exceeds the defined total power. In some scenarios, the currently available engine power is the maximum net power that the engine can provide at the current rotational speed. In some scenarios, the currently available power of the actuator may change as a function of the user's operating instructions.
Further, a new differential pressure adjustment coefficient may be determined based on the currently available engine power, the target common rail pressure, and the target total demand flow.
As one example, the differential pressure adjustment coefficient satisfies the condition described by the following formula:
；
；
wherein K is p For indicating differential pressure regulation factor, P EA Representing currently available engine power, P R Represents the target common rail pressure, Q Tt For representing a target total demand flow.
In some embodiments, the current engine speed and the set maximum displacement of the hydraulic pump are obtained when the target total flow exceeds the defined total flow.
Further, the flow adjustment coefficient can be determined according to the current engine speed, the set maximum displacement and the oil liquid required flow corresponding to each executing mechanism. In some embodiments, a displacement speed sensor is included in the engine, through which the current engine speed may be obtained.
As one example, a current maximum flow rate of the hydraulic system may be determined based on the current engine speed and the set maximum displacement, and a ratio of the current maximum flow rate to a sum of oil demands may be used as the flow adjustment factor. For example, the flow rate adjustment coefficient satisfies the condition shown in the following formula:
；
；
wherein n is E For indicating the current engine speed, V gp For indicating a set maximum displacement of the hydraulic pump, Q t Is used for representing the sum of the oil liquid required flow of each actuating mechanism.
In some embodiments, in response to a user operation, a target speed and load pressure for each actuator is determined based on the operating command and a target total demand flow and a target common rail pressure are calculated. Further, a determination is made as to whether the target total power determined by the target common rail pressure meetsI.e. if the target total power exceeds the defined total power of the hydraulic system. In some scenarios, when it is determined that the target total power determined by the target common rail pressure does not exceed the defined total power of the hydraulic system, it is determined whether the sum of the oil demand flows determined by the target speeds meets the requirement, i.e., whether the sum of the oil demand flows exceeds the defined total flow of the hydraulic system. Otherwise, the differential pressure regulating coefficient K is regulated p And re-calculating the target common rail pressure according to the regulated differential pressure regulating coefficient. When the sum of the oil liquid demand flows determined by the target speed does not exceed the limit total flow of the hydraulic system, calculating the valve control current corresponding to each actuating mechanism, otherwise, determining the flow adjustment coefficient K Q The target total demand flow is recalculated as shown in fig. 5.
Based on the scheme, the differential pressure regulating coefficient and the flow regulating coefficient are regulated based on the limiting total power and the limiting total flow, so that the new target common rail pressure and the target total required flow are determined, and the actuating mechanisms can obtain enough flow within the capacity range of the hydraulic system.
In one possible implementation, the controller may determine the handle angle of the operating handle and the load pressure of each load (i.e., actuator) based on the user's operating instructions. In some scenarios, different actuators correspond to different operating handles. After the user operates the operation handles corresponding to the different execution mechanisms respectively, the handle angles of the operation handles can be obtained. Further, the maximum load pressure Pmax can be determined according to the load pressure of each load, and the pressure difference DeltaP is set with the system max The target common rail pressure Pr is determined. In some embodiments, the setting parameters of each valve core can be determined through the valve core structure of each reversing valve, and the setting parameters are provided by manufacturers and can also be obtained through testing. When Pr does not exceed the limit total power, determining the oil liquid demand flow Q of each load 1 ，Q 2 ，Q 3 ，…，Q n And determines the spool opening area A1 … … An and the hydraulic pump control current Ip for each load. In some scenarios, the control current of the hydraulic pump may be determined by the determined target rail pressureIp, and thus the hydraulic pump outlet pressure, i.e. the pressure in the common rail line, is controlled by controlling the current Ip. Further, the opening degree of the spool connected to each load is determined according to the spool opening area A1 … … An of each load, and the control current I1, … … In of each switching valve is determined according to the opening degree, as shown In fig. 6.
In this application, compared to conventional valve control systems, the variable pressure common rail hydraulic system proposes the concept of variable pressure differential, converting the hydraulic system into a pump control system. In the working process, the valve core is opened to the maximum as much as possible, and the flow is regulated by controlling the differential pressure value, so that the pressure loss of the whole system loop is reduced, and the economical performance of the fuel is improved. In addition, the hydraulic power source can be arbitrarily increased in the hydraulic system, and only the oil taking port is needed to be added on the common rail pipeline, so that the hydraulic system is rapid and convenient.
Based on the same technical concept, referring to fig. 7, an embodiment of the present application provides a control device 700 of a hydraulic system. The apparatus 700 may perform any of the steps of the control method of the hydraulic system described above, and will not be described again here to avoid repetition. The apparatus 700 comprises a first determination unit 701 and a second determination unit 702.
A first determining unit 701, configured to determine a target speed and a load pressure corresponding to each actuator in response to an operation of a user;
determining a target total demand flow of the hydraulic system according to all the determined target speeds, and determining a target common rail pressure of the common rail pipeline according to the maximum load pressure in all the determined load pressures;
and a second determining unit 702, configured to determine, for each actuator, a valve control current of a reversing valve corresponding to the actuator according to a load pressure of the actuator, and provide the valve control current to the reversing valve when it is determined that the target total power determined by the target common rail pressure does not exceed the defined total power of the hydraulic system and the sum of the oil demand flows determined by the target speeds does not exceed the defined total flow of the hydraulic system.
In some embodiments, the first determining unit 701 is specifically configured to, when determining the target total required flow of the hydraulic system according to all the determined target speeds:
for any executing mechanism, determining the oil liquid required flow of the executing mechanism according to the target speed of the executing mechanism;
and taking the sum of all the determined oil liquid required flows as a target total required flow of the hydraulic system.
In some embodiments, the first determining unit 701 is specifically configured to, when determining the target common rail pressure of the common rail pipeline according to the determined maximum load pressure of all the load pressures:
acquiring a differential pressure regulating coefficient and a system set differential pressure, and taking the product of the differential pressure regulating coefficient and the system set differential pressure as a target differential pressure;
and determining a target common rail pressure according to the target pressure difference and the maximum load pressure.
In some embodiments, the second determining unit 702 is specifically configured to, when determining, according to the load pressure of the actuator, a valve control current of a reversing valve corresponding to the actuator:
for any executing mechanism, determining a compensation current corresponding to the executing mechanism through a control algorithm according to the current speed of the executing mechanism, and determining a feedforward current corresponding to the executing mechanism according to the load pressure, the flow regulation coefficient of the executing mechanism and the target common rail pressure;
and taking the sum of the compensation current and the feedforward current as the valve control current of the reversing valve corresponding to the actuating mechanism.
In some embodiments, the second determining unit 702 is further configured to obtain a currently available engine power when the target total power exceeds the defined total power; and determining a differential pressure regulating coefficient according to the current available engine power, the target common rail pressure and the target total required flow.
In some embodiments, the second determining unit 702 is further configured to obtain the current engine speed and the set maximum displacement of the hydraulic pump when the sum of the oil demand flows determined by the target speed exceeds the defined total flow; and determining a flow regulating coefficient according to the sum of the current engine speed, the set maximum displacement and the oil liquid required flow.
In another aspect, the present application provides a computer readable storage medium storing computer instructions that, when executed on a controller, cause the controller to perform any one of the hydraulic system control methods provided by the embodiments of the present application.
In another aspect, embodiments of the present application provide a computer program product comprising a computer program that, when executed by a controller, implements a method for controlling any one of the hydraulic systems provided in the embodiments of the present application.
The embodiment of the application also provides rescue equipment, which can comprise the hydraulic system provided by the embodiment of the application or the controller of the hydraulic system provided by the embodiment of the application. The vehicle provided by the embodiment of the application can realize any control method of the hydraulic system provided by the embodiment of the application.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (10)
1. A hydraulic system, comprising a hydraulic pump, a common rail pipe, a controller, at least one actuator and a reversing valve corresponding to each actuator;
the output end of the hydraulic pump is connected with a high-pressure pipeline in the common rail pipeline;
for each group of actuating mechanism and reversing valve, a first working oil port and a second working oil port of the reversing valve are respectively connected with an upper cavity and a lower cavity of the actuating mechanism, an oil inlet of the reversing valve is connected with the high-pressure pipeline, and an oil return port of the reversing valve is connected with a low-pressure pipeline in the common rail pipeline;
the hydraulic pump is used for outputting high-pressure oil to a high-pressure pipeline in the common rail pipeline;
the common rail pipeline is used for conveying high-pressure oil liquid output by the hydraulic pump to the at least one executing mechanism through a reversing valve;
the controller is used for responding to the operation of a user and determining the target speed and the load pressure corresponding to each executing mechanism;
determining a target total demand flow of the hydraulic system according to the target speed corresponding to each executing mechanism, and determining a target common rail pressure of the common rail pipeline according to the maximum load pressure in the load pressures corresponding to each executing mechanism;
when the target total power does not exceed the limit total power of the hydraulic system and the sum of the oil liquid required flows does not exceed the limit total flow of the hydraulic system, determining the valve control current of a reversing valve corresponding to each actuating mechanism according to the load pressure of the actuating mechanism, and providing the valve control current for the reversing valve; the target total power is determined based on the target common rail pressure, and the sum of the oil demand flows is determined based on the target speed.
2. The hydraulic system of claim 1, wherein the at least one actuator includes a pressure sensor thereon.
3. The hydraulic system of claim 1 or 2, wherein the high pressure line includes a common rail high pressure sensor thereon and the low pressure line includes a common rail low pressure sensor thereon.
4. A control method of a hydraulic system, characterized by being applied to the hydraulic system as claimed in any one of claims 1 to 3, the method comprising:
responding to the operation of a user, and determining the target speed and the load pressure corresponding to each executing mechanism;
determining a target total demand flow of the hydraulic system according to the target speed corresponding to each executing mechanism, and determining a target common rail pressure of the common rail pipeline according to the maximum load pressure in the load pressures corresponding to each executing mechanism;
when the target total power does not exceed the limit total power of the hydraulic system and the sum of the oil liquid required flows does not exceed the limit total flow of the hydraulic system, determining the valve control current of a reversing valve corresponding to each actuating mechanism according to the load pressure of the actuating mechanism, and providing the valve control current for the reversing valve; the target total power is determined based on the target common rail pressure, and the sum of the oil demand flows is determined based on the target speed.
5. The method of claim 4, wherein determining the target total demand flow of the hydraulic system based on the target speed for each actuator comprises:
for any executing mechanism, determining the oil liquid required flow of the executing mechanism according to the target speed of the executing mechanism;
and taking the sum of all the determined oil liquid required flows as a target total required flow of the hydraulic system.
6. The method of claim 4, wherein determining the target common rail pressure of the common rail line based on the maximum load pressure of the load pressures for each of the actuators comprises:
acquiring a differential pressure regulating coefficient and a system set differential pressure, and taking the product of the differential pressure regulating coefficient and the system set differential pressure as a target differential pressure;
and determining a target common rail pressure according to the target pressure difference and the maximum load pressure.
7. The method of claim 4, wherein determining the valve control current of the reversing valve corresponding to the actuator according to the load pressure of the actuator comprises:
for any executing mechanism, determining a compensation current corresponding to the executing mechanism through a control algorithm according to the current speed of the executing mechanism, and determining a feedforward current corresponding to the executing mechanism according to the load pressure, the flow regulation coefficient of the executing mechanism and the target common rail pressure;
and taking the sum of the compensation current and the feedforward current as the valve control current of the reversing valve corresponding to the actuating mechanism.
8. The method of claim 6, wherein the method further comprises:
when the target total power exceeds the limiting total power, acquiring current available engine power;
and determining a differential pressure regulating coefficient according to the current available engine power, the target common rail pressure and the target total required flow.
9. The method of claim 7, wherein the method further comprises:
when the sum of the oil liquid required flow rate determined by the target speed exceeds the limiting total flow rate, acquiring the current engine speed and the set maximum displacement of the hydraulic pump;
and determining a flow regulating coefficient according to the sum of the current engine speed, the set maximum displacement and the oil liquid required flow.
10. Rescue apparatus comprising a hydraulic system according to any one of claims 1-3 or implementing a method of controlling a hydraulic system according to any one of claims 4-9.
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