CN117553055A - Early warning method for hydraulic system - Google Patents

Early warning method for hydraulic system Download PDF

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Publication number
CN117553055A
CN117553055A CN202311533892.7A CN202311533892A CN117553055A CN 117553055 A CN117553055 A CN 117553055A CN 202311533892 A CN202311533892 A CN 202311533892A CN 117553055 A CN117553055 A CN 117553055A
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CN
China
Prior art keywords
driving element
actual
hydraulic system
actuator
speed range
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Pending
Application number
CN202311533892.7A
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Chinese (zh)
Inventor
倪勇
胡汉宜
廖昌亮
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Chuangming Plastic Machinery Zhejiang Co ltd
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Chuangming Plastic Machinery Zhejiang Co ltd
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Application filed by Chuangming Plastic Machinery Zhejiang Co ltd filed Critical Chuangming Plastic Machinery Zhejiang Co ltd
Priority to CN202311533892.7A priority Critical patent/CN117553055A/en
Publication of CN117553055A publication Critical patent/CN117553055A/en
Pending legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/005—Fault detection or monitoring
    • 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
    • F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
    • F15B20/005—Leakage; Spillage; Hose burst
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/857—Monitoring of fluid pressure systems
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/87—Detection of failures

Abstract

The invention provides a hydraulic system early warning method, which comprises the following steps of: s1, judging whether the actual pressure of the hydraulic system is smaller than a pressure threshold value, if so, executing S2; s2, judging whether the actual rotation speed of the driving element is within the set rotation speed range of the driving element, if so, executing S3; s3, calculating the target speed of the executive component according to the executive component parameters of the current action, and obtaining the minimum value of the target speed range of the executive component; and judging whether the actual speed of the executive component is smaller than the minimum value of the target speed range of the executive component, and if so, judging that the efficiency of the hydraulic system is abnormal. According to the invention, by monitoring the actual pressure of the hydraulic system, the actual rotating speed of the driving element and the actual speed of the executing element, the efficiency abnormality of the hydraulic system caused by oil leakage of the hydraulic system can be judged and early warned in time, and the hydraulic system is prevented from running under an unstable working condition.

Description

Early warning method for hydraulic system
Technical Field
The invention relates to the field of hydraulic systems, in particular to a hydraulic system early warning method.
Background
Hydraulic systems are an important component of automation equipment; in the automatic production process of the automatic equipment, large-flow oil leakage is possibly caused by loosening of a pipeline joint, bursting of a valve body, damage of a sealing ring and the like, so that the efficiency of a hydraulic system is low, and the normal operation of the automatic equipment is influenced.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the early warning method of the hydraulic system, which can judge and early warn whether the efficiency of the hydraulic system is abnormal due to oil leakage or not in time when the hydraulic system performs actions by monitoring the actual pressure of the hydraulic system, the actual rotating speed of the driving element and the actual speed of the executing element so as to avoid the operation of the hydraulic system under an unstable working condition.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
the early warning method of the hydraulic system comprises an early warning judging method, wherein the early warning judging method comprises the following steps:
s1, acquiring actual pressure ActualPress of a hydraulic system, judging whether the actual pressure ActualPress of the hydraulic system is smaller than a pressure threshold value PressMin, and executing S2 if the actual pressure ActualPress of the hydraulic system is smaller than the pressure threshold value PressMin;
s2, obtaining a minimum value of a driving element setting rotating speed range according to the negative deviation of the driving element setting rotating speed setPM and the driving element setting rotating speed, and obtaining a maximum value of the driving element setting rotating speed range according to the positive deviation of the driving element setting rotating speed setPM and the driving element setting rotating speed so as to obtain the driving element setting rotating speed range between the minimum value of the driving element setting rotating speed range and the maximum value of the driving element setting rotating speed range;
acquiring the actual rotating speed actual RPM of a driving element in the hydraulic system, judging whether the actual rotating speed actual RPM of the driving element is in the set rotating speed range of the driving element, and executing S3 if the actual rotating speed actual RPM of the driving element is in the set rotating speed range of the driving element;
s3, calculating the target speed TargetVel of the executive component according to the executive component parameters of the current action in the hydraulic system; obtaining the minimum value of the target speed range of the actuator according to the target speed TargetVel of the actuator and the negative deviation of the target speed of the actuator;
and acquiring the actual speed actual of the executing element which acts currently in the hydraulic system, judging whether the actual speed actual of the executing element is smaller than the minimum value of the target speed range of the executing element, and if the actual speed actual of the executing element is smaller than the minimum value of the target speed range of the executing element, the actual speed actual of the executing element is too low, and the efficiency of the hydraulic system is abnormal.
Specifically, the negative deviation of the set rotational speed of the driving element, the positive deviation of the set rotational speed of the driving element and the negative deviation of the target speed of the executing element are set according to the use requirement, and the negative deviation of the set rotational speed of the driving element can be 0, then the set rotational speed SetRPM of the driving element is the minimum value of the set rotational speed range of the driving element; the positive deviation of the set rotating speed of the driving element can be 0, and the set rotating speed SetPM of the driving element is the maximum value of the set rotating speed range of the driving element at the moment; and if the negative deviation of the target speed of the executing element can be 0, the target speed TargetVel of the executing element is the minimum value of the target speed range of the executing element.
By adopting the method, when the hydraulic system executes the action, whether the efficiency of the hydraulic system is abnormal or not can be judged and early-warned in time so as to avoid the operation of the hydraulic system under an unstable working condition; the oil leakage of the hydraulic system is one of reasons for abnormal efficiency of the hydraulic system, and the method can also effectively detect and early warn whether the hydraulic system leaks oil or not, so that the occurrence of the oil leakage of the hydraulic system is prevented.
Further, in S2, the driving element set rotation speed negative deviation and the driving element set rotation speed positive deviation are used as a percentage, and the driving element set rotation speed negative deviation is X 1 In percent, the driving element sets positive deviation of rotating speed as X 2 The minimum value of the rotation speed range set by the driving element is SetRPM (1-X) 1 The maximum value of the set rotation speed range of the driving element is SetRPM (1+x) 2 ％)；
In the S3, the negative deviation of the target speed of the actuator is represented by a percentage, and the negative deviation of the target speed of the actuator is represented by Y 1 The minimum value of the target speed range of the actuator is TargetVel (1-Y 1 ％)。
By adopting the method, the arrangement is more reasonable, and the operation of operators is facilitated; of course, the negative deviation of the set rotational speed of the driving element and the positive deviation of the set rotational speed of the driving element can also adopt specific rotational speed values, and the negative deviation of the target speed of the executing element can also adopt specific speed values;
in some embodiments, the drive element sets a negative rotational speed offset X 1 % positive deviation X from the drive element set rotational speed 2 % equality.
Further, the driving element is a hydraulic pump, the actuator is a hydraulic cylinder, and in the step S3, the target speed TargetVel of the actuator is calculated according to the current actuator parameter of the hydraulic system, including:
a1, calculating to obtain a set theoretical flow of the driving element according to a set rotating speed range of the driving element and the displacement of the driving element;
b1, calculating the cross section area of a hydraulic cylinder cavity corresponding to the hydraulic cylinder according to the type of the hydraulic cylinder corresponding to the action;
c1, calculating according to the theoretical flow set by the driving element and the sectional area of the cavity of the hydraulic cylinder to obtain the target speed TargetVel of the actuating element,
the units are required to be converted and unified in the calculation process; in particular, the method comprises the steps of,
the corresponding units are in brackets.
Further, in A1, a point is selected from the set rotational speed range of the driving element as the theoretical flow calculation rotational speed of the driving element, and the set theoretical flow of the driving element is obtained according to the theoretical flow calculation rotational speed of the driving element and the calculation of the displacement of the driving element, where the formula is as follows:
drive element set theoretical flow = drive element theoretical flow calculation speed
The drive element displacement.
The units are required to be converted and unified in the calculation process; in particular, the method comprises the steps of,
set theoretical flow rate (L/min) =for driving element
The driving element theoretical flow calculation speed (rpm) driving element displacement (cc)/1000, the corresponding units in brackets.
Further, a minimum value of a driving element setting rotation speed range, or a driving element setting rotation speed SetRPM, or a maximum value of the driving element setting rotation speed range in the driving element setting rotation speed range is selected as the driving element theoretical flow calculation rotation speed.
By adopting the method, the calculation of the target speed TargetVel of the executive component is more reasonable; preferably, the minimum value of the set rotating speed range of the driving element is selected as the theoretical flow calculation rotating speed of the driving element.
Further, the driving element is a hydraulic pump, the executing element is a hydraulic cylinder, and in the step S3, the actual speed actual of the executing element that acts currently is obtained by a detection sensor;
or obtaining the actual speed actual of the actuator by calculating the actual rotational speed actual rpm of the actuator, including:
a2, calculating to obtain the actual theoretical flow of the driving element according to the actual rotation speed actual RPM of the driving element and the displacement of the driving element, wherein the formula is as follows:
actual theoretical drive element flow = actual rpm drive element displacement;
b2, calculating the cross section area of a hydraulic cylinder cavity corresponding to the hydraulic cylinder according to the type of the hydraulic cylinder corresponding to the action;
c2, calculating the actual speed actual of the actuator according to the actual theoretical flow of the driving element and the sectional area of the cavity of the hydraulic cylinder,
the units are required to be converted and unified in the calculation process; in particular, the method comprises the steps of,
the corresponding units are in brackets.
Preferably, in the step S3, the actual speed actual of the currently acting actuator is obtained by a detection sensor, so that the value of the actual speed actual of the actuator is more accurate.
Further, if the hydraulic cylinder type is a rodless cavity hydraulic cylinder, the calculation formula of the corresponding hydraulic cylinder cavity cross-sectional area is:
hydraulic cylinder cavity cross-sectional area = pi hydraulic cylinder radius 2 ；
If the hydraulic cylinder type is a hydraulic cylinder with a rod cavity, the corresponding calculation formula of the cross section area of the hydraulic cylinder cavity is as follows:
hydraulic cylinder cavity cross-sectional area = pi (hydraulic cylinder radius-piston rod radius) 2 。
By adopting the method, the early warning judging method can be applied to a hydraulic cylinder without a rod cavity and a hydraulic cylinder with a rod cavity, and the type of an executing element corresponding to the executing action of the hydraulic system is set just before executing;
the units are required to be converted and unified in the calculation process; specifically, the unit of the radius of the hydraulic cylinder and the radius of the piston rod is mm, and the unit of the cross section area of the cavity of the hydraulic cylinder is mm 2 。
Further, the driving element set rotation speed SetRPM is obtained according to the driving element set rotation speed percentage (%), and the formula is as follows:
setrpm=drive element set rotation speed percentage (%) drive element maximum rotation speed.
By adopting the method, the setting of the set rotating speed SetPM of the driving element is more reasonable, and the operation of operators is facilitated.
Further, the hydraulic system early warning method comprises the following steps:
s0, judging whether the duration of the current action of the hydraulic system is greater than or equal to a first duration T when the hydraulic system executes an action 1 If the hydraulic system executes the duration of the current actionThe time is greater than or equal to the first time length T 1 Executing an early warning judgment method;
if the duration of the current action performed by the hydraulic system is less than the first duration T 1 The early warning judgment method is not executed.
The hydraulic system needs to enable the driving element to start running, the system builds oil pressure and the actuating element to start running when the actuating action is just started; by adopting the method, the early warning judgment is carried out on the first duration T just after the execution of the action 1 The early warning judgment method is not executed, so that erroneous judgment is avoided, and normal operation is influenced;
specifically, the first time period T 1 Equal to 1 second.
Further, when the early warning judging method is executed, timing the execution time of the early warning judging method to obtain the judging duration time;
the early warning judging method further comprises the following steps: s2.5, before determining whether the actual speed actual of the actuator is less than the minimum value of the target speed range of the actuator in preparation for executing S3 or executing S3, determining whether the determination duration is greater than or equal to the second duration T 2 If the duration is not less than the second duration T 2 Continuing to execute S3; if the duration is less than the second duration T 2 S1 is performed.
By adopting the method, when the judging duration is greater than or equal to the second duration T 2 Judging whether the actual speed actual of the execution element is smaller than the minimum value of the target speed range of the execution element or not, so that the early warning judging method is more reasonable, erroneous judgment is avoided, and normal operation is influenced;
specifically, the first time period T 2 Equal to 1 second.
Further, the step S2.5 further includes: judging whether the duration is greater than or equal to the second duration T 2 Before, judging whether the current action of the hydraulic system is finished, if the current action is not finished, judging whether the duration time is more than or equal to the second duration time T 2 ；
If the current action is finished, the processing is not performed.
By adopting the method, the early warning judging method is more reasonable, and the influence on normal operation caused by misjudgment is avoided.
Further, in the step S3, according to the positive deviation between the target speed TargetVel of the actuator and the target speed of the actuator, a maximum value of the target speed range of the actuator is obtained, so as to obtain the target speed range of the actuator between the minimum value of the target speed range of the actuator and the maximum value of the target speed range of the actuator; if the actual speed actual of the actuator is within the target speed range of the actuator, the determination duration is reset and S1 is executed.
By adopting the method, after the early warning judgment method is executed, the second time length T is passed 2 Will be for the second time period T 2 And whether the efficiency of the internal hydraulic system is abnormal or not is detected, so that the early warning judging method is more reasonable.
Further, the positive deviation of the target speed of the actuator is a percentage, and the positive deviation of the target speed of the actuator is Y 2 And the maximum value of the target speed range of the actuator is TargetVel (1+Y) 2 ％)。
By adopting the method, the arrangement is more reasonable, and the operation of operators is facilitated; of course, the positive deviation of the target speed of the executing element can also adopt a specific speed value;
in some embodiments, the actuator target speed negative bias Y 1 % positive deviation from actuator target speed Y 2 % equality.
Specifically, the positive deviation of the target speed of the actuator is set according to the use requirement, and the positive deviation of the target speed of the actuator may be 0, and the target speed TargetVel of the actuator is the maximum value of the target speed range of the actuator at this time.
Further, in the step S1, if the actual pressure ActualPress of the hydraulic system is greater than or equal to the pressure threshold value PressMin, the process is not performed or the step S1 is executed again.
By adopting the method, the early warning judging method is more reasonable.
Further, in S2, if the actual rotation speed actualprpm of the driving element is not within the set rotation speed range of the driving element, the processing is not performed or S2 is performed again or S1 is performed again.
By adopting the method, the early warning judging method is more reasonable.
Compared with the prior art, the invention has the following beneficial effects:
(1) According to the early warning method for the hydraulic system, the actual pressure of the hydraulic system, the actual rotating speed of the driving element and the actual speed of the executing element are monitored, so that when the hydraulic system executes actions, whether the hydraulic system leaks oil or not can be judged and early warned in time, and the hydraulic system is prevented from running under an unstable working condition.
(2) The hydraulic system early warning method is reasonable in design.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is 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 flow chart of a hydraulic system early warning method of the present invention.
Detailed Description
The present application is described in detail below with reference to the attached drawings and specific embodiments.
Other advantages and effects of the present application will become apparent to those skilled in the art from the present disclosure, when the following description of the embodiments is taken in conjunction with the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. The present application may be embodied or carried out in other specific embodiments, and the details of the present application may be modified or changed from various points of view and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present application, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, apparatus may be implemented and/or methods practiced using any number and aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic idea of the present application in a schematic manner.
In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the present invention may be practiced without these specific details.
The following describes the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
Referring to fig. 1, a hydraulic system early warning method includes an early warning judgment method, where the early warning judgment method includes:
s1, acquiring actual pressure ActualPress of a hydraulic system, judging whether the actual pressure ActualPress of the hydraulic system is smaller than a pressure threshold value PressMin, and executing S2 if the actual pressure ActualPress of the hydraulic system is smaller than the pressure threshold value PressMin;
s2, obtaining a minimum value of a driving element setting rotating speed range according to the negative deviation of the driving element setting rotating speed setPM and the driving element setting rotating speed, and obtaining a maximum value of the driving element setting rotating speed range according to the positive deviation of the driving element setting rotating speed setPM and the driving element setting rotating speed so as to obtain the driving element setting rotating speed range between the minimum value of the driving element setting rotating speed range and the maximum value of the driving element setting rotating speed range;
acquiring the actual rotating speed actual RPM of a driving element in the hydraulic system, judging whether the actual rotating speed actual RPM of the driving element is in the set rotating speed range of the driving element, and executing S3 if the actual rotating speed actual RPM of the driving element is in the set rotating speed range of the driving element;
s3, calculating the target speed TargetVel of the executive component according to the executive component parameters of the current action in the hydraulic system; obtaining the minimum value of the target speed range of the actuator according to the target speed TargetVel of the actuator and the negative deviation of the target speed of the actuator;
and acquiring the actual speed actual of the executing element which acts currently in the hydraulic system, judging whether the actual speed actual of the executing element is smaller than the minimum value of the target speed range of the executing element, and if the actual speed actual of the executing element is smaller than the minimum value of the target speed range of the executing element, the actual speed actual of the executing element is too low, and the efficiency of the hydraulic system is abnormal.
Specifically, the negative deviation of the set rotational speed of the driving element, the positive deviation of the set rotational speed of the driving element and the negative deviation of the target speed of the executing element are set according to the use requirement, and the negative deviation of the set rotational speed of the driving element can be 0, then the set rotational speed SetRPM of the driving element is the minimum value of the set rotational speed range of the driving element; the positive deviation of the set rotating speed of the driving element can be 0, and the set rotating speed SetPM of the driving element is the maximum value of the set rotating speed range of the driving element at the moment; and if the negative deviation of the target speed of the executing element can be 0, the target speed TargetVel of the executing element is the minimum value of the target speed range of the executing element.
By adopting the method, when the hydraulic system executes the action, whether the efficiency of the hydraulic system is abnormal or not can be judged and early-warned in time so as to avoid the operation of the hydraulic system under an unstable working condition; the oil leakage of the hydraulic system is one of reasons for abnormal efficiency of the hydraulic system, and the method can also effectively detect and early warn whether the hydraulic system leaks oil or not, so that the occurrence of the oil leakage of the hydraulic system is prevented.
In some embodiments, in S2, the driving element set rotational speed negative deviation and the driving element set rotational speed positive deviation are used as a percentage, the driving element set rotational speed negative deviation being X 1 In percent, the driving element sets positive deviation of rotating speed as X 2 The minimum value of the rotation speed range set by the driving element is SetRPM (1-X) 1 The maximum value of the set rotation speed range of the driving element is SetRPM (1+x) 2 ％)；
In the S3, the negative deviation of the target speed of the actuator is represented by a percentage, and the negative deviation of the target speed of the actuator is represented by Y 1 The minimum value of the target speed range of the actuator is TargetVel (1-Y 1 ％)。
By adopting the method, the arrangement is more reasonable, and the operation of operators is facilitated; of course, the negative deviation of the set rotational speed of the driving element and the positive deviation of the set rotational speed of the driving element can also adopt specific rotational speed values, and the negative deviation of the target speed of the executing element can also adopt specific speed values;
in some embodiments, the drive element sets a negative rotational speed offset X 1 % positive deviation X from the drive element set rotational speed 2 % equality.
In some embodiments, the driving element is a hydraulic pump, the actuator is a hydraulic cylinder, and in the step S3, calculating the target speed TargetVel of the actuator according to the current actuator parameter of the hydraulic system includes:
a1, calculating to obtain a set theoretical flow of the driving element according to a set rotating speed range of the driving element and the displacement of the driving element;
b1, calculating the cross section area of a hydraulic cylinder cavity corresponding to the hydraulic cylinder according to the type of the hydraulic cylinder corresponding to the action;
c1, calculating according to the theoretical flow set by the driving element and the sectional area of the cavity of the hydraulic cylinder to obtain the target speed TargetVel of the actuating element,
the units are required to be converted and unified in the calculation process; in particular, the method comprises the steps of,
the corresponding units are in brackets.
In some embodiments, in the A1, a point is selected from the driving element set rotation speed range as a driving element theoretical flow calculation rotation speed, and the driving element set theoretical flow is calculated according to the driving element theoretical flow calculation rotation speed and the driving element displacement, where the formula is as follows:
drive element set theoretical flow = drive element theoretical flow calculation speed
The drive element displacement.
The units are required to be converted and unified in the calculation process; in particular, the method comprises the steps of,
set theoretical flow rate (L/min) =for driving element
The driving element theoretical flow calculation speed (rpm) driving element displacement (cc)/1000, the corresponding units in brackets.
In some embodiments, a minimum value of the driving element set rotation speed range, or a maximum value of the driving element set rotation speed SetRPM, or a maximum value of the driving element set rotation speed range is selected as the driving element theoretical flow calculation rotation speed.
By adopting the method, the calculation of the target speed TargetVel of the executive component is more reasonable; preferably, the minimum value of the set rotating speed range of the driving element is selected as the theoretical flow calculation rotating speed of the driving element.
In some embodiments, the driving element is a hydraulic pump, the actuator is a hydraulic cylinder, and in the step S3, the actual speed actual of the currently acting actuator is obtained by a detection sensor;
or obtaining the actual speed actual of the actuator by calculating the actual rotational speed actual rpm of the actuator, including:
a2, calculating to obtain the actual theoretical flow of the driving element according to the actual rotation speed actual RPM of the driving element and the displacement of the driving element, wherein the formula is as follows:
actual theoretical drive element flow = actual rpm drive element displacement;
b2, calculating the cross section area of a hydraulic cylinder cavity corresponding to the hydraulic cylinder according to the type of the hydraulic cylinder corresponding to the action;
c2, calculating the actual speed actual of the actuator according to the actual theoretical flow of the driving element and the sectional area of the cavity of the hydraulic cylinder,
the units are required to be converted and unified in the calculation process; in particular, the method comprises the steps of,
the corresponding units are in brackets.
Preferably, in the step S3, the actual speed actual of the currently acting actuator is obtained by a detection sensor, so that the value of the actual speed actual of the actuator is more accurate.
In some embodiments, if the hydraulic cylinder type is a rodless hydraulic cylinder, the calculation formula of the corresponding hydraulic cylinder cavity cross-sectional area is:
hydraulic cylinder cavity cross-sectional area = pi hydraulic cylinder radius 2 ；
If the hydraulic cylinder type is a hydraulic cylinder with a rod cavity, the corresponding calculation formula of the cross section area of the hydraulic cylinder cavity is as follows:
hydraulic cylinder cavity cross-sectional area = pi (hydraulic cylinder radius-piston rod radius) 2 。
By adopting the method, the early warning judging method can be applied to a hydraulic cylinder without a rod cavity and a hydraulic cylinder with a rod cavity, and the type of an executing element corresponding to the executing action of the hydraulic system is set just before executing;
the units are required to be converted and unified in the calculation process; specifically, the unit of the radius of the hydraulic cylinder and the radius of the piston rod is mm, and the unit of the cross section area of the cavity of the hydraulic cylinder is mm 2 。
In some embodiments, the drive element set rotational speed SetRPM is obtained from a drive element set rotational speed percentage (%) as follows:
setrpm=drive element set rotation speed percentage (%) drive element maximum rotation speed.
By adopting the method, the setting of the set rotating speed SetPM of the driving element is more reasonable, and the operation of operators is facilitated.
In some embodiments, the hydraulic system warning method includes:
s0, judging whether the duration of the current action of the hydraulic system is greater than or equal to a first duration T when the hydraulic system executes an action 1 If the duration of the current action executed by the hydraulic system is greater than or equal to the first duration T 1 Executing an early warning judgment method;
if the duration of the current action performed by the hydraulic system is less than the first duration T 1 The early warning judgment method is not executed.
The hydraulic system needs to enable the driving element to start running, the system builds oil pressure and the actuating element to start running when the actuating action is just started; by adopting the method, the early warning judgment is carried out on the first duration T just after the execution of the action 1 The early warning judgment method is not executed, so that erroneous judgment is avoided, and normal operation is influenced;
specifically, the first time period T 1 Equal to 1 second.
In some embodiments, when the early warning judging method is executed, timing the execution time of the early warning judging method to obtain the judging duration time;
the early warning judging method further comprises the following steps: s2.5, before determining whether the actual speed actual of the actuator is less than the minimum value of the target speed range of the actuator in preparation for executing S3 or executing S3, determining whether the determination duration is greater than or equal to the second duration T 2 If the duration is determined to be greater thanEqual to the second time period T 2 Continuing to execute S3; if the duration is less than the second duration T 2 S1 is performed.
By adopting the method, when the judging duration is greater than or equal to the second duration T 2 Judging whether the actual speed actual of the execution element is smaller than the minimum value of the target speed range of the execution element or not, so that the early warning judging method is more reasonable, erroneous judgment is avoided, and normal operation is influenced;
specifically, the first time period T 2 Equal to 1 second.
In some embodiments, the S2.5 further comprises: judging whether the duration is greater than or equal to the second duration T 2 Before, judging whether the current action of the hydraulic system is finished, if the current action is not finished, judging whether the duration time is more than or equal to the second duration time T 2 ；
If the current action is finished, the processing is not performed.
By adopting the method, the early warning judging method is more reasonable, and the influence on normal operation caused by misjudgment is avoided.
In some embodiments, in the step S3, the maximum value of the target speed range of the actuator is obtained according to the positive deviation between the target speed TargetVel of the actuator and the target speed of the actuator, so as to obtain the target speed range of the actuator between the minimum value of the target speed range of the actuator and the maximum value of the target speed range of the actuator; if the actual speed actual of the actuator is within the target speed range of the actuator, the determination duration is reset and S1 is executed.
By adopting the method, after the early warning judgment method is executed, the second time length T is passed 2 Will be for the second time period T 2 And whether the efficiency of the internal hydraulic system is abnormal or not is detected, so that the early warning judging method is more reasonable.
In some embodiments, the actuator target speed positive bias is a percentage, the actuator target speed positive bias is Y 2 And the maximum value of the target speed range of the actuator is TargetVel (1+Y) 2 ％)。
By adopting the method, the arrangement is more reasonable, and the operation of operators is facilitated; of course, the positive deviation of the target speed of the executing element can also adopt a specific speed value;
in some embodiments, the actuator target speed negative bias Y 1 % positive deviation from actuator target speed Y 2 % equality.
Specifically, the positive deviation of the target speed of the actuator is set according to the use requirement, and the positive deviation of the target speed of the actuator may be 0, and the target speed TargetVel of the actuator is the maximum value of the target speed range of the actuator at this time.
In some embodiments, in the step S1, if the actual pressure ActualPress of the hydraulic system is greater than or equal to the pressure threshold pressure min, the step S1 is not performed or is performed again.
By adopting the method, the early warning judging method is more reasonable.
In some embodiments, in the step S2, if the actual rotation speed actualprpm of the driving element is not within the set rotation speed range of the driving element, the step S2 is not performed or the step S1 is performed again.
By adopting the method, the early warning judging method is more reasonable.
The same and similar parts of the embodiments in this specification are all referred to each other, and each embodiment focuses on the differences from the other embodiments.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present application should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. The early warning method of the hydraulic system is characterized by comprising an early warning judging method, wherein the early warning judging method comprises the following steps of:
s1, acquiring actual pressure ActualPress of a hydraulic system, judging whether the actual pressure ActualPress of the hydraulic system is smaller than a pressure threshold value PressMin, and executing S2 if the actual pressure ActualPress of the hydraulic system is smaller than the pressure threshold value PressMin;
s2, obtaining a minimum value of a driving element setting rotating speed range according to the negative deviation of the driving element setting rotating speed setPM and the driving element setting rotating speed, and obtaining a maximum value of the driving element setting rotating speed range according to the positive deviation of the driving element setting rotating speed setPM and the driving element setting rotating speed so as to obtain the driving element setting rotating speed range between the minimum value of the driving element setting rotating speed range and the maximum value of the driving element setting rotating speed range;
acquiring the actual rotating speed actual RPM of a driving element in the hydraulic system, judging whether the actual rotating speed actual RPM of the driving element is in the set rotating speed range of the driving element, and executing S3 if the actual rotating speed actual RPM of the driving element is in the set rotating speed range of the driving element;
s3, calculating the target speed TargetVel of the executive component according to the executive component parameters of the current action in the hydraulic system; obtaining the minimum value of the target speed range of the actuator according to the target speed TargetVel of the actuator and the negative deviation of the target speed of the actuator;
and acquiring the actual speed actual of the executing element which acts currently in the hydraulic system, judging whether the actual speed actual of the executing element is smaller than the minimum value of the target speed range of the executing element, and if the actual speed actual of the executing element is smaller than the minimum value of the target speed range of the executing element, judging that the efficiency of the hydraulic system is abnormal.
2. The hydraulic system warning method of claim 1, wherein: in S2, the driving element set rotation speed negative deviation and the driving element set rotation speed positive deviation are used as percentages, and the driving element set rotation speed negative deviation is X 1 In percent, the driving element sets positive deviation of rotating speed as X 2 The minimum value of the rotation speed range set by the driving element is SetRPM (1-X) 1 The maximum value of the set rotation speed range of the driving element is SetRPM (1+x) 2 ％)；
In the S3, the actuator target speedThe negative deviation adopts percentage, and the target speed of the executive component is negative deviation of Y 1 The minimum value of the target speed range of the actuator is TargetVel (1-Y 1 ％)。
3. The hydraulic system warning method of claim 1, wherein: the driving element is a hydraulic pump, the executing element is a hydraulic cylinder, and in the step S3, a target speed TargetVel of the executing element is calculated according to the executing element parameter of the current action in the hydraulic system, including:
a1, calculating to obtain a set theoretical flow of the driving element according to a set rotating speed range of the driving element and the displacement of the driving element;
b1, calculating the cross section area of a hydraulic cylinder cavity corresponding to the hydraulic cylinder according to the type of the hydraulic cylinder corresponding to the action;
c1, calculating according to the theoretical flow set by the driving element and the sectional area of the cavity of the hydraulic cylinder to obtain the target speed TargetVel of the actuating element,
4. the hydraulic system warning method of claim 3, wherein: in the A1, a point is selected from the set rotational speed range of the driving element as the theoretical flow calculation rotational speed of the driving element, and the set theoretical flow of the driving element is obtained according to the theoretical flow calculation rotational speed of the driving element and the calculation of the displacement of the driving element, and the formula is as follows:
drive element set theoretical flow = drive element theoretical flow calculation speed
Drive element displacement;
and selecting the minimum value of the driving element set rotating speed range, the driving element set rotating speed SetPM or the maximum value of the driving element set rotating speed range in the driving element set rotating speed range as the theoretical flow calculation rotating speed of the driving element.
5. The hydraulic system warning method of claim 1, wherein: the driving element is a hydraulic pump, the executing element is a hydraulic cylinder, and in the step S3, the actual speed actual of the executing element which acts currently is obtained through a detection sensor;
or obtaining the actual speed actual of the actuator by calculating the actual rotational speed actual rpm of the actuator, including:
a2, calculating to obtain the actual theoretical flow of the driving element according to the actual rotation speed actual RPM of the driving element and the displacement of the driving element, wherein the formula is as follows:
actual theoretical drive element flow = actual rpm drive element displacement;
b2, calculating the cross section area of a hydraulic cylinder cavity corresponding to the hydraulic cylinder according to the type of the hydraulic cylinder corresponding to the action;
c2, calculating the actual speed actual of the actuator according to the actual theoretical flow of the driving element and the sectional area of the cavity of the hydraulic cylinder,
6. the hydraulic system warning method according to claim 3 or 5, characterized in that: if the hydraulic cylinder type is a rodless cavity hydraulic cylinder, the corresponding calculation formula of the cross section area of the hydraulic cylinder cavity is as follows:
hydraulic cylinder cavity cross-sectional area = pi hydraulic cylinder radius 2 ；
If the hydraulic cylinder type is a hydraulic cylinder with a rod cavity, the corresponding calculation formula of the cross section area of the hydraulic cylinder cavity is as follows:
hydraulic cylinder cavity cross-sectional area = pi (hydraulic cylinder radius-piston rod radius) 2 。
7. The hydraulic system warning method of claim 1, wherein: the driving element set rotation speed SetRPM is obtained according to the driving element set rotation speed percentage (%) and the formula is as follows:
setrpm=drive element set rotation speed percentage (%) drive element maximum rotation speed.
8. The hydraulic system warning method of claim 1, wherein: comprising the following steps:
s0, judging whether the duration of the current action of the hydraulic system is greater than or equal to a first duration T when the hydraulic system executes an action 1 If the duration of the current action executed by the hydraulic system is greater than or equal to the first duration T 1 Executing an early warning judgment method;
if the duration of the current action performed by the hydraulic system is less than the first duration T 1 The early warning judgment method is not executed;
the first time period T 1 Equal to 1 second.
9. The hydraulic system warning method according to claim 1 or 8, characterized in that: when the early warning judging method is executed, timing the execution time of the early warning judging method to obtain the judging duration time;
the early warning judging method further comprises the following steps: s2.5, before determining whether the actual speed actual of the actuator is less than the minimum value of the target speed range of the actuator in preparation for executing S3 or executing S3, determining whether the determination duration is greater than or equal to the second duration T 2 If the duration is not less than the second duration T 2 Continuing to execute S3; if the duration is less than the second duration T 2 S1 is executed;
the S2.5 further comprises: judging whether the duration is greater than or equal to the second duration T 2 Before, judging whether the current action of the hydraulic system is finished, if the current action is not finished, judging whether the duration time is more than or equal to the second duration time T 2 ；
If the current action is finished, not processing;
the first time period T 2 Equal to 1 second.
10. The hydraulic system warning method of claim 9, wherein:
in the step S3, according to the positive deviation between the target speed TargetVel of the actuator and the target speed of the actuator, the maximum value of the target speed range of the actuator is obtained, so as to obtain the minimum value of the target speed range of the actuator to the maximum value of the target speed range of the actuator; if the actual speed actual of the execution element is within the target speed range of the execution element, resetting the judging duration time and executing S1;
in the step S1, if the actual pressure ActualPress of the hydraulic system is greater than or equal to the pressure threshold value PressMin, the step S1 is not processed or is executed again;
in the step S2, if the actual rotation speed ActualRPM of the driving element is not within the set rotation speed range of the driving element, the step S2 is not performed or the step S1 is performed again;
the positive deviation of the target speed of the executive component adopts a percentage, and the positive deviation of the target speed of the executive component is Y 2 And the maximum value of the target speed range of the actuator is TargetVel (1+Y) 2 ％)。
CN202311533892.7A 2023-11-17 2023-11-17 Early warning method for hydraulic system Pending CN117553055A (en)

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Application Number Priority Date Filing Date Title
CN202311533892.7A CN117553055A (en) 2023-11-17 2023-11-17 Early warning method for hydraulic system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311533892.7A CN117553055A (en) 2023-11-17 2023-11-17 Early warning method for hydraulic system

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Publication Number Publication Date
CN117553055A true CN117553055A (en) 2024-02-13

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