CN118030664A - Electro-hydraulic control system and control method - Google Patents

Electro-hydraulic control system and control method Download PDF

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Publication number
CN118030664A
CN118030664A CN202410355525.0A CN202410355525A CN118030664A CN 118030664 A CN118030664 A CN 118030664A CN 202410355525 A CN202410355525 A CN 202410355525A CN 118030664 A CN118030664 A CN 118030664A
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CN
China
Prior art keywords
hydraulic cylinder
hydraulic
check valve
pump
pilot
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CN202410355525.0A
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CN118030664B (en
Inventor
程敏
刘保生
丁孺琦
严鑫
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Chongqing University
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Chongqing University
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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
    • 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
    • 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/001—Servomotor systems with fluidic control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with program control derived from a store or timing device; Control devices therefor

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

Abstract

The invention discloses an electrohydraulic control system and a control method, wherein the electrohydraulic control system comprises a controller, a hydraulic cylinder, a detection unit, a hydraulic cylinder driving unit and an energy recovery unit, wherein the detection unit, the hydraulic cylinder driving unit and the energy recovery unit are electrically connected with the controller; the hydraulic cylinder driving unit is connected with the hydraulic cylinder to drive the hydraulic cylinder to work, the detection unit is respectively connected with the hydraulic cylinder and the energy recovery unit and is used for detecting working parameters of the hydraulic cylinder and the energy recovery unit, the controller is used for judging the working state of the hydraulic cylinder according to the working parameters and controlling the energy recovery unit to recover all hydraulic energy of a rodless cavity of the hydraulic cylinder when the hydraulic cylinder is in an overrun retraction state. The invention can control the energy recovery unit to recover all hydraulic energy of the rodless cavity of the hydraulic cylinder when the hydraulic cylinder is in overrunning retraction, thereby improving the energy recovery efficiency.

Description

Electrohydraulic control system and control method
Technical Field
The invention relates to the technical field of hydraulic control, in particular to an electrohydraulic control system and a control method.
Background
Since the 20 th century, the problems of energy shortage and environmental pollution have become serious, and pursuit of high efficiency and low energy consumption has been an important goal of the domestic and foreign manufacturing industries, but in all manufacturing industries, the greenhouse gas generated by non-road mobile machines such as engineering machinery and the like due to energy consumption is relatively large, so how to improve the energy recovery of engineering machinery and reduce the energy consumption has become the current problem to be solved urgently.
In the actual running process of engineering machinery, a large amount of heavy objects can generate abundant gravitational potential energy, such as gravitational potential energy is not utilized, a large amount of energy is wasted, an electrohydraulic control system can recover energy through a servo motor, specifically, the gravitational potential energy of a working device is firstly converted into mechanical energy of a hydraulic pump, then the mechanical energy of the hydraulic pump drives the servo motor to generate power, and finally, generated three-phase alternating current is converted into direct current and stored in a super capacitor, and in the process, the energy is subjected to three-time conversion, and the energy is related to the hydraulic pump, a generator, an inverter and other key components, so that the energy recovery efficiency is low.
In order to improve the energy recovery efficiency, there are also systems for energy recovery by using an energy accumulator in the prior art, and when the energy accumulator is used for recovery, gravitational potential energy of a working device is only required to be converted into mechanical energy of a hydraulic pump and then converted into hydraulic energy through two energy forms, and only one energy conversion element of the hydraulic pump is involved, and although the energy accumulator can improve the energy recovery efficiency, energy loss still exists when the energy is recovered through the hydraulic pump, so that the problem still needs to be solved how to further improve the energy recovery efficiency.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problems that: an electro-hydraulic control system and method are provided that further enhance the efficiency of energy recovery by recovering all hydraulic energy.
In order to solve the technical problems, the invention adopts a technical scheme that: the electro-hydraulic control system comprises a controller, a hydraulic cylinder, a detection unit, a hydraulic cylinder driving unit and an energy recovery unit, wherein the detection unit, the hydraulic cylinder driving unit and the energy recovery unit are electrically connected with the controller; the hydraulic cylinder driving unit is connected with the hydraulic cylinder to drive the hydraulic cylinder to work, the detection unit is respectively connected with the hydraulic cylinder and the energy recovery unit and is used for detecting working parameters of the hydraulic cylinder and the energy recovery unit, the controller is used for judging whether the hydraulic cylinder is in an overrunning retraction state according to the working parameters and controlling the energy recovery unit to recover hydraulic energy of a rodless cavity of the hydraulic cylinder when the hydraulic cylinder is in the overrunning retraction state.
Further, the controller is further used for judging whether the hydraulic cylinder is in an impedance extension state or an overrunning extension state according to the working parameters, and controlling the energy recovery unit to release the stored hydraulic energy when the hydraulic cylinder is in the impedance extension state or the overrunning extension state; and/or
The controller is also used for judging whether the hydraulic cylinder is in an impedance retraction state according to the working parameters, and controlling the energy recovery unit to store oil liquid of a rodless cavity of the hydraulic cylinder when the hydraulic cylinder is in the impedance retraction state.
Further, the hydraulic cylinder driving unit comprises a servo driver electrically connected with the controller, a servo motor electrically connected with the servo driver, a second hydraulic pump connected with an output shaft of the servo motor, a first hydraulic pump in transmission connection with the second hydraulic pump through an electromagnetic clutch and a switching valve connected with the first hydraulic pump, wherein the electromagnetic clutch is electrically connected with the controller; the hydraulic cylinder driving unit further comprises an oil tank, a first one-way valve and a second one-way valve, wherein a first pump oil port of the first hydraulic pump is connected with a rodless cavity of the hydraulic cylinder through a switch valve, the switch valve is electrically connected with the controller, the first pump oil port of the first hydraulic pump is connected with an outlet of the first one-way valve, an inlet of the first one-way valve is connected with the oil tank, and a second pump oil port of the first hydraulic pump is connected with a rod cavity of the hydraulic cylinder; the first pump oil port of the second hydraulic pump is connected with the rodless cavity of the hydraulic cylinder, the second pump oil port of the second hydraulic pump is connected with the energy recovery unit, the second pump oil port of the second hydraulic pump is connected with the outlet of the second one-way valve, and the inlet of the second one-way valve is connected with the oil tank;
The controller sends an instruction to the servo driver according to the rotating speed required by the second hydraulic pump, the servo driver receives the instruction and then converts the instruction into a control signal for the servo motor and sends the control signal to the servo motor, the servo motor adjusts the rotating speed according to the received control signal, the servo motor drives the second hydraulic pump to work, when the electromagnetic clutch is in suction, the second hydraulic pump drives the first hydraulic pump to work, the first hydraulic pump and the second hydraulic pump provide power for the hydraulic cylinder, when the electromagnetic clutch is in disconnection, the power transmission between the first hydraulic pump and the second hydraulic pump is interrupted, and the second hydraulic pump provides power for the hydraulic cylinder.
Further, the hydraulic cylinder driving unit further comprises a first pilot-operated hydraulic check valve, a second accumulator, a third check valve, a fourth check valve and a first filter, wherein the second accumulator, the third check valve, the fourth check valve and the first filter are arranged between the first pilot-operated hydraulic check valve and the second pilot-operated hydraulic check valve, a pilot valve port of the first pilot-operated hydraulic check valve is connected with a rod cavity of the hydraulic cylinder, an inlet of the first pilot-operated hydraulic check valve is connected with an inlet of the second pilot-operated hydraulic check valve, an outlet of the first pilot-operated hydraulic check valve is connected with a rod cavity of the hydraulic cylinder, an outlet of the second pilot-operated hydraulic check valve is connected with a rod cavity of the hydraulic cylinder, a pilot valve port of the second pilot-operated check valve is connected with an outlet of the third check valve, and an inlet of the third check valve is connected with an inlet of the fourth pilot-operated hydraulic check valve through the first filter.
Further, the hydraulic cylinder driving unit further comprises a first overflow valve and a second overflow valve, wherein an inlet of the first overflow valve is connected with the rodless cavity of the hydraulic cylinder, an outlet of the first overflow valve is connected with an inlet of the second pilot-operated hydraulic control one-way valve, an inlet of the second overflow valve is connected with the rod cavity of the hydraulic cylinder, and an outlet of the second overflow valve is connected with an inlet of the first pilot-operated hydraulic control one-way valve.
Further, the hydraulic cylinder driving unit further comprises an oil supplementing loop, the oil supplementing loop comprises an oil supplementing motor and an oil supplementing hydraulic pump connected with an output shaft of the oil supplementing motor, an oil suction port of the oil supplementing hydraulic pump is connected with the oil tank, the oil supplementing loop further comprises a fifth one-way valve, a second filter, a third overflow valve and a third filter, an oil pumping port of the oil supplementing hydraulic pump is connected with an inlet of the fifth one-way valve, an outlet of the fifth one-way valve is connected with an outlet of the fourth one-way valve through the second filter, an inlet of the third overflow valve is connected with the second filter, and an outlet of the third overflow valve is connected with the oil tank through the third filter.
Further, the energy recovery unit comprises a first energy accumulator, a frequency converter connected with the servo motor, a direct current-direct current converter connected with the frequency converter and a capacitor connected with the direct current-direct current converter; the first accumulator is connected with a second pump oil port of the second hydraulic pump.
Further, the detection unit comprises a first pressure sensor connected with the first energy accumulator, a second pressure sensor connected with the rodless cavity of the hydraulic cylinder, a third pressure sensor connected with the rod cavity of the hydraulic cylinder and a displacement sensor connected with a piston rod of the hydraulic cylinder, and the first pressure sensor, the second pressure sensor, the third pressure sensor and the displacement sensor are all electrically connected with the controller;
The working parameters of the energy recovery unit comprise the oil pressure P 3 of the first energy accumulator, and the working parameters of the hydraulic cylinder comprise the oil pressure P 1 of a rodless cavity of the hydraulic cylinder, the oil pressure P 2 of a rod cavity of the hydraulic cylinder and the piston position of the hydraulic cylinder.
Further, the controller is used for calculating the load force F according to the working parameters of the hydraulic cylinder and the energy recovery unit, judging the working state of the hydraulic cylinder by combining the set command speed V, and when the hydraulic cylinder is in an impedance extension state and the oil pressure P 3 of the first energy accumulator is greater than the set critical value pressure of the first energy accumulator, the controller controls the switch valve to be closed, the electromagnetic clutch to be disconnected, and the second hydraulic pump rotating speed required at the moment is calculated; when the hydraulic cylinder is in an impedance extension state, the oil pressure P 3 of the first energy accumulator is smaller than the set critical value pressure of the first energy accumulator, the hydraulic cylinder is in an overrunning extension state or the hydraulic cylinder is in an impedance retraction state, the controller controls the switch valve to be opened, the electromagnetic clutch to be attracted, and the second hydraulic pump rotating speed required by the hydraulic cylinder is calculated; when the hydraulic cylinder is in an overrun retracted state, the control switch valve is closed, the electromagnetic clutch is disconnected, and the second hydraulic pump rotation speed required at the moment is calculated.
In order to solve the technical problems, the invention adopts another technical scheme that: an electrohydraulic control method is provided for the electrohydraulic control system, comprising the steps of:
driving a hydraulic cylinder to work;
detecting working parameters of the hydraulic cylinder and the energy recovery unit;
judging whether the hydraulic cylinder is in an overrun retraction state according to the working parameters;
when the hydraulic cylinder is in an overrun retraction state, the energy recovery unit is controlled to recover the hydraulic energy of the rodless cavity of the hydraulic cylinder.
The electrohydraulic control system and the control method have at least the following beneficial effects: the hydraulic cylinder is controlled to stop working when the hydraulic cylinder is in overrunning retraction through the combined action of the switch valve and the electromagnetic clutch, and the second hydraulic pump pumps all oil in the rodless cavity of the hydraulic cylinder into the first energy accumulator, so that all hydraulic energy in the rodless cavity of the hydraulic cylinder is recovered, and the energy recovery efficiency is improved; through adopting first energy storage ware and super capacitor to use jointly, retrieve the energy jointly, can show reduction energy conversion number of times, reduce energy loss, improve the work efficiency of system, and energy storage ware and super capacitor's power density is big, can absorb and release a large amount of energy in the short time, has improved the energy recovery efficiency of system, can realize the energy recovery of high-capacity high frequency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a block diagram of an embodiment of an electro-hydraulic control system of the present invention.
FIG. 2 is a schematic diagram of an embodiment of an electro-hydraulic control system of the present invention.
FIG. 3 is a flow chart of an embodiment of the electro-hydraulic control method of the present invention.
The meaning of the reference numerals in the drawings are:
The hydraulic pump comprises a first hydraulic pump 1.1, a second hydraulic pump 1.2, a switching valve 2, a first one-way valve 3.1, a second one-way valve 3.2, a third one-way valve 3.3, a fourth one-way valve 3.4, a fifth one-way valve 3.5, an oil tank 4, an electromagnetic clutch 5, a first pressure sensor 6.1, a second pressure sensor 6.2, a third pressure sensor 6.3, a first accumulator 7.1, a second accumulator 7.2, a servo driver 8, a servo motor 9, a frequency converter 10, a direct current-direct current converter 11, a super capacitor 12, a first filter 13.1, a second filter 13.2, a third filter 13.3, a first overflow valve 14.1, a second overflow valve 14.2, a third overflow valve 14.3, a first pilot-operated one-way valve 15.1, a second pilot-operated one-way valve 15.2, an oil supplementing motor 16, an oil supplementing hydraulic pump 17 and a displacement sensor 18.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 and 2, the electro-hydraulic control system of the present invention includes a controller 100, a hydraulic cylinder 200, a detection unit 300 electrically connected to the controller 100, a hydraulic cylinder driving unit 400, and an energy recovery unit 500; the hydraulic cylinder driving unit 400 is connected to the hydraulic cylinder 200 to drive the hydraulic cylinder 200 to work, the detecting unit 300 is respectively connected to the hydraulic cylinder 200 and the energy recovery unit 500, and is used for detecting working parameters of the hydraulic cylinder 200 and the energy recovery unit 500, and the controller 100 is used for judging whether the hydraulic cylinder 200 is in an overrun retraction state according to the working parameters, and controlling the energy recovery unit 500 to recover hydraulic energy of a rodless cavity of the hydraulic cylinder 200 when the hydraulic cylinder 200 is in the overrun retraction state, and in this embodiment, the controller 100 is capable of controlling the energy recovery unit 500 to recover all hydraulic energy of the rodless cavity of the hydraulic cylinder 200. The controller 100 is further configured to determine whether the hydraulic cylinder 200 is in the resistive-expansion state or the overrunning-expansion state according to the operating parameter, and control the energy recovery unit 500 to release the stored hydraulic energy when the hydraulic cylinder 200 is in the resistive-expansion state or the overrunning-expansion state; and judging whether the hydraulic cylinder 200 is in the resistance retraction state according to the working parameters, and controlling the energy recovery unit 500 to store the oil of the rodless cavity of the hydraulic cylinder when the hydraulic cylinder 200 is in the resistance retraction state.
The hydraulic cylinder driving unit 400 includes a servo driver 8 electrically connected to the controller 100, a servo motor 9 electrically connected to the servo driver 8, a second hydraulic pump 1.2 connected to an output shaft of the servo motor 9, a first hydraulic pump 1.1 drivingly connected to the second hydraulic pump 1.2 through an electromagnetic clutch 5, and a switching valve 2 connected to the first hydraulic pump 1.1, wherein the electromagnetic clutch 5 is electrically connected to the controller 100, and in this embodiment, the electromagnetic clutch 5 is connected between the first hydraulic pump 1.1 and the second hydraulic pump 1.2 through an axle coupling; the hydraulic cylinder driving unit 400 further includes an oil tank 4, a first check valve 3.1 and a second check valve 3.2, the first pump oil port of the first hydraulic pump 1.1 is connected with the rodless cavity of the hydraulic cylinder 200 through a switch valve 2, the switch valve 2 is electrically connected with the controller 100, and in this embodiment, the switch valve 2 is a two-position two-way electromagnetic valve. The first pump oil port of the first hydraulic pump 1.1 is connected with the outlet of the first one-way valve 3.1, the inlet of the first one-way valve 3.1 is connected with the oil tank 4 and is also connected with the oil tank through the first one-way valve, and the second pump oil port of the first hydraulic pump 1.1 is connected with the rod cavity of the hydraulic cylinder 200; the first pump oil port of the second hydraulic pump 1.2 is connected with the rodless cavity of the hydraulic cylinder 200, the second pump oil port of the second hydraulic pump 1.2 is connected with the energy recovery unit 500, the second pump oil port of the second hydraulic pump 1.2 is connected with the outlet of the second check valve 3.2, and the inlet of the second check valve 3.2 is connected with the oil tank 4.
The controller 100 sends an instruction to the servo driver 8 according to the rotating speed required by the hydraulic pump, the servo driver 8 receives the instruction, converts the instruction into a control signal for the servo motor 9 and sends the control signal to the servo motor 9, the servo motor 9 adjusts the rotating speed according to the received control signal, the servo motor 9 drives the first hydraulic pump 1.1 to work, when the electromagnetic clutch 5 is in suction, the first hydraulic pump 1.1 drives the second hydraulic pump 1.2 to work, the first hydraulic pump 1.1 and the second hydraulic pump 1.2 provide power for the hydraulic cylinder 200, when the electromagnetic clutch 5 is in disconnection, the power transmission between the first hydraulic pump 1.1 and the second hydraulic pump 1.2 is interrupted, the second hydraulic pump 1.2 provides power for the hydraulic cylinder 200, and the hydraulic cylinder 200 stretches and contracts to drive the mechanical arm to work.
In order to balance the system flow, as a preferred mode of this embodiment, the hydraulic cylinder driving unit 400 is further provided with a first pilot-operated unidirectional valve 15.1, a second pilot-operated unidirectional valve 15.2, a second accumulator 7.2 disposed between the first pilot-operated unidirectional valve 15.1 and the second pilot-operated unidirectional valve 15.2, a third unidirectional valve 3.3, a fourth unidirectional valve 3.4, and a first filter 13.1, wherein a valve port of the first pilot-operated unidirectional valve 15.1 is connected with a rod cavity of the hydraulic cylinder 200, an inlet of the first pilot-operated unidirectional valve 15.1 is connected with an inlet of the second pilot-operated unidirectional valve 15.2, an outlet of the first pilot-operated unidirectional valve 15.1 is connected with a rod cavity of the hydraulic cylinder 200, an outlet of the second pilot-operated unidirectional valve 15.2 is connected with a rod cavity of the hydraulic cylinder 200, the second pilot-operated unidirectional valve 15.2 is connected with an inlet of the third pilot-operated unidirectional valve 3.4, and an outlet of the second pilot-operated unidirectional valve 3.2 is connected with an inlet of the fourth pilot-operated unidirectional valve 3.4, and an outlet of the pilot-operated unidirectional valve 3.2 is connected with an inlet of the fourth pilot-operated unidirectional valve 3.2.
The first pilot-operated check valve 15.1 and the second pilot-operated check valve 15.2 cooperate with the second accumulator 7.2 to balance the system flow; when the rodless cavity of the hydraulic cylinder 200 is a high-pressure cavity, the second pilot-operated hydraulic control one-way valve 15.2 is opened, and the oil of the second energy accumulator 7.2 flows into the low-pressure side of the system to supplement the oil through the third one-way valve 3.3 and the second pilot-operated hydraulic control one-way valve 15.2; when the oil in the rod cavity of the hydraulic cylinder 200 is a high-pressure cavity, the first pilot-operated hydraulic control one-way valve 15.1 is opened, and redundant oil on the rodless cavity side of the hydraulic cylinder 200 flows back to the second accumulator 7.2 through the first pilot-operated hydraulic control one-way valve 15.1, the first filter 13.1 and the second one-way valve 3.2, so that the flow balance of two cavities of the hydraulic cylinder 200 is ensured when the system operates. The third one-way valve 3.3 is used for preventing oil from flowing back into the hydraulic cylinder 200, the fourth one-way valve 3.4 is used for preventing oil from flowing back into the second energy accumulator 7.2, the first filter 13.1 is used for filtering oil flowing into the second energy accumulator 7.2, so that the cleanliness of the oil flowing into the second energy accumulator 7.2 is guaranteed, and the service life of the energy accumulator is prolonged.
In order to protect the system, as a preferred mode of this embodiment, the hydraulic cylinder driving unit 400 is further provided with a first relief valve 14.1 and a second relief valve 14.2, wherein an inlet of the first relief valve 14.1 is connected with the rodless cavity of the hydraulic cylinder 200, an outlet of the first relief valve 14.1 is connected with an inlet of the second pilot-operated check valve 15.2, an inlet of the second relief valve 14.2 is connected with the rod cavity of the hydraulic cylinder 200, and an outlet of the second relief valve 14.2 is connected with an inlet of the first pilot-operated check valve 15.1.
When the rodless cavity oil pressure of the hydraulic cylinder 200 exceeds the pressure value set by the first overflow valve 14.1, the oil in the rodless cavity overflows and flows into the rod cavity, and when the rod cavity oil pressure of the hydraulic cylinder 200 exceeds the pressure value set by the second overflow valve 14.2, the oil in the rod cavity overflows and flows into the rodless cavity, so that the loop safety is protected.
In order to supplement oil to the system, the hydraulic cylinder driving unit 400 is further provided with an oil supplementing loop, the oil supplementing loop comprises an oil supplementing motor 16 and an oil supplementing hydraulic pump 17 connected with an output shaft of the oil supplementing motor 16, an oil suction port of the oil supplementing hydraulic pump 17 is connected with the oil tank 4, the oil supplementing loop further comprises a fifth one-way valve 3.5, a second filter 13.2, a third overflow valve 14.3 and a third filter 13.3, an oil pumping port of the oil supplementing hydraulic pump 17 is connected with an inlet of the fifth one-way valve 3.5, an outlet of the fifth one-way valve 3.5 is connected with an outlet of the fourth one-way valve 3.4 through a second filter 13.2, an inlet of the third overflow valve 14.3 is connected with the second filter 13.2, and an outlet of the third overflow valve 14.3 is connected with the oil tank 4 through the third filter 13.3.
When the pressure of the second energy accumulator 7.2 is insufficient, the oil supplementing hydraulic pump 17 sucks the oil in the oil tank 4 under the drive of the oil supplementing motor 16 and pumps the oil into a system loop to supplement the oil at the low pressure side; the second filter 13.2 is used for ensuring the cleanliness of the oil discharged by the oil supplementing hydraulic pump 17; the third overflow valve 14.3 is used for adjusting pressure, maintaining oil balance between the system oil tank 4 and the working circuit, and when the oil is replenished to the system circuit, when the oil pressure at the low pressure side is higher than the pressure value set by the third overflow valve 14.3, the third overflow valve 14.3 is in an overflow state, so that the phenomenon that the pressure is increased due to the fact that excessive oil enters the low pressure side of the circuit, and the circuit is abnormal is prevented; the third filter 13.3 is used to ensure cleanliness of the oil in the system into the tank 4.
The energy recovery unit 500 comprises a first energy accumulator 7.1, a frequency converter 10 connected with a servo motor 9, a direct current-direct current converter connected with the frequency converter 10 and a capacitor connected with the direct current-direct current converter; the first accumulator 7.1 is connected to a second pump port of the second hydraulic pump 1.2. In this embodiment, the capacitor is the supercapacitor 12, and the supercapacitor 12 can store and release a large amount of energy in a short time, so that the system can rapidly respond and effectively capture and recycle energy, and the supercapacitor 12 has high efficiency in the energy conversion and recovery process, so that energy loss can be effectively reduced.
The first accumulator 7.1 is used for recovering hydraulic energy and releasing hydraulic energy, the frequency converter 10 is used for converting three-phase alternating current into direct current when the capacitor recovers energy and converting direct current into three-phase alternating current when the capacitor releases energy, the direct current-direct current converter is used for adjusting the voltage of the direct current when the capacitor recovers energy so as to ensure that the capacitor can safely and effectively store electric energy and adjusting the voltage of the direct current to the voltage required by the servo motor 9 when the capacitor releases energy, and the capacitor is used for storing electric energy and releasing electric energy to power a hydraulic system.
The detection unit 300 comprises a first pressure sensor 6.1 connected with the first accumulator 7.1, a second pressure sensor 6.2 connected with the rodless cavity of the hydraulic cylinder 200, a third pressure sensor 6.3 connected with the rod cavity of the hydraulic cylinder 200 and a displacement sensor 18 connected with the piston rod of the hydraulic cylinder 200, wherein the first pressure sensor 6.1, the second pressure sensor 6.2, the third pressure sensor 6.3 and the displacement sensor 18 are all electrically connected with the controller 100; the operating parameters of the energy recovery unit 500 include the oil pressure P 3 of the first accumulator 7.1, and the operating parameters of the hydraulic cylinder 200 include the oil pressure P 1 of the rodless chamber of the hydraulic cylinder 200, the oil pressure P 2 of the rod chamber of the hydraulic cylinder 200, and the piston position of the hydraulic cylinder 200.
The first pressure sensor 6.1 is used for detecting the oil pressure of the first energy accumulator 7.1 and transmitting a detected pressure signal to the controller 100, the second pressure sensor 6.2 is used for detecting the oil pressure of the rodless cavity of the hydraulic cylinder 200 and transmitting a detected pressure signal to the controller 100, the third pressure sensor 6.3 is used for detecting the oil pressure of the rod cavity of the hydraulic cylinder 200 and transmitting a detected pressure signal to the controller 100, and the displacement sensor 18 is used for detecting the piston position of the hydraulic cylinder 200 and transmitting a detected position signal to the controller 100.
The controller 100 is configured to calculate a load force F according to the operating parameters of the hydraulic cylinder 200 and the energy recovery unit 500 and determine an operating state of the hydraulic cylinder 200 in combination with the set command speed V. The command speed V is an input expected speed, and after the displacement sensor 18 detects the piston position of the hydraulic cylinder 200 and transmits the piston position to the controller 100 through a signal, the controller 100 can calculate the speed of the piston rod movement and determine that the piston rod movement speed of the hydraulic cylinder 200 reaches the command speed by comparing with the command speed V; the load force f=p 1A1-P2A2, where a 1 is the piston area of the rodless chamber of the hydraulic cylinder 200, and a 2 is the piston area of the rod chamber of the hydraulic cylinder 200. When the load force F is greater than 0 and the command speed is greater than 0, the hydraulic cylinder 200 is in the resistance extension state; when the load force F is less than 0 and the command speed is greater than 0, the hydraulic cylinder 200 is in an overrunning extended state; when the load force F is less than 0 and the command speed is less than 0, the hydraulic cylinder 200 is in the resistance retraction state; when the load force F is greater than 0 and the commanded speed is less than 0, the hydraulic cylinder 200 is in an overrunning retract state.
When the hydraulic cylinder 200 is in the impedance extension state and the oil pressure P 3 of the first accumulator 7.1 is greater than the set critical value pressure of the first accumulator 7.1, the controller 100 controls the switch valve 2 to be closed, the electromagnetic clutch 5 to be disconnected, the servo motor 9 rotates positively, the first accumulator 7.1 releases energy, and the required rotation speed of the second hydraulic pump 1.2 is calculated at the momentWherein V P2 is the displacement of the second hydraulic pump 1.2, at this time, the super capacitor 12 releases energy, the servo motor 9 is in a motor mode, converts the electric energy into mechanical energy, and then converts the mechanical energy into hydraulic energy; when the hydraulic cylinder 200 is in the impedance extension state and the oil pressure P 3 of the first accumulator 7.1 is smaller than the set critical value pressure of the first accumulator 7.1, the controller 100 controls the switch valve 2 to be opened, the electromagnetic clutch 5 to be attracted, the servo motor 9 to rotate forward, the first accumulator 7.1 releases energy, and the required rotation speed/>, of the second hydraulic pump 1.2 at the moment is calculatedWherein V P1 is the displacement of the first hydraulic pump 1.1, at this time, the super capacitor 12 releases energy, the servo motor 9 is in a motor mode, converts the electric energy into mechanical energy, and then converts the mechanical energy into hydraulic energy; when the hydraulic cylinder 200 is in an overrunning and extending state, the controller 100 controls the switch valve 2 to be opened, the electromagnetic clutch 5 to be attracted, the servo motor 9 to rotate forward, the first energy accumulator 7.1 to release energy, and the second hydraulic pump 1.2 rotating speed/>, which is required at the moment, is calculatedAt the moment, the super capacitor 12 recovers energy, the servo motor 9 is in a generator mode, hydraulic energy is converted into mechanical energy through the servo motor 9, and then the mechanical energy is converted into electric energy to be stored in the super capacitor 12; when the hydraulic cylinder 200 is in the impedance retraction state, the controller 100 controls the switch valve 2 to be opened, the electromagnetic clutch 5 to be attracted, the servo motor 9 to rotate reversely, the first accumulator 7.1 stores oil in a rodless cavity of the hydraulic cylinder 200, and the required rotation speed/> -of the second hydraulic pump 1.2 is calculated at the momentAt the moment, the super capacitor 12 releases energy, the servo motor 9 is in a motor mode, electric energy is converted into mechanical energy, and then the mechanical energy is converted into hydraulic energy; when the hydraulic cylinder 200 is in an overrunning and retracting state, the controller 100 controls the switch valve 2 to be closed, the electromagnetic clutch 5 to be disconnected, the servo motor 9 to rotate reversely, the first accumulator 7.1 recovers all hydraulic energy of the rodless cavity of the hydraulic cylinder 200, and the rotation speed of the second hydraulic pump 1.2 required at the moment is calculatedAt this time, the super capacitor 12 recovers energy, the servo motor 9 is in a generator mode, and mechanical energy is converted into electric energy to be stored in the super capacitor 12.
Referring to fig. 3, a flowchart of an embodiment of an electrohydraulic control method of the present invention includes the following steps:
And S1, driving the hydraulic cylinder 200 to work.
S2, detecting the working parameters of the hydraulic cylinder 200 and the energy recovery unit 500.
The operating parameters of the energy recovery unit 500 include the oil pressure of the first accumulator 7.1, and the operating parameters of the hydraulic cylinder 200 include the oil pressure of the hydraulic cylinder 200 without a rod cavity, the oil pressure of the hydraulic cylinder 200 with a rod cavity, and the piston position of the hydraulic cylinder 200.
And S3, judging whether the hydraulic cylinder 200 is in an overrunning retraction state according to the working parameters.
The method for judging the working state of the hydraulic cylinder 200 comprises the following steps: and calculating the load force according to the working parameters of the hydraulic cylinder 200 and the energy recovery unit 500, and judging the working state of the hydraulic cylinder 200 by combining the set command speed V. The command speed V is the input desired speed, and the load force f=p 1A1-P2A2, where a 1 is the piston area of the rodless chamber of the hydraulic cylinder 200, and a 2 is the piston area of the rod chamber of the hydraulic cylinder 200. When the load force F is greater than 0 and the command speed is greater than 0, the hydraulic cylinder 200 is in the resistance extension state; when the load force F is less than 0 and the command speed is greater than 0, the hydraulic cylinder 200 is in an overrunning extended state; when the load force F is less than 0 and the command speed is less than 0, the hydraulic cylinder 200 is in the resistance retraction state; when the load force F is greater than 0 and the commanded speed is less than 0, the hydraulic cylinder 200 is in an overrunning retract state.
And S4, when the hydraulic cylinder 200 is in an overrunning retraction state, the energy recovery unit 500 is controlled to recover hydraulic energy of the rodless cavity of the hydraulic cylinder 200.
Specifically, when the hydraulic cylinder 200 is in the overrunning retraction state, the controller 100 controls the switch valve 2 to be closed, the electromagnetic clutch 5 to be disconnected, the servo motor 9 to reverse, the first hydraulic pump 1.1 stops working, the second hydraulic pump 1.2 pumps all the oil in the rodless cavity of the hydraulic cylinder 200 into the first accumulator 7.1, the first accumulator 7.1 recovers all the hydraulic energy in the rodless cavity of the hydraulic cylinder 200, the super capacitor 12 recovers energy at the moment, the servo motor 9 is in the generator mode, and the mechanical energy is converted into electric energy to be stored in the super capacitor 12.
Compared with the prior art, the electrohydraulic control system and the control method have the following beneficial effects: the hydraulic cylinder is controlled to stop working when the hydraulic cylinder is in overrunning retraction through the combined action of the switch valve and the electromagnetic clutch, and the second hydraulic pump pumps all oil in the rodless cavity of the hydraulic cylinder into the first energy accumulator, so that all hydraulic energy in the rodless cavity of the hydraulic cylinder is recovered, and the energy recovery efficiency is improved; through adopting first energy storage ware and super capacitor to use jointly, retrieve the energy jointly, can show reduction energy conversion number of times, reduce energy loss, improve the work efficiency of system, and energy storage ware and super capacitor's power density is big, can absorb and release a large amount of energy in the short time, has improved the energy recovery efficiency of system, can realize the energy recovery of high-capacity high frequency.

Claims (10)

1.一种电液控制系统，包括控制器和液压缸，其特征在于：还包括与所述控制器电连接的检测单元、液压缸驱动单元以及能量回收单元；所述液压缸驱动单元与所述液压缸连接以驱动液压缸工作，所述检测单元分别与所述液压缸和能量回收单元连接，用于检测液压缸和能量回收单元的工作参数，所述控制器用于根据所述工作参数判断液压缸是否处于超越缩回状态，并且在液压缸处于超越缩回状态时控制能量回收单元回收液压缸无杆腔的液压能。1. An electro-hydraulic control system, comprising a controller and a hydraulic cylinder, characterized in that: it further comprises a detection unit, a hydraulic cylinder drive unit, and an energy recovery unit electrically connected to the controller; the hydraulic cylinder drive unit is connected to the hydraulic cylinder to drive the hydraulic cylinder to work; the detection unit is connected to the hydraulic cylinder and the energy recovery unit respectively, and is used to detect the working parameters of the hydraulic cylinder and the energy recovery unit; the controller is used to determine whether the hydraulic cylinder is in an over-retracted state according to the working parameters, and when the hydraulic cylinder is in the over-retracted state, it controls the energy recovery unit to recover the hydraulic energy of the rodless chamber of the hydraulic cylinder. 2.如权利要求1所述的电液控制系统，其特征在于，所述控制器还用于根据所述工作参数判断液压缸是否处于阻抗伸出状态或超越伸出状态，并且在所述液压缸处于阻抗伸出状态或超越伸出状态时控制能量回收单元释放其储存的液压能；和/或2. The electro-hydraulic control system as claimed in claim 1, characterized in that the controller is further configured to determine whether the hydraulic cylinder is in a resisted extension state or an overextended extension state based on the operating parameters, and to control the energy recovery unit to release its stored hydraulic energy when the hydraulic cylinder is in a resisted extension state or an overextended extension state; and/or 所述控制器还用于根据所述工作参数判断液压缸是否处于阻抗缩回状态，并且在所述液压缸处于阻抗缩回状态时控制所述能量回收单元储存液压缸无杆腔的油液。The controller is also used to determine whether the hydraulic cylinder is in a retracted state based on the operating parameters, and to control the energy recovery unit to store the oil in the rodless chamber of the hydraulic cylinder when the hydraulic cylinder is in a retracted state. 3.如权利要求1所述的电液控制系统，其特征在于，所述液压缸驱动单元包括与所述控制器电连接的伺服驱动器、与所述伺服驱动器电连接的伺服电机、与所述伺服电机输出轴连接的第二液压泵、通过电磁离合器与所述第二液压泵传动连接的第一液压泵以及与所述第一液压泵连接的开关阀，所述电磁离合器与所述控制器电连接；所述液压缸驱动单元还包括油箱、第一单向阀和第二单向阀，所述第一液压泵的第一泵油口通过开关阀与所述液压缸的无杆腔连接，所述开关阀与控制器电连接，所述第一液压泵的第一泵油口与第一单向阀的出口连接，所述第一单向阀的进口与所述油箱连接，所述第一液压泵的第二泵油口与所述液压缸的有杆腔连接；所述第二液压泵的第一泵油口与所述液压缸的无杆腔连接，所述第二液压泵的第二泵油口与所述能量回收单元连接，所述第二液压泵的第二泵油口与所述第二单向阀的出口连接，所述第二单向阀的进口与油箱连接；3. The electro-hydraulic control system as described in claim 1, characterized in that the hydraulic cylinder drive unit includes a servo driver electrically connected to the controller, a servo motor electrically connected to the servo driver, a second hydraulic pump connected to the output shaft of the servo motor, a first hydraulic pump driven by the second hydraulic pump via an electromagnetic clutch, and a switching valve connected to the first hydraulic pump, the electromagnetic clutch being electrically connected to the controller; the hydraulic cylinder drive unit further includes an oil tank, a first check valve, and a second check valve; the first pump port of the first hydraulic pump is connected to the rodless chamber of the hydraulic cylinder via the switching valve, the switching valve being electrically connected to the controller; the first pump port of the first hydraulic pump is connected to the outlet of the first check valve; the inlet of the first check valve is connected to the oil tank; the second pump port of the first hydraulic pump is connected to the rod chamber of the hydraulic cylinder; the first pump port of the second hydraulic pump is connected to the rodless chamber of the hydraulic cylinder; the second pump port of the second hydraulic pump is connected to the energy recovery unit; the second pump port of the second hydraulic pump is connected to the outlet of the second check valve; the inlet of the second check valve is connected to the oil tank; 所述控制器根据第二液压泵所需的转速发送指令给伺服驱动器，所述伺服驱动器接收到指令后将其转换为对伺服电机的控制信号并发送给伺服电机，所述伺服电机根据接收到的控制信号调整转速，所述伺服电机驱动第二液压泵工作，当电磁离合器吸合时，第二液压泵带动第一液压泵工作，所述第一液压泵和第二液压泵为液压缸提供动力，当电磁离合器断开时，第一液压泵与第二液压泵之间的动力传递中断，所述第二液压泵为液压缸提供动力。The controller sends a command to the servo driver based on the required rotational speed of the second hydraulic pump. After receiving the command, the servo driver converts it into a control signal for the servo motor and sends it to the servo motor. The servo motor adjusts its rotational speed according to the received control signal and drives the second hydraulic pump. When the electromagnetic clutch is engaged, the second hydraulic pump drives the first hydraulic pump. The first and second hydraulic pumps provide power to the hydraulic cylinder. When the electromagnetic clutch is disengaged, the power transmission between the first and second hydraulic pumps is interrupted, and the second hydraulic pump provides power to the hydraulic cylinder. 4.如权利要求3所述的电液控制系统，其特征在于，所述液压缸驱动单元还包括第一先导式液控单向阀、第二先导式液控单向阀、设置于所述第一先导式液控单向阀与第二先导式液控单向阀之间的第二蓄能器、第三单向阀、第四单向阀和第一过滤器，所述第一先导式液控单向阀的先导阀口与所述液压缸的有杆腔连接，所述第一先导式液控单向阀的进口与所述第二先导式液控单向阀的进口连接，所述第一先导式液控单向阀的出口与所述液压缸的无杆腔连接，所述第二先导式液控单向阀的出口与所述液压缸的有杆腔连接，所述第二先导式液控单向阀的先导阀口与所述液压缸的无杆腔连接，所述第二蓄能器与第三单向阀的出口连接，所述第三单向阀的进口通过第一过滤器与所述第一先导式液控单向阀的进口连接，所述第二蓄能器与所述第四单向阀的进口连接，所述第四单向阀的出口与所述第二先导式液控单向阀的进口连接。4. The electro-hydraulic control system as described in claim 3, characterized in that the hydraulic cylinder drive unit further includes a first pilot-operated hydraulic control check valve, a second pilot-operated hydraulic control check valve, a second accumulator disposed between the first pilot-operated hydraulic control check valve and the second pilot-operated hydraulic control check valve, a third check valve, a fourth check valve, and a first filter; the pilot valve port of the first pilot-operated hydraulic control check valve is connected to the rod chamber of the hydraulic cylinder; the inlet of the first pilot-operated hydraulic control check valve is connected to the inlet of the second pilot-operated hydraulic control check valve; the first pilot-operated hydraulic control check valve... The outlet of the first pilot-operated hydraulic check valve is connected to the rodless chamber of the hydraulic cylinder; the outlet of the second pilot-operated hydraulic check valve is connected to the rod chamber of the hydraulic cylinder; the pilot valve port of the second pilot-operated hydraulic check valve is connected to the rodless chamber of the hydraulic cylinder; the second accumulator is connected to the outlet of the third check valve; the inlet of the third check valve is connected to the inlet of the first pilot-operated hydraulic check valve through a first filter; the second accumulator is connected to the inlet of the fourth check valve; and the outlet of the fourth check valve is connected to the inlet of the second pilot-operated hydraulic check valve. 5.如权利要求4所述的电液控制系统，其特征在于，所述液压缸驱动单元还包括第一溢流阀与第二溢流阀，所述第一溢流阀的进口与所述液压缸的无杆腔连接，所述第一溢流阀的出口与所述第二先导式液控单向阀的进口连接，所述第二溢流阀的进口与所述液压缸的有杆腔连接，所述第二溢流阀的出口与所述第一先导式液控单向阀的进口连接。5. The electro-hydraulic control system as described in claim 4, wherein the hydraulic cylinder drive unit further comprises a first relief valve and a second relief valve, the inlet of the first relief valve is connected to the rodless chamber of the hydraulic cylinder, the outlet of the first relief valve is connected to the inlet of the second pilot-operated hydraulic check valve, the inlet of the second relief valve is connected to the rod chamber of the hydraulic cylinder, and the outlet of the second relief valve is connected to the inlet of the first pilot-operated hydraulic check valve. 6.如权利要求4所述的电液控制系统，其特征在于，所述液压缸驱动单元还包括补油回路，所述补油回路包括补油电机、与所述补油电机输出轴连接的补油液压泵，所述补油液压泵的吸油口与所述油箱连接，所述补油回路还包括第五单向阀、第二过滤器、第三溢流阀和第三过滤器，所述补油液压泵的泵油口与所述第五单向阀的进口连接，所述第五单向阀的出口通过第二过滤器与所述第四单向阀的出口连接，所述第三溢流阀的进口与所述第二过滤器连接，所述第三溢流阀的出口通过第三过滤器与油箱连接。6. The electro-hydraulic control system as described in claim 4, characterized in that the hydraulic cylinder drive unit further includes a replenishing oil circuit, the replenishing oil circuit including a replenishing oil motor and a replenishing oil hydraulic pump connected to the output shaft of the replenishing oil motor, the oil suction port of the replenishing oil hydraulic pump being connected to the oil tank, the replenishing oil circuit further including a fifth check valve, a second filter, a third relief valve and a third filter, the pump port of the replenishing oil hydraulic pump being connected to the inlet of the fifth check valve, the outlet of the fifth check valve being connected to the outlet of the fourth check valve through the second filter, the inlet of the third relief valve being connected to the second filter, and the outlet of the third relief valve being connected to the oil tank through the third filter. 7.如权利要求3所述的电液控制系统，其特征在于，所述能量回收单元包括第一蓄能器、与伺服电机连接的变频器、与所述变频器连接的直流-直流转换器以及与所述直流-直流转换器连接的电容；所述第一蓄能器与所述第二液压泵的第二泵油口连接。7. The electro-hydraulic control system as described in claim 3, wherein the energy recovery unit comprises a first accumulator, a frequency converter connected to a servo motor, a DC-DC converter connected to the frequency converter, and a capacitor connected to the DC-DC converter; the first accumulator is connected to the second pump port of the second hydraulic pump. 8.如权利要求7所述的电液控制系统，其特征在于，所述检测单元包括与所述第一蓄能器连接的第一压力传感器、与所述液压缸的无杆腔连接的第二压力传感器、与所述液压缸的有杆腔连接的第三压力传感器以及与所述液压缸的活塞杆连接的位移传感器，所述第一压力传感器、第二压力传感器、第三压力传感器和位移传感器均与控制器电连接；8. The electro-hydraulic control system as described in claim 7, wherein the detection unit includes a first pressure sensor connected to the first accumulator, a second pressure sensor connected to the rodless chamber of the hydraulic cylinder, a third pressure sensor connected to the rod chamber of the hydraulic cylinder, and a displacement sensor connected to the piston rod of the hydraulic cylinder, wherein the first pressure sensor, the second pressure sensor, the third pressure sensor, and the displacement sensor are all electrically connected to the controller. 所述能量回收单元的工作参数包括第一蓄能器的油液压力P3，所述液压缸的工作参数包括液压缸无杆腔的油液压力P1、液压缸有杆腔的油液压力P2以及液压缸的活塞位置。The operating parameters of the energy recovery unit include the oil pressure P3 of the first accumulator, and the operating parameters of the hydraulic cylinder include the oil pressure P1 of the rodless chamber of the hydraulic cylinder, the oil pressure P2 of the rod chamber of the hydraulic cylinder, and the piston position of the hydraulic cylinder. 9.如权利要求8所述的电液控制系统，其特征在于，所述控制器用于根据所述液压缸和能量回收单元的工作参数计算负载力F并结合设定的指令速度V判断液压缸的工作状态，当所述液压缸处于阻抗伸出状态且第一蓄能器的油液压力P3大于设定的第一蓄能器临界值压力时，所述控制器控制开关阀关闭、电磁离合器断开，并计算此时所需的第二液压泵转速；当所述液压缸处于阻抗伸出状态且第一蓄能器的油液压力P3小于设定的第一蓄能器临界值压力、所述液压缸处于超越伸出状态或所述液压缸处于阻抗缩回状态时，所述控制器控制开关阀打开、电磁离合器吸合，并计算该液压缸状态下所需的第二液压泵转速；当液压缸处于超越缩回状态时，控制开关阀关闭、电磁离合器断开并计算此时所需的第二液压泵转速。9. The electro-hydraulic control system as described in claim 8, characterized in that the controller is used to calculate the load force F based on the working parameters of the hydraulic cylinder and the energy recovery unit, and to determine the working state of the hydraulic cylinder in conjunction with the set command speed V; when the hydraulic cylinder is in the resistive extension state and the oil pressure P3 of the first accumulator is greater than the set critical pressure of the first accumulator, the controller controls the switching valve to close, the electromagnetic clutch to disengage, and calculates the required second hydraulic pump speed at this time; when the hydraulic cylinder is in the resistive extension state and the oil pressure P3 of the first accumulator is less than the set critical pressure of the first accumulator, the hydraulic cylinder is in the overextended extension state or the hydraulic cylinder is in the resistive retraction state, the controller controls the switching valve to open, the electromagnetic clutch to engage, and calculates the required second hydraulic pump speed in this hydraulic cylinder state; when the hydraulic cylinder is in the overextended retraction state, the controller controls the switching valve to close, the electromagnetic clutch to disengage, and calculates the required second hydraulic pump speed at this time. 10.一种电液控制方法，其特征在于，用于如权利要求1-9中任一项所述的电液控制系统，包括以下步骤：10. An electro-hydraulic control method, characterized in that, for use in the electro-hydraulic control system as described in any one of claims 1-9, it comprises the following steps: 驱动液压缸工作；Drive the hydraulic cylinder to work; 检测液压缸和能量回收单元的工作参数；Detect the operating parameters of the hydraulic cylinder and energy recovery unit; 根据所述工作参数判断液压缸是否处于超越缩回状态；Determine whether the hydraulic cylinder is in the overrun/retract state based on the aforementioned operating parameters; 当液压缸处于超越缩回状态时，控制能量回收单元回收液压缸无杆腔的液压能。When the hydraulic cylinder is in the overrun retracted state, the control energy recovery unit recovers the hydraulic energy in the rodless chamber of the hydraulic cylinder.
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