CN206958033U - A kind of digital load-sensitive hydraulic control architectures - Google Patents
A kind of digital load-sensitive hydraulic control architectures Download PDFInfo
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- 239000003921 oil Substances 0.000 description 32
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Abstract
The utility model discloses a kind of digital load-sensitive hydraulic control architectures.Using digital fluid source control multi executors system, each actuator in multi executors system is equipped with connecting respective digital fluid source, and each digital fluid source connects through respective digital load sensitivity oil circuit and controls the both ends of actuator；Digital fluid source uses hydraulic free-piston engine, and digital load sensitivity oil circuit includes hydraulic pressure cavity volume, 3-position 4-way electromagnetic proportional valve, hydraulic cylinder, first pressure sensor, second pressure sensor, the 3rd pressure sensor, velocity sensor, Ioad-sensing control device and loading speed controller.The utility model overcomes the shortcomings that single high-power engine driving reduces compared with low-load timeliness rate in conventional load sensory system, the utility model to each actuator by matching a suitable hydraulic free-piston engine, the advantage such as make system have hydraulic power source efficiency high, hydraulic-driven actuator efficiency high, system response time fast.
Description
Technical field
A kind of load-sensitive hydraulic structure is the utility model is related to, particularly a kind of digital load-sensitive hydraulic control
Structure.
Background technology
Conventional load sensitivity hydraulic system is made up of variable pump, restricting element, actuator, load-sensitive loop.Load quick
Sense loop is by way of hydraulic feedback or electronic signal feedback, makes system pressure and most by the discharge capacity of regulated variable pump
The difference of heavy load pressure keeps constant.The restricting element both ends pressure difference of the actuator of maximum load pressure is constant, other actuators
Restricting element before have pressure-reducing valve to ensure that both ends pressure difference is constant, system by adjust restricting element aperture area adjust stream
Amount.Conventional load sensory system great advantage is that the pressure of pump can adapt to the change of highest load pressure in real time, therefore presses
Power loss is smaller；And this is realized by adjusting the discharge capacity of hydraulic pump, rather than realized using overflow valve overflow, therefore
The throttling loss of system is smaller.
As shown in figure 1, conventional load sensory system also has some shortcomings in multi executors system：One, it is more for single pump
The actuator of actuator system off peak load pressure, larger throttling loss be present.Two, single pump multi executors system uses work(
Rate larger engine and variable pump, because multi executors do not work at maximum load simultaneously in system work, variable pump
Relatively low discharge capacity is often operated in, the load of engine is relatively low, and system whole efficiency is relatively low.Three, when load pressure and flow are unexpected
During increase, the discharge capacity increase of hydraulic pump, output pressure increase, due to the large rotating inertia of engine, dynamic response is slow, engine
Output speed and moment of torsion can not rapidly adapt to the change of load behavior.
Utility model content
In order to solve problem present in background technology, the purpose of this utility model is to propose that a kind of digital load is quick
Feel hydraulic control architectures, it is applicable in engineering machinery, agricultural machinery etc., utilize hydraulic free-piston engine to solve conventional load
Sensitive hydraulic structure dynamic responding speed is slow, it is less efficient the problems such as.
The technical solution adopted in the utility model is as follows：
The utility model is using digital fluid source control multi executors system, each execution in multi executors system
Device is equipped with connecting respective digital fluid source, and each digital fluid source connects simultaneously through respective digital load sensitivity oil circuit
The both ends of actuator are controlled, the energy-conservation of each actuator is realized with this, improves integrally-built efficiency.
On the one hand, single high-power engine and greatly compare in the combination of individual digit formula traffic sources and digital load-sensitive oil circuit
Discharge capacity variable pump possesses the characteristics of small volume, fast response time, hydraulic power source efficiency high, hydraulic actuator efficiency high, on the other hand
Can cause the combination of multiple digital fluid sources and digital load-sensitive oil circuit compare single high-power engine still possess it is relatively low
Gross efficiency high advantage during load.
Described digital fluid source is the traffic sources with noncontinuity output waveform.Preferably use PWM waveform.
In specific implementation, described actuator is oil cylinder.
Described digital fluid source uses hydraulic free-piston engine, and digital load sensitivity oil circuit holds including hydraulic pressure
Chamber, 3-position 4-way electromagnetic proportional valve, hydraulic cylinder, first pressure sensor, second pressure sensor, the 3rd pressure sensor, speed
Sensor, Ioad-sensing control device and loading speed controller are spent, the fluid entrance of hydraulic free-piston engine connects fuel tank,
The fluid outlet of hydraulic free-piston engine is connected with hydraulic pressure cavity volume, the valve port of hydraulic pressure cavity volume and 3-position 4-way electromagnetic proportional valve
P connections, the valve port A of 3-position 4-way electromagnetic proportional valve and the rodless cavity of hydraulic cylinder connect, the valve port B of 3-position 4-way electromagnetic proportional valve
It is connected with the rod chamber of hydraulic cylinder, the valve port T of 3-position 4-way electromagnetic proportional valve is connected with fuel tank；In 3-position 4-way electromagnetic proportional valve
Valve port P installation first pressure sensor, 3-position 4-way electromagnetic proportional valve valve port A install second pressure sensor, three
The valve port B of position four-way electromagnetic proportioning valve installs the 3rd pressure sensor, by first pressure sensor, second pressure sensor and the
Three pressure sensors are connected to Ioad-sensing control device, and Ioad-sensing control device connects the control of hydraulic free-piston engine
End；The installation rate sensor on the piston rod of hydraulic cylinder, velocity sensor is through loading speed controller and 3-position 4-way electromagnetism
Proportioning valve connects.
The hydraulic free-piston engine that the utility model is related to is that one kind becomes one internal combustion engine and hydraulic pump, with
Liquid is working media, and the dual powerplant of the non-rigid transmission of power is realized using the pressure energy of liquid stream.It is by conventional internal combustion
In the hydrostatic compound drive system of machine driving volume adjustable hydraulic pump, save in internal combustion engine and transport the convert reciprocating motion of piston for rotation
It is in dynamic crankshaft group and volume adjustable hydraulic pump (plunger pump) that convert rotational motion is oblique for the reciprocating rotation of hydraulic pump piston
Disk component, and directly the piston of the piston of internal combustion engine and hydraulic pump is rigidly connected composition.
Above-mentioned hydraulic free-piston engine is substantially a kind of digital fluid source, and Ioad-sensing control device can pass through
Pwm signal controls the output of hydraulic free-piston engine.
Carry out flow and speed control in Ioad-sensing control loop and loading speed control loop respectively in the following ways
System：
For Ioad-sensing control loop：Gather the valve port P's of 3-position 4-way electromagnetic proportional valve with first pressure sensor
Pressure gathers 3-position 4-way electromagnetic proportional valve respectively as system pressure with second pressure sensor and the 3rd pressure sensor
Valve port A and valve port B pressure, the higher value in valve port A and valve port B pressure is taken as load pressure；When system pressure is with bearing
When the difference of load pressure becomes big, output signal is sent by Ioad-sensing control device and controls hydraulic free-piston engine reduction single
Average output flow in cycle so that the input flow rate of hydraulic pressure cavity volume diminishes, and the output flow of hydraulic pressure cavity volume is constant；When being
Pressure of uniting and the difference of load pressure become hour, and sending output signal by Ioad-sensing control device controls hydraulic free-piston to start
Average output flow in machine increase signal period so that the inlet flow quantitative change of hydraulic pressure cavity volume is big, and the output stream of hydraulic pressure cavity volume
Measure constant.
For loading speed control loop：When given speed and the speed of the hydraulic cylinder piston rod collected with velocity sensor
The difference of degree becomes hour, and 3-position 4-way electromagnetic proportional valve reduction valve port P aperture is controlled by loading speed controller output signal,
In the case where the difference of pressure at two ends is constant so that the speed of hydraulic cylinder piston rod reduces；When given speed and use velocity pick-up
When the difference of the speed for the hydraulic cylinder piston rod that device collects becomes big, 3-position 4-way is controlled by loading speed controller output signal
Electromagnetic proportional valve increase valve port P aperture, in the case where the difference of pressure at two ends is constant so that the speed of hydraulic cylinder piston rod increases
Greatly.
When the piston rod of hydraulic cylinder is protruding, 3-position 4-way electromagnetic proportional valve is controlled to make by loading speed controller
Valve port P and valve port A is obtained to communicate；When the piston rod of hydraulic cylinder inwardly bounces back, loading speed controller makes 3-position 4-way electromagnetism ratio
Example valve causes valve port B and valve port T-phase to lead to；When the piston rod of hydraulic cylinder need not move, loading speed controller makes three four
Logical electromagnetic proportional valve is in middle position.
What described Ioad-sensing control device sent PWM waveform outputs signals to hydraulic free-piston engine, to control
Hydraulic free-piston engine output flow.
Thus, the advantage of the utility model combination load sensing control technique and digital hydraulic technique, a numeral is formed
The load-sensitive hydraulic control architectures of formula.On the one hand the utility model structure adjusts liquid by system pressure and load pressure feedback
The output of free-piston engine is pressed, system pressure is adapted with load pressure, it is on the other hand anti-by the speed of hydraulic cylinder
The aperture of feedback control 3-position 4-way electromagnetic proportional valve adjusts load flow.
As shown in Fig. 2 the utility model, for each actuator, is all equipped with watt level for multi executors system
The hydraulic free-piston engine of matching and digital load sensing control technique, the energy-conservation of each actuator can be not only realized,
And the shortcomings that single high-power engine driving reduces compared with low-load timeliness rate in traditional structure is overcome, improve overall knot
The efficiency of structure.
The beneficial effects of the utility model are：
The utility model overcomes single high-power engine in conventional load sensitive structure and driven compared with low-load timeliness rate
The shortcomings that reduction, the utility model make knot by matching a suitable hydraulic free-piston engine to each actuator
Structure has the advantage that：
1, hydraulic power source efficiency high, reduce toggle compared with conventional engines variable pump machanism, improve machine
Tool efficiency, the more preferable matched load of single pump list actuator system engine, efficiency are higher；
2, hydraulic-driven actuator efficiency high, according to load-sensitive technology, system pressure is slightly above load pressure, throttling damage
Consumption is smaller；
3, structural response speed is fast, and the piston inertia of hydraulic free-piston engine is small, fast response time；
4, engine can be closed during idling and improves fuel economy.
Brief description of the drawings
Fig. 1 is conventional load sensitivity hydraulic structure schematic diagram.
Fig. 2 is digital load-sensitive hydraulic structure schematic diagram of the present utility model.
Fig. 3 is the specific implementation structure chart of the utility model embodiment 1.
Fig. 4 is the specific implementation structure chart of the utility model embodiment 2.
In figure：1st, hydraulic free-piston engine, 2, hydraulic pressure cavity volume, 3-1, first pressure sensor, 3-2, second pressure
Sensor, 3-3, the 3rd pressure sensor 4, loading speed controller, 5,3-position 4-way electromagnetic proportional valve, 6, hydraulic cylinder, 7, speed
Spend sensor, 8, Ioad-sensing control device, 9, fuel tank, 10, boom cylinder, 11, bucket arm cylinder, 12, bucket cylinder, 13, roll
Oil cylinder, 14, lift cylinder.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described in further detail to the utility model.
As shown in figure 1, the utility model specific implementation includes hydraulic free-piston engine 1, hydraulic pressure cavity volume 2, three four
Logical electromagnetic proportional valve 5, hydraulic cylinder 6, fuel tank 9, first pressure sensor 3-1, second pressure sensor 3-2, the 3rd pressure sensing
Device 3-3, velocity sensor 7, Ioad-sensing control device 8 and loading speed controller 4, the fluid of hydraulic free-piston engine 1
Entrance connects fuel tank 9, and the fluid outlet of hydraulic free-piston engine 1 is connected with hydraulic pressure cavity volume 2, hydraulic pressure cavity volume 2 and three four
The valve port P connections of logical electromagnetic proportional valve 5, the valve port A of 3-position 4-way electromagnetic proportional valve 5 are connected with the rodless cavity of hydraulic cylinder 6, three
The valve port B of four-way electromagnetic proportioning valve 5 is connected with the rod chamber of the hydraulic cylinder 6 as actuator, 3-position 4-way electromagnetic proportional valve 5
Valve port T is connected with fuel tank 9；First pressure sensor 3-1 is installed in the valve port P of 3-position 4-way electromagnetic proportional valve 5, in 3-position 4-way
The valve port A installation second pressure sensor 3-2 of electromagnetic proportional valve 5, the 3rd is installed in the valve port B of 3-position 4-way electromagnetic proportional valve 5
Pressure sensor 3-3, by first pressure sensor 3-1, second pressure sensor 3-2 and the 3rd pressure sensor 3-3 through load
Sensitive controller 8 is connected to hydraulic free-piston engine 1；Installation rate sensor 7, speed on the piston rod of hydraulic cylinder 6
Sensor 7 is connected through loading speed controller 4 with 3-position 4-way electromagnetic proportional valve 5.
First pressure sensor 3-1, second pressure sensor 3-2 and the 3rd pressure sensor 3-3 collection actual pressure letters
Ioad-sensing control device 8 number is input to, the output signal of Ioad-sensing control device 8 controls the output of hydraulic free-piston engine 1.
Velocity sensor 7 gathers the actual speed signal input load speed control 4 of the piston rod of hydraulic cylinder 6, loading speed controller 4
The position of output control 3-position 4-way electromagnetic proportional valve 5 and aperture.
Implementation process of the present utility model is as follows：
For Ioad-sensing control loop
The valve port P of first pressure sensor 3-1 collection 3-position 4-ways electromagnetic proportional valve 5 pressure, i.e. system pressure.Second pressure
Force snesor 3-2 and the 3rd pressure sensor 3-3 gathers the valve port A of 3-position 4-way electromagnetic proportional valve 5 and valve port B pressure respectively,
Compare to obtain the higher value in both, higher value is load pressure.
When the change of the difference of system pressure and load pressure is big, the input signal increase of Ioad-sensing control device 8, load-sensitive
Controller 8 reduces output signal so as to reduce the average output flow in a cycle of hydraulic free-piston engine 1, and hydraulic pressure holds
The input flow rate of chamber 2 diminishes, and the output flow of hydraulic pressure cavity volume 2 is that load flow is constant, from above-mentioned formula (1) (2), is
Pressure of uniting declines, and the difference of system pressure and load pressure diminishes.
When the change of the difference of system pressure and load pressure is small, the input signal of Ioad-sensing control device 8 reduces, load-sensitive
The appropriate increase output signal of controller 8 so as to increase the average output flow in a cycle of hydraulic free-piston engine 1,
The inlet flow quantitative change of hydraulic pressure cavity volume is big, and the output flow of hydraulic pressure cavity volume is that load flow is constant, can by above-mentioned formula (1) (2)
Know, system pressure rises, and the difference of system pressure and load pressure becomes big.
It can be seen that the utility model Ioad-sensing control loop is negative feedback control so that system pressure all the time with load pressure
Match.
Above-mentioned Ioad-sensing control device 8 controls the mode of the output flow of hydraulic free-piston engine 1 to be controlled for PWM.It is negative
It is constant to carry the cycle of the sensitive output signal of controller 8, by the Duty ratio control hydraulic free-piston engine 1 one for changing signal
Average output flow in the individual cycle.
For loading speed control loop
In system work process, when the change of the difference of given speed and the speed of the piston rod of hydraulic cylinder 6 is small, loading speed control
The input signal of device 4 processed diminishes, and loading speed controller 4 reduces output signal to reduce 3-position 4-way electromagnetic proportional valve valve port P
Aperture, in the case where the difference of pressure at two ends is constant, it was found from above-mentioned formula (3), flow through 3-position 4-way electromagnetic proportional valve valve
Mouth P flow reduces, and reduces so as to the speed of hydraulic cylinder piston rod.
When the change of the difference of given speed and the speed of the piston rod of hydraulic cylinder 6 is big, the input signal of loading speed controller 4 becomes
Greatly, loading speed controller 4 increases output signal to increase 3-position 4-way electromagnetic proportional valve valve port P aperture, in pressure at two ends
Difference it is constant in the case of, it was found from above-mentioned formula (3), flow through 3-position 4-way electromagnetic proportional valve valve port P flow increase, so as to
The speed increase of hydraulic cylinder piston rod.
In addition, when the piston rod of hydraulic cylinder 6 is protruding, loading speed controller 4 makes at 3-position 4-way electromagnetic proportional valve 5
Yu Zuowei so that valve port P and valve port A are communicated；When the piston rod of hydraulic cylinder 6 inwardly bounces back, loading speed controller 4 makes three
Four-way electromagnetic proportioning valve 5 is in right position so that valve port B and valve port T-phase are led to；When the piston rod of hydraulic cylinder 6 need not move, bear
Carrying speed control 4 makes 3-position 4-way electromagnetic proportional valve 5 be in middle position.
Embodiment of the present utility model is as follows：
Embodiment 1：
The utility model is applied in the equipment of excavator, then as shown in figure 3, for boom cylinder 10, dipper
Oil cylinder 11 and bucket cylinder 12 distinguish the sizeable hydraulic free-piston engine of mesh power and corresponding digital load
Sensitive oil circuit.
When boom cylinder 10, bucket arm cylinder 11 and bucket cylinder 12 need motion, it is only necessary to open corresponding hydraulic pressure certainly
By piston engine 1 and the corresponding three position four-way electromagnetic valve 5 of control.
Therefore, the system pressure in each cylinder hydraulic circuit matches with load pressure, and because hydraulic free-piston
The structural advantage of engine 1, structure whole efficiency are higher than conventional load sensitive structure.
If three oil cylinders are driven using the single high-power engine of tradition and huge discharge variable pump：System pressure can only
The difference of the load pressure of adaptation load pressure highest oil cylinder, system pressure and other two oil cylinders is larger, non-highest load
The throttling loss of control valve before the two oil cylinders is larger；Because three oil cylinders are not always under maximum duty simultaneously, greatly
The overall output power of power engine and huge discharge variable pump is relatively low, therefore high-power engine and huge discharge variable pump is whole
Body is less efficient.
And in the present embodiment three oil cylinders are respectively matched with the suitable hydraulic free-piston engine of a watt level and phase
The digital load control oil circuit answered.The system pressure of three hydraulic free-piston engine outlets adapts to the load of three oil cylinders
Pressure, structure throttling loss are smaller；The motion of three oil cylinders is respectively by respective hydraulic free-piston engine and corresponding number
Word load control oil circuit control, the rated power of hydraulic free-piston engine and the maximum duty of oil cylinder match, therefore liquid
Press the whole efficiency of free-piston engine higher, hydraulic free-piston engine can also be closed in idling and improves fuel-economy
Property.
Embodiment 2：
By the utility model be applied to wheel loader equipment in, then as shown in figure 4, for roll oil cylinder 13 or
Lift cylinder 14 distinguishes the sizeable hydraulic free-piston engine of mesh power and corresponding digital load-sensitive oil circuit.
When rolling oil cylinder 13 or lift cylinder 14 needs motion, it is only necessary to open corresponding hydraulic free-piston engine
1 and the corresponding three position four-way electromagnetic valve 5 of control.Therefore, the system pressure in each cylinder hydraulic circuit and load pressure phase
Match somebody with somebody, and because the structural advantage of hydraulic free-piston engine 1, structure whole efficiency are higher than conventional load sensitive structure.
If two oil cylinders are driven using the single high-power engine of tradition and huge discharge variable pump：System pressure can only
The difference of the load pressure of the higher oil cylinder of adaptation load pressure, system pressure and another oil cylinder is larger, compared with this of low-load
The throttling loss of control valve before oil cylinder is larger；Because two oil cylinders are not always under maximum duty simultaneously, high-power hair
The overall output power of motivation and huge discharge variable pump is relatively low, therefore the whole efficiency of high-power engine and huge discharge variable pump
It is relatively low.
And in the present embodiment two oil cylinders are respectively matched with the suitable hydraulic free-piston engine of a watt level and phase
The digital load control oil circuit answered.The system pressure of two hydraulic free-piston engine outlets adapts to the load of two oil cylinders
Pressure, structure throttling loss are smaller；The motion of two oil cylinders is respectively by respective hydraulic free-piston engine and corresponding number
Word load control oil circuit control, the rated power of hydraulic free-piston engine and the maximum duty of oil cylinder match, therefore liquid
Press the whole efficiency of free-piston engine higher, hydraulic free-piston engine can also be closed in idling and improves fuel-economy
Property.
Above-mentioned embodiment is used for illustrating the utility model, rather than the utility model is limited,
Spirit of the present utility model and any modifications and changes in scope of the claims, made to the utility model, all fall
Enter the scope of protection of the utility model.
Claims (1)
- A kind of 1. digital load-sensitive hydraulic control architectures, it is characterised in that：Multi executors are controlled using digital fluid source System, each actuator in multi executors system are equipped with connecting respective digital fluid source, each digital fluid Source connects through respective digital load sensitivity oil circuit and controls the both ends of actuator；Described actuator uses hydraulic cylinder (6), and described digital fluid source uses hydraulic free-piston engine (1), number Word load-sensitive oil circuit includes hydraulic pressure cavity volume (2), 3-position 4-way electromagnetic proportional valve (5), hydraulic cylinder (6), first pressure sensor (3-1), second pressure sensor (3-2), the 3rd pressure sensor (3-3), velocity sensor (7), Ioad-sensing control device (8) With loading speed controller (4), the fluid entrance connection fuel tank (9) of hydraulic free-piston engine (1), hydraulic free-piston hair The fluid outlet of motivation (1) is connected with hydraulic pressure cavity volume (2), the valve port P of hydraulic pressure cavity volume (2) and 3-position 4-way electromagnetic proportional valve (5) Connection, the valve port A of 3-position 4-way electromagnetic proportional valve (5) are connected with the rodless cavity of hydraulic cylinder (6), 3-position 4-way electromagnetic proportional valve (5) valve port B is connected with the rod chamber of hydraulic cylinder (6), and the valve port T of 3-position 4-way electromagnetic proportional valve (5) is connected with fuel tank (9)； First pressure sensor (3-1) is installed in the valve port P of 3-position 4-way electromagnetic proportional valve (5), in 3-position 4-way electromagnetic proportional valve (5) Valve port A installation second pressure sensor (3-2), 3-position 4-way electromagnetic proportional valve (5) valve port B install the 3rd pressure sensing Device (3-3), first pressure sensor (3-1), second pressure sensor (3-2) and the 3rd pressure sensor (3-3) are connected to Ioad-sensing control device (8), the control terminal of Ioad-sensing control device (8) connection hydraulic free-piston engine (1)；In hydraulic cylinder (6) installation rate sensor (7) on piston rod, velocity sensor (7) is through loading speed controller (4) and 3-position 4-way electromagnetism Proportioning valve (5) connects.
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| CN201720649945.5U CN206958033U (en) | 2017-06-06 | 2017-06-06 | A kind of digital load-sensitive hydraulic control architectures |
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| CN201720649945.5U CN206958033U (en) | 2017-06-06 | 2017-06-06 | A kind of digital load-sensitive hydraulic control architectures |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107143540A (en) * | 2017-06-06 | 2017-09-08 | 浙江大学 | Digital load sensing hydraulic control system and method |
| CN111577687A (en) * | 2020-05-06 | 2020-08-25 | 太原理工大学 | Load-sensitive double-hydraulic-cylinder synchronization system and control method thereof |
| CN116792476A (en) * | 2023-06-16 | 2023-09-22 | 浙江大学 | Power-sharing multi-power-source-driven electro-hydraulic actuator system |
-
2017
- 2017-06-06 CN CN201720649945.5U patent/CN206958033U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107143540A (en) * | 2017-06-06 | 2017-09-08 | 浙江大学 | Digital load sensing hydraulic control system and method |
| CN111577687A (en) * | 2020-05-06 | 2020-08-25 | 太原理工大学 | Load-sensitive double-hydraulic-cylinder synchronization system and control method thereof |
| CN111577687B (en) * | 2020-05-06 | 2021-10-08 | 太原理工大学 | Load-sensitive double-hydraulic-cylinder synchronization system and control method thereof |
| CN116792476A (en) * | 2023-06-16 | 2023-09-22 | 浙江大学 | Power-sharing multi-power-source-driven electro-hydraulic actuator system |
| CN116792476B (en) * | 2023-06-16 | 2024-03-15 | 浙江大学 | Power-sharing multi-power-source-driven electro-hydraulic actuator system |
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