CN213039546U - Compression garbage truck hydraulic pressure synchronous control system based on PID control - Google Patents
Compression garbage truck hydraulic pressure synchronous control system based on PID control Download PDFInfo
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- CN213039546U CN213039546U CN202021433143.9U CN202021433143U CN213039546U CN 213039546 U CN213039546 U CN 213039546U CN 202021433143 U CN202021433143 U CN 202021433143U CN 213039546 U CN213039546 U CN 213039546U
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 32
- 230000006835 compression Effects 0.000 title claims abstract description 19
- 238000007906 compression Methods 0.000 title claims abstract description 19
- 230000001105 regulatory effect Effects 0.000 claims abstract description 36
- 238000006073 displacement reaction Methods 0.000 claims abstract description 28
- 239000003921 oil Substances 0.000 description 22
- 239000000945 filler Substances 0.000 description 6
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model belongs to the hydraulic control field, and relates to a compression garbage truck hydraulic synchronous control system based on PID control, which comprises a synchronous loop, a hydraulic locking loop, an overload protection and unloading loop and other elements, wherein the synchronous loop is added with a PID controller; the hydraulic locking loop comprises a first hydraulic control one-way valve, a second hydraulic control one-way valve and a Y-shaped three-position four-way electromagnetic reversing valve; the synchronous circuit comprises a first piston type hydraulic cylinder, a second piston type hydraulic cylinder, a first displacement sensor, a second displacement sensor, a PID controller, a first rectifier bridge, a second rectifier bridge, a speed regulating valve and an electro-hydraulic proportional speed regulating valve; the overload protection and unloading loop comprises an electromagnetic overflow valve; the other elements comprise a one-way valve and a hydraulic pump. The utility model provides a compression garbage truck hydraulic pressure synchronous control system based on PID control, it can reduce the displacement difference of pneumatic cylinder motion, improves synchronous precision.
Description
Technical Field
The utility model belongs to the hydraulic control field relates to a compression garbage truck hydraulic pressure synchronous control system based on PID control.
Background
The problem that great gap can appear when the multi-functional compression garbage truck that uses at present has the filler to close to lead to the garbage truck to omit in the car at the in-process rubbish of traveling and come out, produced the secondary influence to the environment again like this, and increased the work load of clearance rubbish. The main reason for this problem is that the two hydraulic cylinders have a large displacement difference during the controlled descending process of the lifting system of the filler of the multifunctional compression-type garbage truck. In order to solve the problem, the original hydraulic control system of the filling device of the multifunctional compression type garbage truck needs to be improved.
Disclosure of Invention
For solving the problem that exists among the above-mentioned background art, the utility model provides a compression garbage truck hydraulic pressure synchronous control system based on PID control, it can reduce the displacement difference of pneumatic cylinder motion, improves synchronous precision.
The utility model provides a technical scheme of above-mentioned problem is: a compression garbage truck hydraulic pressure synchronous control system based on PID control, its special character lies in:
the system comprises a synchronous loop, a hydraulic locking loop, an overload protection and unloading loop and other elements which are added into a PID controller;
the hydraulic locking loop comprises a first hydraulic control one-way valve, a second hydraulic control one-way valve and a Y-shaped three-position four-way electromagnetic reversing valve;
the synchronous circuit comprises a first piston type hydraulic cylinder, a second piston type hydraulic cylinder, a first displacement sensor, a second displacement sensor, a PID controller, a first rectifier bridge, a second rectifier bridge, a speed regulating valve and an electro-hydraulic proportional speed regulating valve;
the overload protection and unloading loop comprises an electromagnetic overflow valve;
the other elements comprise a one-way valve and a hydraulic pump;
a branch of a main oil way at the outlet of the hydraulic pump is connected with an electromagnetic overflow valve; the main oil path at the outlet of the hydraulic pump is connected with a one-way valve and a pressure gauge, and the one-way valve is connected with a Y-shaped three-position four-way electromagnetic directional valve; the outlet of the Y-shaped three-position four-way electromagnetic reversing valve is respectively connected with a first hydraulic control one-way valve and a second hydraulic control one-way valve, the first hydraulic control one-way valve is connected in series with a speed regulating valve of a first rectifier bridge, and the second hydraulic control one-way valve is connected in series with a proportional speed regulating valve of a second rectifier bridge; then the speed regulating valve and the proportional speed regulating valve are respectively connected with the rodless cavities of the first piston type hydraulic cylinder and the second piston type hydraulic cylinder through a first rectifier bridge and a second rectifier bridge, the first displacement sensor and the second displacement sensor are respectively arranged on the first piston type hydraulic cylinder and the second piston type hydraulic cylinder, and then the first piston type hydraulic cylinder and the second piston type hydraulic cylinder are connected with a PID controller which is also connected with the proportional speed regulating valve.
Further, the hydraulic pump further comprises an oil tank, and the inlet of the hydraulic pump is connected to the oil tank.
Further, a first oil filter is included, and the hydraulic pump inlet is connected to the oil tank through the first oil filter.
Further, a second oil filter is connected between the hydraulic pump and the check valve.
Furthermore, the pressure gauge is connected between the one-way valve and the second oil filter, and a pressure gauge switch is connected in front of the pressure gauge.
Furthermore, the first rectifier bridge and the second rectifier bridge are formed by combining four check valves.
Further, the PID controller includes a proportional unit P, an integral unit I, and a derivative unit D.
The utility model has the advantages that:
1) the utility modelIn the master-slave follow-up hydraulic synchronous control system based on PID control, in order to improve the synchronous precision of the hydraulic cylinders, a PID controller is added in the traditional hydraulic control system to control a proportional electromagnet of a proportional speed regulating valve, so that the second hydraulic cylinder and the first hydraulic cylinder are controlled to keep position synchronous motion; wherein the PID controller is a common regulator in industrial control application, and comprises a proportional unit P, an integral unit I and a differential unit D, and K is required to be set when in usep、Ki、KdThree parameters; the PID controller receives the difference signals of the two displacement sensors, carries out operation, outputs current signals to the proportional speed control valve, and adjusts the opening degree of a valve port of the proportional speed control valve through a proportional electromagnet of the proportional speed control valve to realize the position synchronous motion of the two hydraulic cylinders; the PID controller monitors the displacement error of the hydraulic cylinder in real time, dynamically adjusts the displacement error, and has high control precision;
2) the utility model adds the speed regulating valve and the electro-hydraulic proportional speed regulating valve into the rectifier bridge, so that no matter the piston of the hydraulic cylinder extends out or retracts, hydraulic oil flows through the speed regulating valve and the electro-hydraulic proportional speed regulating valve in a single direction all the time, namely, the speed regulating valve and the electro-hydraulic proportional speed regulating valve can work normally when the lifting mechanism ascends and descends;
3) two outlet oil ways of the three-position four-way electromagnetic directional valve are respectively connected with a hydraulic control one-way valve in series, a locking loop is formed in the whole hydraulic control system, the hydraulic control one-way valve has good sealing performance, an actuating element can be locked for a long time even under the action of external force, the position of a piston of the hydraulic cylinder is strictly locked, and the filler can be prevented from sliding downwards due to self weight; the Y-shaped three-position four-way electromagnetic reversing valve is used for switching ascending and descending actions of the lifting mechanism, when the lifting mechanism stops moving, the Y-shaped three-position four-way electromagnetic reversing valve is switched to a middle position, the pressure of an external control port of the hydraulic control one-way valve is relieved due to the function of the middle position, the hydraulic control one-way valve is prevented from being opened reversely due to the pressure of the external control port, and the locking effect is further ensured.
Drawings
Fig. 1 is the schematic diagram of the hydraulic synchronous control system of the compression garbage truck based on the PID control.
Wherein: 1-an oil tank, 2-a first oil filter, 4-a second oil filter, 3-a hydraulic pump, 5-a one-way valve, 6-a pressure gauge switch, 7-a pressure gauge, 8-an electromagnetic overflow valve, 9-a Y-type three-position four-way electromagnetic reversing valve, 101-a first hydraulic control one-way valve, 102-a second hydraulic control one-way valve, 11-a speed regulating valve, 12-an electro-hydraulic proportional speed regulating valve, 131-a first rectifier bridge, 132-a second rectifier bridge, 141-a first displacement sensor, 142-a second displacement sensor, 151-a first piston type hydraulic cylinder, 152-a second piston type hydraulic cylinder and 16-a PID controller.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
Referring to fig. 1, a hydraulic synchronous control system of a compression garbage truck based on PID control is composed of a hydraulic synchronous loop and a hydraulic locking loop, wherein the hydraulic synchronous loop is added with a PID controller, the synchronous loop comprises a common speed regulating valve 11 added with a first rectifier bridge 131, an electro-hydraulic proportional speed regulating valve 12 added with a second rectifier bridge 132, a first piston type hydraulic cylinder 151, a second piston type hydraulic cylinder 152, a first displacement sensor 141, a second displacement sensor 142 and a PID controller 16.
The locking loop is composed of a first hydraulic control one-way valve 101, a second hydraulic control one-way valve 102 and a Y-shaped three-position four-way electromagnetic directional valve 9.
Other components comprise two oil filters, a one-way valve 5, a pressure gauge switch 6, a pressure gauge 7, a hydraulic pump 3, an electromagnetic overflow valve 8 and the like.
An inlet of the hydraulic pump 3 is connected to the oil tank 1 through a first oil filter 2, and a main oil path at an outlet of the hydraulic pump 3 is connected with an oil filter 4; the branch of the main oil path is connected with an electromagnetic overflow valve 8 and then is connected into an oil tank; an outlet of an oil filter 4 in the main oil path is connected with a one-way valve 5 and a pressure gauge 7, and the one-way valve 5 is connected with a Y-shaped three-position four-way electromagnetic directional valve 9; the outlet of the Y-shaped three-position four-way electromagnetic reversing valve is respectively connected with a first hydraulic control one-way valve 101 and a second hydraulic control one-way valve 102, the first hydraulic control one-way valve 101 is connected in series with a speed regulating valve 11 of a first rectifier bridge 131, and the other second hydraulic control one-way valve 102 is connected in series with a proportional speed regulating valve 12 of a second rectifier bridge 132; then the speed regulating valve 11 and the proportional speed regulating valve 12 are respectively connected with the rodless cavities of the first piston type hydraulic cylinder 151 and the second piston type hydraulic cylinder 152 through the first rectifier bridge 131 and the second rectifier bridge 132, and are connected with the PID controller 16 after the first displacement sensor 141 and the second displacement sensor 142 are respectively arranged on the two piston type hydraulic cylinders, and the PID controller 16 is connected with the proportional speed regulating valve 12.
When the electromagnet 3YA of the Y-shaped three-position four-way electromagnetic reversing valve 9 is controlled by the external controller to be powered on, the right position of the Y-shaped three-position four-way electromagnetic reversing valve 9 works, hydraulic oil flows through the first hydraulic control one-way valve 101, then respectively passes through the speed regulating valve 11 and the proportional speed regulating valve 12, and respectively enters the rodless cavities of the first piston-type hydraulic cylinder 151 and the second piston-type hydraulic cylinder 152 through the first rectifier bridge 131 and the second rectifier bridge 132, so that the hydraulic cylinder body drives the compression-type garbage truck filler to ascend. When the first piston type hydraulic cylinder 151 and the second piston type hydraulic cylinder 152 move to the maximum displacement, the Y-shaped three-position four-way electromagnetic directional valve 9 works at the middle position, and at the moment, the locking loop has a strict locking effect on the position of the hydraulic cylinders, so that the filler stops at the current position. When the external controller controls the electromagnet 2YA of the Y-shaped three-position four-way electromagnetic directional valve 9 to be powered on, the Y-shaped three-position four-way electromagnetic directional valve 9 works in the left position, hydraulic oil flows through the hydraulic control one-way valve 102 to enter the rod cavities of the first piston-type hydraulic cylinder 151 and the second piston-type hydraulic cylinder 152, so that the cylinder body drives the compression garbage truck filler to descend, and the closing work is completed.
The PID controller 16 is composed of a proportional unit P, an integral unit I and a derivative unit D, and only needs to set K when the same hydraulic control system is used for the first timep、Ki、KdThree parameters.
In the process that the lifting system finishes ascending and descending, the first displacement sensor 141 and the second displacement sensor 142 respectively monitor the movement displacement of the first piston type hydraulic cylinder 151 and the second piston type hydraulic cylinder 152, the difference value of the monitoring results is transmitted to the PID controller 16, the PID controller analyzes and calculates the displacement difference value, and outputs an electric signal to the electromagnet of the proportional speed regulating valve 12 to regulate the opening degree of the valve 12, so that the flow entering the second piston type hydraulic cylinder 152 is regulated and controlled, the displacement difference of the two hydraulic cylinders is compensated, the synchronization precision is improved, the position synchronization of the first piston type hydraulic cylinder 151 and the second piston type hydraulic cylinder 152 is ensured, and the stable opening and the strict closing of the multifunctional compression type garbage truck filling device are realized.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art can still adjust the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some technical features thereof. Therefore, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. The utility model provides a compression garbage truck hydraulic pressure synchronous control system based on PID control which characterized in that:
the system comprises a synchronous loop, a hydraulic locking loop, an overload protection and unloading loop and other elements which are added into a PID controller;
the hydraulic locking loop comprises a first hydraulic control one-way valve, a second hydraulic control one-way valve and a Y-shaped three-position four-way electromagnetic reversing valve;
the synchronous circuit comprises a first piston type hydraulic cylinder, a second piston type hydraulic cylinder, a first displacement sensor, a second displacement sensor, a PID controller, a first rectifier bridge, a second rectifier bridge, a speed regulating valve and an electro-hydraulic proportional speed regulating valve;
the overload protection and unloading loop comprises an electromagnetic overflow valve;
the other elements comprise a one-way valve and a hydraulic pump;
a branch of a main oil way at the outlet of the hydraulic pump is connected with an electromagnetic overflow valve; the main oil path at the outlet of the hydraulic pump is connected with a one-way valve and a pressure gauge, and the one-way valve is connected with a Y-shaped three-position four-way electromagnetic directional valve; the outlet of the Y-shaped three-position four-way electromagnetic reversing valve is respectively connected with a first hydraulic control one-way valve and a second hydraulic control one-way valve, the first hydraulic control one-way valve is connected in series with a speed regulating valve of a first rectifier bridge, and the second hydraulic control one-way valve is connected in series with a proportional speed regulating valve of a second rectifier bridge; then the speed regulating valve and the proportional speed regulating valve are respectively connected with the rodless cavities of the first piston type hydraulic cylinder and the second piston type hydraulic cylinder through a first rectifier bridge and a second rectifier bridge, the first displacement sensor and the second displacement sensor are respectively arranged on the first piston type hydraulic cylinder and the second piston type hydraulic cylinder, and then the first piston type hydraulic cylinder and the second piston type hydraulic cylinder are connected with a PID controller which is also connected with the proportional speed regulating valve.
2. The hydraulic synchronous control system of the compression garbage truck based on PID control according to claim 1, characterized in that:
and the inlet of the hydraulic pump is connected to the oil tank.
3. The hydraulic synchronous control system of the compression garbage truck based on PID control according to claim 1, characterized in that:
also included is a first oil filter, the hydraulic pump inlet being connected to the oil tank through the first oil filter.
4. The hydraulic synchronous control system of the compression-type garbage truck based on PID control according to any one of claims 1-3, characterized in that:
a second oil filter is connected between the hydraulic pump and the one-way valve.
5. The hydraulic synchronous control system of the compression garbage truck based on PID control according to claim 4, characterized in that:
the pressure gauge is connected between the one-way valve and the second oil filter, and a pressure gauge switch is connected in front of the pressure gauge.
6. The hydraulic synchronous control system of the compression garbage truck based on PID control according to claim 5, characterized in that:
the first rectifier bridge and the second rectifier bridge are formed by combining four check valves.
7. The hydraulic synchronous control system of the compression garbage truck based on PID control according to claim 4, characterized in that:
the PID controller includes a proportional unit P, an integral unit I and a derivative unit D.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN202021433143.9U CN213039546U (en) | 2020-07-20 | 2020-07-20 | Compression garbage truck hydraulic pressure synchronous control system based on PID control |
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CN202021433143.9U CN213039546U (en) | 2020-07-20 | 2020-07-20 | Compression garbage truck hydraulic pressure synchronous control system based on PID control |
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CN202021433143.9U Expired - Fee Related CN213039546U (en) | 2020-07-20 | 2020-07-20 | Compression garbage truck hydraulic pressure synchronous control system based on PID control |
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Granted publication date: 20210423 |
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