WO2013097380A1

WO2013097380A1 - Flow distributing system, apparatus and method for multi-sectional boom, and engineering machinery equipment

Info

Publication number: WO2013097380A1
Application number: PCT/CN2012/074169
Authority: WO
Inventors: 蒲东亮; 谭凌群; 谷红岩
Original assignee: 湖南三一智能控制设备有限公司; 三一重工股份有限公司
Priority date: 2011-12-26
Filing date: 2012-04-17
Publication date: 2013-07-04
Also published as: CN102493656A; CN102493656B

Abstract

Provided is a flow distributing system for a multi-sectional boom, comprising: an operating apparatus (102) for responding to the boom operating actions of a user and generating corresponding operation commands; a control apparatus (104) connected to the operating apparatus (102), generating corresponding control signals according to the operation commands from the operating apparatus (102) and performing reduction processing on the control signals. Accordingly, further disclosed are engineering machinery equipment and a flow distributing apparatus and method for a multi-sectional boom. By means of this technical solution, flow can be distributed rationally when operating a multi-sectional boom, ensuring that the movement of each section of the boom works in a coordinated manner. _DD

Description

Flow distribution system, device and method for multi-section boom, engineering machinery and equipment. The application is submitted to the Chinese Patent Office on December 26, 2011, application number 201110441937.9, and the invention name is "flow for multi-section boom" The priority of the Chinese Patent Application for Distributing Systems, Apparatus and Methods, Engineering, and the like, the entire contents of which are incorporated herein by reference.

Technical field

The present invention relates to the field of mechanical control, and in particular to a flow distribution system, apparatus and method for a multi-section boom, and an engineering machine apparatus.

Background technique

Due to its large construction range and fast working speed, the ultra-long boom has become more and more mainstream in the market. The boom is growing, the operation is more complicated, the safety and reliability requirements are higher, and the precise drive and coordinated control are more difficult. The quality of traffic distribution directly affects the accuracy and flexibility of the operation.

As the length of the boom increases, the size and thrust of the supporting hydraulic cylinder will increase sharply, and the demand for hydraulic flow will continue to increase. However, due to the limitation of structural space and economic performance, the displacement of the hydraulic pump of the boom system cannot be selected. Therefore, when the multi-section boom is linked, the flow provided by the hydraulic pump cannot fully meet the flow demand. In addition, the load difference of different booms is large, which inevitably leads to uncoordinated movement between the booms, which affects the entire operation. Sexuality increases the complexity of the operation. How to distribute the flow of each boom after the hydraulic system flow is saturated, ensuring that the overall motion coordination becomes a difficult point of control.

Therefore, there is a need for a new flow distribution technique for a multi-section boom that can properly distribute flow when operating a multi-section boom to ensure coordinated movement of the boom booms.

Summary of the invention

The present invention is directed to the above problems, and proposes a flow distribution technique for a multi-section boom that can properly distribute flow when operating a multi-section boom to ensure that the motion of each boom can be coordinated.

In view of this, the present invention provides a flow distribution system for a multi-section boom, comprising: an operating device that senses an operation of a user to generate a corresponding operational command; and a control device coupled to the operating device, including a signal receiving unit that receives the operation command from the operating device; a data acquiring unit that acquires a theoretical moving speed of each of the booms according to the operation command from the signal receiving unit, and each of the booms Corresponding requirements for each electric proportional control valve a flow signal, a demand flow rate of the boom cylinder corresponding to each of the booms; a flow acquisition unit that acquires a real-time supply flow of the hydraulic oil pump; and a flow comparison unit that compares the total demand flow with the real-time supply flow, wherein The total demand flow is the sum of the required flow rates of the boom cylinders corresponding to the respective booms; and the flow distribution unit, when the total demand flow does not exceed the real-time supply flow, the demand flow signal is used as Applying a signal to the respective electric proportional control valves; performing derating processing on the demanded flow signal to obtain the derating control signal, and using the required total flow rate to exceed the real-time supply flow rate The derating control signal is provided as an application signal to the respective electric proportional control valves.

In this technical solution, the operating device includes a lever, a button on the console, a hand-held operating terminal, etc., a device that the user can use to issue an operation command, a degree of movement by the operating lever, a pressed button, or a user in the handheld operating terminal The selected option or the entered command, etc., to know the user's desire to operate the boom. When the control device acquires the user's desired purpose through the operating device, the theoretical data is obtained when the expectation is reached, wherein the theoretical motion speed, that is, the motion speed of each boom, the demand flow signal, that is, the control valve corresponds to The magnitude of the control signal that should be sent at this speed. The required flow rate is the flow rate of hydraulic oil or other liquid for the size of the demand flow signal, and the three are corresponding to each other. The faster the moving speed, the control signal The bigger the volume, the more traffic.

However, the actual flow rate may not be satisfied for the theoretically required flow rate of each boom. However, in order to keep the boom in coordination during the movement, the ratio of the theoretical flow of the original boom can still be used. Decreasing the value of the theoretical flow rate with the same amplitude, correspondingly, also reduces the size of the control signal and the speed of movement of the boom, that is, the process of derating.

In the above technical solution, preferably, the control device and the operating device are connected by wire or wirelessly. In this technical solution, if the distance is short, the connection can be made by wire to ensure better communication effect and is not easily interfered; and when the distance is long, effective communication can be performed wirelessly to ensure work. Going on.

In the above technical solution, preferably, the communication protocol adopted between the control device and the operating device, and each unit in the control device includes: a CAN protocol and/or an RS485 protocol. In this technical solution, those skilled in the art should understand that any communication protocol and corresponding communication mode that can be used between the device and the device or the unit and the unit can be applied to the technical solution of the present application. In the above technical solution, preferably, the process of performing the derating process by the traffic distribution unit includes: obtaining a derating coefficient according to a ratio between the total required traffic and the real-time supply traffic, and using the derating flow The signal is adjusted in proportion to the derating coefficient according to the derating factor, so that the obtained derating control signal is lower than the demand flow signal, and the total demand flow corresponding to the derating control signal does not exceed the real-time supply flow. In this technical solution, the derating process is because the actual flow rate may not reach the theoretical required flow value. If the arm frame is directly operated, the movement of the boom may be uncoordinated, which may affect the operation effect. If the demand flow signal of each boom is reduced by the same ratio value, the overall movement of each boom can be ensured under the actual available flow.

In the above technical solution, preferably, the demand flow signal and the derating control signal are current signals or voltage signals.

In the above technical solution, preferably, the method further includes: a speed detecting unit that detects a real-time moving speed of the each boom boom; a ratio acquiring unit that acquires a theoretical ratio of the theoretical motion speed from the data acquiring unit, and Acquiring a real-time ratio of the real-time motion speed from the speed detecting unit; the correction processing unit, in the case of determining that the theoretical ratio and the real-time ratio from the proportional acquisition unit are different, the application signal A correction process is performed, the obtained correction application signal is supplied to the respective electric proportional control valves, and the determination is made again until the theoretical ratio is the same as the real-time ratio. In this technical solution, the effect of the theoretical derating treatment may actually be due to external disturbances such as wind, vibration, etc., so that theoretical values cannot be achieved, and therefore, in order to make the booms still coordinated The action, by detecting the actual movement condition of each boom and performing feedback correction, enables the actual movement conditions of each boom to be coordinated. For example, for example, the initial theoretical signals are, i ₂ , i ₃ , 0.8 ii , 0.8 i ₂ , 0.8 i ₃ after derating, but in practice, by moving the second boom corresponding to 0.8 If the speed is detected, it is found that the speed of the movement is not enough. According to the ratio of the actual movement speed of the second boom and the actual movement speed of the other booms, the theoretical signals of the respective booms are corrected without exceeding the actual total flow rate. .

In the above technical solution, preferably, the speed detecting unit comprises: an angle sensor. In this technical solution, the effect of whether the corresponding demand flow signal should be achieved is determined by the rotational speed of the actual movement angle of the boom. Of course, it is obvious that other sensors or other detecting devices can also be used, and those skilled in the art should understand that any one can be used. An instrument, a device or a device for detecting the moving speed or motion condition of the boom can be applied to the technical solution of the present invention.

In the above technical solution, preferably, the method further includes: a filtering unit that performs filtering and noise canceling processing on the actual motion speed obtained by the speed detecting unit.

In the above technical solution, preferably, the control device further includes: a signal sampling unit that samples a real-time control signal output by each of the electric proportional control valves; a compensation output unit, wherein the theoretical ratio and the real-time ratio In the same case, if the real-time control signal is different from the application signal, the compensation output is performed by the electric proportional control valves, so that the real-time control signal is the same as the application signal; and in the theoretical ratio When the real-time ratios are different, if the real-time control signal is different from the correction application signal, the electric proportional control valves perform compensation output such that the real-time control signal is the same as the correction application signal. In this technical solution, after detecting and correcting the movement speed of the boom, the magnitude of the demand flow signal that should be outputted by the control valve has been determined, but whether the size of the control signal actually output by the control valve reaches the demand The flow signal requirements are not clear. Therefore, by detecting the magnitude of the control signal output from the control valve, it is ensured that the actual output control signal is the theoretically calculated control signal size that should be output.

According to still another aspect of the present invention, there is also provided a construction machine apparatus having a multi-section boom, characterized by comprising a flow distribution system for a multi-section boom as described in the above technical solution. In this technical solution, the operating device includes a lever, a button on the console, a hand-held operating terminal, etc., a device that the user can use to issue an operation command, a degree of movement by the operating lever, a pressed button, or a user in the handheld operating terminal The selected option or the entered command, etc., to know the user's desire to operate the boom. When the control device acquires the user's desired purpose through the operating device, the theoretical data is obtained when the expectation is reached, wherein the theoretical motion speed, that is, the motion speed of each boom, the demand flow signal, that is, the control valve corresponds to The magnitude of the control signal that should be sent at this speed. The required flow rate is the flow rate of hydraulic oil or other liquid for the size of the demand flow signal, and the three are corresponding to each other. The faster the moving speed, the control signal The bigger the volume, the more traffic.

However, the actual flow rate may not be satisfied for the theoretically required flow rate of each boom. However, in order to keep the boom in coordination during the movement, the ratio of the theoretical flow of the original boom can still be used. Decrease the value of the theoretical flow rate by the same magnitude, correspondingly, also Correspondingly, the size of the control signal and the speed of movement of the boom are reduced, that is, the process of derating. However, the effect of the theoretical derating treatment may actually be due to external disturbances such as wind, vibration, etc., so that theoretical values cannot be reached. Therefore, in order to make the booms still able to coordinate movements, The actual motion of the boom is detected and feedback corrected so that the actual motion of each boom can be coordinated. For example, for example, the initial theoretical signals are, i ₂ , i ₃ , which are 0.8, 0.8, 0.8 i ₃ after derating, but in practice, by moving the second boom corresponding to 0.8 i ₂ The detection finds that the movement speed is not enough, and according to the ratio of the actual movement speed of the second boom and the actual movement speed of the other booms, the theoretical signals of the respective booms are corrected without exceeding the actual total flow rate.

The construction machinery here includes: concrete pump trucks, distributors, all-terrain cranes and/or truck cranes. It should be understood by those skilled in the art that all construction machinery that can be installed and used with multi-section booms can be applied. The technical solution of the present invention.

According to still another aspect of the present invention, a flow distribution device for a multi-section boom is further provided, comprising: a signal receiving module connected to the operating device, receiving an operation command from the operating device; and a data acquisition module, Acquiring, according to the operation command from the signal receiving module, a theoretical moving speed of each of the booms, a demand flow signal of each electric proportional control valve corresponding to each of the booms, and an arm corresponding to each of the booms a demand flow of the oil cylinder; a flow acquisition module, obtaining a real-time supply flow of the hydraulic oil pump; a flow comparison module, comparing the total demand flow with the real-time supply flow, wherein the total flow demand is corresponding to the boom of each section The sum of the required flow rates of the boom cylinders; the flow distribution module, wherein the demand flow signals are provided as application signals to the respective electric proportional control valves if the required total flow does not exceed the real-time supply flow; And in the case that the total demand traffic exceeds the real-time supply traffic, the demand traffic signal is entered Derating to give the derating control signal and said control signal for derating provided to the respective proportional control valve for the application of electrical signals.

In this technical solution, the operating device includes a lever, a button on the console, a hand-held operating terminal, etc., a device that the user can use to issue an operation command, a degree of movement by the operating lever, a pressed button, or a user in the handheld operating terminal The selected option or the entered command, etc., to know the user's desire to operate the boom. When the control device acquires the user's desired purpose through the operating device, the theoretical data is obtained when the expectation is reached, including the theoretical operation. The moving speed is the moving speed of each boom. The demand flow signal is the size of the control signal that should be sent when the control valve corresponds to the speed. The demand flow is the flow of hydraulic oil or other liquid for the magnitude of the demand flow signal, and The three correspond to each other. The faster the movement speed, the larger the control signal and the more the flow rate.

In the above technical solution, preferably, the process of performing the derating process by the traffic distribution module includes: obtaining a derating coefficient according to a ratio between the total required traffic and the real-time provisioning traffic, where the required traffic is obtained The signal is adjusted in proportion to the derating coefficient according to the derating factor, so that the obtained derating control signal is lower than the demand flow signal, and the total demand flow corresponding to the derating control signal does not exceed the real-time supply flow. In this technical solution, the derating treatment is because the actual flow rate may not reach the theoretical required flow value. If the arm frame is directly operated, the movement of the boom may be uncoordinated, which may affect the operation effect. If the demand flow signal of each boom is reduced by the same ratio, the overall motion of each boom can be coordinated under the actual available flow.

In the above technical solution, preferably, the speed detecting module detects a real-time moving speed of the each boom; the proportional acquisition module acquires a theoretical ratio of the theoretical moving speed from the data acquiring module, and acquires a source a real-time ratio of the real-time motion speed of the speed detecting module; the correction processing module corrects the application signal when it is determined that the theoretical ratio and the real-time ratio from the proportional acquisition module are different And obtaining the corrected application signal to the respective electric proportional control valves, and re-determining until the theoretical ratio is the same as the real-time ratio. In this technical solution, the effect of the theoretical derating treatment may actually be due to external disturbances such as wind, vibration, etc., so that theoretical values cannot be achieved, and therefore, in order to make the booms still coordinated The action, by detecting the actual movement condition of each boom and performing feedback correction, enables the actual movement conditions of each boom to be coordinated. For example, for example, the initial theoretical signal is, i ₂ , i ₃ , by After the amount is 0.8, 0.8 i ₂ , 0.8 i ₃ , in actual application, by detecting the motion speed of the second boom corresponding to 0.8 i ₂ , it is found that the motion speed is not enough, according to the actual situation of the second boom. The ratio of the speed of motion to the actual speed of the other booms corrects the theoretical signals of the individual booms without exceeding the actual total flow.

In the above technical solution, preferably, the speed detecting module comprises: an angle sensor. In this technical solution, the effect of whether or not the corresponding demand flow signal should be achieved is judged by the rotational speed of the actual movement angle of the boom. Of course, it is obvious that other sensors or other detecting devices can also be used, and those skilled in the art will appreciate that any instrument, device or device that can be used to detect the speed or motion of the boom can be applied to the techniques of the present invention. Program.

In the above technical solution, preferably, the method further includes: a filtering module, performing filtering and denoising processing on the actual motion speed obtained by the speed detecting unit.

In the above technical solution, preferably, the method further includes: a signal sampling module, sampling the real-time control signal output by the electric proportional control valves; and compensating the output module, when the theoretical ratio is the same as the real-time ratio, The real-time control signal is different from the application signal, and the respective electric proportional control valves perform compensation output such that the real-time control signal is the same as the application signal; and the theoretical ratio and the real-time ratio When not the same, if the real-time control signal is different from the correction application signal, the respective electric proportional control valves perform compensation output such that the real-time control signal is identical to the correction application signal. In this technical solution, after detecting and correcting the movement speed of the boom, the magnitude of the demand flow signal that should be outputted by the control valve has been determined, but whether the size of the control signal actually output by the control valve reaches the demand The flow signal requirements are not clear. Therefore, by detecting the magnitude of the control signal output from the control valve, it is ensured that the actual output control signal is the theoretically calculated size of the control signal that should be output.

According to still another aspect of the present invention, a flow distribution method for a multi-section boom is further provided, comprising: Step 402: Obtain a theoretical motion speed of each boom according to a user's boom operation And a required flow rate signal of each electric proportional control valve corresponding to each of the booms, a required flow rate of the boom cylinder corresponding to each of the booms, and a real-time supply flow of the hydraulic oil pump; Step 404, according to the respective arm Comparing the required flow rate of the corresponding boom cylinder to obtain the total demand flow; step 406, comparing the total demand flow with the real-time supply flow, in the need When the total flow rate does not exceed the real-time supply flow, the demand flow signal is provided as an application signal to the electric proportional control valves, otherwise the demand flow signal is derated, and the derating control is obtained. A signal is provided to the respective electrical proportional control valves as the application signal.

In the above technical solution, preferably, the derating process includes: obtaining a derating coefficient according to a ratio between the total demand flow rate and the real-time supply flow rate, and performing the derating flow signal according to the derating factor The proportional adjustment of the value causes the obtained derating control signal to be lower than the demand flow signal, and the total demand flow corresponding to the derating control signal does not exceed the real-time supply flow. In this technical solution, the derating treatment is because the actual flow rate may not reach the theoretical required flow value. If the boom is directly operated, the movement of the boom may be uncoordinated, which may affect the operation effect. If the demand flow signal of each boom is reduced by the same ratio value, the overall coordination of the motion of each boom can be ensured under the actual available flow.

In the above technical solution, preferably, after the step 406, the method further includes: Step 408: detecting a real-time moving speed of each of the boom booms, and calculating the theoretical theoretical ratios of the boom booms respectively Whether the real-time ratios are the same, and if not, the application signals are calibrated The processing is performed, and the obtained correction application signal is supplied to the respective electric proportional control valves, and the judgment is repeated until the theoretical ratio is the same as the real-time ratio. In this technical solution, the effect of the theoretical derating treatment may actually be due to external disturbances such as wind, vibration, etc., so that theoretical values cannot be achieved, and therefore, in order to make the booms still coordinated The action, by detecting the actual movement condition of each boom and performing feedback correction, enables the actual movement conditions of each boom to be coordinated. For example, such initial theory signal, i _2, i _3, by the derating is _{0.8 ^, 0. 8 i 2,} 0. 8 i 3, however the practical application, through the corresponding 0.8i ₂ The second boom performs the detection of the moving speed, and finds that the moving speed is not enough, according to the ratio of the actual moving speed of the second boom and the actual moving speed of the other booms, the arms are not exceeded in the actual total flow rate. The theoretical signal of the rack is corrected.

In the above technical solution, preferably, the theoretical moving speed and the real-time moving speed include: an angular change speed of each of the booms. In this technical solution, the effect of whether or not the corresponding demand flow signal is achieved is determined by the rotational speed of the actual movement angle of the boom. Of course, it will be apparent that other parameters may be employed, and those skilled in the art will appreciate that any parameter that can be used to detect the speed of motion or motion of the boom can be applied to the technical solution of the present invention.

In the above technical solution, preferably, the method further includes: performing filtering and denoising processing on the actual motion speed.

In the above technical solution, preferably, the method further includes: sampling a real-time control signal output by each of the electric proportional control valves; and when the theoretical ratio is the same as the real-time ratio, the real-time control signal and the Applying a signal for comparison, if the real-time control signal is different from the application signal, performing compensation output by the electric proportional control valves, so that the real-time control signal is the same as the application signal; and in the theory Comparing the ratio with the real-time ratio, comparing the real-time control signal with the correction application signal, and if the real-time control signal is different from the correction application signal, performing by each of the electric proportional control valves The output is compensated such that the real time control signal is the same as the correction application signal. In this technical solution, after detecting and correcting the movement speed of the boom, the magnitude of the demand flow signal that should be outputted by the control valve has been determined, but whether the size of the control signal actually output by the control valve reaches the demand The flow signal requirements are not clear. Therefore, by detecting the magnitude of the control signal output from the control valve, it is theoretically calculated to ensure that the actual output control signal is calculated. The size of the control signal that should be output.

Through the above technical solution, the flow can be reasonably distributed when the multi-section boom is operated, and the movement of each boom can be coordinated.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a flow distribution system for a multi-section boom according to an embodiment of the present invention;

Figure 2 shows a block diagram of a construction machine apparatus in accordance with an embodiment of the present invention;

Figure 3 shows a block diagram of a control device in accordance with an embodiment of the present invention;

4 shows a flow chart of a flow distribution method for a multi-section boom according to an embodiment of the present invention;

Figure 5 shows a schematic view of a boom control system in accordance with an embodiment of the present invention;

6 shows a detailed flow chart of a flow distribution method for a multi-section boom according to an embodiment of the present invention;

FIG. 7 shows a detailed structural diagram of a boom control system in accordance with an embodiment of the present invention.

detailed description

The above described objects, features and advantages of the present invention will be more fully understood from the following detailed description.

In the following description, numerous specific details are set forth in order to facilitate a full understanding of the invention, but the invention may be practiced in other embodiments than described herein. The limitations of the example.

1 shows a block diagram of a flow distribution system for a multi-section boom in accordance with an embodiment of the present invention.

As shown in FIG. 1, a flow distribution system 100 for a multi-section boom according to an embodiment of the present invention includes: an operation device 102 that senses an operation action of a user, generates a corresponding operation command; and controls the device 104 to connect to the operation. The device 102 includes: a signal receiving unit 1040 that receives an operation command from the operating device 102. The data acquiring unit 1042 acquires a theoretical moving speed of each of the booms and a corresponding arm of each of the booms according to an operation command from the signal receiving unit 1040. The demand flow signal of each electric proportional control valve, the required flow rate of the boom cylinder corresponding to each boom; the flow obtaining unit 1044, obtaining the real-time supply flow of the hydraulic oil pump; the flow comparison unit 1046, the total flow of demand The quantity is compared with the real-time supply flow, wherein the total demand flow is the sum of the demand flow of the boom cylinders corresponding to each boom; the flow distribution unit 1048, the demand flow is performed when the total demand flow does not exceed the real-time supply flow The signal is provided as an application signal to each electric proportional control valve; when the total demand flow exceeds the real-time supply flow, the demand flow signal is derated, a derating control signal is obtained, and the derating control signal is used as an application signal Provided to each of the electric proportional control valves.

In this technical solution, the operating device 102 includes a lever, a button on the console, a hand-held operating terminal, and the like, a device that the user can use to issue an operation command, a degree of movement by the operating lever, a pressed button, or a user's hand-held operation. The options selected on the terminal or the commands entered, etc., to know the user's desire to operate the boom. When the control device 104 acquires the desired purpose of the user through the operating device 102, the theoretical data is obtained when the expectation is reached, wherein the theoretical motion speed, that is, the motion speed of each boom, and the demand flow signal, that is, the control valve Corresponding to the size of the control signal that should be issued at the speed, the demand flow rate is the flow rate of the hydraulic oil or other liquid for the magnitude of the demand flow signal, and the three are mutually corresponding, and the faster the movement speed, then The larger the control signal and the more the flow.

In the above technical solution, the control device 104 and the operating device 102 are connected by wire or wireless. In this technical solution, if the distance is short, the connection can be made by wire to ensure better communication effect and is not easily interfered; and when the distance is long, effective communication can be performed wirelessly to ensure work. Going on.

In the above technical solution, the communication protocol adopted between the control device 104 and the operating device 102, and each unit in the control device 104 includes: a CAN protocol and/or an RS485 protocol. In this technical solution, those skilled in the art should understand that any communication protocol and corresponding communication method that can be used between the device and the device or the unit and the unit can be applied to the technical solution of the present application.

In the above technical solution, the process of derating the traffic distribution unit 1048 includes: obtaining a derating coefficient according to a ratio between the total traffic demanded and the real-time supply traffic, and using the derating signal The same ratio adjustment of the value is performed according to the derating factor, so that the obtained derating control signal is lower than the demand flow signal, and the total demand flow corresponding to the derating control signal does not exceed the real-time supply flow. In this technical solution, the derating treatment is because the actual flow rate may not reach the theoretical required flow value. If the boom is directly operated, the movement of the boom may be uncoordinated, which may affect the operation effect. If the demand flow signal of each boom is reduced by the same ratio value, the overall movement of each boom can be ensured under the actual available flow.

In the above technical solution, the demand flow signal and the derating control signal are current signals or voltage signals.

In the above technical solution, the method further includes: a speed detecting unit 1052, detecting a real-time moving speed of each of the booms; a ratio acquiring unit 1054, acquiring a theoretical ratio of the theoretical moving speed from the data acquiring unit 1042, and acquiring the speed detecting unit 1052 The real-time ratio of the real-time motion speed; the correction processing unit 1056, in the case of determining that the theoretical ratio and the real-time ratio from the scale acquisition unit 1054 are different, correcting the application signal, and providing the obtained correction application signal to each electrical ratio Control the valve and re-determine until the theoretical ratio is the same as the real-time ratio. In this technical solution, the effect of the theoretical derating treatment may actually be due to external disturbances such as wind, vibration, etc., so that theoretical values cannot be achieved, and therefore, in order to make the booms still coordinated The action, by detecting the actual movement condition of each boom and performing feedback correction, enables the actual movement conditions of each boom to be coordinated. For example, for example, the initial theoretical signal is i ₂ , i ₃ , which is 0.8 0. 8 i ₂ , 0. 8 i ₃ after derating, but in actual application, the second corresponding to 0.8i ₂ The boom is detected by the movement speed, and it is found that the speed of the movement is not enough, according to the ratio of the actual movement speed of the second boom and the actual movement speed of the other booms, without exceeding the actual total flow rate, for each boom The theoretical signal is corrected.

In the above technical solution, the speed detecting unit 1052 includes: an angle sensor. In this technical solution, the effect of whether or not the corresponding demand flow signal is achieved is determined by the rotational speed of the actual movement angle of the boom. Of course, it is obvious that other sensors or other detecting devices can also be used, and those skilled in the art will appreciate that any instrument, device or device that can be used to detect the speed or motion of the boom can be applied to the techniques of the present invention. Program.

In the above technical solution, the method further includes: a filtering unit (not shown in the figure), detecting the speed The actual motion speed obtained by unit 1052 is subjected to filter denoising processing.

In the above technical solution, the control device 104 further includes: a signal sampling unit 1058, which samples a real-time control signal output by each electric proportional control valve; and a compensation output unit 1060, if the theoretical ratio is the same as the real-time ratio, if the real-time control signal is If the application signals are different, the compensation output is performed by each electric proportional control valve, so that the real-time control signal is the same as the application signal; and when the theoretical ratio and the real-time ratio are different, if the real-time control signal is different from the correction application signal, The electric proportional control valve performs a compensation output so that the real-time control signal is the same as the correction application signal. In this technical solution, after detecting and correcting the movement speed of the boom, the magnitude of the demand flow signal that should be outputted by the control valve has been determined, but whether the size of the control signal actually output by the control valve reaches the demand The flow signal requirements are not clear. Therefore, by detecting the magnitude of the control signal output from the control valve, it is ensured that the actual output control signal is the theoretically calculated size of the control signal that should be output.

2 shows a block diagram of a construction machine apparatus in accordance with an embodiment of the present invention.

As shown in FIG. 2, a construction machine apparatus 200 according to an embodiment of the present invention has a multi-section boom characterized by including a flow distribution system 100 for a multi-section boom as in the technical solution of FIG. 1. The construction machinery 200 herein includes: concrete pump trucks, distributors, all-terrain cranes and/or truck cranes, and it should be understood by those skilled in the art that any construction machinery that can be installed and used with a multi-section boom can be applied. The technical solution of the present invention.

In the above technical solution, the flow distribution system 100 for the multi-section boom includes: an operating device 102, which senses an operation action of the user, generates a corresponding operation command; and the control device 104 is connected to the operating device 102, including: signal receiving The unit 1040 receives the operation command from the operation device 102. The data acquisition unit 1042 acquires the theoretical movement speed of each of the booms and the requirements of the electric proportional control valves corresponding to the respective booms according to the operation command from the signal receiving unit 1040. The flow signal, the required flow rate of the boom cylinder corresponding to each boom; the flow obtaining unit 1044, obtaining the real-time supply flow of the hydraulic oil pump; the flow comparison unit 1046, comparing the total demand flow with the real-time supply flow, wherein the total flow required The sum of the required flow rates of the boom cylinders corresponding to the booms; the flow distribution unit 1048 provides the demand flow signal as an application signal to each of the electric proportional control valves when the total demand flow does not exceed the real-time supply flow; When the total demand flow exceeds the real-time supply flow, the demand flow signal is performed. Derating, the derating control signal is obtained, and the derating control signal is provided as an application signal to each electric proportional control valve. In this technical solution, the operating device 102 includes a lever, a button on the console, a hand-held operating terminal, etc., a device that the user can use to issue an operation command, a degree of movement by the operating lever, a pressed button, or a user's hand-held operation. The options selected on the terminal or the commands entered, etc., to know the user's desire to operate the boom. When the control device 104 obtains the desired purpose of the user by operating the device 102, the theoretical data is obtained when the expectation is reached, wherein the theoretical motion speed, that is, the motion speed of each boom, and the demand flow signal, that is, the control valve Corresponding to the size of the control signal that should be issued at the speed, the demand flow rate is the flow rate of the hydraulic oil or other liquid for the magnitude of the demand flow signal, and the three are mutually corresponding, and the faster the movement speed, then The larger the control signal and the more the flow.

In the above technical solution, the process of performing derating processing by the traffic allocating unit 1048 includes: obtaining a derating coefficient according to a ratio between the total traffic flow and the real-time supply traffic, and adjusting the demand traffic signal by the same ratio according to the derating coefficient, The resulting derating control signal is lower than the demand flow signal, and the total demand flow corresponding to the derating control signal does not exceed the real-time supply flow. In this technical solution, the derating treatment is because the actual flow rate may not reach the theoretical required flow value. If the boom is directly operated, the movement of the boom may be uncoordinated, which may affect the operation effect. If the demand flow signal of each boom is reduced by the same ratio value, the overall movement of each boom can be ensured under the actual available flow. In the above technical solution, the demand flow signal and the derating control signal are current signals or voltage signals.

In the above technical solution, the method further includes: a speed detecting unit 1052, detecting a real-time moving speed of each of the booms; a ratio acquiring unit 1054, acquiring a theoretical motion ratio from the data acquiring unit 1042; and a correction processing unit 1056, determining the proportional acquisition When the theoretical ratio and the real-time ratio of the unit 1054 are different, the application signal is corrected, the obtained correction application signal is supplied to each electric proportional control valve, and the judgment is made again until the theoretical ratio is the same as the real-time ratio. In this technical solution, the effect of the theoretical derating treatment may actually be due to external disturbances such as wind, vibration, etc., so that theoretical values cannot be achieved, and therefore, in order to make the booms still coordinated The action, by detecting the actual movement condition of each boom and performing feedback correction, enables the actual movement conditions of each boom to be coordinated. For example, for example, the initial theoretical signal is ii ₂ , i ₃ , and after derating, it is 0.8 0. 8 i ₂ , 0.8 i ₃ , but in practical application, the second arm corresponding to 0.8i ₂ The movement speed of the frame is detected, and it is found that the speed of the movement is not enough, according to the ratio of the actual movement speed of the second boom and the actual movement speed of the other booms, the theory of each boom is not exceeded in the actual total flow rate. The signal is corrected.

In the above technical solution, the method further includes: a filtering unit (not shown), performing filtering and denoising processing on the actual moving speed obtained by the speed detecting unit 1052.

Figure 3 shows a block diagram of a control device in accordance with an embodiment of the present invention.

As shown in FIG. 3, a control apparatus 300 according to an embodiment of the present invention includes: a signal receiving module 302 connected to an operating device to receive an operation command from the operating device; and a data acquiring module 304 according to an operation from the signal receiving module 302 Command, obtaining the theoretical movement speed of each boom, the demand flow signal of each electric proportional control valve corresponding to each boom, and the required flow rate of the boom cylinder corresponding to each boom; the flow acquisition module 306, acquiring the hydraulic oil pump The real-time supply flow; the flow comparison module 308 compares the total demand flow with the real-time supply flow, wherein the total demand flow is the sum of the demand flows of the boom cylinders corresponding to the booms; the flow distribution module 310, the total flow at the demand When the real-time supply flow is not exceeded, the demand flow signal is provided as an application signal to each electric proportional control valve; when the total demand flow exceeds the real-time supply flow, the demand flow signal is derated to obtain a derating control signal , and provide the derating control signal as an application signal to each electrical ratio Valve.

In this technical solution, the operating device includes a lever, a button on the console, a hand-held operating terminal, etc., a device that the user can use to issue an operation command, a degree of movement by the operating lever, a pressed button, or a user in the handheld operating terminal The selected option or the entered command, etc., to know the user's desire to operate the boom. When the control device 300 acquires the desired purpose of the user through the operating device, it calculates the theoretical data when the expectation is reached, wherein the theoretical motion speed, that is, the motion speed of each boom, the demand flow signal, that is, the control valve corresponds to The magnitude of the control signal that should be sent at this speed. The demand flow is the flow rate of hydraulic oil or other liquid for the size of the demand flow signal, and the three are corresponding to each other. The faster the movement speed, the more control The larger the signal and the more traffic.

However, the actual flow rate may not be satisfied for the theoretically required flow rate of each boom. However, in order to keep the boom in coordination during the movement, the ratio of the theoretical flow of the original boom can still be used. Decrease the value of the theoretical flow rate by the same magnitude, correspondingly, also Correspondingly, the size of the control signal and the speed of movement of the boom are reduced, that is, the process of derating. In the above technical solution, the process of performing derating processing by the traffic distribution module 310 includes: obtaining a derating coefficient according to a ratio between the total traffic demanded and the real-time supply traffic, and adjusting the demand traffic signal by the same ratio according to the derating coefficient, The resulting derating control signal is lower than the demand flow signal, and the total demand flow corresponding to the derating control signal does not exceed the real-time supply flow. In this technical solution, the derating treatment is because the actual flow rate may not reach the theoretical required flow value. If the boom is directly operated, the movement of the boom may be uncoordinated, which may affect the operation effect. If the demand flow signal of each boom is reduced by the same ratio value, the overall movement of each boom can be ensured under the actual available flow.

In the above technical solution, the method further includes: a speed detecting module 314, detecting a real-time moving speed of each of the booms; a ratio acquiring module 316, acquiring a theoretical ratio of the theoretical moving speed from the data acquiring module 304, and acquiring the speed detecting module 314 The real-time ratio of the real-time motion speed; the correction processing module 318, after determining that the theoretical ratio and the real-time ratio from the proportional acquisition module 316 are different, correcting the application signal, and providing the obtained correction application signal to each electrical ratio Control the valve and re-determine until the theoretical ratio is the same as the real-time ratio. In this technical solution, the effect of the theoretical derating treatment may actually be due to external disturbances such as wind, vibration, etc., so that theoretical values cannot be achieved, and therefore, in order to make the booms still coordinated The action, by detecting the actual movement condition of each boom and performing feedback correction, enables the actual movement conditions of each boom to be coordinated. For example, for example, the initial theoretical signals are, i ₂ , i ₃ , after derating, 0.8, 0.8 i ₂ , 0. 8 i ₃ , but in actual application, by the corresponding corresponding to 0.8i ₂ The movement of the two-arm frame is detected, and it is found that the speed of the movement is insufficient, and according to the ratio of the actual movement speed of the second boom and the actual movement speed of the other booms, the respective booms are not exceeded in the actual total flow rate. The theoretical signal is corrected.

In the above technical solution, the speed detecting module 314 includes: an angle sensor. In this technical solution, the effect of whether the corresponding demand flow signal should be achieved is determined by the rotational speed of the actual movement angle of the boom. Of course, it will be apparent that other sensors or other detection devices may be employed, as will be understood by those skilled in the art, wherever it can be used to detect the boom The instrument, device or device of the speed of motion or the state of motion can be applied to the technical solution of the present invention.

In the above technical solution, the method further includes: a filtering module (not shown), and performing filtering and denoising processing on the actual motion speed obtained by the speed detecting unit 314.

In the above technical solution, the method further includes: a signal sampling module 320, sampling the real-time control signal output by each electric proportional control valve; and compensating the output module 322, if the theoretical ratio and the real-time ratio are the same, if the real-time control signal and the application signal are not The same, the electric proportional control valve performs the compensation output, so that the real-time control signal is the same as the application signal; and when the theoretical ratio and the real-time ratio are different, if the real-time control signal is different from the correction application signal, it is controlled by each electric proportional The valve performs a compensation output such that the real-time control signal is the same as the correction application signal. In this technical solution, after detecting and correcting the movement speed of the boom, the magnitude of the demand flow signal that should be outputted by the control valve has been determined, but whether the size of the control signal actually output by the control valve reaches the demand The flow signal requirements are not clear. Therefore, by detecting the magnitude of the control signal output from the control valve, it is ensured that the actual output control signal is the theoretically calculated size of the control signal that should be output.

4 shows a flow diagram of a flow distribution method for a multi-section boom in accordance with an embodiment of the present invention.

As shown in FIG. 4, a flow distribution method for a multi-section boom according to an embodiment of the present invention includes: Step 402, obtaining a theoretical motion speed of each boom and each arm according to a user's boom operation. The required flow signal of each electric proportional control valve corresponding to the rack, the required flow rate of the boom cylinder corresponding to each boom, and the real-time supply flow of the hydraulic oil pump; Step 404, according to the required flow rate of the boom cylinder corresponding to each boom, Obtaining the total demand flow; Step 406, comparing the total demand flow with the real-time supply flow, and providing the demand flow signal as an application signal to each electric proportional control valve when the total demand flow does not exceed the real-time supply flow, otherwise the demand flow signal is The derating process is performed, and the obtained derating control signal is supplied as an application signal to each electric proportional control valve.

In the above technical solution, the derating process includes: obtaining a derating coefficient according to a ratio between the total flow required and the real-time supply flow, and adjusting the demand flow signal by the same ratio according to the derating coefficient, so that the derating control signal is obtained The total demand flow below the demand flow signal and corresponding to the derating control signal does not exceed the real-time supply flow. In this technical solution, the derating treatment is because the actual flow rate may not reach the theoretical required flow value. If the boom is directly operated, the movement of the boom may be uncoordinated, which may affect the operation effect. If the demand flow signals of the respective booms are reduced by the same ratio, the overall motion of each boom can be coordinated under the actual available flow.

In the above technical solution, after the step 406, the method further includes: Step 408: detecting a real-time moving speed of each of the booms, and calculating a theoretical ratio of the theoretical moving speed of the booms and the real-time motion respectively a real-time ratio of the speed; Step 410, determining whether the theoretical ratio is the same as the real-time ratio, if not, performing correction processing on the application signal, and providing the obtained correction application signal to each electric proportional control valve And re-determine until the theoretical ratio is the same as the real-time ratio. In this technical solution, the effect of the theoretical derating treatment may actually be due to external disturbances such as wind, vibration, etc., so that theoretical values cannot be achieved, and therefore, in order to make the booms still coordinated The action, by detecting the actual movement condition of each boom and performing feedback correction, enables the actual movement conditions of each boom to be coordinated. For example, for example, the initial theoretical signal is, i ₂ , i ₃ , after derating, 0.8, 0.8 i ₂ , 0. 8 i ₃ , but in actual application, by the corresponding number of 0.8 i ₂ The second boom performs the detection of the moving speed, and finds that the moving speed is not enough, according to the actual of the second boom The ratio of the speed of the motion and the actual speed of the other booms corrects the theoretical signals of the individual booms without exceeding the actual total flow.

In the above technical solution, the theoretical moving speed and the real-time moving speed include: an angular change speed of each of the booms. In this technical solution, the effect of whether or not the corresponding required flow rate signal should be achieved is determined by the rotational speed of the actual movement angle of the boom. Of course, it will be apparent that other parameters may be employed, and those skilled in the art will appreciate that any parameter that can be used to detect the speed of motion or motion of the boom can be applied to the technical solution of the present invention.

In the above technical solution, the method further includes: performing filtering and denoising processing on the actual motion speed. In the above technical solution, the method further includes: sampling a real-time control signal output by each electric proportional control valve; comparing the real-time control signal with the application signal when the theoretical ratio is the same as the real-time ratio, if the real-time control signal and the application signal are not The same, the electric proportional control valve performs the compensation output, so that the real-time control signal is the same as the application signal; and when the theoretical ratio and the real-time ratio are different, the real-time control signal is compared with the correction application signal, if the real-time control signal and correction If the application signals are different, the compensation output is performed by each electric proportional control valve, so that the real-time control signal is the same as the correction application signal. In this technical solution, after detecting and correcting the movement speed of the boom, the magnitude of the demand flow signal that should be outputted by the control valve has been determined, but whether the size of the control signal actually output by the control valve reaches the demand The flow signal requirements are not clear. Therefore, by detecting the magnitude of the control signal output from the control valve, it is ensured that the actual output control signal is the theoretically calculated size of the control signal that should be output.

Figure 5 shows a schematic diagram of a boom control system in accordance with an embodiment of the present invention.

As shown in FIG. 5, the specific structure and operation of the boom control system 500 according to the embodiment of the present invention are as follows:

The boom control unit 502 inputs a manipulation command to the central control unit 504, where the boom manipulation unit 502 refers to a joystick, a console, a manipulation terminal, and the like, and senses a user's operation, thereby receiving a manipulation command by the user, such as an expectation. Each boom moves at a certain speed. After the central control unit 504 acquires the manipulation command from the boom manipulation unit 502, the theoretical speed at which the user desires the movement of each of the booms is obtained according to the parameters in the manipulation command. The theoretical speed of movement of the boom corresponds to the flow of hydraulic oil input by the boom pump. The faster the speed, the larger the flow rate, and the amount of flow is related to the control current signal output by the multi-way control valve group 506. Therefore, it is possible to many The magnitude of the control current signal output by the road control valve group 506 is controlled.

However, in order for the booms to reach the theoretical speed, the theoretical total flow required may exceed the actual total flow stored in the boom cylinder 508, which may result in some booms being able to move at a theoretical speed, while others may It is impossible to exercise at the theoretical speed, which leads to the uncoordinated movement of the arms of each section, which causes troubles in operation and affects work efficiency.

Therefore, the theoretical speed of each boom can be appropriately adjusted, and the ratio between the theoretical total flow and the actual total flow can be specifically adjusted, so that the multiple theoretical speeds of the multiple booms are simultaneously adjusted according to the same ratio. The theoretical total flow corresponding to the adjusted theoretical velocity does not exceed the actual total flow. Then, corresponding to the adjusted theoretical speed, the demand flow signal that the multi-way control valve group 506 should output is also adjusted accordingly. Then, the central control unit 504 outputs a control command to the multi-way control valve group 506 according to the above adjustment, so that the multi-way control valve group 506 outputs a control signal corresponding to the adjusted theoretical speed magnitude, and is calculated by the boom cylinder 508 according to The control signal outputs a flow rate to the boom.

However, due to the influence of the external environment, such as wind, vibration, etc., the boom may not be able to move according to the theoretical speed. At this time, the angle of the movement of each boom may be continuously continuous by the tilt detecting unit 510. Measure, and calculate the rate of change of the angle as the speed of movement of the boom. By comparing the ratio of the actually measured motion speed to the ratio of the theoretical speed obtained before, if the same, there is no need to modify, if different, the corresponding frame for the different values, and the value of the phase difference, by the central control unit 504 calculates the required correction value and adds the correction value to the corresponding control signal output by the multi-way control valve group 506 to ensure that the boom moves as desired by the user.

In addition, in addition to detecting the actual motion of the boom by the tilt detecting unit 510, since the multi-way control valve group 506 actually outputs the control current signal, the current of the output control current signal may be in error due to some influence, The control current signal output from the multi-way control valve group 506 can be fed back and detected by the spool current detecting unit 512, so that the multi-way control valve group 506 can output the control current signal according to actual needs.

In summary, the present embodiment adjusts the ratio of the moving speed between the booms by the closed loop formed by the tilt detecting unit 510, and outputs the closed loop formed by the spool current detecting unit 512 to the multi-way control valve group 506. The current of the control current signal is detected to ensure that it is accurately output in accordance with commands given by the central control unit 504. 6 shows a detailed flow chart of a flow distribution method for a multi-section boom in accordance with an embodiment of the present invention.

As shown in FIG. 6, the specific steps of the flow distribution method for the multi-section boom according to the embodiment of the present invention are as follows:

Step 602, the boom control unit receives the operation and sends a corresponding signal. The boom control unit here refers to the joystick, the console, the control terminal, etc., and senses the user's operation, so as to receive the manipulation command from the user's will, for example, expecting each boom to move at a certain speed. The signal sent here is generated based on the received operation, which contains the parameters corresponding to the theoretical action expected by the user.

At step 604, based on the signals acquired from the boom operating unit, the theoretical total flow Q required for the movement of each boom and the actual total flow Q in the boom cylinder are calculated. . Here, according to the theoretical speed at which the user desires the movement of each of the booms, it corresponds to the flow rate of the hydraulic oil of the boom cylinder input boom, and the flow rate corresponds to the magnitude of the current of the control signal outputted by the control valve.

Step 606, determining whether Q>Q. . If yes, go to step 608, otherwise go to step 610. At step 608, it is determined whether the system traffic is saturated. The saturation here refers to the total flow due to the theory.

Q may be smaller than the actual total flow rate Q. Therefore, some of the booms can get enough flow to move at the theoretical speed, and some of the booms do not get enough flow, and accordingly, the speed of movement is insufficient. At this point, the entire boom can be made When exercising, overall coordination is affected. Go to step 612.

In step 610, the system traffic is not saturated. Go to step 614.

At step 612, the control signal is derated. According to the ratio of the theoretical flow rate of the original booms, the theoretical flow rate can be reduced by the same amplitude, and correspondingly, the size of the control signal and the movement speed of the boom are correspondingly reduced. Of course, due to the flow rate, the control signal current, The movement speeds correspond to each other, so by changing any data, other data can be adjusted accordingly, and the adjustment of any data is correct, that is, the process of derating.

At step 614, the output controls the proportional current. The control proportional current here is obtained by derating the demand flow signal.

In step 616, the boom tilt angle is detected and the motion speed is calculated. Here, the speed of change of the angle of the boom is taken as the speed of movement of the boom. Due to the influence of the external environment, such as wind, vibration, etc., the boom may not be able to move at the theoretical speed. Step 618, comparing the ratio of the motion speed of each boom to the calculated ratio of the theoretical motion speed. If the ratio of the speed of movement is different, it means that some of the booms are not moving according to the theoretical speed, then the actual speed and the theoretical speed can be compared to understand the specific deviation of the boom.

In step 620, it is judged whether the ratio of the motion speed of each boom is equal to the calculated ratio of the theoretical motion speeds. If they are equal, the process proceeds to step 630, otherwise, the process proceeds to step 622.

At step 622, the proportional current is controlled for correction. Comparing the ratio of the actual speed to the ratio of the theoretical speed, the difference in value indicates that the corresponding boom needs to be corrected, but the premise of the correction is that the corresponding total flow cannot exceed the actual total flow.

At step 624, the corrected proportional current is output. Here, the control valve sends a command containing the corrected proportional current obtained at this time, and it is desirable that the control valve can output the control signal in accordance with the command.

Step 626, obtaining a real-time current output by the control valve. If the control valve performs the output control signal according to the corrected proportional current obtained after the correction in step 622, the boom will successfully perform coordinated motion, but the problem is that the actual output current of the control valve may not be equal to the corrected proportional current for many reasons. Therefore, the current output from the control valve can be sampled and detected in real time.

Step 628, comparing the real-time current with the corrected proportional current.

Step 630, comparing the real-time current with the control proportional current.

At step 632, it is determined whether the real-time current and the corrected proportional current, or the real-time current and the control proportional current are equal. If they are equal, no adjustment is needed. If they are not equal, the compensation output is required.

Step 634, Compensation of the control current output by the control valve.

FIG. 7 shows a detailed structural diagram of a boom control system in accordance with an embodiment of the present invention. As shown in Figure 7, the specific structure and operation of the boom control system 700 in accordance with an embodiment of the present invention is as follows:

The manipulation command input by the user is obtained by the boom control device, where the boom control device refers to the joystick, the console, the control terminal, etc., and senses the operation action of the user, thereby receiving the manipulation command by the user, such as acquiring the boom. The speed of motion 702 is desired.

The desired moving speed 702 of the boom corresponds to the flow rate of the hydraulic oil input by the cylinder actuator 712. The faster the speed, the larger the flow rate, and the amount of the flow is related to the control current signal output by the multi-way control valve group 506, so Adjust the size of any of the data to control other data. However, in order for the booms to reach the desired speed of motion 702 of the boom, the theoretical total flow required may exceed the actual total flow stored in the boom cylinders, which may result in some booms being able to move at a theoretical speed. Others are unable to move at the theoretical speed, resulting in an uncoordinated overall movement of the booms, which causes problems in operation and affects work efficiency.

Therefore, the desired movement speed 702 of the boom can be appropriately adjusted, specifically according to the ratio between the theoretical total flow rate and the actual total flow rate, so that the desired movement speeds 702 of the plurality of booms of the plurality of booms are simultaneously the same. The ratio is adjusted such that the theoretical total flow corresponding to the desired speed of motion 702 of the adjusted boom does not exceed the actual total flow. Then, corresponding to the desired speed of motion 702 of the adjusted boom, the demand flow signal that the multi-way control valve group 710 should output is also adjusted accordingly. The multi-way control valve group 710 outputs a control signal corresponding to the magnitude of the desired movement speed 702 of the above-described adjusted boom, and the cylinder actuator 712 performs flow output of the boom based on the control signal.

However, due to the influence of the external environment, such as wind, vibration, etc., the boom may not be able to move according to the theoretical speed. At this time, the angle of the movement of each boom may be performed by the boom tilt detecting unit 714. The continuous measurement is performed in real time, and the speed of change of the angle is calculated as the moving speed of the boom. By comparing the ratio of the actually measured motion speeds to the ratio of the desired motion speeds 702 of the plurality of booms obtained before, if they are the same, no modification is needed, and if different, the booms corresponding to different values, and the phase difference The value is calculated by the current adjustment unit 704 to the required correction value such that the correction value is added to the corresponding control signal output by the multi-way control valve group 710, thereby ensuring that the boom moves according to the user's desire.

In addition, in addition to detecting the actual movement of the boom by the boom tilt detecting unit 714, since the multi-way control valve group 710 actually outputs the control current signal, there may be an error in the current of the output control current signal due to some influence. Therefore, the control current signal output from the multi-way control valve group 710 can be fed back and detected by the spool current detecting unit 708, so that the multi-way control valve group 710 can output the control current signal according to actual needs.

Of course, since the multi-way control valve group 710 is driven by the PWM spool proportional drive current 706 when the output of the control signal is being performed, as long as the accuracy of the PWM spool proportional drive current 706 is ensured, then the multi-way The control signal output from the control valve group 710 is also not biased. Therefore, it is also possible to directly feedback and adjust the PWM spool proportional drive current 706 to ensure the current of the control signal obtained by the cylinder actuator 712 and the control that the user desires to input. The signal is consistent.

In summary, the present embodiment adjusts the ratio of the speed of movement between the booms by the closed loop formed by the boom tilt detecting unit 714, and the proportional drive of the spool by the spool current detecting unit 708. 706 monitors to ensure that the multi-way control valve block 710 accurately outputs control signals in accordance with commands given by the user.

The technical solution of the present invention is described in detail above with reference to the accompanying drawings. In consideration of the linkage of the multi-section boom, how to distribute the flow of each boom after the flow of the hydraulic system is saturated, to ensure that the overall motion coordination becomes a difficult point of control. Accordingly, the present invention provides a flow distribution system, apparatus and method for a multi-section boom, and an engineering machine apparatus that can properly distribute flow when operating a multi-section boom to ensure each boom The actions can work in harmony.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

Rights request

A flow distribution system for a multi-section boom, characterized in that it comprises:

The operating device (102) senses a user's boom operation to generate a corresponding operation command; and the control device (104) is coupled to the operating device (102), including:

a data acquisition unit (1042), according to the operation command from the operating device (102), acquiring a theoretical movement speed of each of the booms, a demand flow signal of each electric proportional control valve corresponding to each of the booms, The required flow rate of the boom cylinder corresponding to each of the booms;

a flow acquisition unit (1044) for obtaining a real-time supply flow of the hydraulic oil pump;

The flow comparison unit (1046) compares the total demand flow with the real-time supply flow, wherein the total demand flow is the sum of the demand flows of the boom cylinders corresponding to the respective booms; and the flow distribution unit (1048) Providing the demand flow signal as an application signal to the electric proportional control valves if the total demand flow does not exceed the real-time supply flow; and the total flow exceeds the real-time supply flow In the case of derating the demand flow signal, the derating control signal is obtained, and the derating control signal is provided as an application signal to the electric proportional control valves.

2. The flow distribution system for a multi-section boom according to claim 1, wherein the control device (104) and the operating device (102) are connected by wire or wirelessly.

3. The flow distribution system for a multi-section boom according to claim 1, wherein said control device (104) and said operating device (102), and said control device (104) The communication protocols used between the units include: CAN protocol and/or RS485 protocol.

4. The flow distribution system for a multi-section boom according to claim 1, wherein the process of performing the derating process by the flow distribution unit (1048) comprises:

Deducing a coefficient according to a ratio between the total demand flow and the real-time supply flow, and adjusting the demand flow signal by a proportional value according to the derating coefficient, so that the obtained derating control signal is low The total demand flow rate of the demand flow signal and corresponding to the derating control signal does not exceed the real-time supply flow.

5. The flow distribution system for a multi-section boom according to claim 4, wherein the demand flow signal and the derating control signal are current signals or voltage signals.

6. The flow distribution system for a multi-section boom according to claim 1, wherein Also includes:

a speed detecting unit (1052), detecting a real-time moving speed of each of the booms; a ratio acquiring unit (1054), acquiring a theoretical ratio of the theoretical moving speed from the data acquiring unit (1042), and acquiring the source a real-time ratio of the real-time motion speed of the speed detecting unit (1052);

a correction processing unit (1056), in the case of determining that the theoretical ratio and the real-time ratio from the scale acquisition unit (105) are different, performing correction processing on the application signal, and providing the obtained correction application signal to The electrical proportional control valves are re-determined until the theoretical ratio is the same as the real-time ratio.

7. The flow distribution system for a multi-section boom according to claim 6, wherein the speed detecting unit (1052) comprises: an angle sensor.

The flow distribution system for a multi-section boom according to any one of claims 1 to 7, wherein the control device (104) further comprises:

a signal sampling unit (1058) for sampling a real-time control signal output by each of the electric proportional control valves;

a compensation output unit (1060), when the theoretical ratio is the same as the real-time ratio, if the real-time control signal is different from the application signal, the electric proportional control valve performs compensation output, so that the The real-time control signal is the same as the application signal; and when the theoretical ratio is different from the real-time ratio, if the real-time control signal is different from the correction application signal, it is performed by each of the electric proportional control valves The output is compensated such that the real time control signal is the same as the correction application signal.

9. An engineering machine apparatus having a multi-section boom, characterized by comprising the flow distribution system for a multi-section boom according to claims 1-8.

10. A flow distribution device for a multi-section boom, comprising: a data acquisition module (304) for acquiring a theoretical movement speed of each of the booms according to an operation command from the operation device, the sections a demand flow signal of each electric proportional control valve corresponding to the boom, and a required flow rate of the boom cylinder corresponding to each of the booms;

a flow acquisition module (306) for obtaining a real-time supply flow of the hydraulic oil pump;

The flow comparison module (308) compares the total demand flow with the real-time supply flow, wherein the total demand flow is the sum of the required flow rates of the boom cylinders corresponding to the respective booms; a flow distribution module (310), wherein the demand flow signal is provided as an application signal to the electric proportional control valves if the total demand flow does not exceed the real-time supply flow; In the case of the real-time supply flow, the demand flow signal is subjected to derating processing to obtain the derating control signal, and the derating control signal is provided as an application signal to the electric proportional control valves.

11. The flow distribution device for a multi-section boom according to claim 10, wherein the process of performing the derating process by the flow distribution module (31 0) comprises:

12. The flow distribution device for a multi-section boom according to claim 11, wherein the demand flow signal and the derating control signal are current signals or voltage signals.

The flow distribution device for a multi-section boom according to claim 10, further comprising:

a speed detecting module (314), detecting a real-time moving speed of each of the booms; a proportional acquisition module (316), acquiring a theoretical ratio of the theoretical motion speed from the data acquiring module (304), and acquiring the source a real-time ratio of the real-time motion speed of the speed detection module (314);

a correction processing module (318), in the case of determining that the theoretical ratio and the real-time ratio from the proportional acquisition module (316) are different, performing correction processing on the application signal, and providing the obtained correction application signal To each of the electric proportional control valves, and the determination is made again until the theoretical ratio is the same as the real-time ratio.

14. The flow distribution device for a multi-section boom according to claim 13, wherein the speed detecting module (314) comprises: an angle sensor.

The flow distribution device for a multi-section boom according to any one of claims 10 to 14, further comprising:

a signal sampling module (320) for sampling a real-time control signal output by each of the electric proportional control valves;

a compensation output module (322), when the theoretical ratio is the same as the real-time ratio, The real-time control signal is different from the application signal, and the respective electric proportional control valves perform compensation output such that the real-time control signal is the same as the application signal; and the theoretical ratio and the real-time ratio are not In the same case, if the real-time control signal is different from the correction application signal, the respective electric proportional control valves perform compensation output such that the real-time control signal is identical to the correction application signal.

16. A flow distribution method for a multi-section boom, comprising: step 402, obtaining a theoretical movement speed of each of the booms according to a user's boom operation, and corresponding to each of the booms a demand flow signal of each electric proportional control valve, a demand flow rate of the boom cylinder corresponding to each of the boom arms, and a real-time supply flow rate of the hydraulic oil pump;

Step 404: Obtain a required total flow rate according to the required flow rate of the boom cylinder corresponding to each of the booms;

Step 406: Compare the total demand traffic with the real-time supply traffic, and when the total demand traffic does not exceed the real-time supply traffic, provide the required traffic signal as an application signal to each electrical proportional control. a valve, otherwise derating the demand flow signal, and providing the obtained derating control signal as the application signal to the electric proportional control valves.

17. The flow distribution method for a multi-section boom according to claim 16, wherein the derating process comprises:

18. The flow distribution method for a multi-section boom according to claim 17, wherein the demand flow signal and the derating control signal are current signals or voltage signals.

The flow distribution method for a multi-section boom according to claim 16, wherein after the step 406, the method further comprises:

Step 408: Detect the real-time moving speed of each of the booms, and calculate the arm steps 410 respectively, and determine whether the theoretical ratio is the same as the real-time ratio. If not, perform the application signal. The correction process supplies the obtained correction application signal to the respective electric proportional control valves, and re-determines until the theoretical ratio is the same as the real-time ratio.

20. The flow distribution method for a multi-section boom according to claim 19, wherein the theoretical movement speed and the real-time movement speed comprise: an angle change speed of each of the boom booms.

The flow distribution method for a multi-section boom according to any one of claims 16 to 20, further comprising:

Sampling the real-time control signals output by the electric proportional control valves;

Comparing the real-time control signal with the application signal when the theoretical ratio is the same as the real-time ratio, and if the real-time control signal is different from the application signal, the electric proportional control valve is Performing a compensation output such that the real-time control signal is the same as the application signal;

Comparing the real-time control signal with the correction application signal when the theoretical ratio is different from the real-time ratio, and if the real-time control signal is different from the correction application signal, The proportional control valve performs a compensation output such that the real time control signal is identical to the correction application signal.