CN102518168B - Hydraulic system control device, control method of the hydraulic system and excavator comprising the device - Google Patents
Hydraulic system control device, control method of the hydraulic system and excavator comprising the device Download PDFInfo
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- CN102518168B CN102518168B CN201110405612.5A CN201110405612A CN102518168B CN 102518168 B CN102518168 B CN 102518168B CN 201110405612 A CN201110405612 A CN 201110405612A CN 102518168 B CN102518168 B CN 102518168B
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- control
- control device
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- valve
- hydraulic system
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Abstract
The invention discloses a hydraulic system control device which comprises a control valve, a setting device and a control device, wherein the control valve comprises a control end, the setting device is connected with the control device; the control device is connected with the control end of the control valve; the control device comprises a storage part which is used for storing a preset program, and a programming interface; the programming interface is connected with the storage part and is used for carrying out programming on the storage part so as to change the preset program in the storage part; and the control device receives preset values output by the setting device. The invention has the beneficial effects of controlling a hydraulic system more flexibly, meeting different use requirements, enabling a guide pressure curve to be stable by correcting proportioning valve control current, realizing refined operation, and reducing influence of low hydraulic oil temperature on speed of a working device by enhancing gain through programming the control device in the preset program.
Description
Technical field
The present invention relates to a kind of excavator hydraulic control device, especially a kind of excavator digging control device for hydraulic system and control method thereof and comprise this device.
Background technology
Excavator, also known as excavation machinery, is excavate higher or lower than the material holding machine side with scraper bowl, and loads haulage vehicle or unload the earth moving plant to rickyard.Along with social development and construction need, the scope of application of excavator is more and more wider, and excavator plays very important effect in mineral exploration and exploitation, water conservancy construction and constructing road etc.Existing excavator is generally controlled by hydraulic system, according to the transmission requirement of digger operating device with each mechanism, the assembly that various Hydraulic Elements pipeline organically couples together, is called the hydraulic system of excavator.Its function is, be working media with fluid, utilizes hydraulic pump to be transmitted for hydraulic energy by the mechanical energy of motor, then to be turned by hydraulic energy by hydraulic cylinder and hydraulic motor etc. and returns as mechanical energy, realize the various actions of excavator.
Conventional HYDRAULIC CONTROL SYSTEM mode adopts hydraulic control handle as input, provides corresponding pilot pressure according to " handle displacement-pilot pressure " relation, thus determines spool aperture.Because the corresponding relation of handle displacement and pilot pressure is determined by hydraulic system itself, according to actual needs it is not adjusted accordingly by software programming, so such control mode flexibility is low, cause complete machine Based Intelligent Control level not high, different operating hand cannot be adapted to, individual demand that different operating mode operates complete machine, hydraulic oil temperature cannot compensate the impact of complete machine speed simultaneously.
Summary of the invention
For the problems referred to above that existing excavator hydraulic system control mode exists, the invention provides a kind of excavator digging control device for hydraulic system and control method thereof and comprise this device.
The technological means that technical solution problem of the present invention adopts is:
A kind of control device for hydraulic system, comprise a by-pass valve control, described by-pass valve control comprises control end, wherein, also comprise setting device and control device, described setting device is connected with described control device, and described control device is connected with the control end of described by-pass valve control;
Described control device comprises the reservoir part and DLL of depositing initialize program, and described DLL is connected with described reservoir part, for programming to described reservoir part to change the initialize program in described reservoir part;
Described control device receives the setting value that described setting device exports;
The setting value of the described setting device that described control device receives with initialize program process, and the control signal converting by-pass valve control aperture to exports described by-pass valve control to.
Above-mentioned control device for hydraulic system, wherein, the setting value that described setting device exports is the magnitude of voltage changed in predetermined interval.
Above-mentioned control device for hydraulic system, wherein, described setting device is the handle be connected with potentiometer, changes the output voltage values of the described potentiometer be connected with described handle by pulling described handle.
Above-mentioned control device for hydraulic system, wherein, described setting device is be connected with potentiometer foot-operated, by trampling the output voltage values of described foot-operated change and the described foot-operated described potentiometer be connected.
Above-mentioned control device for hydraulic system, wherein, described control device comprises Voltage to current transducer parts, proportioning valve and pilot line;
The input of described Voltage to current transducer parts is connected with described setting device output;
The current output terminal of described proportioning valve is connected with the output of described Voltage to current transducer parts, and the fluid input of described proportioning valve is connected with described pilot line, and the fluid exit of described proportioning valve is connected with the spool of described by-pass valve control;
The voltage transitions that described setting device exports becomes electric current to export described proportioning valve to the initialize program in described reservoir part by described Voltage to current transducer parts, described proportioning valve controls the hydraulic pressure in described pilot line according to the current value that described Voltage to current transducer parts export, and spool hydraulic pressure in pilot line being passed to described by-pass valve control is to control the spool folding angle of described by-pass valve control.
A kind of hydraulic system control method, wherein, comprises above-mentioned control device for hydraulic system, specifically comprises the steps:
Step a, setting device output voltage values;
The Voltage to current transducer parts of step b, control device receive the magnitude of voltage of setting device output, and adjust the magnitude of voltage received according to the corresponding control algolithm of the initialize program in control device reservoir part;
Step c, Voltage to current transducer parts are processed into proportional valve control currents, according to the initialize program in control device reservoir part, the magnitude of voltage after adjustment process adjustment in step b are converted to proportional valve control currents;
Steps d, according to the corresponding control algolithm in the initialize program in control device reservoir part, the proportional valve control currents obtained in step c to be revised;
Step e, export the proportional valve control currents adjusted through steps d to proportioning valve.
A kind of excavator, wherein, at least comprise 4 above-mentioned control device for hydraulic systems, the by-pass valve control of described at least 4 control device for hydraulic systems at least comprises the swing arm pilot-actuated valve of described excavator, scraper bowl pilot-actuated valve, dipper pilot-actuated valve and revolution pilot-actuated valve.
A kind of excavator, wherein, at least comprises 2 above-mentioned control device for hydraulic systems, and the left lateral that the by-pass valve control of described at least 2 control device for hydraulic systems at least comprises described excavator walks pilot-actuated valve and right lateral walks pilot-actuated valve.
The invention has the beneficial effects as follows:
More flexible to the control of hydraulic system, different user demands can be met, making pilot pressure curve steady by revising proportional valve control currents, realizing refinement, reducing the low impact on equipment speed of hydraulic oil temperature by being programmed in increased gain in initialize program to control device.
Accompanying drawing explanation
Fig. 1 is the structural representation of control device for hydraulic system of the present invention;
Fig. 2 is the graph of a relation of control device for hydraulic system handle of the present invention/foot-operated displacement and voltage;
Fig. 3 is the graph of a relation of control device for hydraulic system handle of the present invention/foot-operated output voltage and proportioning valve electric current;
Fig. 4 is the graph of a relation of control device for hydraulic system proportioning valve electric current of the present invention and pilot line pressure;
Fig. 5 is the graph of a relation of control device for hydraulic system pilot pressure of the present invention and by-pass valve control spool aperture;
Fig. 6 is the flow chart of the present invention's hydraulic system control method of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described, but not as limiting to the invention.
As shown in Figure 1, a kind of control device for hydraulic system of the present invention, comprise a by-pass valve control, by-pass valve control comprises control end, and wherein, also comprise setting device and control device, setting device is connected with control device, and control device is connected with the control end of by-pass valve control;
Control device comprises the reservoir part and DLL of depositing initialize program, and DLL is connected with reservoir part, for programming to reservoir part to change the initialize program in reservoir part;
Control device receives the setting value that setting device exports;
The setting value of the setting device that control device receives with initialize program process, and the control signal converting by-pass valve control aperture to exports by-pass valve control to.
Wherein, the setting value that setting device exports is the magnitude of voltage changed in predetermined interval, on this basis, setting device can be the handle be connected with potentiometer, the output voltage values of the potentiometer be connected with handle is changed by pulling handle, setting device also can be connected with potentiometer foot-operated, by trampling foot-operated change and the output voltage values riding the potentiometer be connected.Handle and foot-operated input signal are its angle displacement as shown in Figure 2, and using the magnitude of voltage of corresponding potentiometer as output signal, meta voltage is U
0, in the displacement field of handle with foot-operated [-s ,+s], its magnitude of voltage is by U
1be changed to U
2, displacement and magnitude of voltage one_to_one corresponding, and change is consistent, its corresponding relation is by electric handle and ride own decision, cannot revise.
Further, wherein, control device comprises Voltage to current transducer parts, proportioning valve and pilot line;
The input of Voltage to current transducer parts is connected with setting device output;
The current output terminal of proportioning valve is connected with the output of Voltage to current transducer parts, and the fluid input of proportioning valve is connected with pilot line, and the fluid exit of proportioning valve is connected with the spool of by-pass valve control;
The voltage transitions that setting device exports becomes electric current to export proportioning valve to the initialize program in reservoir part by Voltage to current transducer parts, the current value that proportioning valve exports according to Voltage to current transducer parts controls the hydraulic pressure in pilot line, and spool hydraulic pressure in pilot line being passed to by-pass valve control is to control the spool folding angle of by-pass valve control.
Handle/foot-operated voltage of output and the corresponding relation of proportioning valve electric current control by reprograming the initialize program in reservoir part, and as shown in Figure 3, the application security for practical operation is considered, arranges [U
01, U
02] be dead band, namely when Voltage to current transducer parts no current in handle/foot-operated this voltage range of output exports; [U
1, U
01] and [U
02, U
2] voltage of two opposite action that controls for handle/foot-operated signal exports, at [U
1, U
01] interval in proportioning valve electric current increase with the reduction of voltage, at [U
02, U
2] interval in proportioning valve electric current increase with the increase of voltage.I
1for proportioning valve initial current, I
2for being supplied to the maximum current of proportioning valve.Dead zone voltage and output current all by being set according to actual needs initialize program programming, thus change the corresponding relation of voltage and proportioning valve electric current flexibly.
As shown in Figure 4, the hydraulic pressure passing ratio valve Current Control of pilot line, the proportioning valve curent change interval [I set by initialize program
0, I
2] in, proportioning valve exports pilot line hydraulic pressure and is changed to P by 0
0, [0, I
0] be the dead band of proportioning valve action, the corresponding relation of pilot pressure and proportioning valve electric current is determined by proportioning valve itself, can not revise.
As shown in Figure 5, the corresponding relation of the spool aperture of by-pass valve control and the hydraulic pressure of pilot line is determined by the spool of by-pass valve control itself, is obtained, [0, P by the spool static test of by-pass valve control
1] be spool operating dead zone, cannot be revised by initialize program.
When applying multiple control device for hydraulic system described above at the same time, all relatively independent to the control of the spool of each by-pass valve control, the controling parameters to the spool of certain or certain several by-pass valve control and curve can be revised separately as required, in programming and debugging, handle/foot-operated output voltage can be carried out and proportioning valve electric current corresponding relation carries out setting and revising by software, and in conjunction with proportioning valve electric current and pilot line hydraulic pressure, the many factors such as the spool aperture of pilot line hydraulic pressure and by-pass valve control, final realization is to the flexible control of " handle/foot-operated displacement-spool aperture ".
Further, also a refinement control assembly can be set on setting device, need to make handle displacement milder than normalized curve with pilot pressure curve.After refinement control assembly is triggered, control to make the corresponding relation of handle/foot-operated displacement and output voltage milder by initialize program, become more meticulous curve, after such process of refinement, can make handle/foot-operated displacement and pilot line hydraulic pressure curve mild, realize refinement, refinement control assembly can the form of button or switch realize.
The present invention also comprises a kind of hydraulic system control method, wherein, comprises above-mentioned control device for hydraulic system, as shown in Figure 6, specifically comprises the steps:
Step a, setting device output voltage values; Namely the potentiometer output voltage values be attached thereto is made by handle/foot-operated action.
The Voltage to current transducer parts of step b, control device receive the magnitude of voltage of setting device output, and adjust the magnitude of voltage received according to the corresponding control algolithm of the initialize program in control device reservoir part; The voltage that adjustment control device receives can realize the change of corresponding relation between the voltage of setting device output and proportioning valve electric current, when hydraulic oil oil temperature is lower, viscosity is large, poor fluidity, cause equipment responsiveness slow, in this case, can the gain of high voltage value curve, can improve hydraulic oil temperature low time equipment slow-footed situation, meanwhile, initialize program is by setting up inductive means monitoring hydraulic oil temperature, reach after normal value until oil temperature, readjust gain, recover normalized curve, namely according to hydraulic oil temperature change, complete machine speed is compensated.
Step c, Voltage to current transducer parts are processed into proportional valve control currents, according to the initialize program in control device reservoir part, the magnitude of voltage after adjustment process adjustment in step b are converted to proportional valve control currents.
Steps d, according to the corresponding control algolithm in the initialize program in control device reservoir part, the proportional valve control currents obtained in step c to be revised.
Step e, export the proportional valve control currents adjusted through steps d to proportioning valve.
The present invention also comprises a kind of excavator, wherein, at least comprise 4 above-mentioned control device for hydraulic systems, wherein the setting device of control device for hydraulic system is the handle be connected with potentiometer, and the by-pass valve control of at least 4 control device for hydraulic systems at least comprises the swing arm pilot-actuated valve of excavator, scraper bowl pilot-actuated valve, dipper pilot-actuated valve and revolution pilot-actuated valve.
The present invention also comprises another kind of excavator, wherein, at least comprise 2 above-mentioned control device for hydraulic systems, wherein the setting device of control device for hydraulic system is be connected with potentiometer foot-operated, and the left lateral that the by-pass valve control of at least 2 control device for hydraulic systems at least comprises excavator walks pilot-actuated valve and right lateral walks pilot-actuated valve.
The foregoing is only preferred embodiment of the present invention, not thereby limit claim of the present invention, so all utilizations manual of the present invention and the change of the equivalent structure done by diagramatic content, be all included in protection scope of the present invention.
Claims (6)
1. a control device for hydraulic system, comprises a by-pass valve control, and described by-pass valve control comprises control end, it is characterized in that, also comprise setting device and control device, described setting device is connected with described control device, and described control device is connected with the control end of described by-pass valve control;
Described control device comprises the reservoir part and DLL of depositing initialize program, and described DLL is connected with described reservoir part, for programming to described reservoir part to change the initialize program in described reservoir part;
Described control device receives the setting value that described setting device exports;
The setting value of the described setting device that described control device receives with initialize program process, and the control signal converting by-pass valve control aperture to exports described by-pass valve control to;
Wherein, the setting value that described setting device exports is the magnitude of voltage changed in predetermined interval; Described control device comprises Voltage to current transducer parts, proportioning valve and pilot line, and the input of described Voltage to current transducer parts is connected with described setting device output;
The current input terminal of described proportioning valve is connected with the output of described Voltage to current transducer parts, and the fluid input of described proportioning valve is connected with described pilot line, and the fluid exit of described proportioning valve is connected with the spool of described by-pass valve control;
The voltage transitions that described setting device exports becomes electric current to export described proportioning valve to the initialize program in described reservoir part by described Voltage to current transducer parts, described proportioning valve controls the hydraulic pressure in described pilot line according to the current value that described Voltage to current transducer parts export, and spool hydraulic pressure in pilot line being passed to described by-pass valve control is to control the spool folding angle of described by-pass valve control.
2. control device for hydraulic system as claimed in claim 1, it is characterized in that, described setting device is the handle be connected with potentiometer, changes the output voltage values of the described potentiometer be connected with described handle by pulling described handle.
3. control device for hydraulic system as claimed in claim 1, is characterized in that, described setting device is be connected with potentiometer foot-operated, by trampling the output voltage values of described foot-operated change and the described foot-operated described potentiometer be connected.
4. a hydraulic system control method, is characterized in that, comprises control device for hydraulic system as claimed in claim 1, specifically comprises the steps:
Step a, setting device output voltage values;
The Voltage to current transducer parts of step b, control device receive the magnitude of voltage of setting device output, and adjust the magnitude of voltage received according to the corresponding control algolithm of the initialize program in control device reservoir part;
Step c, Voltage to current transducer parts are processed into proportional valve control currents, according to the initialize program in control device reservoir part, the magnitude of voltage after adjustment process adjustment in step b are converted to proportional valve control currents;
Steps d, according to the corresponding control algolithm in the initialize program in control device reservoir part, the proportional valve control currents obtained in step c to be revised;
Step e, export the proportional valve control currents adjusted through steps d to proportioning valve.
5. an excavator, it is characterized in that, at least comprise 4 control device for hydraulic systems as claimed in claim 2, the by-pass valve control of described at least 4 control device for hydraulic systems at least comprises the swing arm pilot-actuated valve of described excavator, scraper bowl pilot-actuated valve, dipper pilot-actuated valve and revolution pilot-actuated valve.
6. an excavator, it is characterized in that, at least comprise 2 control device for hydraulic systems as claimed in claim 3, the left lateral that the by-pass valve control of described at least 2 control device for hydraulic systems at least comprises described excavator walks pilot-actuated valve and right lateral walks pilot-actuated valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110405612.5A CN102518168B (en) | 2011-12-08 | 2011-12-08 | Hydraulic system control device, control method of the hydraulic system and excavator comprising the device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110405612.5A CN102518168B (en) | 2011-12-08 | 2011-12-08 | Hydraulic system control device, control method of the hydraulic system and excavator comprising the device |
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| Publication Number | Publication Date |
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| CN102518168A CN102518168A (en) | 2012-06-27 |
| CN102518168B true CN102518168B (en) | 2015-04-08 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103452825B (en) * | 2013-09-12 | 2015-11-25 | 上海三一重机有限公司 | A kind of flow control method of pressure control pump |
| CN105421520B (en) * | 2014-08-29 | 2019-10-15 | 迪尔公司 | The correction of Walking hydraulic system |
| JP6456277B2 (en) * | 2015-12-18 | 2019-01-23 | 日立建機株式会社 | Construction machinery |
| US10526765B2 (en) * | 2016-11-09 | 2020-01-07 | Komatsu Ltd. | Work vehicle and control method |
| JP6917871B2 (en) * | 2017-11-22 | 2021-08-11 | キャタピラー エス エー アール エル | Hydraulic control circuit for construction machinery |
| CN111794306B (en) * | 2020-07-15 | 2023-03-24 | 徐州徐工挖掘机械有限公司 | Pilot oil pressure control method, device, controller, and storage medium |
| CN111997137A (en) * | 2020-08-25 | 2020-11-27 | 上海华兴数字科技有限公司 | Excavator control method and device, storage medium and excavator |
| CN112482485A (en) * | 2020-11-10 | 2021-03-12 | 徐州徐工挖掘机械有限公司 | Actuator trajectory control method, actuator trajectory control device, actuator trajectory control controller and storage medium |
| CN113357028B (en) * | 2021-06-29 | 2022-09-27 | 上海华兴数字科技有限公司 | Excavator control method and device, electronic equipment and storage medium |
| CN114517503B (en) * | 2022-03-03 | 2022-11-08 | 中联重科股份有限公司 | Control method and control device for excavator, controller and excavator |
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| CN1165570A (en) * | 1995-12-19 | 1997-11-19 | 日立建机株式会社 | Method of output correction for control apparatus, the control apparatus and hydraulic pump control apparatus |
| CN1651666A (en) * | 2005-03-28 | 2005-08-10 | 广西柳工机械股份有限公司 | Path control system used for hydraulic digger operating device and its method |
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| CN102162268A (en) * | 2011-04-20 | 2011-08-24 | 山重建机(济宁)有限公司 | Traveling control device for crawler hydraulic excavator |
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| JP4353190B2 (en) * | 2006-02-27 | 2009-10-28 | コベルコ建機株式会社 | Hydraulic circuit for construction machinery |
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|---|---|---|---|---|
| CN1165570A (en) * | 1995-12-19 | 1997-11-19 | 日立建机株式会社 | Method of output correction for control apparatus, the control apparatus and hydraulic pump control apparatus |
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| CN102162268A (en) * | 2011-04-20 | 2011-08-24 | 山重建机(济宁)有限公司 | Traveling control device for crawler hydraulic excavator |
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| CN102518168A (en) | 2012-06-27 |
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