CN102852184B - Hydraulic control system for loader and control method - Google Patents
Hydraulic control system for loader and control method Download PDFInfo
- Publication number
- CN102852184B CN102852184B CN201210135593.3A CN201210135593A CN102852184B CN 102852184 B CN102852184 B CN 102852184B CN 201210135593 A CN201210135593 A CN 201210135593A CN 102852184 B CN102852184 B CN 102852184B
- Authority
- CN
- China
- Prior art keywords
- pressure accumulator
- swing arm
- judged
- turn
- rotating bucket
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention provides a hydraulic control system for a loader and a control method. The hydraulic control system for the loader comprises a hydraulic control unit, a movable arm cylinder, a rotary bucket cylinder, a high-pressure energy accumulator, a medium-pressure energy accumulator, a low-pressure closed oil tank, an oil filter, a hydraulic pump, an electric control unit, a first pressure sensor, a second pressure sensor, a brake switch, a movable arm ascending switch, a movable arm descending switch, a rotary bucket upward rotation switch and a rotary bucket downward rotation switch. The control method for the hydraulic control system for the loader comprises the following steps of: detecting each sensor signal, judging whether the loader is braked, recovering and controlling brake energy, judging whether the movable arm ascends or descends, controlling the movable arm to ascend or descend, judging upward rotation or downward rotation of the rotary bucket, controlling the upward rotation or downward rotation of the rotary bucket, detecting the pressure in the high-pressure energy accumulator and the medium-pressure energy accumulator, controlling the energy accumulation of the high-pressure energy accumulator and the medium-pressure energy accumulator, and performing unloading control on the hydraulic pump, and the like. The brake energy recovery and potential energy recovery in the movable arm descending process are realized, the fuel consumption of the loader is reduced, and the working efficiency of the loader is improved.
Description
Technical field
The present invention relates to a kind of loader hydraulic control system and control method, belong to loader control technology field.
Background technology
Loader is widely used in the construction such as mining site, capital construction, road maintenance occasion, is mainly that to shovel bulk materials such as filling native stone, mineral be main.Because it is simple and convenient, can save in a large number manpower, to increase work efficiency, loader has become important engineering machinery.
Along with the application scale of loader is increasing, people also require more and more higher to its performance indications, and efficient, low consumption, comfortableness, intellectuality are the inexorable trends of loader development.In prior art, loader hydraulic system comprises that working barrel, boom cylinder, rotary ink tank, safety valve, oil filter, double-acting safety valve, swing arm manually join guiding valve, rotating bucket and manually join guiding valve and open type oil tank.Loading operation process comprise travel, spading, moved arm lifting, the scraper bowl that falls, the swing arm that falls etc. carry out cycle operation, the wherein engine load of spading process need maximum, landing process motor still drives hydraulic pump running and can not reclaim the potential energy that swing arm falls, braking procedure also cannot reclaim the kinetic energy of loader, thereby the oil consumption of loader is high, loading operation efficiency is low.
Summary of the invention
The object of this invention is to provide loader hydraulic control system and the control method of a kind of oil consumption that can overcome above-mentioned defect, reduce loader, raising loading operation efficiency.Its technical scheme is:
A kind of loader hydraulic control system, described hydraulic control system comprises on the first pressure sensor, the second pressure sensor, brake switch, swing arm rising switch, swing arm decline switch, rotating bucket that turn-off closes, turn-off pass, ECU, hydraulic control unit, boom cylinder, high pressure accumulator, intermediate-pressure accumulator, rotary ink tank, low pressure sealed reservoir, oil filter, hydraulic pump under rotating bucket, it is characterized in that:
Hydraulic control unit integrated installation has the first one way valve, the second one way valve, the 3rd one way valve, the first safety valve, the second safety valve, the 3rd safety valve, the first pressure sensor, the second pressure sensor, the first solenoid operated directional valve, the second solenoid operated directional valve, the 3rd solenoid operated directional valve, the first solenoid-operated proportional reversal valve, the second solenoid-operated proportional reversal valve, the 3rd solenoid-operated proportional reversal valve and the 4th solenoid-operated proportional reversal valve;
ECU adopts single-chip microcomputer, the signal of telecommunication is measured in the output of the input of ECU and the first pressure sensor and the second pressure sensor, brake switch, swing arm rising switch, swing arm decline switch, on rotating bucket, turn-off closes, under rotating bucket, turn-off closes and connects, the first solenoid operated directional valve electromagnetic coil on the output of ECU and hydraulic control unit, the second solenoid operated directional valve electromagnetic coil, the 3rd solenoid operated directional valve electromagnetic coil, the first solenoid-operated proportional reversal valve electromagnetic coil, the second solenoid-operated proportional reversal valve electromagnetic coil, the 3rd solenoid-operated proportional reversal valve electromagnetic coil, the 4th solenoid-operated proportional reversal valve electromagnetic coil connects.
The first pressure sensor and the second pressure sensor are the pressure sensors of 4～20mA current-output type or 0～5V Voltage-output type.
A control method for loader hydraulic control system, comprises the following steps:
Step S100, detects each sensor signal: a. and detects brake switch signal, and b. detects swing arm rising switching signal, and c. detects swing arm decline switching signal, and d. detects on rotating bucket and turns switching signal, and e. detects under rotating bucket and turns switching signal;
Step S200, judges whether loader is braked: in the time that brake switch is closed, is judged as mechanical loader braking, carries out step S201, otherwise, be judged as loader and do not brake, carry out step S300;
Step S201, carries out the control of braking energy removal process: ECU control the second solenoid operated directional valve electromagnetic coil energising, braking energy is reclaimed and is stored in high pressure accumulator;
Step S202, judges whether braking energy removal process finishes: in the time that brake switch is closed, is judged as braking energy removal process and does not finish, turn back to step S201, otherwise, be judged as braking energy removal process and finish, turn back to step S100;
Step S300, judges whether swing arm rises: in the time that swing arm rising switch is closed, is judged as swing arm and rises, carry out step S301, otherwise, be judged as non-swing arm and rise, carry out step S400;
Step S301, swing arm uphill process control: ECU control the second solenoid operated directional valve electromagnetic coil energising, control the electrical current of the first solenoid-operated proportional reversal valve electromagnetic coil simultaneously, make to enter from the high pressure liquid force feed interflow of hydraulic pump and high pressure accumulator the large chamber of boom cylinder, realize swing arm and rise;
Step S302, judges whether swing arm uphill process finishes: in the time that swing arm rising switch is closed, is judged as swing arm uphill process and does not finish, turn back to step S301, otherwise, be judged as swing arm uphill process and finish, turn back to step S100;
Step S400, judges whether swing arm declines: in the time that swing arm decline switch is closed, is judged as swing arm and declines, carry out step S401, otherwise, be judged as non-swing arm and decline, carry out step S500;
Step S401, swing arm decline process control: the electrical current of ECU control the second solenoid-operated proportional reversal valve electromagnetic coil, make to enter from the hydraulic oil of intermediate-pressure accumulator the loculus of boom cylinder, realizing swing arm declines, simultaneously, ECU control the second solenoid operated directional valve electromagnetic coil energising, is stored in high pressure accumulator the high pressure liquid force feed that hydraulic pump pumps;
Step S402, judges whether swing arm decline process finishes: in the time that swing arm decline switch is closed, is judged as swing arm decline process and does not finish, turn back to step S401, otherwise, be judged as swing arm decline process and finish, turn back to step S100;
Step S500, judges on whether rotating bucket and turns: when turn-off on rotating bucket closes when closed, is judged as on rotating bucket and turns, carry out step S501, otherwise, be judged as on non-rotating bucket and turn, carry out step S600;
Step S501, on rotating bucket, turn over process control: ECU control the second solenoid operated directional valve electromagnetic coil energising, control the electrical current of the 3rd solenoid-operated proportional reversal valve electromagnetic coil simultaneously, make to enter from the high pressure liquid force feed interflow of hydraulic pump and high pressure accumulator the large chamber of rotary ink tank, realize on rotating bucket and turning;
Step S502, judges whether on rotating bucket, turn over journey finishes: when turn-off on rotating bucket closes when closed, is judged as and on rotating bucket, turns over Cheng Wei and finish, turn back to step S501, otherwise, be judged as and on rotating bucket, turn over journey and finish, turn back to step S100;
Step S600, judges whether rotating bucket turns down: in the time that turn-off under rotating bucket closes closure, is judged as under rotating bucket and turns, carry out step S601, otherwise, be judged as under non-rotating bucket and turn, carry out step S700;
Step S601, under rotating bucket, turn over process control: the electrical current of ECU control the 4th solenoid-operated proportional reversal valve electromagnetic coil, enter the loculus of rotary ink tank from the hydraulic oil of intermediate-pressure accumulator, make to turn under rotating bucket, simultaneously, ECU control the second solenoid operated directional valve electromagnetic coil energising, is stored in high pressure accumulator the high pressure liquid force feed that hydraulic pump pumps;
Step S602, judges whether under rotating bucket, turn over journey finishes: when turn-off under rotating bucket closes when closed, is judged as and under rotating bucket, turns over journey and do not finish, turn back to step S601, otherwise, be judged as and under rotating bucket, turn over journey and finish, turn back to step S100;
Step S700, the pressure detecting of intermediate-pressure accumulator: detect the output signal of the second pressure sensor, and calculate the detected pressure value of intermediate-pressure accumulator;
Step S701, judges whether intermediate-pressure accumulator needs accumulation of energy: when the detected pressure value of intermediate-pressure accumulator is less than the intermediate-pressure accumulator maximum pressure P of setting
middle maxtime, judge that intermediate-pressure accumulator needs accumulation of energy, carry out step S702, otherwise, judge that intermediate-pressure accumulator does not need accumulation of energy, carries out step S800;
Step S702, intermediate-pressure accumulator accumulation of energy process control: ECU control the 3rd solenoid operated directional valve electromagnetic coil energising, the hydraulic oil pumping from hydraulic pump stores intermediate-pressure accumulator;
Step S703, judges whether intermediate-pressure accumulator stops accumulation of energy: when turn-off on swing arm rising switch closure or swing arm decline switch closure or rotating bucket closes the intermediate-pressure accumulator maximum pressure P that detected pressure value that turn-off under closed or rotating bucket closes closed or intermediate-pressure accumulator is greater than setting
middle maxtime, be judged as intermediate-pressure accumulator and stop accumulation of energy, turn back to step S100, otherwise, be judged as intermediate-pressure accumulator and continue accumulation of energy, turn back to step S702;
Step S800, the pressure detecting of high pressure accumulator: detect the output signal of the first pressure sensor, and calculate the detected pressure value of high pressure accumulator;
Step S801, judges whether high pressure accumulator needs accumulation of energy: when the detected pressure value of high pressure accumulator is less than the high pressure accumulator maximum pressure P of setting
high maxtime, judge that high pressure accumulator needs accumulation of energy, carry out step S802, otherwise, judge that high pressure accumulator does not need accumulation of energy, carries out step S900;
Step S802, high pressure accumulator accumulation of energy process control: ECU control the second solenoid operated directional valve electromagnetic coil energising, the high pressure liquid force feed pumping from hydraulic pump is stored in high pressure accumulator;
Step S803, judges whether high pressure accumulator accumulation of energy process stops: when turn-off on swing arm rising switch closure or swing arm decline switch closure or rotating bucket closes the high pressure accumulator maximum pressure P that detected pressure value that turn-off under closed or rotating bucket closes closed or high pressure accumulator is greater than setting
high maxtime, be judged as high pressure accumulator accumulation of energy process and stop, turn back to step S100, otherwise, be judged as high pressure accumulator and continue accumulation of energy, turn back to step S802;
Step S900, hydraulic pump off-load control: ECU control the first solenoid operated directional valve electromagnetic coil energising, hydraulic pump off-load;
Step S901, judges whether hydraulic pump off-load stops: when turn-off on brake switch closure or swing arm rising switch closure or swing arm decline switch closure or rotating bucket closes the high pressure accumulator maximum pressure P that detected pressure value that turn-off under closed or rotating bucket closes closed or high pressure accumulator is less than setting
high max, or the detected pressure value of intermediate-pressure accumulator be less than the intermediate-pressure accumulator maximum pressure P of setting
middle maxtime, be judged as hydraulic pump and stop off-load, turn back to step S100, otherwise, be judged as hydraulic pump and continue off-load, turn back to step S900.
The detected pressure value of the intermediate-pressure accumulator described in step S700 is the average of sampling in 8～24 circulating sampling cycles, and the circulating sampling cycle is to be worth a set time of being determined by system clock, and circulating sampling periodic regime is at 1～10ms.
The detected pressure value of the high pressure accumulator described in step S800 is the average of sampling in 8～24 circulating sampling cycles, and the circulating sampling cycle is to be worth a set time of being determined by system clock, and circulating sampling periodic regime is at 1～10ms.
Intermediate-pressure accumulator maximum pressure P in step S701 and step S703
middle maxspan be 5～18MPa.
High pressure accumulator maximum pressure P in step S801, step S803 and step S901
high maxspan be 20～35MPa.
Compared with prior art, tool has the following advantages in the present invention:
By detecting brake switch signal, the first pressure sensor signal, the second pressure sensor signal, swing arm rising switching signal, swing arm decline switching signal, on rotating bucket, turn switching signal, under rotating bucket, turn switching signal, judge loader drive person's operation intention and the residing duty of loader, by ECU control the first solenoid operated directional valve, the second solenoid operated directional valve, the 3rd solenoid operated directional valve, the first solenoid-operated proportional reversal valve, the second solenoid-operated proportional reversal valve, the 3rd solenoid-operated proportional reversal valve, the action of the 4th solenoid-operated proportional reversal valve, realize swing arm rise and fall, on rotating bucket, turn with under turn, braking energy reclaims, in swing arm decline process, potential energy reclaims, the function that engine power stores, the motor of loader operates in high efficiency region all the time, reduce the fuel consume of loader, improve the operating efficiency of loader.
Brief description of the drawings
Fig. 1 is hydraulic control system structure chart of the present invention;
Fig. 2 is the control method flow chart of hydraulic control system of the present invention;
In figure: 1. the first solenoid operated directional valve, 1a. the first solenoid operated directional valve electromagnetic coil 2. first one way valves, 3. the second solenoid operated directional valve, 3a. the second solenoid operated directional valve electromagnetic coil 4. first solenoid-operated proportional reversal valves, 4a. the first solenoid-operated proportional reversal valve electromagnetic coil, 5. the second solenoid-operated proportional reversal valve, 5a. the second solenoid-operated proportional reversal valve electromagnetic coil, 6. hydraulic control unit, 7. the 3rd one way valve, 8. the 3rd safety valve, 9. the second one way valve, 10. the second safety valve, 11. the 3rd solenoid-operated proportional reversal valves, 11a. the 3rd solenoid-operated proportional reversal valve electromagnetic coil, 12. the 4th solenoid-operated proportional reversal valves, 12a. the 4th solenoid-operated proportional reversal valve electromagnetic coil, 13. the 3rd solenoid operated directional valves, 13a. the 3rd solenoid operated directional valve electromagnetic coil, 14. first safety valves, 15. boom cylinders, 16. high pressure accumulators, 17. first pressure sensors, 18. intermediate-pressure accumulators, 19. second pressure sensors, 20. rotary ink tanks, 21. low pressure sealed reservoirs, 22. oil filters, 23. hydraulic pumps, 24. ECUs, 25. brake switches, 26. swing arm rising switches, 27. swing arm decline switches, on 28. rotating buckets, turn-off closes, under 28. rotating buckets, turn-off closes.
Detailed description of the invention
As shown in Figure 1, hydraulic control system comprises on the first pressure sensor 17, the second pressure sensor 19, brake switch 25, swing arm rising switch 26, swing arm decline switch 27, rotating bucket that turn-off closes 28, under rotating bucket turn-off close 29, ECU 24, hydraulic control unit 6, boom cylinder 15, high pressure accumulator 16, intermediate-pressure accumulator 18, rotary ink tank 20, low pressure sealed reservoir 21, oil filter 22, hydraulic pump 23, it is characterized in that:
Described hydraulic control unit 6 integrated installations have the first one way valve 2, the second one way valve 9, the 3rd one way valve 7, the first safety valve 14, the second safety valve 10, the 3rd safety valve 8, the first pressure sensor 17, the second pressure sensor 19, the first solenoid operated directional valve 1, the second solenoid operated directional valve 3, the 3rd solenoid operated directional valve 13, the first solenoid-operated proportional reversal valve 4, the second solenoid-operated proportional reversal valve 5, the 3rd solenoid-operated proportional reversal valve 11 and the 4th solenoid-operated proportional reversal valve 12;
Described ECU 24 adopts single-chip microcomputer, the signal of telecommunication is measured in the output of the input of ECU 24 and the first pressure sensor 17 and the second pressure sensor 19, brake switch 25, swing arm rising switch 26, swing arm decline switch 27, on rotating bucket, turn-off closes 28, under rotating bucket, turn-off closes 29 connections, the first solenoid operated directional valve electromagnetic coil 1a on the output of ECU 24 and hydraulic control unit 7, the second solenoid operated directional valve electromagnetic coil 3a, the 3rd solenoid operated directional valve electromagnetic coil 13a, the first solenoid-operated proportional reversal valve electromagnetic coil 4a, the second solenoid-operated proportional reversal valve electromagnetic coil 5a, the 3rd solenoid-operated proportional reversal valve electromagnetic coil 11a, the 4th solenoid-operated proportional reversal valve electromagnetic coil 12a connects.
The first pressure sensor 17 and the second pressure sensor 19 are Voltage-output type pressure sensors, the pressure limit of 0～5V correspondence, 0～40MPa.
As shown in Figure 2, the control method of hydraulic control system of the present invention comprises the following steps:
Step S100, detects each sensor signal: a. and detects brake switch 25 signals, and b. detects swing arm rising switch 26 signals, and c. detects swing arm decline switch 27 signals, and d. detects turn-off on rotating bucket and closes 28 signals, and e. detects turn-off under rotating bucket and closes 29 signals;
Step S200, judges whether loader is braked: in the time that brake switch 25 is closed, is judged as mechanical loader braking, carries out step S201, otherwise, be judged as loader and do not brake, carry out step S300;
Step S201, carry out the control of braking energy removal process: ECU 24 is controlled the second solenoid operated directional valve electromagnetic coil 3a energising, hydraulic oil pumps from the oil-out of hydraulic pump 23, P3 and T3 hydraulic fluid port through one way valve 2, the second solenoid operated directional valve 3 enter high pressure accumulator 18, the pressure of high pressure accumulator 16 is raise, and is that air pressure potential energy is stored in high pressure accumulator 16 by the kinetic transformation of loader;
Step S202, judges whether braking energy removal process finishes: in the time that brake switch 25 is closed, is judged as braking energy removal process and does not finish, turn back to step S201, otherwise, be judged as braking energy removal process and finish, turn back to step S100;
Step S300, judges whether swing arm rises: in the time that swing arm rising switch 26 is closed, is judged as swing arm and rises, carry out step S301, otherwise, be judged as non-swing arm and rise, carry out step S400;
Step S301, swing arm uphill process control: ECU 24 is controlled the size that the first solenoid-operated proportional reversal valve electromagnetic coil 4a switches on and regulates its electrical current, after the first solenoid-operated proportional reversal valve electromagnetic coil 4a energising, high pressure liquid force feed flows out from high pressure accumulator 16, successively by the 6h hydraulic fluid port of hydraulic control unit 6, the P4 hydraulic fluid port of the first solenoid-operated proportional reversal valve 4, A4 hydraulic fluid port, the inside oil duct of hydraulic control unit 6, the 6j hydraulic fluid port of hydraulic control unit 6, enter the large chamber of boom cylinder 15 through fluid pressure line, make moved arm lifting, moved arm lifting speed can regulate by the electrical current size that changes the first solenoid-operated proportional reversal valve electromagnetic coil 4a, and the fluid of boom cylinder 15 loculuses is under the effect of oil cylinder piston, successively by the 6i hydraulic fluid port of hydraulic control unit 6, the B4 hydraulic fluid port of the first solenoid-operated proportional reversal valve 4, T4 hydraulic fluid port, the 6b hydraulic fluid port of hydraulic control unit 6, enter low pressure sealed reservoir 21 through fluid pressure line, meanwhile, the second solenoid operated directional valve electromagnetic coil 3a energising, after the second solenoid operated directional valve electromagnetic coil 3a energising, from the high pressure liquid force feed of hydraulic pump 23 after the P3 of one way valve 2, the second solenoid operated directional valve 3, T3 hydraulic fluid port, with the high pressure liquid force feed interflow of flowing out from high pressure accumulator 16, enter the large chamber of boom cylinder 15 by P4, the A4 hydraulic fluid port of the first solenoid-operated proportional reversal valve 4, make in moved arm lifting process in the situation that not increasing engine load and hydraulic pump 23 rotating speed, accelerate moved arm lifting speed,
Step S302, judges whether swing arm uphill process finishes: in the time that swing arm rising switch 26 is closed, is judged as swing arm uphill process and does not finish, turn back to step S301, otherwise, be judged as swing arm uphill process and finish, turn back to step S100;
Step S400, judges whether swing arm declines: in the time that swing arm decline switch 27 is closed, is judged as swing arm and declines, carry out step S401, otherwise, be judged as non-swing arm and decline, carry out step S500;
Step S401, swing arm decline process control: ECU 24 is controlled the size that the second solenoid-operated proportional reversal valve electromagnetic coil 5a switches on and regulates its electrical current, after the second solenoid-operated proportional reversal valve electromagnetic coil 5a energising, middle hydraulic fluid force feed flows out from intermediate-pressure accumulator 18, pass through successively the 6f hydraulic fluid port of hydraulic control unit 6, the P5 of the second solenoid-operated proportional reversal valve 5, A5 hydraulic fluid port enters boom cylinder 15 loculuses, swing arm is declined, swing arm decrease speed can regulate by the size that changes the second solenoid-operated proportional reversal valve electromagnetic coil 5a electrical current, and the fluid in boom cylinder 15 large chambeies is under the effect of oil cylinder piston, pass through successively the 6j hydraulic fluid port of hydraulic control unit 6, the B5 hydraulic fluid port of the second solenoid-operated proportional reversal valve 5, T5 hydraulic fluid port, after the 6b hydraulic fluid port of hydraulic control unit 6, enter low pressure sealed reservoir 21 through fluid pressure line, due in swing arm decline process, the fluid in boom cylinder 15 large chambeies, after the B5 hydraulic fluid port and T5 hydraulic fluid port of the second solenoid-operated proportional reversal valve 5, enter low pressure sealed reservoir 21, and low pressure sealed reservoir 21 is enclosed air tanks, the blowing pressure of low pressure sealed reservoir 21 is raise, thereby the gravitional force in swing arm decline process can be stored in low pressure sealed reservoir 21 in the mode of gas pressure potential energy, meanwhile, the second solenoid operated directional valve electromagnetic coil 3a energising, high pressure liquid force feed from hydraulic pump 23 enters high pressure accumulator 16 through P3, the T3 hydraulic fluid port of one way valve 2, the second solenoid operated directional valve 3, the high pressure liquid force feed that hydraulic pump 23 is produced is stored in high pressure accumulator 16, to store the energy of motor and hydraulic pump 23, like this, not only the gravitional force in swing arm decline process can be reclaimed and is stored in low pressure sealed reservoir 21, and can be by the energy storage in motor and hydraulic pump 23 operation process in high pressure accumulator 16,
Step S402, judges whether swing arm decline process finishes: in the time that swing arm decline switch 27 is closed, is judged as swing arm decline process and does not finish, turn back to step S401, otherwise, be judged as swing arm decline process and finish, turn back to step S100;
Step S500, judges on whether rotating bucket and turns: when turn-off on rotating bucket closes 28 when closed, is judged as on rotating bucket and turns, carry out step S501, otherwise, be judged as on non-rotating bucket and turn, carry out step S600;
Step S501, on rotating bucket, turn over process control: ECU 24 is controlled the size that the 3rd solenoid-operated proportional reversal valve electromagnetic coil 11a switches on and regulates its electrical current, after the 3rd solenoid-operated proportional reversal valve electromagnetic coil 11a energising, high pressure liquid force feed flows out from high pressure accumulator 16, pass through successively the 6h hydraulic fluid port of hydraulic control unit 6, the P11 hydraulic fluid port of the 3rd solenoid-operated proportional reversal valve 11, A11 hydraulic fluid port enters the large chamber of rotary ink tank 20, make to turn on rotating bucket, the speed turning on rotating bucket can regulate by changing the 3rd solenoid-operated proportional reversal valve electromagnetic coil 11a electrical current, and the fluid of rotary ink tank 20 loculuses is under the effect of oil cylinder piston, successively by the 6c hydraulic fluid port of hydraulic control unit 6, the B11 hydraulic fluid port of the 3rd solenoid-operated proportional reversal valve 11, T11 hydraulic fluid port, the 6b hydraulic fluid port of hydraulic control unit 6 enters low pressure sealed reservoir 21, meanwhile, control the second solenoid operated directional valve electromagnetic coil 3a energising, when after the second solenoid operated directional valve electromagnetic coil 3a energising, from the high pressure liquid force feed of hydraulic pump 23 through one way valve 2, the P3 hydraulic fluid port of the second solenoid operated directional valve 3, T3 hydraulic fluid port, enter the large chamber of rotary ink tank 20 with the high pressure liquid force feed interflow of flowing out from high pressure accumulator 16, making to turn over Cheng Zhong on rotating bucket does not increase in the situation of engine load, accelerates rotary speed on rotating bucket,
Step S502, judges whether on rotating bucket, turn over journey finishes: when turn-off on rotating bucket closes 28 when closed, is judged as and on rotating bucket, turns over Cheng Wei and finish, turn back to step S501, otherwise, be judged as and on rotating bucket, turn over journey and finish, turn back to step S100;
Step S600, judges whether rotating bucket turns down: in the time that turn-off under rotating bucket closes 29 closure, is judged as under rotating bucket and turns, carry out step S601, otherwise, be judged as under non-rotating bucket and turn, carry out step S700;
Step S601, under rotating bucket, turn over process control: ECU 24 is controlled the 4th solenoid-operated proportional reversal valve electromagnetic coil 12a electrical current, middle hydraulic fluid force feed flows out from intermediate-pressure accumulator 18, successively by the 6f hydraulic fluid port of hydraulic control unit 6, the P12 of the 4th solenoid-operated proportional reversal valve 12, A12 hydraulic fluid port, the 6c hydraulic fluid port of hydraulic control unit 6, enter the loculus of rotary ink tank 20 through fluid pressure line, make unloading soil under rotating bucket, and the fluid in rotary ink tank 20 large chambeies is under the effect of oil cylinder piston, successively by the 6d hydraulic fluid port of hydraulic control unit 6, the B12 hydraulic fluid port of the 4th solenoid-operated proportional reversal valve 12, T12 hydraulic fluid port, after the 6b hydraulic fluid port of hydraulic control unit 6, enter low pressure sealed reservoir 21, because low pressure sealed reservoir 21 is enclosed air tank, in the process turning under rotating bucket, make the blowing pressure of low pressure sealed reservoir 21 raise, thereby the gravitional force turning under rotating bucket in journey can be stored in low pressure sealed reservoir 21 in the mode of gas pressure potential energy, simultaneously, ECU 24 is controlled the second solenoid operated directional valve electromagnetic coil 3a energising, from the high pressure liquid force feed of hydraulic pump 23 through one way valve 2, the P3 of the second solenoid operated directional valve 3, T3 hydraulic fluid port enters high pressure accumulator 16, the high pressure liquid force feed that hydraulic pump 23 is produced is stored in high pressure accumulator 18, to store the energy of motor and hydraulic pump 23,
Step S602, judges whether under rotating bucket, turn over journey finishes: when turn-off under rotating bucket closes 29 when closed, is judged as and under rotating bucket, turns over journey and do not finish, turn back to step S601, otherwise, be judged as and under rotating bucket, turn over journey and finish, turn back to step S100;
Step S700, the pressure detecting of intermediate-pressure accumulator 18: detect the output signal of the second pressure sensor 19, and calculate the detected pressure value of intermediate-pressure accumulator 18;
Step S701, judges whether intermediate-pressure accumulator needs accumulation of energy: when the detected pressure value of intermediate-pressure accumulator 18 is less than the intermediate-pressure accumulator maximum pressure P of setting
middle maxtime, judge that intermediate-pressure accumulator 18 needs accumulation of energy, carry out step S702, otherwise, judge that intermediate-pressure accumulator 18 does not need accumulation of energy, carries out step S800;
Step S702, intermediate-pressure accumulator accumulation of energy process control: ECU 24 is controlled the 3rd solenoid operated directional valve electromagnetic coil 13a energising, and the hydraulic oil pumping from hydraulic pump 23 stores intermediate-pressure accumulator 18;
Step S703, judges whether intermediate-pressure accumulator 18 stops accumulation of energy: when turn-off on swing arm rising switch 26 closures or swing arm decline switch 27 closures or rotating bucket closes the maximum pressure P that detected pressure value that turn-off under 28 closures or rotating bucket closes 29 closures or intermediate-pressure accumulator 18 is greater than setting
middle maxtime, be judged as intermediate-pressure accumulator 18 and stop accumulation of energy, turn back to step S100, otherwise, be judged as intermediate-pressure accumulator 18 and continue accumulation of energy, turn back to step S702;
Step S800, the pressure detecting of high pressure accumulator 16: detect the output signal of the first pressure sensor 17, and calculate the detected pressure value of high pressure accumulator 16;
Step S801, judges whether high pressure accumulator 16 needs accumulation of energy: when the detected pressure value of high pressure accumulator 16 is less than the high pressure accumulator maximum pressure P of setting
high maxtime, wherein P
high max=35MPa, judges that high pressure accumulator 16 needs accumulation of energy, carries out step S802, otherwise, judge that high pressure accumulator 16 does not need accumulation of energy, carries out step S900;
Step S802, high pressure accumulator 16 accumulation of energy process control: ECU 24 is controlled the second solenoid operated directional valve electromagnetic coil 3a energising, and the high pressure liquid force feed pumping from hydraulic pump 23 is stored in high pressure accumulator 16;
Step S803, judges whether high pressure accumulator accumulation of energy process stops: when turn-off on swing arm rising switch 26 closures or swing arm decline switch 27 closures or rotating bucket closes the maximum pressure P that detected pressure value that turn-off under 28 closures or rotating bucket closes 29 closures or high pressure accumulator 16 is greater than setting
high maxtime, be judged as high pressure accumulator 16 accumulation of energy processes and stop, turn back to step S100, otherwise, be judged as intermediate-pressure accumulator 18 and continue accumulation of energy, turn back to step S802;
Step S900, hydraulic pump 23 off-load controls: ECU 24 is controlled the first solenoid operated directional valve electromagnetic coil 1a energising, the hydraulic oil that hydraulic pump 23 pumps is through P1 hydraulic fluid port, T1 hydraulic fluid port, the oil duct of hydraulic control unit 6, the 6b hydraulic fluid port of the first solenoid operated directional valve 1, flow back to low pressure sealed reservoir 21 through hydraulic tube, hydraulic pump 23 off-loads;
Step S901, judges whether hydraulic pump 23 off-loads stop: when turn-off on brake switch 25 closures or swing arm rising switch 26 closures or swing arm decline switch 27 closures or rotating bucket closes the high pressure accumulator maximum pressure P that detected pressure value that turn-off under 28 closures or rotating bucket closes 29 closures or high pressure accumulator 16 is less than setting
high max, or the detected pressure value of intermediate-pressure accumulator 18 be less than the intermediate-pressure accumulator maximum pressure P of setting
middle maxtime, be judged as hydraulic pump 23 and stop off-load, turn back to step S100, otherwise, be judged as hydraulic pump 23 and continue off-load, turn back to step S900.
The detected pressure value of the intermediate-pressure accumulator described in step S700 is the average of sampling in 16 circulating sampling cycles, and the circulating sampling cycle is to be worth a set time of being determined by system clock, and the circulating sampling cycle is 10 ms.
The detected pressure value of the high pressure accumulator described in step S800 is the average of sampling in 16 circulating sampling cycles, and the circulating sampling cycle is to be worth a set time of being determined by system clock, and the circulating sampling cycle is 10 ms.
Pressure value P in step S701, step S703
middle max=18MPa.
Pressure value P in step S801, step S803, step S901
high max=35MPa.
By reference to the accompanying drawings embodiments of the present invention are explained in detail above, but the present invention is not limited to above-mentioned embodiment, in the ken possessing at affiliated technical field those of ordinary skill, can also under the prerequisite that does not depart from aim of the present invention, make various variations.
Claims (5)
1. a control method for loader hydraulic control system, is characterized in that comprising the following steps:
Step S100, detect each sensor signal: a. and detect brake switch (25) signal, b. detects swing arm rising switch (26) signal, and c. detects swing arm decline switch (27) signal, d. detect turn-off on rotating bucket and close (28) signal, e. detects turn-off under rotating bucket and closes (29) signal;
Step S200, judges whether loader is braked: in the time that brake switch (25) is closed, is judged as mechanical loader braking, carries out step S201, otherwise, be judged as loader and do not brake, carry out step S300;
Step S201, carries out the control of braking energy removal process: ECU (24) is controlled the second solenoid operated directional valve electromagnetic coil (3a) energising, and braking energy is reclaimed and is stored in high pressure accumulator (16);
Step S202, judges whether braking energy removal process finishes: in the time that brake switch (25) is closed, is judged as braking energy removal process and does not finish, turn back to step S201, otherwise, be judged as braking energy removal process and finish, turn back to step S100;
Step S300, judges whether swing arm rises: in the time that swing arm rising switch (26) is closed, is judged as swing arm and rises, carry out step S301, otherwise, be judged as non-swing arm and rise, carry out step S400;
Step S301, swing arm uphill process control: ECU (24) is controlled the second solenoid operated directional valve electromagnetic coil (3a) energising, control the electrical current of the first solenoid-operated proportional reversal valve electromagnetic coil (4a) simultaneously, make to enter from the high pressure liquid force feed interflow of hydraulic pump (23) and high pressure accumulator (16) the large chamber of boom cylinder (15), realize swing arm and rise;
Step S302, judges whether swing arm uphill process finishes: in the time that swing arm rising switch (26) is closed, is judged as swing arm uphill process and does not finish, turn back to step S301, otherwise, be judged as swing arm uphill process and finish, turn back to step S100;
Step S400, judges whether swing arm declines: in the time that swing arm decline switch (27) is closed, is judged as swing arm and declines, carry out step S401, otherwise, be judged as non-swing arm and decline, carry out step S500;
Step S401, swing arm decline process control: ECU (24) is controlled the electrical current of the second solenoid-operated proportional reversal valve electromagnetic coil (5a), make to enter from the hydraulic oil of intermediate-pressure accumulator (18) loculus of boom cylinder (15), realizing swing arm declines, simultaneously, ECU (24) is controlled the second solenoid operated directional valve electromagnetic coil (3a) energising, and the high pressure liquid force feed that hydraulic pump (23) is pumped is stored in high pressure accumulator (16);
Step S402, judges whether swing arm decline process finishes: in the time that swing arm decline switch (27) is closed, is judged as swing arm decline process and does not finish, turn back to step S401, otherwise, be judged as swing arm decline process and finish, turn back to step S100;
Step S500, judges on whether rotating bucket and turns: when turn-off on rotating bucket closes (28) when closed, is judged as on rotating bucket and turns, carry out step S501, otherwise, be judged as on non-rotating bucket and turn, carry out step S600;
Step S501, on rotating bucket, turn over process control: ECU (24) is controlled the second solenoid operated directional valve electromagnetic coil (3a) energising, control the 3rd solenoid-operated proportional reversal valve electromagnetic coil (11a) electrical current simultaneously, make to enter from the high pressure liquid force feed interflow of hydraulic pump (23) and high pressure accumulator (16) the large chamber of rotary ink tank (20), realize on rotating bucket and turning;
Step S502, judges whether on rotating bucket, turn over journey finishes: when turn-off on rotating bucket closes (28) when closed, is judged as and on rotating bucket, turns over Cheng Wei and finish, turn back to step S501, otherwise, be judged as and on rotating bucket, turn over journey and finish, turn back to step S100;
Step S600, judges whether rotating bucket turns down: in the time that turn-off under rotating bucket closes (29) closure, is judged as under rotating bucket and turns, carry out step S601, otherwise, be judged as under non-rotating bucket and turn, carry out step S700;
Step S601, under rotating bucket, turn over process control: ECU (24) is controlled the electrical current of the 4th solenoid-operated proportional reversal valve electromagnetic coil (12a), enter the loculus of rotary ink tank (20) from the hydraulic oil of intermediate-pressure accumulator (18), make to turn under rotating bucket, simultaneously, ECU (24) is controlled the second solenoid operated directional valve electromagnetic coil (3a) energising, and the high pressure liquid force feed that hydraulic pump (23) is pumped is stored in high pressure accumulator (16);
Step S602, judges whether under rotating bucket, turn over journey finishes: when turn-off under rotating bucket closes (29) when closed, is judged as and under rotating bucket, turns over journey and do not finish, turn back to step S601, otherwise, be judged as and under rotating bucket, turn over journey and finish, turn back to step S100;
Step S700, the pressure detecting of intermediate-pressure accumulator (18): detect the output signal of the second pressure sensor (19), and calculate the detected pressure value of intermediate-pressure accumulator (18);
Step S701, judges whether intermediate-pressure accumulator (18) needs accumulation of energy: when the detected pressure value of intermediate-pressure accumulator (18) is less than the intermediate-pressure accumulator maximum pressure P of setting
middle maxtime, judge that intermediate-pressure accumulator (18) needs accumulation of energy, carry out step S702, otherwise, judge that intermediate-pressure accumulator (18) does not need accumulation of energy, carries out step S800;
Step S702, intermediate-pressure accumulator accumulation of energy process control: ECU (24) is controlled the 3rd solenoid operated directional valve electromagnetic coil (13a) energising, and the hydraulic oil pumping from hydraulic pump (23) stores into intermediate-pressure accumulator (18);
Step S703, judges whether intermediate-pressure accumulator (18) stops accumulation of energy: when swing arm rising switch (26) is closed or swing arm decline switch (27) is closed or rotating bucket on turn-off close turn-off under (28) closed or rotating bucket and close the maximum pressure P that (29) detected pressure value closed or intermediate-pressure accumulator (18) is greater than setting
middle maxtime, be judged as intermediate-pressure accumulator (18) and stop accumulation of energy, turn back to step S100, otherwise, be judged as intermediate-pressure accumulator (18) and continue accumulation of energy, turn back to step S702;
Step S800, the pressure detecting of high pressure accumulator (16): detect the output signal of the first pressure sensor (17), and calculate the detected pressure value of high pressure accumulator (16);
Step S801, judges whether high pressure accumulator (16) needs accumulation of energy: when the detected pressure value of high pressure accumulator (16) is less than the high pressure accumulator maximum pressure P of setting
high maxtime, judge that high pressure accumulator (16) needs accumulation of energy, carry out step S802, otherwise, judge that high pressure accumulator (16) does not need accumulation of energy, carries out step S900;
Step S802, high pressure accumulator (16) accumulation of energy process control: ECU (24) is controlled the second solenoid operated directional valve electromagnetic coil (3a) energising, and the high pressure liquid force feed pumping from hydraulic pump (23) is stored in high pressure accumulator (16);
Step S803, judges whether high pressure accumulator accumulation of energy process stops: when swing arm rising switch (26) is closed or swing arm decline switch (27) is closed or rotating bucket on turn-off close turn-off under (28) closed or rotating bucket and close the maximum pressure P that (29) detected pressure value closed or high pressure accumulator (16) is greater than setting
high maxtime, be judged as high pressure accumulator (16) accumulation of energy process and stop, turn back to step S100, otherwise, be judged as intermediate-pressure accumulator (18) and continue accumulation of energy, turn back to step S802;
Step S900, hydraulic pump (23) off-load control: ECU (24) is controlled the first solenoid operated directional valve electromagnetic coil (1a) energising, hydraulic pump (23) off-load;
Step S901, judges whether hydraulic pump (23) off-load stops: when brake switch (25) is closed or swing arm rising switch (26) is closed or swing arm decline switch (27) is closed or rotating bucket on turn-off close turn-off under (28) closed or rotating bucket and close the high pressure accumulator maximum pressure P that (29) detected pressure value closed or high pressure accumulator (16) is less than setting
high max, or the detected pressure value of intermediate-pressure accumulator (18) be less than the intermediate-pressure accumulator maximum pressure P of setting
middle maxtime, be judged as hydraulic pump (23) and stop off-load, turn back to step S100, otherwise, be judged as hydraulic pump (23) and continue off-load, turn back to step S900.
2. the control method of loader hydraulic control system as claimed in claim 1, it is characterized in that: the detected pressure value of the intermediate-pressure accumulator described in described step S700 (18) is the average of sampling in 8～24 circulating sampling cycles, the circulating sampling cycle is to be worth a set time of being determined by system clock, and circulating sampling periodic regime is at 1～10ms.
3. the control method of loader hydraulic control system as claimed in claim 1, it is characterized in that: the detected pressure value of the high pressure accumulator described in described step S800 (16) is the average of sampling in 8～24 circulating sampling cycles, the circulating sampling cycle is to be worth a set time of being determined by system clock, and circulating sampling periodic regime is at 1～10ms.
4. the control method of loader hydraulic control system as claimed in claim 1, is characterized in that: the intermediate-pressure accumulator maximum pressure P in described step S701 and step S703
middle maxspan be 5～18MPa.
5. the control method of loader hydraulic control system as claimed in claim 1, is characterized in that: the high pressure accumulator maximum pressure P in described step S801, step S803 and step S901
high maxspan be 20～35MPa.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210135593.3A CN102852184B (en) | 2012-05-04 | 2012-05-04 | Hydraulic control system for loader and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210135593.3A CN102852184B (en) | 2012-05-04 | 2012-05-04 | Hydraulic control system for loader and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102852184A CN102852184A (en) | 2013-01-02 |
| CN102852184B true CN102852184B (en) | 2014-09-17 |
Family
ID=47399127
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210135593.3A Expired - Fee Related CN102852184B (en) | 2012-05-04 | 2012-05-04 | Hydraulic control system for loader and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102852184B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103243753A (en) * | 2013-05-07 | 2013-08-14 | 山东理工大学 | Elastic rubber band energy accumulator type loader movable arm potential energy recovery and regeneration control system |
| CN103225321A (en) * | 2013-05-07 | 2013-07-31 | 山东理工大学 | Elastic rubber band energy-stored type loading machine movable arm potential energy recycle and regeneration control method |
| CN103882901B (en) * | 2014-03-11 | 2016-01-20 | 山河智能装备股份有限公司 | Digger revolving Brake energy recovery control method |
| CN104831774B (en) * | 2015-04-16 | 2017-07-07 | 湖南网大科技有限公司 | A kind of loading machine walking Brake energy recovery auxiliary drive and control method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101278130A (en) * | 2005-09-30 | 2008-10-01 | 卡特彼勒公司 | Hydraulic system for recovering potential energy |
| US7823379B2 (en) * | 2006-11-14 | 2010-11-02 | Husco International, Inc. | Energy recovery and reuse methods for a hydraulic system |
| CN102203434A (en) * | 2008-10-22 | 2011-09-28 | 卡特彼勒Sarl公司 | Hydraulic control system in working machine |
| CN102232132A (en) * | 2008-12-01 | 2011-11-02 | 住友重机械工业株式会社 | Hybrid construction machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005155230A (en) * | 2003-11-27 | 2005-06-16 | Komatsu Ltd | Hydraulic circuit for suppressing traveling vibration of wheel type construction machine |
-
2012
- 2012-05-04 CN CN201210135593.3A patent/CN102852184B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101278130A (en) * | 2005-09-30 | 2008-10-01 | 卡特彼勒公司 | Hydraulic system for recovering potential energy |
| US7823379B2 (en) * | 2006-11-14 | 2010-11-02 | Husco International, Inc. | Energy recovery and reuse methods for a hydraulic system |
| CN102203434A (en) * | 2008-10-22 | 2011-09-28 | 卡特彼勒Sarl公司 | Hydraulic control system in working machine |
| CN102232132A (en) * | 2008-12-01 | 2011-11-02 | 住友重机械工业株式会社 | Hybrid construction machine |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2005-155230A 2005.06.16 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102852184A (en) | 2013-01-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102635143B (en) | Energy-saving hydraulic control system of loading machine and control method | |
| CN102635579B (en) | Energy-saving hydraulic system for loaders | |
| CN106640799B (en) | A kind of energy-saving upper dress system of pure electric compression type garbage truck | |
| CN102852184B (en) | Hydraulic control system for loader and control method | |
| CN101438064A (en) | Hydraulic control system for working machine | |
| CN103148031A (en) | Energy-saving control system of hydraulic movable arm loop | |
| CN102588359A (en) | Hydraulic system, excavator and control method of hydraulic system | |
| CN105604121B (en) | A kind of control loop of engineer operation armament-related work device | |
| CN102889273A (en) | Electro-hydraulic system for recycling and releasing potential energy of engineering machinery | |
| CN105544631B (en) | A kind of control loop of hydraulic shovel equipment | |
| CN101413523A (en) | Independent energy accumulator energy recovery hydraulic system of engineering machinery load port | |
| CN102518606A (en) | Lifting system and lifting method for crane boom of working machine and working machine | |
| CN106284478A (en) | A kind of electric balancing cylinder potential energy recovery system | |
| KR101264661B1 (en) | The potential energy recovery apparatus of the hydraulic cylinder | |
| CN108383039A (en) | A kind of energy-saving stepping type lifter structure hydraulic control system | |
| CN107447803A (en) | The mechanical mining excavator of combination drive | |
| CN105484311B (en) | Without spill losses loader hydraulic work system and its control method | |
| CN102635144B (en) | Hydraulic system for loader | |
| CN202544015U (en) | Hydraulic system of loader | |
| CN105507362A (en) | Hydraulic system of overflow-loss-free loader and control method of hydraulic system | |
| CN205618450U (en) | Hydraulic system divides fender energy storage ware energy recuperation device | |
| CN202545385U (en) | Energy-saving hydraulic system for loaders | |
| CN107345411A (en) | Boom cylinder energy conserving system and its control method, excavator | |
| CN202544014U (en) | Energy-accumulation energy-saving hydraulic system for loading machine | |
| CN105887954A (en) | Novel energy-saving loader and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140917 Termination date: 20170504 |