CN107161898B - A kind of hydraulic control system and its method of tension windlass - Google Patents
A kind of hydraulic control system and its method of tension windlass Download PDFInfo
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- CN107161898B CN107161898B CN201710547383.8A CN201710547383A CN107161898B CN 107161898 B CN107161898 B CN 107161898B CN 201710547383 A CN201710547383 A CN 201710547383A CN 107161898 B CN107161898 B CN 107161898B
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/44—Control devices non-automatic pneumatic of hydraulic
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/024—Pressure relief valves
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The application discloses a kind of hydraulic control system and its method of tension windlass.The tension windlass provides load function for subject winch, is connect by hawser with subject winch.Tension windlass is recyclable, discharges rope, and its speed is made to follow subject winch automatically, and cable tension is kept to be set near tension in user.The hydraulic system of the tension windlass includes hightension control loop, small tension control circuit and row's cable control loop.The hydraulic system uses small tension control circuit when setting tension is smaller, ensures precision and the maximum speed requirement of small tension control；Hightension control loop is used when setting tension is larger, by controlling variable pump come the automatic speed for adapting to subject winch, reaches energy-efficient effect；It is associated close to switch with cable sector to arrange cable control loop, plays the role of arranging cable.
Description
Technical field
The present invention relates to a kind of hydraulic control system of tension windlass and its methods, can be cut more specifically to one kind
Large and small tension mode is changed, load tension can be made to be maintained at user and set near tension, and the tension with certain energy saving twists
Vehicle hydraulic system and its method.
Background technology
Hydraulic system is one kind using hydraulic oil as working media, main based on a kind of system that pascal's principle works
It will be by hydraulic pump, hydraulic valve, the compositions such as hydraulic motor and attachment.Winch be it is a kind of with reel lay winding wire ropes or chain lifting or
The industrial equipment of traction, also known as hoist engine.Winch is widely used in the fields such as mine hoisting, extra large tooling be standby.Tension windlass
It is a kind of device that hawser load force is provided for subject winch.The rope of subject winch is connected by turntable with tension windlass.?
Power winch ensures the tension stability of the rope in recycling and release near user's setting value.
Invention content
The tension windlass hydraulic system that user sets tension is loaded for subject winch the purpose of the present invention is to propose to a kind of, is used
To solve the low-speed stability and high-speed and energy-saving sex chromosome mosaicism and control accuracy problem when small tension receiving coil of hawser hightension.
The hydraulic control system of the tension windlass of the present invention includes small tension control circuit, hightension control loop, row's cable
Control loop, manual shift gearbox and cable reel；
Hightension control loop and small tension control circuit are switched by manual shift gearbox to be selected, and is become by manual shift
Fast case respectively drives cable reel；It arranges cable control loop and lead screw is driven by fixed displacement motor C (22), drive cable sector work；
The small tension control circuit include constant displacement pump A, proportional direction valve A, proportional pressure control valve A, proportional pressure control valve B,
Fixed displacement motor A, repairing check valve A, safety valve A；
The main oil inlet of proportional direction valve A is connected with constant displacement pump A, proportional pressure control valve A respectively, and the master of proportional direction valve A returns
Hydraulic fluid port is connected with proportional pressure control valve B, and actuator port and the fixed displacement motor A of proportional direction valve A constitute small tension receiving coil performance loop, ratio
Overflow valve A is connected by repairing check valve A with small tension receiving coil performance loop, and safety valve A is connected with small tension receiving coil performance loop；
The hightension control loop includes the controllable variable pump of pressure flow, proportional direction valve B, proportional overflow
Valve C, proportional pressure control valve D, fixed displacement motor B, repairing check valve B, safety valve B；
The main oil inlet of proportional direction valve B is connected with variable pump, proportional pressure control valve C respectively, the main oil return of proportional direction valve B
Mouth is connected with proportional pressure control valve D, and actuator port and the fixed displacement motor B of proportional direction valve B constitute hightension performance loop, and ratio is overflow
Stream valve C is connected by repairing check valve B with hightension performance loop, and safety valve B is connected with hightension performance loop；
Row's cable control loop includes constant displacement pump B, proportional pressure control valve E, proportional direction valve C, fixed displacement motor C and storage
It can device；Row's cable control loop is connected with cable sector close to switch.
The main oil inlet of proportional direction valve C is connected with constant displacement pump B, proportional pressure control valve E, accumulator respectively, proportional direction valve C
Main oil return opening be connected with fuel tank, the actuator port of proportional direction valve C constitutes row's cable performance loop with fixed displacement motor C.
The control method of the hydraulic control system of the tension windlass is as follows：
Hightension control loop or small tension receiving coil circuit are selected by handsetting gear gearbox, when needs are controlled by hightension
When circuit shifts to small tension control circuit, the proportional pressure control valve A in small tension control circuit is set as a smaller value, proportional direction valve
The aperture of A is set as a smaller value；Fixed displacement motor A is operated with the slow-speed of revolution at this time, the manual shift fork of handsetting gear gearbox, you can
Shift to Xiao Zhang's force mode；
When needing to shift to hightension control loop by small tension control circuit, the proportional pressure control valve C in hightension circuit is set
It is set to a smaller value, the aperture of proportional direction valve B is set as a smaller value, and the discharge capacity and pressure of variable pump are set as smaller value,
Fixed displacement motor B is operated with the slow-speed of revolution at this time, the manual shift fork of handsetting gear gearbox, you can shift to hightension pattern；
When control system is in small tension receiving coil take-back model, system enters recycling tensioning operating mode first, and work is tensioned in recycling
Under condition, proportional pressure control valve A gives a smaller aperture, tension according to setting one open loop signal of given tension, proportional direction valve A
Winch take-up hawser, when cable tension increases near setting tension value, system enters recycling speed follower operating mode, is recycling
Under speed follower operating mode, the pressure setting signal of proportional pressure control valve A is added to obtain by two parts, and a part is by setting tensometer
Obtained open loop pressure signal, another part are the PI controlled quentity controlled variables that controller is obtained according to setting tension and actual tension；Than
The aperture of proportional direction valve A is divided into several grades according to hawser speed, and hawser speed is higher, and the aperture gear of proportional direction valve A is higher,
Aperture is bigger；Proportional pressure control valve B sets a smaller constant signal at this time；
When control system is in small tension receiving coil release mode, system enters release tensioning operating mode first, and work is tensioned in release
Under condition, the pressure signal of proportional pressure control valve A is set as a smaller steady state value；Proportional direction valve A apertures are set as a smaller value；
Proportional pressure control valve B is according to setting one open loop signal of given tension, under rate of release following condition, the pressure of proportional pressure control valve A
Signal is set as a smaller steady state value；The aperture of proportional direction valve A is divided into several grades according to hawser speed, and hawser speed is got over
The aperture gear of height, proportional direction valve A is higher, and aperture is bigger；The pressure setting signal of proportional pressure control valve B is added by two parts,
A part is the open loop pressure signal being calculated by setting tension, and another part is controller according to setting tension and practical
The PI controlled quentity controlled variables that power obtains；
When control system is in hightension take-back model, system enters recycling tensioning operating mode first, and work is tensioned in recycling
Under condition, the controllable variable pump of pressure flow sets pressure with constant traffic driven motor, proportional pressure control valve C and variable pump
It sets up to maximum value and makees safety valve use, proportional direction valve B gives a smaller aperture, and tension windlass is tensioned hawser, works as cable
When rope tension is increased near setting tension value, system enters recycling speed follower operating mode, in the case where recycling speed follower operating mode, becomes
The pressure setting signal of amount pump is added to obtain by two parts, and a part is the open loop pressure signal being calculated by setting tension,
Another part is the PI controlled quentity controlled variables that controller is obtained according to setting tension and actual tension；The flow signal of variable pump is according to hawser
Speed switches over, and when speed is less than threshold value, switches to smaller signal, when speed is higher than threshold value, switches to maximum value；Than
The aperture of proportional direction valve B is divided into several grades according to hawser speed, and hawser speed is higher, and the aperture gear of proportional direction valve B is higher,
Aperture is bigger；Proportional pressure control valve C is used as safety valve at this time, and proportional pressure control valve D sets a smaller constant signal；
When control system is in hightension release mode, system enters release tensioning operating mode first, and work is tensioned in release
Under condition, the displacement signal of variable pump is given as maximum value, and pressure signal is set as a smaller steady state value；Proportional direction valve B is opened
Degree is set as a smaller value；Proportional pressure control valve D is according to setting one open loop signal of given tension；Proportional pressure control valve C is set as safety
Valve, under rate of release following condition, the displacement signal of variable pump is given as maximum value, and pressure signal is set as a smaller perseverance
Definite value；Proportional direction valve B apertures are divided into several grades according to hawser speed, and hawser speed is higher, the aperture gear of proportional direction valve B
Higher, aperture is bigger；Proportional pressure control valve C is used as safety valve；The pressure setting signal of proportional pressure control valve D is by two parts phase
Add, a part is the open loop pressure signal being calculated by setting tension, and another part is controller according to setting tension and reality
The PI controlled quentity controlled variables that border tension obtains；
Row's cable control loop of control system auto arrangement hawser in hawser folding and unfolding, two on cable sector close to opening
It closes and correspond to two opening directions of proportional direction valve C respectively, switch electric when one of them is approached, proportional direction valve C is to corresponding
Direction open；Fixed displacement motor C drives cable sector or so translation, the row's of realization cable function.
Description of the drawings
Fig. 1 is the connection figure of the tension windlass and subject winch of the present invention；
Fig. 2 is the schematic diagram of the large and small tension control loop of the present invention；
Fig. 3 is the structural schematic diagram of row's cable control loop of the present invention.
Specific implementation mode
As shown in Figs. 1-3, which provides load function for subject winch, is connect by hawser with subject winch.
Tension windlass is recyclable, discharges rope, and its speed is made to follow subject winch automatically, and cable tension is kept to set tension in user
Near.
The hydraulic control system of the tension windlass of the present invention includes small tension control circuit, hightension control loop, row's cable
Control loop, manual shift gearbox (9) and cable reel (10)；
Hightension control loop and small tension control circuit are switched by manual shift gearbox (9) to be selected, by changing manually
Gear gearbox (9) respectively drives cable reel (10)；It arranges cable control loop and lead screw is driven by fixed displacement motor C (22), the row of drive
Cable mechanism works；
The small tension control circuit includes constant displacement pump A (2), proportional direction valve A (5), proportional pressure control valve A (3), ratio
Overflow valve B (4), fixed displacement motor A (8), repairing check valve A (6), safety valve A (7)；
The main oil inlet of proportional direction valve A (5) is connected with constant displacement pump A (2), proportional pressure control valve A (3) respectively, proportion directional
The main oil return opening of valve A (5) is connected with proportional pressure control valve B (4), actuator port and fixed displacement motor A (8) structure of proportional direction valve A (5)
At small tension receiving coil performance loop, proportional pressure control valve A (3) is connected by repairing check valve A (6) with small tension receiving coil performance loop, safety valve A
(7) it is connected with small tension receiving coil performance loop；
The hightension control loop include the controllable variable pump (11) of pressure flow, proportional direction valve B (14),
Proportional pressure control valve C (12), proportional pressure control valve D (13), fixed displacement motor B (17), repairing check valve B (15), safety valve B (16)；
The main oil inlet of proportional direction valve B (14) is connected with variable pump (11), proportional pressure control valve C (12) respectively, ratio side
It is connected to the main oil return opening of valve B (14) with proportional pressure control valve D (13), actuator port and the fixed displacement motor B of proportional direction valve B (14)
(17) hightension performance loop is constituted, proportional pressure control valve C (12) passes through repairing check valve B (15) and hightension performance loop phase
Even, safety valve B (16) is connected with hightension performance loop；
Row's cable control loop includes constant displacement pump B (18), proportional pressure control valve E (19), proportional direction valve C (21), determines
Measure motor C (22) and accumulator (20)；Row's cable control loop is connected with cable sector close to switch.
The main oil inlet of proportional direction valve C (21) respectively with constant displacement pump B (18), proportional pressure control valve E (19), accumulator (20)
It is connected, the main oil return opening of proportional direction valve C (21) is connected with fuel tank, actuator port and the fixed displacement motor C of proportional direction valve C (21)
(22) row's of composition cable performance loop.
The large and small tension control loop of the hydraulic control system of tension windlass is divided into two operating modes in recycling.First
Operating mode is tensioning operating mode, and subject winch stops, and tension windlass is tensioned hawser；Second operating mode is speed follower operating mode, and subject twists
Vehicle discharges hawser, and the recycling speed of tension windlass follows the rate of release of subject winch automatically, and keeps tension in setting tension
Near.
The large and small tension control loop of system is divided into two operating modes in release.First operating mode is tensioning operating mode,
Power winch stops, and is tested winch take-up hawser；Second operating mode is speed follower operating mode, and subject winch recycles hawser, and tension twists
The rate of release of vehicle follows the recycling speed of subject winch automatically, and keeps tension near setting tension；In tensioning operating mode cable
Rope is tensioned to setting tension rear i.e. admission velocity following condition nearby.
When recycling is tensioned operating mode, tension is set according to user, controller gives a constant letter to proportional pressure control valve A (3)
Number, gradually it is tensioned hawser；
When recycling speed follower operating mode, controller sets tension to hawser actual tension and user and is compared, and passes through
PI controls program, obtains the setting signal of proportional pressure control valve A (3) pressure so that actual tension is stablized near setting tension；
When discharging operating mode, controller comparative example overflow valve A (3) gives lower constant pressure, makes fixed displacement motor A (8)
Meet minimum oil suction pressure；Controller sets tension to hawser actual tension and user and is compared, and controls program by PI, obtains
To the setting signal of proportional pressure control valve B (4) pressure so that actual tension is stablized near setting tension；
Proportional direction valve A (5) changes in recycling and rate of release following condition according to the hawser speed of velocity sensor
Its aperture, aperture and hawser the velocity correlation connection of proportional direction valve A (5), when hawser speed is relatively low, proportional direction valve A (5) are opened
Degree is also smaller；As hawser speed increases, the aperture of proportional direction valve A (5) also becomes larger；
Repairing check valve A (6) ensures that, in proportional direction valve A (5) turn-off transient, fixed displacement motor A (8) oil suction chamber is unlikely to inhale
Space-variant is negative pressure；
Safety valve A (7) ensures that, in proportional direction valve A (5) turn-off transient, proportional direction valve A (5) oil outlet chamber is unlikely to pressure
It impacts to excessively high.
When recycling tensioning, variable pump (11) is controlled as constant flow pump, and the pressure signal of variable pump (11) is given
For maximum value, variable pump (11) rate of discharge fully enters fixed displacement motor B (17), and fixed displacement motor B (17) is tensioned with constant rotational speed
Hawser；Proportional direction valve B (14) keeps lower aperture, cooperation variable pump (11) to enable hawser smoothly by tensioning operating mode
Excessively to speed follower operating mode.
When recycling speed follower operating mode, variable pump (11) is controlled as constant pressure pump, in recycling, ratio is kept to overflow
Stream valve D (13) pressure is constant, by changing the setting pressure of variable pump (11) to change cable tension；When hawser speed is less than threshold
When value, the flow signal of variable pump (11) is given as a smaller value, and variable pump (11) actual flow will be no more than the flow, with
Meet tension stability requirement when low speed；When hawser speed increases and is higher than threshold value, the flow signal of variable pump (11) increases
Greatly to maximum value, to meet flow demand when hawser high speed；Controller sets tension to hawser actual tension and user and carries out
Compare, program is controlled by PI, obtains the setting signal of variable pump (11) pressure so that actual tension is stablized attached in setting tension
Closely；Proportional pressure control valve D (13) keeps a lower constant pressure, and certain stabilization back pressure is provided for fixed displacement motor B (17).
In release tensioning and speed follower operating mode, variable pump (11) is controlled as constant pressure pump, keeps variable pump
(11) it is a constant setting pressure, to reach the minimum oil suction pressure requirements of fixed displacement motor B (17)；, controller is to hawser reality
Tension and user set tension and are compared, and control program by PI, obtain the setting signal of proportional pressure control valve D (13) pressure,
So that actual tension is stablized near setting tension；
In recycling and rate of release following condition, proportional direction valve B (14) changes according to the hawser speed of velocity sensor
Becoming its aperture, the aperture and hawser velocity correlation of proportional direction valve B (14) join, when hawser speed is relatively low, proportional direction valve B (14)
Aperture it is also smaller；As hawser speed increases, the aperture of proportional direction valve B (14) also becomes larger；
Repairing check valve B (15) ensures system in repairing check valve B (15) turn-off transient, fixed displacement motor B (17) oil suction chamber
It is unlikely to be emptied and becomes negative pressure；Safety valve B (16) ensures system in proportional direction valve B (14) turn-off transient, fixed displacement motor B (17)
Oil outlet chamber is unlikely to compression shock to excessively high；
Hightension and Xiao Zhang's force mode are switched over by the manual shift fork of hand shift gear-box 9.It is changed when system is in
Gear pattern, when shifting to small tension receiving coil by hightension, the proportional pressure control valve A (3) in small tension control circuit is set as a smaller value, ratio
The aperture of direction valve A (5) is set as a smaller value.Fixed displacement motor A (8) is become with extremely low rotation speed operation with hand handsetting gear at this time
The manual shift fork of fast case (9), you can shift to Xiao Zhang's force mode.
When system is in shift mode, when shifting to hightension by small tension receiving coil, the proportional pressure control valve C (12) in hightension circuit is set
It is set to a smaller value, the aperture of proportional direction valve B (14) is set as a smaller value.The discharge capacity and pressure of variable pump (11) are set as
Smaller value.Fixed displacement motor B (17) is with extremely low rotation speed operation at this time, with the manual shift fork of hand handsetting gear gearbox (9), you can change
To hightension pattern.
As shown in figure 3, row's cable control loop includes constant displacement pump B (18), proportional pressure control valve E (19), proportion directional
Valve C (21), fixed displacement motor C (22) and accumulator (20)；Row's cable control loop is connected with cable sector close to switch.System
Row's cable control loop of system auto arrangement hawser in hawser folding and unfolding.Two on cable sector correspond to ratio respectively close to switch
Two opening directions of direction valve C (21), when one of them is close to switching electric, proportional direction valve C (21) is to corresponding direction
It opens；Fixed displacement motor C (22) drives cable sector or so translation, the row's of realizing cable function.
Claims (1)
1. a kind of hydraulic control system of tension windlass, it is characterised in that including small tension control circuit, hightension control loop,
Arrange cable control loop, manual shift gearbox（9）And cable reel（10）；
Hightension control loop and small tension control circuit are by manual shift gearbox（9）Switching selection, is become by manual shift
Fast case（9）Respectively drive cable reel（10）；It arranges cable control loop and lead screw is driven by fixed displacement motor C (22), the row's of drive cable machine
Structure works；
The small tension control circuit includes constant displacement pump A（2）, proportional direction valve A（5）, proportional pressure control valve A（3）, proportional overflow
Valve B（4）, fixed displacement motor A（8）, repairing check valve A（6）, safety valve A（7）；
Proportional direction valve A（5）Main oil inlet respectively with constant displacement pump A（2）, proportional pressure control valve A（3）It is connected, proportional direction valve A
（5）Main oil return opening and proportional pressure control valve B（4）It is connected, proportional direction valve A（5）Actuator port and fixed displacement motor A（8）It constitutes
Small tension receiving coil performance loop, proportional pressure control valve A（3）Pass through repairing check valve A（6）It is connected with small tension receiving coil performance loop, safety valve A
（7）It is connected with small tension receiving coil performance loop；
The hightension control loop includes the controllable variable pump of pressure flow（11）, proportional direction valve B（14）, ratio
Overflow valve C（12）, proportional pressure control valve D（13）, fixed displacement motor B（17）, repairing check valve B（15）, safety valve B（16）；
Proportional direction valve B（14）Main oil inlet respectively with variable pump（11）, proportional pressure control valve C（12）It is connected, proportional direction valve
B（14）Main oil return opening and proportional pressure control valve D（13）It is connected, proportional direction valve B（14）Actuator port and fixed displacement motor B（17）
Constitute hightension performance loop, proportional pressure control valve C（12）Pass through repairing check valve B（15）It is connected with hightension performance loop, pacifies
Full valve B（16）It is connected with hightension performance loop；
Row's cable control loop includes constant displacement pump B (18), proportional pressure control valve E（19）, proportional direction valve C (21), quantitative horse
Up to C (22) and accumulator (20)；Row's cable control loop is connected with cable sector close to switch；
The main oil inlet of proportional direction valve C (21) respectively with constant displacement pump B (18), proportional pressure control valve E（19）, accumulator (20) phase
Even, the main oil return opening of proportional direction valve C (21) is connected with fuel tank, actuator port and the fixed displacement motor C of proportional direction valve C (21)
(22) row's of composition cable performance loop.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710547383.8A CN107161898B (en) | 2017-07-06 | 2017-07-06 | A kind of hydraulic control system and its method of tension windlass |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710547383.8A CN107161898B (en) | 2017-07-06 | 2017-07-06 | A kind of hydraulic control system and its method of tension windlass |
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| CN107161898A CN107161898A (en) | 2017-09-15 |
| CN107161898B true CN107161898B (en) | 2018-11-06 |
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| EP3613700A4 (en) * | 2017-04-17 | 2021-01-13 | Globeride, Inc. | Electric hoisting machine and control device and control method therefor |
| CN111891811B (en) * | 2020-06-20 | 2021-07-30 | 科顺防水科技股份有限公司 | System and method for PID (proportion integration differentiation) hybrid control of tension of coiled material production line |
| CN113003453B (en) * | 2021-02-08 | 2022-10-25 | 广东工业大学 | Traction winch between crude oil transfer barge and oil tanker and control method thereof |
| CN113753783B (en) * | 2021-09-10 | 2023-03-31 | 北京三一智造科技有限公司 | Winch follow-up control method and device and double-wheel slot milling machine |
| CN114314183B (en) * | 2021-12-19 | 2024-05-14 | 宜兴市博宇电力机械有限公司 | New energy tensioner with controllable motor power |
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| EP3067308A1 (en) * | 2015-03-13 | 2016-09-14 | Pisek - Vitli Krpan, d.o.o. | A hydraulic system with additional protection of operation of clutch and drum brake hydraulic circuit in a forestry winch |
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|---|---|---|---|---|
| CN2307731Y (en) * | 1997-04-30 | 1999-02-17 | 浙江大学 | Electrohydraulic proportion controlled closed power stoering gear for sonar winch |
| CN101408212A (en) * | 2008-10-31 | 2009-04-15 | 浙江大学 | Energy recovery system of hybrid power engineering machinery actuating element |
| CN102705283A (en) * | 2012-05-29 | 2012-10-03 | 中南大学 | Hydraulic synchronous system for realizing load balance based on proportional relief valve |
| CN102705211A (en) * | 2012-06-29 | 2012-10-03 | 山河智能装备股份有限公司 | Small discharge capacity and small pressure control loop of variable pump and control method thereof |
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| Publication number | Publication date |
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| CN107161898A (en) | 2017-09-15 |
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