CN111075783A - Multi-group oil cylinder variable speed synchronous control system and method - Google Patents
Multi-group oil cylinder variable speed synchronous control system and method Download PDFInfo
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- CN111075783A CN111075783A CN201911325108.7A CN201911325108A CN111075783A CN 111075783 A CN111075783 A CN 111075783A CN 201911325108 A CN201911325108 A CN 201911325108A CN 111075783 A CN111075783 A CN 111075783A
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- 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
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
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- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/001—Servomotor systems with fluidic control
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- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/75—Control of speed of the output member
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- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/78—Control of multiple output members
- F15B2211/782—Concurrent control, e.g. synchronisation of two or more actuators
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- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a multi-group oil cylinder speed change synchronous control system and a multi-group oil cylinder speed change synchronous control method, which relate to the technical field of multi-group oil cylinder speed change synchronous control, and comprise a walking chassis, at least two groups of oil cylinders, a controller, a displacement sensor and a proportional valve, wherein the displacement sensor is arranged in each oil cylinder, and the controller is respectively in communication connection with the displacement sensor and the proportional valve; the displacement sensor transmits the displacement information of the piston rod to the controller, the opening of the proportional valve is dynamically adjusted through the controller, synchronous stretching and retracting of the pushing oil cylinder are achieved, and stepless speed change is conducted on the speed of the system according to requirements.
Description
Technical Field
The invention relates to the technical field of multi-oil-cylinder speed change synchronous control, in particular to a system and a method for synchronously controlling the speed change of multiple groups of oil cylinders.
Background
At present, multi-cylinder synchronous control is mainly aimed at synchronous control of a group of cylinders, namely, one proportional valve corresponds to one cylinder, and most cylinders run at a constant speed, namely, the cylinders run at a set speed in the same period or the same direction, and the target speed is not changed in the running process. Under some complex working conditions, the speed change is required to be realized in a short stroke, synchronous action is realized while the target speed is changed, and meanwhile, the oil cylinders can be switched to use among a plurality of groups of oil cylinders.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: under the condition that a plurality of groups of oil cylinders exist, how to realize the speed change synchronous action of the oil cylinders in the same group and simultaneously and quickly respond to a speed change instruction.
Aiming at the problems, the invention provides a multi-group oil cylinder speed change synchronous control system and a multi-group oil cylinder speed change synchronous control method, wherein the multi-group oil cylinder speed change synchronous control system comprises a walking chassis, at least two groups of oil cylinders, a controller, a displacement sensor and a proportional valve, wherein the displacement sensor is arranged in each oil cylinder, and the controller is respectively in communication connection with the displacement sensor and the proportional valve; the displacement sensor transmits the displacement information of the piston rod to the controller, the controller adjusts the opening degree of the proportional valve according to the displacement information to realize synchronous extension and retraction of the oil cylinders, and when the speed needs to be changed, the controller simultaneously adjusts the opening degree of each proportional valve to realize synchronous speed change of each oil cylinder.
Furthermore, the oil cylinder control system further comprises reversing valves, each group of oil cylinders are respectively assembled with the proportional valves through the reversing valves, the proportional valves are at least assembled with the two groups of oil cylinders, and the reversing valves are in communication connection with the controller; the controller selects the oil cylinders by controlling the reversing valve, the oil cylinders comprise a forward cylinder group for controlling forward movement and a backward cylinder group for controlling backward movement, the oil cylinders are different from a traditional oil cylinder corresponding to one proportional valve, an electromagnetic reversing valve for switching an oil way is additionally arranged between the proportional valve and an oil cylinder loop, and the conversion of a plurality of groups of oil cylinders is realized by the power on/off of the electromagnetic valve.
Furthermore, the device also comprises an amplifying plate, and the controller is in communication connection with the proportional valve through the amplifying plate; the opening degree of the proportional valve is dynamically controlled by the amplifying plate, so that the speed change requirement of the operation end is quickly responded in the synchronous action of the oil cylinders.
The amplification board selects RT-PSDM2, ports 1 and 2 of the amplification board are in communication connection with a semaphore QW48 +/-s, ports 9 and 10 are in communication connection with a semaphore BH1-A +/-s, ports 13 and 14 are in communication connection with a semaphore BH1-B +/-s, and the amplification board controls the opening degree of the proportional valve by controlling magnets on two sides of the proportional valve.
Furthermore, the device also comprises an operation table which is in communication connection with the controller and comprises a switch type knob, a switch type rocker and a potentiometer type rocker; the operating state of the system is directly controlled through the operating platform, the potentiometer type rocker is used for realizing stepless speed change of the system, the potentiometer operates according to the speed given by the rocker and ensures synchronization, the given speed is 0, namely no action is carried out, and the given speed is not 0, namely the potentiometer operates synchronously according to the given speed.
The application also provides a multi-group oil cylinder speed change synchronous control method, which comprises a walking chassis, at least two groups of oil cylinders, a controller, a displacement sensor and a proportional valve, wherein the displacement sensor is arranged in each oil cylinder, and the controller is respectively in communication connection with the displacement sensor and the proportional valve;
and the controller receives the external operation requirement information and adjusts the operation mode of the system according to the external operation requirement information.
Furthermore, the external operation requirement information received by the controller is a synchronous action;
the displacement sensor transmits the displacement information of the piston rod to the controller;
and the controller calculates and adjusts the opening degree of the corresponding proportional valve according to the displacement information and the synchronous action information so as to realize synchronous extension and retraction of the oil cylinder.
Furthermore, the oil cylinder control system further comprises reversing valves, each group of oil cylinders are respectively assembled with the proportional valves through the reversing valves, the proportional valves are at least assembled with the two groups of oil cylinders, and the reversing valves are in communication connection with the controller;
the external operation requirement information received by the controller is a switching oil cylinder;
and the controller selects the corresponding oil cylinder according to the information of the switching oil cylinder, in particular to a power-on and power-off selection oil cylinder for controlling the reversing valve.
Furthermore, the device also comprises an amplifying plate, and the controller is in communication connection with the proportional valve through the amplifying plate;
the external operation requirement information received by the controller is a speed change requirement;
the controller calculates the direction and the opening degree of the proportional valve in real time according to the information of the speed change requirement, and outputs the information of the direction and the opening degree to the amplification plate;
the amplifying plate adjusts the actual direction and the opening degree of the proportional valve according to the information of the direction and the opening degree, and particularly, the direction and the opening degree of the proportional valve are changed by adjusting electromagnets on two sides of the proportional valve.
Furthermore, the external operation requirement information is input through an operation panel, and the operation panel is in communication connection with the controller and comprises a switch type knob, a switch type rocker and a potentiometer type rocker.
By adopting the technical scheme, the invention has the beneficial effects that: the invention dynamically adjusts the opening of the proportional valve through the control module, realizes synchronous extension and retraction of the pushing oil cylinders, can select different groups of oil cylinders to synchronously act through the knob of the operating platform, and can quickly respond to the input of the potentiometer type rocker, thereby realizing the variable speed synchronous control of a plurality of groups of oil cylinders and meeting the variable speed synchronous working requirement of forward and backward movement of equipment.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a front view of a walking chassis of the present invention;
FIG. 2 is a left side view of the walking chassis of the present invention;
FIG. 3 is a hydraulic schematic of the drive cylinder portion;
FIG. 4 is a wiring diagram of a scale-up panel;
FIG. 5 is a schematic view of a console panel;
the reference numbers are as follows:
the device comprises a front oil cylinder-1, a front oil cylinder-2, a front oil cylinder-3, a front oil cylinder-4, a rear oil cylinder-5, an oil cylinder-6 displacement sensor-7, an electromagnetic directional valve-8, a proportional valve-9, an action mode selection knob-10, a direction selection knob-11, a switch type rocker-12 and a potentiometer rocker-13.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a system and a method for synchronously controlling the speed change of multiple groups of oil cylinders, aiming at solving the problems of realizing the synchronous action of the oil cylinders in the same group and simultaneously and quickly responding to a speed change instruction under the condition that multiple groups of oil cylinders exist. The traveling mechanism is composed of a traveling chassis and driving oil cylinders, the driving oil cylinders are also called transverse pushing oil cylinders in the follow-up process, eight or two groups of oil cylinders are selected in the embodiment, and the two groups of oil cylinders respectively push the main machine to move forwards and backwards on the guide rail.
The control module includes: the displacement sensor is a magnetostrictive displacement sensor arranged in the oil cylinder, and each oil cylinder is internally provided with the displacement sensor; the controller is in communication connection with the displacement sensor and the proportional valve respectively; the displacement sensor transmits the displacement information of the piston rod to the controller, and the controller adjusts the opening degree of the proportional valve according to the displacement information to realize the synchronous extension and retraction of the oil cylinder. In order to realize the quick response to the speed change requirement of the operation end in the synchronous action of the oil cylinder, the controller is in communication connection with the proportional valve through an amplifying plate; dynamically controlling the opening degree of the proportional valve by using an amplification board, wherein the amplification board selects RT-PSDM2, ports 1 and 2 of the amplification board are in communication connection with a semaphore QW48 +/-s, ports 9 and 10 are in communication connection with a semaphore BH1-A +/-s, and ports 13 and 14 are in communication connection with a semaphore BH1-B +/-s; the amplifying plate controls the opening degree of the proportional valve by controlling the magnets on two sides of the proportional valve.
The operation panel includes: the operation table is in communication connection with the controller, the operation state of the system is directly controlled through the operation table, the potentiometer type rocker is used for achieving stepless speed change of the system and inputting external operation requirement information, the potentiometer operates according to the speed given by the rocker and ensures synchronization, the given speed is 0, namely no action is performed, and the given speed is not 0, namely synchronous operation is performed according to the given speed.
The power hydraulic station comprises: the electromagnetic reversing valve, the electromagnetic proportional reversing valve and the oil pump; each group of oil cylinders are respectively assembled with a proportional valve through the reversing valve, the proportional valve is at least assembled with the two groups of oil cylinders, and the reversing valve is in communication connection with the controller; the controller selects the oil cylinders by controlling the reversing valve, the oil cylinders comprise a forward cylinder group for controlling forward movement and a backward cylinder group for controlling backward movement, the oil cylinders are different from a traditional oil cylinder corresponding to one proportional valve, an electromagnetic reversing valve for switching an oil way is additionally arranged between the proportional valve and an oil cylinder loop, and the conversion of a plurality of groups of oil cylinders is realized by the power on/off of the electromagnetic valve.
As shown in fig. 1, the front view of the walking chassis is front 1 cylinder 1, front 2 cylinder 2, front 3 cylinder 3, and front 4 cylinder 4 of the forward cylinder group from right to left, the four cylinders are in one group, the pushing device advances on the guide rail, and similarly, the rear view is the backward cylinder group, which is not shown here. Fig. 2 is a left side view of the walking chassis, the left side is a backward 4-cylinder 5, and the right side is a forward 4-cylinder 4. When the host equipment moves forwards, the forward cylinder group stretches and retracts to push the host equipment to move forwards on the guide rail; when the host equipment moves backwards, the backward cylinder group stretches and retracts to push the host equipment to move backwards on the guide rail.
As shown in fig. 3, which is a hydraulic schematic diagram of the traversing jacking cylinder, the cylinders from left to right are a front 1 cylinder 1, a rear 1 cylinder, a front 2 cylinder 2, a rear 2 cylinder, a front 3 cylinder 3, a rear 3 cylinder, a front 4 cylinder 4, and a rear 4 cylinder 5, wherein the front 1 cylinder, the front 2 cylinder, the front 3 cylinder, and the front 4 cylinder are a group of cylinders, and are synchronously telescopic, and similarly, the rear 1 cylinder, the rear 2 cylinder, the rear 3 cylinder, and the rear 4 cylinder are a group of cylinders, and are synchronously telescopic. The switching use of the oil cylinders in different groups is realized through the power on/off of the electromagnetic directional valve 8. The lowest end of the figure 3 is provided with a proportional valve 9, and 4 proportional valves control eight cylinders.
As shown in fig. 4, the QW48 ± is an analog signal output by the control module to the amplification board, and the opening degree is calculated in real time by the control module and then output to the amplification board. BH1-A +/-and BH1-B +/-are respectively connected with electromagnets on two sides of A, B of the electromagnetic proportional valve, the direction and the opening degree of the proportional valve 9 are changed, the opening degree of the proportional valve 9 is adjusted through signals sent by the controller, and therefore the speed of the oil cylinder is changed.
As shown in fig. 5, the layout diagram of the console panel is divided into three parts, the leftmost part is a mode selection part, the middle part is a single cylinder action part, and the rightmost part is a speed change synchronous action part for inputting control information to the controller.
In the mode selection part, SA32 is a three-gear switch, an action mode selection knob 10 is used for switching action modes of oil cylinders of each group, and the action modes are synchronous action, stop action and single action respectively, a direction selection knob 11 and SA33 are two-gear switches, and oil cylinder groups used for selecting action are respectively forward and backward, when the mode is shot forward, the front 1-front 4 can be actuated, and when the mode is shot backward, the back 1-back 4 can be actuated.
The single oil cylinder action part is composed of 4 switch type rocking bars 12 and is only effective when the SA32 knob is screwed to a single gear position. When the SA32 knob is turned to a single position, the SA33 knob is turned to a forward gear, the No. 1 rocker is pulled upwards, the front 1 oil cylinder extends out, the No. 1 rocker is pulled downwards in the same way, the front 1 oil cylinder retracts, when the No. 1 rocker returns to the middle position, the front 1 oil cylinder stops acting, the rest rockers are in the same way, the SA33 knob is turned to a backward gear, and the rear 1-rear 4 oil cylinders act in the same way.
The shifting synchronizing section is constituted by a potentiometer rocker 13, which is only active when the SA32 knob is turned to the synchronizing position. When the SA32 knob is turned to the synchronous position, the SA33 knob is turned to the forward gear, the C15-2 rocker is pulled upwards, the front 1-front 4 oil cylinders synchronously extend and follow the change of the angle of the rocker, so that the response is fast, the synchronous extending speed is changed, the C15-2 rocker is pulled downwards, the front 1-front 4 oil cylinders synchronously retract, and the same principle is used for synchronous extending. The SA33 knob is turned to the backward gear, and the back 1-back 4 oil cylinders act in the same way.
And the controller receives external operation requirement information input by the operation console and adjusts the operation mode of the system according to the external operation requirement information.
When the external operation requirement information received by the controller is synchronous action;
the displacement sensor transmits the displacement information of the piston rod to the controller;
and the controller calculates and adjusts the opening degree of the corresponding proportional valve according to the displacement information and the synchronous action information so as to realize synchronous extension and retraction of the oil cylinder.
When the external operation requirement information received by the controller is the switching oil cylinder;
and the controller selects the corresponding oil cylinder according to the information of the switching oil cylinder, in particular to a power-on and power-off selection oil cylinder for controlling the reversing valve.
When the external operation requirement information received by the controller is a speed change requirement;
the controller calculates the direction and the opening degree of the proportional valve in real time according to the information of the speed change requirement, and outputs the information of the direction and the opening degree to the amplification plate;
the amplifying plate adjusts the actual direction and the opening degree of the proportional valve according to the information of the direction and the opening degree, and particularly, the direction and the opening degree of the proportional valve are changed by adjusting electromagnets on two sides of the proportional valve.
The invention provides a solution under a new working condition and carries out practical verification. When the speed change synchronous control of a plurality of groups of oil cylinders exists, the scheme of the invention is adopted, the calculation processing of the control module on the input data is utilized, the proportional valve opening degree is dynamically controlled by the proportional amplifying plate, the speed change requirement of an operation end is quickly responded in the synchronous action of the oil cylinders, the synchronization is ensured, and the switching of the plurality of groups of oil cylinders is still effective.
While the foregoing description shows and describes a preferred embodiment of the invention, it is to be understood, as noted above, that the invention is not limited to the form disclosed herein, but is not intended to be exhaustive or to exclude other embodiments and may be used in various other combinations, modifications, and environments and may be modified within the scope of the inventive concept described herein by the above teachings or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a multiunit hydro-cylinder variable speed synchronous control system, includes walking chassis, at least two sets of hydro-cylinders, its characterized in that: the oil cylinder displacement control system is characterized by further comprising a controller, displacement sensors and proportional valves, the displacement sensors are arranged in the oil cylinders, and the controller is in communication connection with the displacement sensors and the proportional valves respectively.
2. The multi-group oil cylinder variable speed synchronous control system according to claim 1, characterized in that: the oil cylinder assembly device is characterized by further comprising reversing valves, each group of oil cylinders are assembled with the proportional valve through the reversing valves respectively, the proportional valve is assembled with at least two groups of oil cylinders, and the reversing valves are in communication connection with the controller.
3. The multi-group oil cylinder variable speed synchronous control system according to claim 1, characterized in that: the controller is in communication connection with the proportional valve through the amplification board.
4. The multi-group oil cylinder variable speed synchronous control system according to claim 3, characterized in that: the amplification board selects RT-PSDM2 with ports 1 and 2 communicatively connected to semaphore QW48 + -communicatively connected, ports 9 and 10 communicatively connected to semaphore BH1-a + -communicatively connected, and ports 13 and 14 communicatively connected to semaphore BH1-B + -communicatively connected.
5. The multi-group oil cylinder variable speed synchronous control system according to claim 1, characterized in that: the operating platform is in communication connection with the controller and comprises a switch type knob, a switch type rocker and a potentiometer type rocker.
6. A multi-group oil cylinder speed change synchronous control method comprises a walking chassis and at least two groups of oil cylinders, and is characterized in that: the oil cylinder control system is characterized by further comprising a controller, displacement sensors and proportional valves, wherein the displacement sensors are arranged in the oil cylinders, and the controller is in communication connection with the displacement sensors and the proportional valves respectively;
and the controller receives the external operation requirement information and adjusts the operation mode of the system according to the external operation requirement information.
7. The multi-group oil cylinder speed change synchronous control method according to claim 6, characterized in that: the external operation requirement information received by the controller is a synchronous action;
the displacement sensor transmits the displacement information of the piston rod to the controller;
and the controller calculates and adjusts the opening degree of the corresponding proportional valve according to the displacement information and the synchronous action information so as to realize synchronous extension and retraction of the oil cylinder.
8. The multi-group oil cylinder speed change synchronous control method according to claim 6, characterized in that: the oil cylinder assembly system is characterized by further comprising reversing valves, each group of oil cylinders are respectively assembled with the proportional valves through the reversing valves, the proportional valves are at least assembled with the two groups of oil cylinders, and the reversing valves are in communication connection with the controller;
the external operation requirement information received by the controller is a switching oil cylinder;
and the controller selects the corresponding oil cylinder according to the information of the switching oil cylinder, in particular to a power-on and power-off selection oil cylinder for controlling the reversing valve.
9. The multi-group oil cylinder speed change synchronous control method according to claim 6, characterized in that: the controller is in communication connection with the proportional valve through the amplification board;
the external operation requirement information received by the controller is a speed change requirement;
the controller calculates the direction and the opening degree of the proportional valve in real time according to the information of the speed change requirement, and outputs the information of the direction and the opening degree to the amplification plate;
the amplifying plate adjusts the actual direction and the opening degree of the proportional valve according to the information of the direction and the opening degree, and particularly, the direction and the opening degree of the proportional valve are changed by adjusting electromagnets on two sides of the proportional valve.
10. The multi-group oil cylinder speed change synchronous control method according to claim 6, characterized in that: the external operation requirement information is input through an operation panel, and the operation panel is in communication connection with the controller and comprises a switch type knob, a switch type rocker and a potentiometer type rocker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911325108.7A CN111075783A (en) | 2019-12-20 | 2019-12-20 | Multi-group oil cylinder variable speed synchronous control system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911325108.7A CN111075783A (en) | 2019-12-20 | 2019-12-20 | Multi-group oil cylinder variable speed synchronous control system and method |
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| CN111075783A true CN111075783A (en) | 2020-04-28 |
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| CN201911325108.7A Pending CN111075783A (en) | 2019-12-20 | 2019-12-20 | Multi-group oil cylinder variable speed synchronous control system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111623000A (en) * | 2020-07-30 | 2020-09-04 | 常州市新创智能科技有限公司 | Hydraulic synchronous control method |
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