CN114352586A - Energy-saving type electrically-driven rotary table system of engineering machinery - Google Patents
Energy-saving type electrically-driven rotary table system of engineering machinery Download PDFInfo
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Abstract
The invention provides an energy-saving type electrically-driven turntable system of engineering machinery, which comprises a four-quadrant hydraulic pump, a rotary motor, a speed reducer, a rotary platform, an M-shaped three-position four-way reversing valve, a pressure reducing valve, an O-shaped three-position four-way proportional reversing valve, a variable cylinder, a rotary table, a,The system comprises a pressure sensor, a high-pressure energy accumulator, an overflow valve, a low-pressure energy accumulator, a whole machine controller, an operating handle, a motor controller, a power management module and an electric energy storage unit; the complete machine controller controls the power-on state of the left electromagnet and the right electromagnet of the M-shaped three-position four-way reversing valve, the power-on state of the left proportional electromagnet and the right proportional electromagnet of the O-shaped three-position four-way proportional reversing valve and the working displacement V of the four-quadrant hydraulic pump in real time, and collects the rotating speed omega of the rotary platform, the control signal S of the operating handle and the pressure p of the high-pressure accumulator in real timei1And acquiring and controlling input and output parameters of the motor controller. The system of the invention overcomes the defects of insufficient acceleration and instantaneous braking capability of the electric driving rotation system in the acceleration process, and effectively improves the efficiency and controllability of electric driving.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to an energy-saving type electrically-driven turntable system of engineering machinery based on a four-quadrant hydraulic pump and a hydraulic accumulator.
Background
In the face of increasingly severe energy crisis and environmental pollution problems, energy conservation and emission reduction have become global focuses. The engineering machinery with large quantity, wide range, high energy consumption and poor emission needs to deal with the pressure of energy conservation and environmental protection urgently. Under the background, the engine energy-saving technology, the hybrid power technology and the pure electric driving technology are better applied to engineering machinery. Fully electric engineering machines that directly drive actuators with electric motors have also become a research hotspot in recent years.
The full-electric technology has the advantages of high control precision, fast frequency response and the like, but also has the defects of low power density, poor controllability of near-zero rotating speed torque, difficulty in efficiently recovering instantaneous high-power braking kinetic energy and the like, so that the driving requirements of engineering machinery such as an excavator, a rotary drilling rig and the like on large rotation inertia and frequent swinging are difficult to be completely met, the instantaneous high-power braking kinetic energy generated in the rotation braking process cannot be efficiently recovered, the heat productivity of a driving motor system is large, the heat dissipation power of the system is increased, the service life of the system is influenced, and serious energy loss is caused.
Disclosure of Invention
The invention aims to solve the technical problem of providing an energy-saving type electric driving turntable system of engineering machinery, overcomes the defects of insufficient acceleration and instantaneous braking capability of an electric driving rotation system in the acceleration process, and improves the efficiency and controllability of electric driving.
The invention is realized by the following steps: an energy-saving electrically-driven turntable system of engineering machinery comprises a four-quadrant hydraulic pump, a rotary motor, a speed reducer, a rotary platform, an M-shaped three-position four-way reversing valve, a pressure reducing valve, an O-shaped three-position four-way proportional reversing valve, a variable cylinder, a pressure sensor, a high-pressure energy accumulator, an overflow valve, a low-pressure energy accumulator, a whole machine controller, an operating handle, a motor controller, a power supply management module and an electric energy storage unit;
the four-quadrant hydraulic pump, the rotary motor, the speed reducer and the rotary platform are sequentially and mechanically connected or the rotary motor, the four-quadrant hydraulic pump, the speed reducer and the rotary platform are sequentially and mechanically connected;
an A port of the four-quadrant hydraulic pump is connected with a T port of the M-type three-position four-way reversing valve, a B port of the four-quadrant hydraulic pump is connected with a P port of the M-type three-position four-way reversing valve, oil inlets of the pressure sensor, the high-pressure energy accumulator and the overflow valve are respectively connected with the A port of the M-type three-position four-way reversing valve, the P port of the O-type three-position four-way proportional reversing valve is connected with the A port of the M-type three-position four-way reversing valve through a pressure reducing valve, oil outlets of the low-pressure energy accumulator and the overflow valve and the T port of the O-type three-position four-way proportional reversing valve are respectively connected with the B port of the M-type three-position four-way reversing valve, the A port of the O-type three-position four-way proportional reversing valve is connected with a left cavity of the variable cylinder, and the B port of the O-type three-position four-way proportional reversing valve is connected with a right cavity of the variable cylinder;
the rotary motor is electrically connected with a motor controller, an electromagnet of the M-type three-position four-way reversing valve, an electromagnet of the O-type three-position four-way proportional reversing valve, a pressure sensor, a rotating speed sensor of the rotary platform, a displacement control device of the four-quadrant hydraulic pump, an operating handle, a power supply management module and an electric energy storage unit are respectively electrically connected with the whole machine controller, and the motor controller and the electric energy storage unit are respectively electrically connected with the power supply management module;
the pressure sensor measures the pressure p of the high-pressure energy accumulator in real timei1The motor controller controls and acquires the rotating speed n of the rotary motor in real time, the complete machine controller controls the power-on states of left and right electromagnets of the M-type three-position four-way reversing valve, the power-on states of left and right proportional electromagnets of the O-type three-position four-way proportional reversing valve and the working displacement V of the four-quadrant hydraulic pump in real time, and collects the rotating speed omega of the rotary platform, the control signal S of the operating handle and the pressure p of the high-pressure energy accumulator in real timei1And acquiring and controlling input and output parameters of the motor controller.
Further, the electric energy storage unit module comprises a power battery, a super capacitor and an alternating current power grid for supplying power, and is used for carrying out independent direct current power supply, independent alternating current power supply and a composite power supply mode.
Further, the system also comprises other working modules, the other working modules are respectively connected with the power management module and the whole machine controller, and the other working modules comprise a walking module, a movable arm module and a working device module.
Further, the rotary electric machine includes a motoring mode and a generating mode.
Further, the range of the normal working rotating speed of the rotary motor is [ -n ]max,nmax]Wherein n is more than 0 when turning left, n is less than 0 when turning right, and n is S multiplied by nmax/SmaxTorque of TmIn the range of [ -T [)max,Tmax]When turning left direction TmGreater than 0, right turn Tm＜0，Tm＝S×Tmax/Smax；
The normal working pressure range of the accumulator is set as [ p ]min,pmax]；
When the left proportional electromagnet of the O-shaped three-position four-way proportional reversing valve is electrified, the discharge capacity V is larger than 0, when the right proportional electromagnet is electrified, the discharge capacity V is smaller than 0, and the value of the discharge capacity V is proportionally controlled by controlling the magnitude of an input electric signal of the proportional electromagnet;
the normal working displacement range of the four-quadrant hydraulic pump is [ -V ]max,Vmax]When the left-turn motor is in working condition, the discharge volume V is more than 0, and the left-turn motor rotates leftThe discharge volume V is less than 0 under the working condition of the pump, the discharge volume V is more than 0 under the working condition of a right-turning pump, and the discharge volume V is less than 0 under the working condition of a right-turning motor; v [ -V ]max，K×ΔS×Vmax/Smax，Vmax]K is a displacement calculation proportionality coefficient;
the range of the rotating speed omega of the rotary platform is [ -omega ]max,ωmax]Omega is more than 0 when turning left, omega is less than 0 when turning right, and the handle control signal is changed to 0, S during turning leftmax]The handle control signal changes to [ -S ] in the process of right turningmax,0]Δ S is the current S value minus the last recorded point S value.
Further, the rotary platform comprises a stop mode and a rotation mode;
when the whole machine controller collects that the rotating speed omega of the rotary platform is 0 and an operating handle control signal | delta S | is 0, the system judges that the rotation is in a stop mode, the left electromagnet and the right electromagnet of the M-shaped three-position four-way reversing valve are not powered at the moment, and the rotary motor is in a torque mode with zero torque;
when the whole machine controller collects the rotating speed omega of the rotary platform to be not equal to 0 or the delta S to be not equal to 0, the rotary table is in a rotating mode, and a driver intends to rotate the rotary table to the left when omega is 0 and the delta S is more than 0; when ω is 0 and Δ S < 0, the driver intends to turn the turntable right; when ω > 0 and Δ S > 0, the driver intends to accelerate left turn; when omega is greater than 0 and Delta S is less than 0, the driver intends to rotate left and decelerate; when omega is less than 0 and delta S is more than 0, the driver intends to turn right and decelerate; when ω < 0 and Δ S < 0, the driver intends to right turn to accelerate;
when the whole machine controller collects and detects that omega is more than 0 and S is less than 0 or omega is less than 0 and S is more than 0 and lasts for t seconds, the system judges that the operation is abnormal and the driver intends to rapidly decelerate, the rotating speed mode that the rotating speed is set to be zero when the motor works is set, and the four-quadrant hydraulic pump works at the maximum displacement VmaxAnd (5) working conditions of the pump are changed until the rotating speed of the rotary platform is 0 or the handle signal operation returns to normal.
Further, the system divides a rotation mode into a near-zero rotation speed large-torque output mode and a conventional rotation mode according to the change of the rotation speed omega value of the rotary platform;
when | ω |<C1Stage, the rotary platform belongs to a near-zero rotating speed large-torque output modeIn the mode, the rotary motor works in a torque mode with the set torque being zero; omega ≧ C1The rotary platform belongs to a conventional rotation mode, and the rotary motor works in a rotation speed mode; said C is1The value of (c) is set according to system requirements.
Further, when the rotary table is accelerated in left turn, the system performs the following operations:
when the rotating speed omega of the rotary platform acquired by the complete machine controller is not less than 0, the control signal S of the operating handle is more than 0, and the delta S is more than 0, the system judges that the driver intends to rotate left and accelerate, and the rotating speed | omega | less than C of the rotary platform acquired by the complete machine controller1The system is in a near zero speed stage, and in the stage, when the system detects the pressure p of the high-pressure accumulatori1≧pminWhen the rotary motor is set to work in a torque mode with zero torque, the M-shaped three-position four-way reversing valve left electromagnet j1When power is obtained, the four-quadrant hydraulic pump works under the working condition of the motor, and the motor displacement V is equal to S multiplied by Vmax/Smax(ii) a When the system detects the high pressure accumulator pressure pi1＜pminSetting the displacement V of the four-quadrant hydraulic pump to be 0, setting the rotary motor to work in a torque mode, and setting a torque value to be Tm＝S×Tmax/Smax；
When the complete machine controller acquires the rotating speed | omega | ≧ C of the rotary platform1And judging that the system enters a conventional rotation stage, wherein the M-shaped three-position four-way reversing valve left electromagnet j1When power is obtained, the four-quadrant hydraulic pump works under the working condition of the motor, and the motor displacement V is equal to [ K ]m×ΔS×Vmax/Smax，Vmax](ii) a Setting the rotary motor to work in a rotating speed mode, wherein a rotating speed set value n of the rotary motor is S multiplied by nmax/SmaxIn the process, the energy recovered to the high-pressure energy accumulator is released to drive a four-quadrant hydraulic pump working under the working condition of a motor to work, and the four-quadrant hydraulic pump and the rotary motor drive the rotary platform together; in the process, when the system detects pi1＜pminWhen the system judges that the energy stored by the high-pressure energy accumulator is completely released, the discharge capacity V of the four-quadrant hydraulic pump is set to be 0, so that the energy accumulator does not release hydraulic oil any more, and the rotary platform is driven by the rotary motor alone。
Further, when the rotary table is braked in a left-turning deceleration way, the system performs the following operations:
when the rotating speed omega of the rotary platform collected by the complete machine controller is greater than 0, the control signal S of the operating handle is greater than 0, and the delta S is less than 0, the system judges that the operator intends to perform left-turn braking, the complete machine controller sets the rotary motor to work in a rotating speed mode, and the rotating speed set value n of the rotary motor is S multiplied by nmax/SmaxM-type three-position four-way reversing valve right electromagnet j2The four-quadrant hydraulic pump works under pump working condition with discharge capacity V [ -V ] when power is obtainedmax， Kp×ΔS×Vmax/Smax]In the process, the braking kinetic energy of the rotary platform is converted into hydraulic energy by the four-quadrant hydraulic pump to be stored in the high-pressure energy accumulator, the hydraulic energy is jointly braked with the rotary motor through the energy recovery system, and in the process, when the system detects pi1＞pmaxWhen the system judges that the energy stored in the high-pressure accumulator is full, the discharge capacity V of the four-quadrant hydraulic pump is set to be 0, and the rotary platform is controlled by a rotary motor;
when the system brakes the left turn of the rotary table in a decelerating way, the following operations are carried out:
when the whole machine controller collects the rotating speed omega of the rotating platform to be less than 0, the control signal S of the operating handle is less than 0, and the delta S is more than 0, the system judges that the operator intends to perform right-turn braking at the moment, the whole machine controller sets the rotating motor to work in a rotating speed mode, and the rotating speed set value n of the rotating motor is S multiplied by nmax/SmaxM-type three-position four-way reversing valve right electromagnet j2The four-quadrant hydraulic pump works under pump working condition with discharge capacity V [ -V ] when power is obtainedmax， Kp×ΔS×Vmax/Smax]In the process, the braking kinetic energy of the rotary platform is converted into hydraulic energy by the four-quadrant hydraulic pump to be stored in the high-pressure energy accumulator, the hydraulic energy is jointly braked with the rotary motor through the energy recovery system, and in the process, when the system detects pi1＞pmaxWhen the system judges that the energy stored in the high-pressure accumulator is full, the discharge capacity V of the four-quadrant hydraulic pump is set to be 0, and the rotary platform is controlled by the rotary motor.
The invention has the advantages that: the hydraulic recovery system composed of the four-quadrant hydraulic pump and the energy accumulator recovers the inertial load of the turntable in the braking process, releases the recovered energy in the acceleration process of the turntable, assists the driving of the rotary motor, and overcomes the defects of acceleration and insufficient instantaneous braking capability of the electric driving rotary system in the acceleration process.
Drawings
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an energy-saving electrically-driven turntable system of a construction machine according to the present invention.
Fig. 2 is a schematic diagram of a work flow of the energy-saving type electrically-driven turntable system of the engineering machinery when the turntable is accelerated in a left turn.
Fig. 3 is a schematic working flow diagram of the energy-saving electrically-driven turntable system of the engineering machinery during the left-turn deceleration braking of the turntable.
Detailed Description
Referring to fig. 1 to 3, the invention provides an energy-saving electrically-driven turntable system of an engineering machine, which includes a four-quadrant hydraulic pump 1, a rotary motor 2, a speed reducer 3, a rotary platform 4, an M-type three-position four-way reversing valve 5, a pressure reducing valve 6, an O-type three-position four-way proportional reversing valve 7, a variable cylinder 8, a pressure sensor 9, a high-pressure accumulator 10, an overflow valve 11, a low-pressure accumulator 12, a complete machine controller 13, an operating handle 14, a motor controller 15, a power management module 16 and an electric energy storage unit 17; the pressure reducing valve 6 is mainly used for reducing the pressure of the pressure oil of the high-pressure accumulator 10 and then enabling the pressure oil to flow into a variable cylinder 8 of the four-quadrant hydraulic pump to control the displacement; the low-pressure accumulator 12 is used for providing a stable pressure oil source with a certain pressure for the four-quadrant hydraulic pump 1;
the four-quadrant hydraulic pump 1, the rotary motor 2, the speed reducer 3 and the rotary platform 4 are sequentially and mechanically connected or the rotary motor 2, the four-quadrant hydraulic pump 1, the speed reducer 3 and the rotary platform 4 are sequentially and mechanically connected; namely, the installation positions of the rotary motor 2 and the four-quadrant hydraulic pump 1 can be interchanged.
An A port of the four-quadrant hydraulic pump 1 is connected with a T port of an M-type three-position four-way reversing valve 5, a B port of the four-quadrant hydraulic pump 1 is connected with a P port of the M-type three-position four-way reversing valve 5, oil inlets of a pressure sensor 9, a high-pressure energy accumulator 10 and an overflow valve 11 are respectively connected with the A port of the M-type three-position four-way reversing valve 5, the P port of an O-type three-position four-way proportional reversing valve 7 is connected with the A port of the M-type three-position four-way reversing valve 5 through a pressure reducing valve 6, oil outlets of the low-pressure energy accumulator 12 and the overflow valve 11 and the T port of the O-type three-position four-way proportional reversing valve 7 are respectively connected with the B port of the M-type three-position four-way reversing valve 5, the A port of the O-type three-position four-way proportional reversing valve 7 is connected with a left cavity of a variable cylinder 8, and the B port of the O-type three-position four-way proportional reversing valve 7 is connected with a right cavity of the variable cylinder 8;
the rotary motor 2 is electrically connected with a motor controller 15, and the electromagnet (j) of the M-shaped three-position four-way reversing valve 51、j2) Electromagnet (j) of O-shaped three-position four-way proportional reversing valve 73、j4) The system comprises a pressure sensor 9, a rotating speed sensor of a rotary platform 4, a displacement control device of a four-quadrant hydraulic pump 1 (specifically, an angle sensor is arranged on the displacement control device and is connected with a complete machine controller through the angle sensor (displacement feedback signal)), an operating handle 14, a power supply management module 16 and an electric energy storage unit 17 are respectively and electrically connected with the complete machine controller 13, and the motor controller 15 and the electric energy storage unit 17 are respectively and electrically connected with a power supply management module 19.
The pressure sensor 9 measures the pressure p of the high-pressure accumulator 10 in real timei1The motor controller controls and acquires the rotating speed n of the rotary motor in real time, the complete machine controller controls the power-on states of left and right electromagnets of the M-type three-position four-way reversing valve, the power-on states of left and right proportional electromagnets of the O-type three-position four-way proportional reversing valve and the working displacement V of the four-quadrant hydraulic pump in real time, and collects the rotating speed omega of the rotary platform, the control signal S of the operating handle and the pressure p of the high-pressure energy accumulator in real timei1And acquiring and controlling input and output parameters of the motor controller. The input parameters comprise control parameters such as current, voltage and PID, and the output parameters comprise signals such as torque, rotating speed and corner;
the connections other than the mechanical connection and the electrical connection are oil path connections.
Preferably, the operating handle further comprises a control unit for controlling other actuators, including actuators such as a boom, a bucket, a stick, and a walk.
Preferably, the electric energy storage unit module comprises a power battery, a super capacitor and an alternating current power grid for supplying power, and is used for performing independent direct current power supply, independent alternating current power supply and composite power supply modes. The electric energy storage unit module is used for storing energy, the power management module is used for determining how to reasonably select which power supply mode to transmit electric energy outwards according to the requirement of the whole machine controller and detecting and controlling the state of the electric energy storage module, specifically, independent direct current power supply can be realized through a power battery or a super capacitor, independent alternating current power supply can be realized through alternating current power grid power supply, and a composite power supply mode can be realized through any two or three combinations of three power batteries, super capacitors and alternating current power grid power supply.
Preferably, the system further comprises other working modules, the other working modules are respectively connected with the power management module and the whole machine controller, and the other working modules comprise other actuator driving modules of the engineering machinery, such as a walking module, a movable arm module, a working device module and the like.
Preferably, the rotary electric machine includes an electromotive mode and a power generation mode. Because the rotating electrical machine 2 is a motor/generator and also an element capable of working in four quadrants, the rotating electrical machine can be used as a motor and a generator. When the four-quadrant hydraulic pump works in a hydraulic motor mode, the four-quadrant hydraulic pump drives the four-quadrant hydraulic pump to output electric energy externally, and the four-quadrant hydraulic pump is in a power generation mode.
Preferably, the range of the normal working rotating speed of the rotary motor is [ -n [ ]max,nmax]Wherein n is more than 0 when turning left, n is less than 0 when turning right, and n is S multiplied by nmax/SmaxTorque of TmIn the range of [ -T [)max,Tmax]When turning left direction TmGreater than 0, right turn Tm＜0，Tm＝S×Tmax/Smax；
The deviceThe normal working pressure range of the accumulator is [ p ]min,pmax]；
When the left proportional electromagnet of the O-shaped three-position four-way proportional reversing valve is electrified, the discharge capacity V is more than 0, when the right proportional electromagnet is electrified, the discharge capacity V is less than 0, the value of the discharge capacity V is proportionally controlled by controlling the magnitude of an input electric signal of the proportional electromagnet, and the value of the discharge capacity V is fed back to a complete machine controller in real time, so that the closed-loop control of the discharge capacity of the four-quadrant hydraulic pump is realized;
the normal working displacement range of the four-quadrant hydraulic pump is [ -V ]max,Vmax]The discharge volume V is more than 0 under the working condition of the left-turn motor, the discharge volume V is less than 0 under the working condition of the left-turn pump, the discharge volume V is more than 0 under the working condition of the right-turn pump, and the discharge volume V is less than 0 under the working condition of the right-turn motor; v [ -V ]max，K×ΔS×Vmax/Smax，Vmax]K is a displacement calculation proportionality coefficient which can be set according to system technical requirements and hardware conditions, and the acceleration of the rotary platform in the motion process can be adjusted by adjusting the value of K;
the four-quadrant hydraulic pump is in the working condition of the hydraulic motor when the second quadrant and the fourth quadrant work, and is in the working condition of the hydraulic pump when the first quadrant and the third quadrant work.
The range of the rotating speed omega of the rotary platform is [ -omega ]max,ωmax]Omega is more than 0 when turning left, omega is less than 0 when turning right, and the handle control signal is changed to 0, S during turning leftmax]The handle control signal changes to [ -S ] in the process of right turningmax,0]And the delta S is the difference between the current S value and the S value of the last recording point, and the last recording point is selected according to the actual system debugging requirement and the software and hardware conditions.
Preferably, the rotary platform comprises a stop mode and a rotation mode;
when the whole machine controller collects that the rotating speed omega of the rotary platform is 0 and an operating handle control signal | delta S | is 0, the system judges that the rotation is in a stop mode, the left electromagnet and the right electromagnet of the M-shaped three-position four-way reversing valve are not powered at the moment, and the rotary motor is in a torque mode with zero torque;
when the whole machine controller collects the rotating speed omega of the rotary platform to be not equal to 0 or the delta S to be not equal to 0, the rotary table is in a rotating mode, and a driver intends to rotate the rotary table to the left when omega is 0 and the delta S is more than 0; when ω is 0 and Δ S < 0, the driver intends to turn the turntable right; when ω > 0 and Δ S > 0, the driver intends to accelerate left turn; when omega is greater than 0 and Delta S is less than 0, the driver intends to rotate left and decelerate; when omega is less than 0 and delta S is more than 0, the driver intends to turn right and decelerate; when ω < 0 and Δ S < 0, the driver intends to right turn to accelerate;
when the whole machine controller collects and detects that omega is more than 0 and S is less than 0 or omega is less than 0 and S is more than 0 (namely the moving direction of the rotary platform is opposite to the operating direction of the operating handle) and lasts for t seconds (the duration is set to avoid rapid deceleration of the system caused by misoperation), the system judges that the operation is abnormal and a driver intends to rapidly decelerate, the motor works in a rotation speed mode with the set rotation speed being zero, and the four-quadrant hydraulic pump works in a maximum displacement VmaxThe pump conditions (i.e., the system will decelerate at maximum deceleration capacity) until the rotational speed of the rotating platform is 0 or the handle signal operation returns to normal.
Preferably, the system divides the rotation mode into a near-zero rotation speed large torque output mode and a conventional rotation mode according to the change of the rotation speed omega value of the rotary platform;
when | ω | < C1The rotary platform belongs to a near-zero rotating speed and large torque output mode, and the rotary motor works in a torque mode with the set torque being zero in the mode; omega ≧ C1The rotary platform belongs to a conventional rotation mode, and the rotary motor works in a rotation speed mode; said C is1Is set according to system requirements, and C1Is a smaller normal number and is used for judging whether the revolution is at the near-zero revolution speed.
In order to complete the work smoothly, the rotary platform is required to output reverse torque to keep the working device in effective contact with an operation point, and at the moment, if the reverse torque is generated through the rotary motor, the rotary motor needs to output large torque at a nearly zero rotating speed. At present, the motor outputs large torque at the nearly zero rotating speed, so that the problems of poor torque controllability, large heat productivity, high energy consumption and the like exist, and if the motor works under the working condition for a long time, the motor is easy to damage. The invention realizes the output of long-time large torque by using the pressure maintaining of the hydraulic system, and almost no energy consumption is caused because the hydraulic system does not work outwards.
The following describes the rotation mode in detail by taking the left turn acceleration of the turntable as an example:
when the rotary table is accelerated in a left turn, the system executes the following operations:
when the rotating speed omega of the rotary platform acquired by the complete machine controller is not less than 0, the control signal S of the operating handle is more than 0, and the delta S is more than 0, the system judges that the driver intends to rotate left and accelerate, and the rotating speed | omega | less than C of the rotary platform acquired by the complete machine controller1The system is in a near zero speed stage, and in the stage, when the system detects the pressure p of the high-pressure accumulatori1≧pminWhen the rotary motor is set to work in a torque mode with zero torque, the M-shaped three-position four-way reversing valve left electromagnet j1When power is obtained, the four-quadrant hydraulic pump works under the working condition of the motor, and the motor displacement V is equal to S multiplied by Vmax/Smax(ii) a When the system detects the high pressure accumulator pressure pi1＜pminWhen the system is in an unconventional state, the discharge capacity V of the four-quadrant hydraulic pump is set to be 0, the rotary motor is set to work in a torque mode, and the set torque value is Tm＝S×Tmax/Smax；
When the complete machine controller acquires the rotating speed | omega | ≧ C of the rotary platform1And judging that the system enters a conventional rotation stage, wherein the M-shaped three-position four-way reversing valve left electromagnet j1When power is obtained, the four-quadrant hydraulic pump works under the working condition of the motor, and the motor displacement V is equal to [ K ]m×ΔS×Vmax/Smax，Vmax](ii) a Setting the rotary motor to work in a rotating speed mode, wherein a rotating speed set value n of the rotary motor is S multiplied by nmax/SmaxIn the process, the energy recovered to the high-pressure energy accumulator is released to drive the four-quadrant hydraulic pump working under the working condition of the motor to work, and the four-quadrant hydraulic pump and the rotary motor drive the rotary platform together, so that the output torque of the rotary motor is reduced, the energy-saving effect of energy recovery and reutilization is realized, the working point of the rotary motor is optimized, and the working efficiency is improved; in the process, when the system detects pi1＜pminWhen the system judges that the energy stored by the high-pressure energy accumulator is completely released, the discharge capacity V of the four-quadrant hydraulic pump is set to be 0, so that the energy accumulator does not release hydraulic oil any more, and the rotary platform is driven by the rotary motor alone.
The working principle of the right turn of the turntable is executed by referring to the left turn.
Preferably, the system performs the following operations when the rotary table is braked by left-hand rotation and deceleration:
when the rotating speed omega of the rotary platform collected by the complete machine controller is greater than 0, the control signal S of the operating handle is greater than 0, and the delta S is less than 0, the system judges that the operator intends to perform left-turn braking, the complete machine controller sets the rotary motor to work in a rotating speed mode (in order to improve the recovery efficiency of the hydraulic recovery system, the torque response time of the rotary motor can be adjusted to be long), and the set value n of the rotating speed of the rotary motor is S multiplied by nmax/SmaxM-type three-position four-way reversing valve right electromagnet j2The four-quadrant hydraulic pump works under pump working condition with discharge capacity V [ -V ] when power is obtainedmax， Kp×ΔS×Vmax/Smax]In the process, the braking kinetic energy of the rotary platform is converted into hydraulic energy by the four-quadrant hydraulic pump to be stored in the high-pressure energy accumulator, the hydraulic energy is jointly braked by the energy recovery system and the rotary motor, the braking torque of the rotary motor is reduced, the quick and efficient recovery of the instantaneous high-power braking kinetic energy is realized, and in the process, when the system detects pi1＞pmaxWhen the system judges that the energy stored in the high-pressure accumulator is full, the discharge capacity V of the four-quadrant hydraulic pump is set to be 0, and the rotary platform is controlled by a rotary motor;
when the system brakes the right turn of the rotary table in a deceleration way, the following operations are carried out:
when the whole machine controller collects the rotating speed omega of the rotary platform and is less than 0, the control signal S of the operating handle is less than 0, and the delta S is more than 0, the system judges that the operator intends to perform right-turn braking, the whole machine controller sets the rotary motor to work in a rotating speed mode (in order to improve the recovery efficiency of the hydraulic recovery system, the torque response time of the rotary motor can be adjusted to be long), and the set value n of the rotating speed of the rotary motor is S multiplied by nmax/SmaxM-type three-position four-way reversing valve right electromagnet j2Get electricity, four imagesThe limited hydraulic pump works under pump working condition, the displacement volume V [ -V ] of the pump working conditionmax， Kp×ΔS×Vmax/Smax]In the process, the braking kinetic energy of the rotary platform is converted into hydraulic energy by the four-quadrant hydraulic pump to be stored in the high-pressure energy accumulator, the hydraulic energy is jointly braked by the energy recovery system and the rotary motor, the braking torque of the rotary motor is reduced, the quick and efficient recovery of the instantaneous high-power braking kinetic energy is realized, and in the process, when the system detects pi1＞pmaxWhen the system judges that the energy stored in the high-pressure accumulator is full, the discharge capacity V of the four-quadrant hydraulic pump is set to be 0, and the rotary platform is controlled by the rotary motor.
In the system, when the rotary table is decelerated and braked, the four-quadrant hydraulic pump works in a pump mode (namely, the working condition of the pump refers to that mechanical energy is converted into hydraulic energy, hydraulic oil with certain pressure and flow is output outwards), the high-pressure energy accumulator is filled with oil, the braking kinetic energy of the rotary platform is quickly converted into the hydraulic energy to be stored in the high-pressure energy accumulator, and in the recovery process, the rotary motor can be in a torque mode or a rotating speed mode with the set torque being zero so as to ensure the comprehensive recovery efficiency of the hydraulic pressure and the electricity of the braking kinetic energy. In the recovery process, the pressure of the high-pressure energy accumulator rises linearly, the braking torque of the rotary table does not change in a step mode, and the impact of the system is reduced; when the rotary table rotates in an accelerating mode, the four-quadrant hydraulic pump works in a motor mode (namely the working condition of the motor, namely hydraulic energy is converted into mechanical energy, hydraulic oil flows into the element to drive the element to work, and torque and rotating speed are output outwards on an output shaft), high-pressure oil stored by the high-pressure energy accumulator is released, the rotary platform is driven by the auxiliary rotary motor to rotate in an accelerating mode, energy of a hydraulic recovery system is released, power output of the rotary motor in a low-rotation low-efficiency range is reduced, the rotary system is guaranteed to accelerate quickly, the working area of the rotary motor is optimized, and working efficiency is improved.
The invention utilizes the four-quadrant pump and the energy accumulator to form an energy recovery system, fully exerts the characteristics of high efficiency and high control of electric drive, and utilizes the liquid drive to realize quick start, instantaneous brake energy recovery and strong output in the process of near-zero rotating speed driving; through the combination of the energy accumulator and the hydraulic motor, the requirement of near-zero rotating speed and large torque output can be met almost without consumption under the condition that the additional steering torque is applied to the rotary platform by the asymmetrical stress of the working devices such as side wall digging and the like of the engineering machinery such as an excavator and the like, and the defects of poor torque controllability and large heat productivity of the rotary motor under the working condition are overcome; the energy recovery system is rigidly connected with the rotary electric drive, so that the coupling of rotating speed and torque is realized, and the influence on the system controllability due to the pressure change of the energy accumulator, the braking torque change of the rotary motor and the like is reduced.
Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.
Claims (9)
1. An energy-saving electric drive revolving stage system of engineering machine tool which characterized in that: the system comprises a four-quadrant hydraulic pump, a rotary motor, a speed reducer, a rotary platform, an M-shaped three-position four-way reversing valve, a pressure reducing valve, an O-shaped three-position four-way proportional reversing valve, a variable cylinder, a pressure sensor, a high-pressure energy accumulator, an overflow valve, a low-pressure energy accumulator, a whole machine controller, an operating handle, a motor controller, a power supply management module and an electric energy storage unit;
the four-quadrant hydraulic pump, the rotary motor, the speed reducer and the rotary platform are sequentially and mechanically connected or the rotary motor, the four-quadrant hydraulic pump, the speed reducer and the rotary platform are sequentially and mechanically connected;
an A port of the four-quadrant hydraulic pump is connected with a T port of the M-type three-position four-way reversing valve, a B port of the four-quadrant hydraulic pump is connected with a P port of the M-type three-position four-way reversing valve, oil inlets of the pressure sensor, the high-pressure energy accumulator and the overflow valve are respectively connected with the A port of the M-type three-position four-way reversing valve, the P port of the O-type three-position four-way proportional reversing valve is connected with the A port of the M-type three-position four-way reversing valve through a pressure reducing valve, oil outlets of the low-pressure energy accumulator and the overflow valve and the T port of the O-type three-position four-way proportional reversing valve are respectively connected with the B port of the M-type three-position four-way reversing valve, the A port of the O-type three-position four-way proportional reversing valve is connected with a left cavity of the variable cylinder, and the B port of the O-type three-position four-way proportional reversing valve is connected with a right cavity of the variable cylinder;
the rotary motor is electrically connected with a motor controller, an electromagnet of the M-type three-position four-way reversing valve, an electromagnet of the O-type three-position four-way proportional reversing valve, a pressure sensor, a rotating speed sensor of the rotary platform, a displacement control device of the four-quadrant hydraulic pump, an operating handle, a power supply management module and an electric energy storage unit are respectively electrically connected with the whole machine controller, and the motor controller and the electric energy storage unit are respectively electrically connected with the power supply management module;
the pressure sensor measures the pressure p of the high-pressure energy accumulator in real timei1The motor controller controls and acquires the rotating speed n of the rotary motor in real time, the complete machine controller controls the power-on states of left and right electromagnets of the M-type three-position four-way reversing valve, the power-on states of left and right proportional electromagnets of the O-type three-position four-way proportional reversing valve and the working displacement V of the four-quadrant hydraulic pump in real time, and collects the rotating speed omega of the rotary platform, the control signal S of the operating handle and the pressure p of the high-pressure energy accumulator in real timei1And acquiring and controlling input and output parameters of the motor controller.
2. An energy-saving type electrically driven turntable system for construction machinery according to claim 1, wherein: the electric energy storage unit module comprises a power battery, a super capacitor and an alternating current power grid for supplying power and is used for carrying out independent direct current power supply, independent alternating current power supply and a composite power supply mode.
3. An energy-saving type electrically driven turntable system for construction machinery according to claim 1, wherein: the system also comprises other working modules, wherein the other working modules are respectively connected with the power management module and the whole machine controller, and the other working modules comprise a walking module, a movable arm module and a working device module.
4. An energy-saving type electrically driven turntable system for construction machinery according to claim 1, wherein: the rotary electric machine includes an electric mode and a power generation mode.
5. An energy-saving type electrically driven turntable system for construction machinery according to claim 1, wherein: the range of the normal working rotating speed of the rotary motor is [ -n ]max,nmax]Wherein n is more than 0 when turning left, n is less than 0 when turning right, and n is S multiplied by nmax/SmaxTorque of TmIn the range of [ -T [)max,Tmax]When turning left direction TmGreater than 0, right turn Tm＜0，Tm＝S×Tmax/Smax；
The normal working pressure range of the accumulator is set as [ p ]min,pmax]；
When the left proportional electromagnet of the O-shaped three-position four-way proportional reversing valve is electrified, the discharge capacity V is larger than 0, when the right proportional electromagnet is electrified, the discharge capacity V is smaller than 0, and the value of the discharge capacity V is proportionally controlled by controlling the magnitude of an input electric signal of the proportional electromagnet;
the normal working displacement range of the four-quadrant hydraulic pump is [ -V ]max,Vmax]The discharge volume V is more than 0 under the working condition of the left-turn motor, the discharge volume V is less than 0 under the working condition of the left-turn pump, the discharge volume V is more than 0 under the working condition of the right-turn pump, and the discharge volume V is less than 0 under the working condition of the right-turn motor; v [ -V ]max，K×ΔS×Vmax/Smax，Vmax]K is a displacement calculation proportionality coefficient;
the range of the rotating speed omega of the rotary platform is [ -omega ]max,ωmax]Omega is more than 0 when turning left, omega is less than 0 when turning right, and the handle control signal is changed to 0, S during turning leftmax]The handle control signal changes to [ -S ] in the process of right turningmax,0]Δ S is the current S value minus the last recorded point S value.
6. An energy-saving type electrically driven turntable system for construction machinery according to claim 5, wherein: the rotary platform comprises a stop mode and a rotation mode;
when the whole machine controller collects that the rotating speed omega of the rotary platform is 0 and an operating handle control signal | delta S | is 0, the system judges that the rotation is in a stop mode, the left electromagnet and the right electromagnet of the M-shaped three-position four-way reversing valve are not powered at the moment, and the rotary motor is in a torque mode with zero torque;
when the whole machine controller collects the rotating speed omega of the rotary platform to be not equal to 0 or the delta S to be not equal to 0, the rotary table is in a rotating mode, and a driver intends to rotate the rotary table to the left when omega is 0 and the delta S is more than 0; when ω is 0 and Δ S < 0, the driver intends to turn the turntable right; when ω > 0 and Δ S > 0, the driver intends to accelerate left turn; when omega is greater than 0 and Delta S is less than 0, the driver intends to rotate left and decelerate; when omega is less than 0 and delta S is more than 0, the driver intends to turn right and decelerate; when ω < 0 and Δ S < 0, the driver intends to right turn to accelerate;
when the whole machine controller collects and detects that omega is more than 0 and S is less than 0 or omega is less than 0 and S is more than 0 and lasts for t seconds, the system judges that the operation is abnormal and the driver intends to rapidly decelerate, the rotating speed mode that the rotating speed is set to be zero when the motor works is set, and the four-quadrant hydraulic pump works at the maximum displacement VmaxAnd (5) working conditions of the pump are changed until the rotating speed of the rotary platform is 0 or the handle signal operation returns to normal.
7. An energy-saving type electrically driven turntable system for construction machinery according to claim 6, wherein: the system divides a rotation mode into a near-zero rotation speed large-torque output mode and a conventional rotation mode according to the change of the rotation speed omega value of the rotary platform;
when | ω | < C1The rotary platform belongs to a near-zero rotating speed and large torque output mode, and the rotary motor works in a torque mode with the set torque being zero in the mode; omega ≧ C1The rotary platform belongs to a conventional rotation mode, and the rotary motor works in a rotation speed mode; said C is1The value of (c) is set according to system requirements.
8. An energy-saving type electrically driven turntable system for construction machinery according to claim 7, wherein: when the rotary table is accelerated in a left turn, the system executes the following operations:
when the rotating speed omega of the whole machine controller collected rotary platform is not less than 0, the control signal S of the operating handle is more than 0, and the delta S is more than 0, the system judges at the momentWhen the intention of a driver is cut off, the rotation left turn is accelerated, and the complete machine controller acquires the rotation speed | omega | less than C of the rotation platform1The system is in a near zero speed stage, and in the stage, when the system detects the pressure p of the high-pressure accumulatori1≧pminWhen the rotary motor is set to work in a torque mode with zero torque, the M-shaped three-position four-way reversing valve left electromagnet j1When power is obtained, the four-quadrant hydraulic pump works under the working condition of the motor, and the motor displacement V is equal to S multiplied by Vmax/Smax(ii) a When the system detects the high pressure accumulator pressure pi1＜pminSetting the displacement V of the four-quadrant hydraulic pump to be 0, setting the rotary motor to work in a torque mode, and setting a torque value to be Tm＝S×Tmax/Smax；
When the complete machine controller acquires the rotating speed | omega | ≧ C of the rotary platform1And judging that the system enters a conventional rotation stage, wherein the M-shaped three-position four-way reversing valve left electromagnet j1When power is obtained, the four-quadrant hydraulic pump works under the working condition of the motor, and the motor displacement V is equal to [ K ]m×ΔS×Vmax/Smax，Vmax](ii) a Setting the rotary motor to work in a rotating speed mode, wherein a rotating speed set value n of the rotary motor is S multiplied by nmax/SmaxIn the process, the energy recovered to the high-pressure energy accumulator is released to drive a four-quadrant hydraulic pump working under the working condition of a motor to work, and the four-quadrant hydraulic pump and the rotary motor drive the rotary platform together; in the process, when the system detects pi1＜pminWhen the system judges that the energy stored by the high-pressure energy accumulator is completely released, the discharge capacity V of the four-quadrant hydraulic pump is set to be 0, so that the energy accumulator does not release hydraulic oil any more, and the rotary platform is driven by the rotary motor alone.
9. An energy-saving type electrically driven turntable system for construction machinery according to claim 5, wherein: when the system brakes the left turn of the rotary table in a decelerating way, the following operations are carried out:
when the rotating speed omega of the rotary platform collected by the complete machine controller is greater than 0, the control signal S of the operating handle is greater than 0, and the delta S is less than 0, the system judges that the operator intends to rotate left for braking at the moment, the complete machine controller sets the rotary motor to work in a rotating speed mode,rotation speed set value n of rotary motor is S multiplied by nmax/SmaxM-type three-position four-way reversing valve right electromagnet j2The four-quadrant hydraulic pump works under pump working condition with discharge capacity V [ -V ] when power is obtainedmax，Kp×ΔS×Vmax/Smax]In the process, the braking kinetic energy of the rotary platform is converted into hydraulic energy by the four-quadrant hydraulic pump to be stored in the high-pressure energy accumulator, the hydraulic energy is jointly braked with the rotary motor through the energy recovery system, and in the process, when the system detects pi1＞pmaxWhen the system judges that the energy stored in the high-pressure accumulator is full, the discharge capacity V of the four-quadrant hydraulic pump is set to be 0, and the rotary platform is controlled by a rotary motor;
when the system brakes the left turn of the rotary table in a decelerating way, the following operations are carried out:
when the whole machine controller collects the rotating speed omega of the rotating platform to be less than 0, the control signal S of the operating handle is less than 0, and the delta S is more than 0, the system judges that the operator intends to perform right-turn braking at the moment, the whole machine controller sets the rotating motor to work in a rotating speed mode, and the rotating speed set value n of the rotating motor is S multiplied by nmax/SmaxM-type three-position four-way reversing valve right electromagnet j2The four-quadrant hydraulic pump works under pump working condition with discharge capacity V [ -V ] when power is obtainedmax，Kp×ΔS×Vmax/Smax]In the process, the braking kinetic energy of the rotary platform is converted into hydraulic energy by the four-quadrant hydraulic pump to be stored in the high-pressure energy accumulator, the hydraulic energy is jointly braked with the rotary motor through the energy recovery system, and in the process, when the system detects pi1＞pmaxWhen the system judges that the energy stored in the high-pressure accumulator is full, the discharge capacity V of the four-quadrant hydraulic pump is set to be 0, and the rotary platform is controlled by the rotary motor.
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