CN116972035A - Engineering machinery and flow matching control method, device and system - Google Patents
Engineering machinery and flow matching control method, device and system Download PDFInfo
- Publication number
- CN116972035A CN116972035A CN202311119258.9A CN202311119258A CN116972035A CN 116972035 A CN116972035 A CN 116972035A CN 202311119258 A CN202311119258 A CN 202311119258A CN 116972035 A CN116972035 A CN 116972035A
- Authority
- CN
- China
- Prior art keywords
- flow
- main valve
- handle
- opening
- control method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000015654 memory Effects 0.000 claims description 21
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 6
- 230000006837 decompression Effects 0.000 abstract description 4
- 239000003921 oil Substances 0.000 description 42
- 230000000875 corresponding effect Effects 0.000 description 40
- 230000007246 mechanism Effects 0.000 description 21
- 230000001276 controlling effect Effects 0.000 description 11
- 229920006395 saturated elastomer Polymers 0.000 description 11
- 230000009286 beneficial effect Effects 0.000 description 7
- 230000004044 response Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 239000000446 fuel Substances 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000013459 approach Methods 0.000 description 5
- 150000001875 compounds Chemical class 0.000 description 5
- 239000010720 hydraulic oil Substances 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000013507 mapping Methods 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 241000197727 Euscorpius alpha Species 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
-
- 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
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
-
- 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
- F15B13/026—Pressure compensating valves
-
- 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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/005—Fault detection or monitoring
-
- 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
- F15B21/006—Compensation or avoidance of ambient pressure variation
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Automation & Control Theory (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention relates to the technical field of engineering machinery, and discloses engineering machinery, and a flow matching control method, device and system. The flow matching control method comprises the following steps: acquiring the opening degrees of at least two handles; when one of the at least two handles is independently operated, the main valve corresponding to the handle which is independently operated is controlled to be in a full-open state, and the rotating speed of the motor is controlled based on the opening degree of the handle which is independently operated. The flow provided by the hydraulic pump is the flow required by the flow matching hydraulic system, and the main oil way still passes through the pressure compensator, but because the main valve is always in a full-open state, the output flow of the hydraulic pump is smaller than the theoretical passing flow of the main valve, the flow matching hydraulic system is in a flow saturation state, the pressure compensator basically does not play a role in decompression at the moment, the pressure difference loss of the main valve is small, a large amount of throttling loss is reduced compared with the traditional LS system, and the energy utilization rate is improved.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to engineering machinery and a flow matching control method, device and system.
Background
With the development of technology, the pace of the development of engineering hoisting machinery towards dynamoelectric and intelligent is further accelerated, and the performance requirement and the cruising ability of the engineering hoisting machinery are also continuously improved.
At present, a crane adopts a pure hydraulic control system of a load-sensitive plunger pump to carry out matching adjustment on flow. Specifically, the opening of the operating handle is used for outputting a control current proportional to the opening of the operating handle to control the valve opening flow of the multi-way valve, so that the hydraulic action executing mechanism executes corresponding actions. The valve back compensation is adopted to carry out pressure compensation on the main valve, and the pressure loss of the system is larger.
Disclosure of Invention
In view of the above, the invention provides an engineering machine, and a flow matching control method, a flow matching control device and a flow matching control system, so as to solve the problem that pressure loss of a system is large due to the fact that pressure compensation is carried out on a main valve by adopting valve back compensation.
In a first aspect, the present invention provides a flow matching control method, including: acquiring the opening degrees of at least two handles; when one of the at least two handles is independently operated, the main valve corresponding to the handle which is independently operated is controlled to be in a full-open state, and the rotating speed of the motor is controlled based on the opening degree of the handle which is independently operated.
The beneficial effects are that: the flow provided by the hydraulic pump is the flow required by the flow matching hydraulic system, and the main oil way still passes through the pressure compensator, but because the main valve is always in a full-open state, the output flow of the hydraulic pump is smaller than the theoretical passing flow of the main valve, the flow matching hydraulic system is in a flow saturation state, the pressure compensator basically does not play a decompression role at the moment, the pressure difference loss of the main valve is small, and compared with the traditional LS system, a large amount of throttling loss is reduced, and the energy utilization rate is improved.
In an alternative embodiment, the flow matching control method further includes: when at least two handles all act, the actual opening of the main valve corresponding to the handle is controlled based on the opening of each handle, the theoretical output rotating speed of the motor and the maximum output rotating speed of the motor when the flow matching hydraulic system is in a flow saturation state.
The beneficial effects are that: the actual opening degree of the main valve corresponding to each handle is controlled according to the operation of a user on each handle, the theoretical output rotating speed of the motor and the maximum output rotating speed of the motor, the flow quantity distributed to the executing element communicated with the main valve corresponding to the handle is irrelevant to the load, and is only relevant to the opening degree of the corresponding main valve, so that the flow quantity of the executing elements is matched, each executing element can be guaranteed to accurately act, and the problem that the other executing mechanism does not act or acts slowly due to the fact that the flow quantity of the flow matching scheme under the condition of pre-valve compensation gushes into the side with low load under the condition of saturated flow quantity is effectively solved.
In an alternative embodiment, the flow matching control method further includes: when at least two handles are operated, the actual opening of the main valve corresponding to each handle is controlled based on the opening of each handle when the flow matching hydraulic system is in a flow unsaturated state.
The beneficial effects are that: according to the actual opening degree of the main valve corresponding to the handle, which is controlled by the operation of the handle by a user, the supply and demand matching of the flow is further realized, compared with the traditional load sensitive system, the control method replaces the traditional closed-loop control by utilizing the feedback pressure of the long pipeline by the flow feedforward, the hysteresis response between pump valves is basically eliminated, the energy loss of the traditional load sensitive system is reduced, the dynamic response of the system is improved, and the hydraulic system has high efficiency and good energy saving effect.
In an alternative embodiment, the flow matching control method further includes: when the at least two handles act, the actual output rotating speed of the motor is adjusted based on the relation between the outlet pressure of the hydraulic pump communicated with the at least two main valves and the target pressure, wherein the at least two main valves are arranged in one-to-one correspondence with the at least two handles.
The beneficial effects are that: the relation between the outlet pressure of the hydraulic pump and the target pressure is converted into the target rotating speed of the motor, then the actual output rotating speed of the motor is controlled, the outlet pressure of the hydraulic pump gradually approaches the target value, and finally the output pressure of the hydraulic pump changes along with the change of the load pressure, so that the basic flow required by the system is provided.
In an alternative embodiment, the step of obtaining the target pressure comprises: obtaining maximum load pressure and throttle mouth pressure drop in a load cavity of at least two execution elements which are communicated with at least two main valves in a one-to-one correspondence manner; the target pressure is calculated based on the maximum load pressure and the restriction pressure drop.
The beneficial effects are that: the target pressure is obtained through the maximum load pressure and the throttling mouth pressure drop, so that the obtained target pressure is accurate.
In an alternative embodiment, the number of handles is two and is a luffing handle and a telescoping handle, respectively; in the step of acquiring the opening degrees of at least two handles, acquiring a first opening degree of the luffing handle and a second opening degree of the telescopic handle, wherein the first opening degree is alpha 1 The second opening degree is alpha 2 In the step when at least two handles are both operated, alpha 1 Not equal to 0 and alpha 2 Not equal to 0; after the step of operating at least two handles, the flow matching control method comprises the following steps: judging whether the theoretical output rotating speed is larger than the maximum output rotating speed or not; when the theoretical output rotating speed is larger than the maximum output rotating speed, confirming that the flow matching hydraulic system is in a flow saturation state; and when the theoretical output rotating speed is smaller than or equal to the maximum output rotating speed, confirming that the flow matching hydraulic system is in a flow unsaturated state.
The beneficial effects are that: judging whether the flow of the flow matching hydraulic system is saturated or not through the theoretical output rotating speed and the maximum output rotating speed, judging accurately, and controlling corresponding components in the flow matching hydraulic system according to whether the flow is saturated or not, wherein the control is more accurate.
In an alternative embodiment, before the step of determining whether the theoretical output rotation speed is greater than the maximum output rotation speed, the flow matching control method further includes: calculating the theoretical opening of the main amplitude valve corresponding to the amplitude changing handle based on the first opening, and correspondingly calculating the theoretical opening of the main telescopic valve corresponding to the telescopic handle based on the second opening; calculating the theoretical output flow of the hydraulic pump based on the theoretical opening of the variable amplitude main valve, the theoretical opening of the telescopic main valve, the pilot control oil consumption and the leakage oil consumption; the theoretical output rotation speed of the motor is calculated based on the theoretical output flow of the hydraulic pump and the displacement of the hydraulic pump.
The beneficial effects are that: and calculating the theoretical output rotating speed of the motor through the first opening, the second opening, the pilot control oil consumption, the leakage oil consumption and the displacement of the hydraulic pump, and calculating accurately, thereby improving the control precision.
In a second aspect, the present invention further provides a flow matching control device, configured to execute the flow matching control method, where the flow matching control device includes: the acquisition module is used for acquiring the opening degrees of at least two handles; and the control module is used for controlling the main valve corresponding to the handle which is singly moved to be in a full-open state when one of the at least two handles is singly moved, and controlling the rotating speed of the motor based on the opening degree of the handle which is singly moved.
In a third aspect, the present invention further provides a flow matching control system, including a flow matching hydraulic system, a handle, and a controller, where the flow matching hydraulic system includes a hydraulic pump, a main valve, and a motor, the hydraulic pump is in communication with the main valve, the motor is connected with the hydraulic pump, and the controller includes at least one processor and a memory in communication with the at least one processor, where the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor executes the flow matching control method described above.
In a fourth aspect, the invention also provides an engineering machine, which comprises the flow matching control system.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a flow chart of a flow matching control method according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating the flow matching control method of FIG. 1;
FIG. 3 shows a simplified hydraulic schematic of a flow matching control system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating hydraulic principles of extension and retraction of a shift cylinder of the flow matching control system of FIG. 3;
FIG. 5 is a schematic diagram of the pressure control principle of the flow matching control system according to the embodiment of the present invention;
fig. 6 shows a control block diagram of a flow matching control system of an embodiment of the present invention.
Reference numerals illustrate:
11. a luffing handle; 12. a main amplitude valve; 13. a luffing cylinder; 15. amplitude-variable pilot proportional pressure reducing valve; 16. a variable amplitude pressure compensating valve; 21. a telescoping handle; 22. a telescopic main valve; 23. a telescopic oil cylinder; 25. a telescopic pilot proportional pressure reducing valve; 26. a telescoping pressure compensating valve; 31. a pressure reducing valve; 32. a shuttle valve; 40. a motor; 50. a hydraulic pump; 60. a controller; 71. a first pressure sensor; 72. and a second pressure sensor.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiments of the present invention are described below with reference to fig. 1 to 6.
According to an embodiment of the present invention, in one aspect, there is provided a flow matching control method, including:
acquiring the opening degrees of at least two handles; wherein, the user moves or rotates the handle to change the opening of the handle, the opening of the handle is a displacement signal or an angle signal of the handle travel, the opening of the handle can be determined by responding to the movement operation or the rotation operation of the handle, the opening of the handle obtained by operating the handle at the current moment is further determined, the opening of the handle can be converted into an electric signal, and then the electric signal is transmitted to the controller 60;
when one of the at least two handles is independently operated, controlling a main valve corresponding to the independently operated handle to be in a full-open state, and controlling the rotating speed of the motor 40 based on the opening degree of the independently operated handle; wherein the controller 60 controls the rotational speed of the motor 40 based on the electrical signal.
By applying the flow matching control method of the embodiment, the flow provided by the hydraulic pump 50 is the flow required by the flow matching hydraulic system, and the main oil path still passes through the pressure compensator, but because the main valve is always in a full-open state, the output flow of the hydraulic pump 50 is smaller than the theoretical passing flow of the main valve, the flow matching hydraulic system is in a flow saturation state, the pressure compensator basically does not play a role of decompression at the moment, the pressure difference loss of the main valve is small, and compared with the traditional LS system, a large amount of throttling loss is reduced, and the energy utilization rate is improved.
It should be noted that, the flow matching hydraulic system includes a hydraulic pump 50, a motor 40, a main valve, an actuator, etc., the motor 40 is connected with the hydraulic pump 50, the hydraulic pump 50 is communicated with the main valve, the main valve is communicated with the actuator, the motor 40 drives the hydraulic pump 50 to work, the hydraulic pump 50 sucks hydraulic oil in an oil tank and conveys the hydraulic oil into the main valve, then the hydraulic oil flows into the actuator, and the actuator executes corresponding actions.
In this embodiment, the flow matching control method further includes: when at least two handles are operated, the actual opening of the main valve corresponding to the handle is controlled based on the opening of each handle, the theoretical output rotating speed of the motor 40 and the maximum output rotating speed of the motor 40 when the flow matching hydraulic system is in a flow saturation state.
The actual opening degree of the main valve corresponding to each handle is controlled according to the operation of the user on each handle, the theoretical output rotating speed of the motor 40 and the maximum output rotating speed of the motor 40, and the flow quantity distributed to the executing element communicated with the main valve corresponding to the handle is irrelevant to the load and is only relevant to the opening degree of the corresponding main valve, so that the flow quantity of the executing elements is matched, each executing element can be further ensured to accurately act, and the problem that the other executing element does not act or acts slowly due to the fact that the flow quantity gushes to the side with low load under the flow quantity saturation working condition by adopting the flow quantity matching scheme under the pre-valve compensation condition is effectively solved. Compared with the traditional load sensitive system, the control method realizes the supply and demand matching of the flow, replaces the traditional closed-loop control by using the feedback pressure of the long pipeline with the flow feedforward, basically eliminates the hysteresis response between pump valves, reduces the energy loss of the traditional load sensitive system, improves the dynamic response of the system, and ensures that the hydraulic system has high efficiency and good energy-saving effect.
In this embodiment, the flow matching control method further includes: when at least two handles are operated, the actual opening of the main valve corresponding to each handle is controlled based on the opening of each handle when the flow matching hydraulic system is in a flow unsaturated state. According to the actual opening degree of the main valve corresponding to the handle, which is controlled by the operation of the handle by a user, the supply and demand matching of the flow is further realized, compared with the traditional load sensitive system, the control method replaces the traditional closed-loop control by utilizing the feedback pressure of the long pipeline by the flow feedforward, the hysteresis response between pump valves is basically eliminated, the energy loss of the traditional load sensitive system is reduced, the dynamic response of the system is improved, and the hydraulic system has high efficiency and good energy saving effect.
In this embodiment, the flow matching control method further includes: when both of the at least two handles are operated, the actual output rotation speed of the motor 40 is adjusted based on the relationship between the outlet pressure of the hydraulic pump 50 communicating with the at least two main valves and the target pressure. The relationship between the outlet pressure of the hydraulic pump 50 and the target pressure is converted into the target rotational speed of the motor 40, and then the actual output rotational speed of the motor 40 is controlled so that the outlet pressure of the hydraulic pump 50 gradually approaches the target value, and finally the output pressure of the hydraulic pump 50 is changed with the change of the load pressure, thereby providing the basic flow rate required by the system.
In the present embodiment, the step of obtaining the target pressure includes:
and obtaining the maximum load pressure and the throttle mouth pressure drop of the load cavity of the at least two actuating elements which are communicated with the at least two main valves in a one-to-one correspondence manner, wherein the at least two main valves are arranged in a one-to-one correspondence manner with the at least two handles. The load pressure is obtained through a pressure sensor, when the two handles are the luffing handle 11 and the telescopic handle 21, the luffing main valve 12 and the telescopic main valve 22 are communicated through two oil ports of the shuttle valve 32, and the pressure sensor is communicated with the other oil port of the shuttle valve 32 and is used for detecting one of the luffing cylinder 13 and the telescopic cylinder 23 with larger load pressure;
calculating a target pressure, i.e., p ', based on the maximum load pressure and the restriction pressure drop' p ＝p Lmax And + [ delta ] p, where p' p For target pressure, p Lmax For maximum load pressure, Δp is the choke pressure drop.
The target pressure is obtained through the maximum load pressure and the throttling mouth pressure drop, so that the obtained target pressure is accurate.
The pressure drop at the orifice is constant.
In the present embodiment, in the step of adjusting the rotation speed of the motor 40 based on the relationship between the outlet pressure of the hydraulic pump 50 and the target pressure, the actual output rotation speed of the motor 40 is adjusted to the target rotation speed based on the difference between the target pressure and the outlet pressure of the hydraulic pump 50.
The outlet pressure of the hydraulic pump 50 is compared with the target pressure, deviation is calculated, the output signal is converted into a target rotating speed value of the motor 40 through the operation of the PID controller 60 and is transmitted to the motor controller, the actual output rotating speed of the motor 40 is controlled by the motor controller, the outlet pressure of the hydraulic pump 50 gradually approaches to the target value, and finally the output pressure of the hydraulic pump 50 is changed along with the change of the load pressure, so that the basic flow required by the system is provided.
In this embodiment, the number of handles is two and is the luffing handle 11 and the telescopic handle 21, respectively; in the step of obtaining the opening degrees of at least two handles, a first opening degree of the horn handle 11 and a second opening degree of the telescopic handle 21 are obtained, wherein the first opening degree is α 1 The second opening degree is alpha 2 In the step when at least two handles are both operated, alpha 1 Not equal to 0 and alpha 2 Not equal to 0; at the position ofAfter the step when at least two handles are operated, the flow matching control method comprises the following steps:
judging whether the theoretical output rotating speed is larger than the maximum output rotating speed or not;
when the theoretical output rotating speed is larger than the maximum output rotating speed, confirming that the flow matching hydraulic system is in a flow saturation state;
and when the theoretical output rotating speed is smaller than or equal to the maximum output rotating speed, confirming that the flow matching hydraulic system is in a flow unsaturated state.
Judging whether the flow of the flow matching hydraulic system is saturated or not through the theoretical output rotating speed and the maximum output rotating speed, judging accurately, and controlling corresponding components in the flow matching hydraulic system according to whether the flow is saturated or not, wherein the control is more accurate.
In the present embodiment, the step of controlling the actual opening of the main valve corresponding to the handle based on the opening of each handle, the theoretical output rotation speed of the motor 40, and the maximum output rotation speed of the motor 40 includes:
the actual opening of the amplitude-variable main valve 12 corresponding to the amplitude-variable handle 11 is the product of the theoretical opening of the amplitude-variable main valve 12 and the ratio of the maximum output rotating speed to the theoretical output rotating speed, and the actual opening of the telescopic main valve 22 corresponding to the telescopic handle 21 is the product of the theoretical opening of the telescopic main valve 22 and the ratio of the maximum output rotating speed to the theoretical output rotating speed, namely X' 1 ＝X t1 n max /n t ，X′ 2 ＝X t2 n max /n t . It is worth noting that X' 1 Is the actual opening of the variable main valve 12, X 'when the flow is saturated' 2 Is the actual opening degree of the telescopic main valve 22 when the flow is saturated, n max N is the maximum output rotational speed of the motor 40 t Is the theoretical output rotational speed of the motor 40.
The actual opening of the main valve is calculated according to the theoretical opening of the main valve, the maximum output rotating speed and the theoretical output rotating speed of each main valve, and the flow distributed to the amplitude changing oil cylinder 13 and the telescopic oil cylinder 23 is irrelevant to the load, and is only relevant to the opening of the amplitude changing main valve 12 and the telescopic main valve 22, so that the accurate matching of the flow is realized, the efficiency of a hydraulic system is effectively improved, the amplitude changing oil cylinder 13 and the telescopic oil cylinder 23 are further ensured to accurately act, and the problems that one of the amplitude changing oil cylinder 13 and the telescopic oil cylinder 23 acts, the other does not act or acts slowly when the flow is saturated are effectively solved.
In this embodiment, the step of controlling the actual opening of the main valve corresponding to the handle based on the opening of each handle includes:
the actual opening of the amplitude main valve 12 corresponding to the amplitude handle 11 is the theoretical opening of the amplitude main valve 12, and the actual opening of the telescopic main valve 22 corresponding to the telescopic handle 21 is the theoretical opening of the telescopic main valve 22, namely X 1 ＝X t1 ，X 2 ＝X t2 。
If the theoretical output rotation speed of the motor 40 is less than or equal to the maximum output rotation speed of the motor 40, the hydraulic system is in a flow unsaturated state, when the hydraulic system is in a flow unsaturated state, the actual opening of the variable amplitude main valve 12 is the theoretical opening, the actual opening of the telescopic main valve 22 is the theoretical opening, and the current i of the variable amplitude pilot proportional pressure reducing valve 15 corresponding to the variable amplitude main valve 12 is determined according to the actual opening of the variable amplitude main valve 12 1 The current i of the telescopic pilot proportional pressure reducing valve 25 corresponding to the telescopic main valve 22 is determined according to the actual opening degree of the telescopic main valve 22 2 Finally, the pilot oil is controlled to open the variable amplitude main valve 12 and the telescopic main valve 22, so that the control is simple and convenient. Wherein X is 1 Is the actual opening degree X of the main valve 12 when the flow rate is unsaturated 2 Is the actual opening degree of the telescopic main valve 22 when the flow is unsaturated, n m I is the actual output rotational speed of the motor 40 1 ＝f 5 (X 1 )，i 2 ＝f 6 (X 2 )，i 1 The current i is the current input to the amplitude-variable pilot proportional pressure reducing valve 15 when the flow rate is unsaturated 2 The current input to the telescopic pilot proportional pressure reducing valve 25 when the flow rate is not saturated.
The amplitude-variable main valve 12 is communicated with the amplitude-variable oil cylinder 13, the telescopic main valve 22 is communicated with the telescopic oil cylinder 23, the amplitude-variable oil cylinder 13 is used for driving an amplitude-variable mechanism of engineering machinery to act, and the telescopic oil cylinder 23 is used for driving a telescopic mechanism of the engineering machinery to act. It will be appreciated that the actuator may also be a motor.
It will be appreciated that the number of handles may be more than three as alternative embodiments, and that at least two handles may be identical, e.g. both handles may be telescoping handles 21, etc.
It should be noted that α 1 When=0, the horn handle 11 is in the neutral position, α 1 When the amplitude is more than 0, the amplitude changing handle 11 is at the amplitude opening degree alpha 1 When < 0, the amplitude changing handle 11 is at the amplitude falling opening degree. Alpha 2 When=0, the telescopic handle 21 is in the neutral position, α 2 Not equal to 0, i.e. alpha 2 < 0 or alpha 2 At > 0, the telescoping handle 21 is not in the neutral position. Alpha 1 Not equal to 0 and alpha 2 When the amplitude variation mechanism is not equal to 0, the engineering machinery is in an amplitude-starting telescopic double-acting working condition or an amplitude-falling telescopic double-acting working condition, the amplitude variation mechanism is in an amplitude-starting state or an amplitude-falling state, and the telescopic mechanism is in a telescopic state.
In this embodiment, before the step of determining whether the theoretical output rotation speed is greater than the maximum output rotation speed, the flow matching control method further includes:
calculating the theoretical opening degree of the amplitude main valve 12 corresponding to the amplitude handle 11 based on the first opening degree, and calculating the theoretical opening degree of the telescopic main valve 22 corresponding to the telescopic handle 21 based on the second opening degree; wherein the theoretical opening degree of the amplitude-variable main valve 12 is X t1 Theoretical opening degree X of telescopic main valve 22 t2 ，X t1 ＝f 1 (α 1 ) I.e. the theoretical opening of the main amplitude valve 12 is X t1 With a first opening alpha 1 Has a certain mapping relation with X t2 ＝f 2 (α 2 ) I.e. the theoretical opening degree X of the telescopic main valve 22 t2 With a first opening alpha 2 A certain mapping relation exists between the two;
calculating a theoretical output flow of the hydraulic pump 50 based on the theoretical opening degree of the variable-amplitude main valve 12, the theoretical opening degree of the telescopic main valve 22, the pilot control fuel consumption and the leakage fuel consumption; wherein, the pilot control oil consumption is Q pilot The leakage oil consumption is Q leak The theoretical output flow rate of the hydraulic pump 50 is Q tp The theoretical output flow rate of the amplitude-variable main valve 12 is Q t1 The theoretical output flow of the telescopic main valve 22 is Q t2 ，Q tp ＝Q t1 +Q t2 +Q pilot +Q leak ＝f 3 (X t1 )+f 4 (X t2 )+Q pilot +Q leak Theoretical output flow Q of amplitude-variable main valve 12 t1 Theoretical opening degree X of main valve 12 with amplitude t1 Has a certain mapping relation with the theoretical output flow Q of the telescopic main valve 22 t2 Theoretical opening degree X of telescopic main valve 22 t2 A certain mapping relation exists between the two;
calculating a theoretical output rotation speed of the motor 40 based on the theoretical output flow rate of the hydraulic pump 50 and the displacement of the hydraulic pump 50; wherein the displacement of the hydraulic pump 50 is D p The theoretical output rotation speed of the motor 40 is n t ，n t ＝Q tp /D p 。
The theoretical output rotation speed of the motor 40 is calculated through the first opening degree, the second opening degree, the pilot control oil consumption, the leakage oil consumption and the displacement of the hydraulic pump 50, so that the calculation is accurate, and the control precision is improved.
The pilot fuel consumption and the leakage fuel consumption are empirically estimated.
In this embodiment, the flow matching control method further includes: the current of the pilot proportional pressure reducing valve 31 corresponding to the main valve is controlled based on the actual opening degree of the main valve to control the opening of the main valve. Determining the current i of the amplitude-variable pilot proportional pressure reducing valve 15 corresponding to the amplitude-variable main valve 12 according to the actual opening of the amplitude-variable main valve 12 1 The current i of the telescopic pilot proportional pressure reducing valve 25 corresponding to the telescopic main valve 22 is determined according to the actual opening degree of the telescopic main valve 22 2 Finally, the pilot oil is controlled to open the variable amplitude main valve 12 and the telescopic main valve 22, so that the control is simple and convenient.
In other embodiments, the amplitude pilot proportional pressure reducing valve 15 and the telescopic pilot proportional pressure reducing valve 25 may not be provided, the current of the amplitude main valve 12 may be determined based on the actual opening degree of the amplitude main valve 12, the current of the telescopic main valve 22 may be determined based on the actual opening degree of the telescopic main valve 22, and the opening of the amplitude main valve 12 and the telescopic main valve 22 may be controlled.
According to a second aspect of the present invention, there is also provided a flow rate matching control device for executing the above flow rate matching control method, the flow rate matching control device including:
the acquisition module is used for acquiring the opening degrees of at least two handles;
and the control module is used for controlling the main valve corresponding to the handle which is singly operated to be in a full-open state when one of the at least two handles is singly operated, and controlling the rotating speed of the motor 40 based on the opening degree of the handle which is singly operated.
The flow matching control device provided by the embodiment of the present invention is used for executing the flow matching control method provided by the above embodiment, and its implementation manner is the same as that of the principle, and details refer to the related description of the above method embodiment, and are not repeated.
According to a third aspect of the present invention, there is also provided a flow matching control system including a flow matching hydraulic system including a hydraulic pump 50, a main valve, and a motor 40, the hydraulic pump 50 being in communication with the main valve, the motor 40 being connected to the hydraulic pump 50, and a controller 60 including at least one processor and a memory in communication with the at least one processor, wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the flow matching control method described above.
The opening signals of the amplitude changing handle 11 and the telescopic handle 21 are detected in real time through the flow matching control system, and the controller 60 synchronously controls the actual opening of the valve port of each main valve and the actual output rotating speed of the permanent magnet synchronous motor 40 in real time according to the handle signals, so that the accurate matching of the system flow is realized, the system efficiency is improved, the system energy consumption is reduced, the cruising ability is improved, the use economy of customers is improved, and the environment-friendly requirement is met.
In this embodiment, as shown in fig. 3 and 4, the flow matching hydraulic system further includes an oil tank, an amplitude-variable oil cylinder 13 and a telescopic oil cylinder 23, the handle includes an amplitude-variable handle 11 and a telescopic main valve 22, the main valve includes an amplitude-variable main valve 12 and a telescopic main valve 22, the hydraulic pump 50 is connected with the motor 40, the controller 60 is electrically connected with the amplitude-variable handle 11, the telescopic handle 21, the motor 40, the amplitude-variable pilot proportional pressure reducing valve 15 and the telescopic pilot proportional pressure reducing valve 25, the amplitude-variable oil cylinder 13 is communicated with the amplitude-variable main valve 12, and the telescopic oil cylinder 23 is communicated with the telescopic main valve 22. The motor 40 drives the hydraulic pump 50 to work, the hydraulic pump 50 converts mechanical energy into hydraulic energy, the hydraulic pump 50 sucks oil from an oil tank and forms hydraulic oil to be discharged, the hydraulic oil is then conveyed to the amplitude-variable pilot proportional pressure reducing valve 15 and the telescopic pilot proportional pressure reducing valve 25, the amplitude-variable main valve 12 and the telescopic main valve 22 are controlled to be opened through the amplitude-variable pilot proportional pressure reducing valve 15 and the telescopic pilot proportional pressure reducing valve 25, and further the amplitude-variable oil cylinder 13 and the telescopic oil cylinder 23 are controlled to act.
Specifically, the flow matching hydraulic system further comprises a variable amplitude pressure compensating valve 16, a telescopic pressure compensating valve 26, a reducing valve 31, a shuttle valve 32, a first pressure sensor 71, a second pressure sensor 72 and the like, wherein the variable amplitude pressure compensating valve 16 is communicated with the hydraulic pump 50 and the variable amplitude main valve 12, the telescopic pressure compensating valve 26 is communicated with the hydraulic pump 50 and the telescopic main valve 22, the reducing valve 31 is communicated with the hydraulic pump 50, the variable amplitude pilot proportional reducing valve 15 and the telescopic pilot proportional reducing valve 25, the shuttle valve 32 is communicated with the variable amplitude main valve 12, the telescopic main valve 22, the variable amplitude pressure compensating valve 16 and the telescopic pressure compensating valve 26, the first pressure sensor 71 is communicated with an oil outlet of the hydraulic pump 50, and the second pressure sensor 72 is communicated with one oil port of the shuttle valve 32. The hydraulic pump 50 is a fixed displacement pump or the like, and the fixed displacement pump is a gear pump or the like.
In the present embodiment, the controller 60 includes a PID rotational speed controller, the actual output flow rate of the hydraulic pump 50 and the theoretical output flow rate of the hydraulic pump 50 are calculated by the PID rotational speed controller, the output signal is converted into a target rotational speed signal of the motor 40 and transmitted to the motor controller, and the motor controller controls the output rotational speed of the motor 40 such that the outlet pressure of the metering pump gradually approaches the target value. The motor 40 is a permanent magnet synchronous motor or the like.
In this embodiment, the processor may be a central processing unit (Central Processing Unit, CPU). The processor may also be any other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof.
In this embodiment, the memory is used as a non-transitory computer readable storage medium, and may be used to store a non-transitory software program, a non-transitory computer executable program, and modules, such as program instructions/modules corresponding to the control method in the embodiment of the present invention. The processor executes various functional applications of the processor and data processing, i.e., implements the control methods in the method embodiments described above, by running non-transitory software programs, instructions, and modules stored in the memory.
The memory may include a memory program area and a memory data area, wherein the memory program area may store an operating system, at least one application program required for a function; the storage data area may store data created by the processor, etc. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory may optionally include memory located remotely from the processor, the remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
According to a fourth aspect of the present invention, there is also provided a construction machine, including the above-mentioned flow matching control system.
In this embodiment, as shown in fig. 3 and 4, the construction machine is a crane, which includes a luffing handle 11, a telescopic handle 21, a motor 40, a luffing mechanism, a telescopic mechanism, a luffing cylinder 13, a telescopic cylinder 23, a luffing main valve 12, a telescopic main valve 22, a motor 40, a hydraulic pump 50, and the like. The crane has a single-action amplitude falling working condition, a single-action amplitude starting working condition, a single-action telescopic working condition, an amplitude starting telescopic double-acting working condition and an amplitude falling telescopic double-acting working condition. Specifically, the luffing handle 11 and the telescopic handle 21 are respectively an electric control luffing handle and an electric control telescopic handle.
When the amplitude variation mechanism and the telescopic mechanism singly act, a variable-rotation-speed pump control mode is adopted, and the opening alpha of the handle corresponding to the telescopic oil cylinder or the amplitude variation oil cylinder when extending out is more than 0 and less than or equal toα max I.e. 0 < alpha.ltoreq.alpha max The opening alpha of the handle corresponding to the retraction is smaller than 0 and larger than-alpha max I.e. -alpha max Alpha is less than or equal to 0, and the opening range of the handle corresponds to the range of the rotating speed n of the motor 40 to be more than or equal to n min And less than or equal to n max I.e. n min ≤n≤n max And then the corresponding rotation speed value of the motor 40 is given, and meanwhile, the controller 60 judges whether the hydraulic cylinder is in an extending state or a retracting state according to the opening direction of the handle, and then the maximum opening signal and the opening direction signal of the main valve are given, so that the valve port is fully opened. When the luffing mechanism or the telescopic mechanism is independently operated, a control block diagram of the flow matching control system is shown in fig. 4. Wherein n is min Is the minimum output rotational speed of the motor 40.
By adopting the variable-rotation-speed pump control mode, the flow provided by the hydraulic pump 50 is the flow required by the system, and the main oil way still passes through the pressure compensator, but because the main valve is always in a full-open state, the output flow of the hydraulic pump 50 is smaller than the theoretical passing flow of the main valve, the system is in a flow saturation state, the pressure compensator basically does not play a decompression role at the moment, the pressure difference loss of the main valve is small, and compared with the traditional LS system, a large amount of throttling loss is reduced, and the energy utilization rate is improved.
When the amplitude varying mechanism and the telescopic mechanism perform compound actions, a motor pump set control mode is adopted, the rotating speed of the motor 40 is controlled through the outlet pressure and the load pressure feedback of the hydraulic pump, and then the basic flow required by the motor pump set providing system is ensured through closed-loop control, and the control principle is as follows: the first pressure sensor 71 detects the outlet pressure p of the hydraulic pump 50 p And the second pressure sensor 72 detects the maximum load pressure p of the load chambers in the luffing cylinder and the telescopic cylinder Lmax And transmitting the pressure signal to the controller 60, wherein the controller 60 compares the maximum load pressure plus the throttle pressure drop delta p as a target signal with the outlet pressure feedback signal of the hydraulic pump 50, calculates deviation, calculates through a PID controller, converts the output signal into a target rotating speed value of the motor 40, and transmits the target rotating speed value to a motor controller, and the motor controller controls the output rotating speed of the motor, so that the outlet pressure of the hydraulic pump gradually approaches the target value, and finally, the output pressure of the hydraulic pump is ensuredIt is verified that the output pressure of the fixed displacement pump varies with the load pressure to provide the base flow rate required by the system. When the amplitude changing mechanism and the telescopic mechanism act in a combined way, a control block diagram of the flow matching control system is shown in fig. 5.
When the amplitude varying mechanism and the telescopic mechanism act in a combined way, a hydraulic control main valve control mode is adopted, the hydraulic control main valve is regulated and controlled according to the flow saturation state of the constant delivery pump, and the control block diagram is shown in fig. 2 and 6. When detecting that the luffing handle 11 and the telescopic handle 21 are not in the middle position, the crane is in a compound action working condition at the moment, and the electric control luffing handle and the electric control telescopic handle respectively control the opening alpha of the luffing handle and the telescopic handle 1 、α 2 Converted into electric signals and transmitted to the controller 60, and the controller 60 calculates the theoretical opening degree X of the main variable-amplitude valve 12 and the main telescopic valve 22 according to the electric signals t1 、X t2 Further, the theoretical output flow Q passing through the variable-amplitude main valve 12 and the telescopic main valve 22 is obtained t1 、Q t2 Adding pilot control fuel consumption Q pilot And leakage fuel consumption Q leak Finally, the theoretical output flow Q required by the hydraulic pump 50 is obtained by matching tp Due to displacement D of hydraulic pump 50 p The theoretical output rotation speed n of the motor 40 can be calculated t . The theoretical output rotational speed n of the motor 40 t And the maximum output rotation speed n of the motor 40 max Comparing, if the theoretical output rotation speed n t A maximum output rotation speed n of the motor 40 or less max When the system is in a flow unsaturated state, the actual opening of the variable amplitude main valve 12 is equal to the theoretical opening of the variable amplitude main valve 12, and the actual opening of the telescopic main valve 22 is equal to the theoretical opening of the telescopic main valve 22; if the theoretical output rotation speed n t Greater than maximum output rotation speed n max The system is in a flow saturated state and the actual output speed n of the motor 40 m Is kept at the maximum output rotation speed n max Actual opening X 'of amplitude-variable main valve 12' 1 Is the theoretical opening degree X of the amplitude-variable main valve 12 t1 The actual opening X 'of the telescopic main valve 22 is multiplied by the ratio of the maximum output rotation speed to the theoretical rotation speed of the motor' 2 Is the theoretical opening degree X of the telescopic main valve 22 t2 Product of maximum output rotation speed and theoretical rotation speed ratio of motor40 has a maximum output rotation speed to theoretical rotation speed ratio of n max /n t The flow rates distributed to the luffing cylinder 13 and the telescopic cylinder 23 are irrelevant to the load, and are only related to the actual opening degree X 'of the luffing main valve 12 and the telescopic main valve 22' 1 、X′ 2 In a related manner, the flow required by each load is reduced proportionally, so that the problem that oil preferentially flows into a small-load actuating mechanism when the flow is saturated is effectively avoided, and the actual opening degree X 'of the variable amplitude main valve 12 and the telescopic main valve 22 is used for controlling the variable amplitude main valve' 1 、X′ 2 Further, the current signal i 'corresponding to the amplitude-variable pilot proportional pressure reducing valve 15 and the telescopic pilot proportional pressure reducing valve 25 is given' 1 、i′ 2 Finally, the pilot oil pressure is controlled to open the variable-amplitude main valve 12 and the telescopic main valve 22.
Wherein i' 1 The current input to the amplitude-variable pilot proportional pressure reducing valve 15 at the time of flow saturation is i' 2 The current input to the telescopic pilot proportional pressure reducing valve 25 at the time of flow saturation is i' 1 ＝f 5 (X′ 1 )，i′ 2 ＝f 6 (X′ 2 )。
The flow matching control system combines the load sensitive system with the pre-valve compensation scheme, so that the system pressure loss is effectively reduced, and the problem of uneven flow distribution caused by pre-valve compensation is properly solved; the pump valve compound control mode is adopted, a pure pump control mode is adopted during single action, the system flow requirement is completely matched with the motor rotating speed, the energy loss is reduced as much as possible, and a part of energy-saving characteristics are sacrificed during compound action to fully meet the system operability and the micro-motion performance.
It will be appreciated that the work machine may also be an excavator, a rotary drilling rig or the like.
Note that, in fig. 5 and 6, the dashed rectangle indicates a controller.
According to a fifth aspect of embodiments of the present invention, there is also provided a computer-readable storage medium storing computer instructions for causing a computer to perform the above-described method. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the flow matching control system adopts an electric control load sensitive mode, so that the energy loss of the traditional load sensitive system is reduced, and the dynamic response of the system is improved. The flow matching control system synchronously controls the actual opening of the valve ports of the main valves of the various valves and the actual output rotating speed of the permanent magnet synchronous motor in real time according to handle signals by detecting opening signals of the amplitude changing handle 11 and the telescopic handle 21 so as to meet the supply and demand matching of the system load. Wherein, the regulation of the opening degree of the main valve is indirectly controlled by giving an electric signal of the pilot proportional pressure reducing valve. Compared with the traditional load sensitive system, the electric control load sensitive system of the crane replaces LS feedback of the load sensitive pump with pressure feedback of an electric signal, and can regulate the driving mechanism from the source, so that energy consumption is reduced. In addition, the system adopts a pump valve compound control mode of valve front compensation, so that the control performance is effectively improved, and the system loss is reduced.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.
Claims (10)
1. A flow matching control method, comprising:
acquiring the opening degrees of at least two handles;
when one of the at least two handles is independently operated, the main valve corresponding to the handle which is independently operated is controlled to be in a full-open state, and the rotating speed of the motor is controlled based on the opening degree of the handle which is independently operated.
2. The flow rate matching control method according to claim 1, characterized in that the flow rate matching control method further comprises:
when the at least two handles all act, under the condition that the flow matching hydraulic system is in a flow saturation state, the actual opening of the main valve corresponding to each handle is controlled based on the opening of each handle, the theoretical output rotating speed of the motor and the maximum output rotating speed of the motor.
3. The flow rate matching control method according to claim 2, characterized in that the flow rate matching control method further comprises:
when the at least two handles act, the actual opening of the main valve corresponding to each handle is controlled based on the opening of each handle when the flow matching hydraulic system is in a flow unsaturated state.
4. The flow rate matching control method according to claim 3, characterized in that the flow rate matching control method further comprises:
when the at least two handles act, the actual output rotating speed of the motor is adjusted based on the relation between the outlet pressure of the hydraulic pump communicated with the at least two main valves and the target pressure, wherein the at least two main valves are arranged in one-to-one correspondence with the at least two handles.
5. The flow rate matching control method according to claim 4, characterized in that the step of acquiring the target pressure includes:
obtaining maximum load pressure and throttle mouth pressure drop in a load cavity of at least two execution elements which are communicated with the at least two main valves in a one-to-one correspondence manner;
the target pressure is calculated based on the maximum load pressure and the restriction pressure drop.
6. The flow matching control method according to claim 3, wherein the number of the handles is two and is a luffing handle and a telescopic handle, respectively;
in obtaining at least two handlesIn the opening step, a first opening of the amplitude changing handle and a second opening of the telescopic handle are obtained, wherein the first opening is alpha 1 The second opening degree is alpha 2 ，
In the step when both handles are actuated, alpha 1 Not equal to 0 and alpha 2 ≠0；
After the step when both handles are actuated, the flow matching control method includes:
judging whether the theoretical output rotating speed is larger than the maximum output rotating speed or not;
when the theoretical output rotating speed is larger than the maximum output rotating speed, confirming that the flow matching hydraulic system is in a flow saturation state;
and when the theoretical output rotating speed is smaller than or equal to the maximum output rotating speed, confirming that the flow matching hydraulic system is in a flow unsaturated state.
7. The flow rate matching control method according to claim 6, characterized in that, before the step of determining whether the theoretical output rotation speed is greater than the maximum output rotation speed, the flow rate matching control method further comprises:
calculating the theoretical opening of the variable amplitude main valve corresponding to the variable amplitude handle based on the first opening, and correspondingly calculating the theoretical opening of the telescopic main valve corresponding to the telescopic handle based on the second opening;
calculating the theoretical output flow of the hydraulic pump based on the theoretical opening degree of the variable-amplitude main valve, the theoretical opening degree of the telescopic main valve, the pilot control oil consumption and the leakage oil consumption;
and calculating the theoretical output rotating speed of the motor based on the theoretical output flow of the hydraulic pump and the displacement of the hydraulic pump.
8. A flow rate matching control device for executing the flow rate matching control method according to claim 1, the flow rate matching control device comprising:
the acquisition module is used for acquiring the opening degrees of at least two handles;
and the control module is used for controlling the main valve corresponding to the handle which is singly moved to be in a full-open state when one of the at least two handles is singly moved, and controlling the rotating speed of the motor based on the opening degree of the handle which is singly moved.
9. A flow matching control system comprising a flow matching hydraulic system, a handle and a controller (60), the flow matching hydraulic system comprising a hydraulic pump (50), a main valve and a motor (40), the hydraulic pump (50) being in communication with the main valve, the motor (40) being connected to the hydraulic pump (50), the controller (60) comprising at least one processor and a memory in communication with the at least one processor, wherein the memory stores instructions executable by the at least one processor for causing the at least one processor to perform the flow matching control method of any one of claims 1-7.
10. A work machine comprising the flow matching control system of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311119258.9A CN116972035A (en) | 2023-08-31 | 2023-08-31 | Engineering machinery and flow matching control method, device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311119258.9A CN116972035A (en) | 2023-08-31 | 2023-08-31 | Engineering machinery and flow matching control method, device and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116972035A true CN116972035A (en) | 2023-10-31 |
Family
ID=88476730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311119258.9A Pending CN116972035A (en) | 2023-08-31 | 2023-08-31 | Engineering machinery and flow matching control method, device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116972035A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117208826A (en) * | 2023-11-09 | 2023-12-12 | 临工重机股份有限公司 | Control method for preventing power source saturation of aerial working platform |
-
2023
- 2023-08-31 CN CN202311119258.9A patent/CN116972035A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117208826A (en) * | 2023-11-09 | 2023-12-12 | 临工重机股份有限公司 | Control method for preventing power source saturation of aerial working platform |
| CN117208826B (en) * | 2023-11-09 | 2024-02-02 | 临工重机股份有限公司 | Control method for preventing power source saturation of aerial working platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11293460B2 (en) | Engineering machinery hydraulic system | |
| US6020651A (en) | Engine control system for construction machine | |
| US9518371B2 (en) | Method for improving excavating operation characteristic and grading operation characteristic of excavator | |
| CN101440829B (en) | Engineering machine and engineering machine control method | |
| US20160326722A1 (en) | Energy-saving control system of excavator | |
| CN116972035A (en) | Engineering machinery and flow matching control method, device and system | |
| CN113202833B (en) | Load port independent control system matched with electro-hydraulic flow | |
| CN107143540B (en) | Digital load sensing hydraulic control system and method | |
| CN110657236B (en) | Hydrostatic axial piston pump for a hydrostatic travel drive | |
| JP2007100779A (en) | Hydraulic pressure control device | |
| US20210404141A1 (en) | Shovel and method of controlling shovel | |
| CN116989019A (en) | Engineering machinery and flow matching control method, device and system | |
| CN111255756B (en) | Variable speed pump control system in hydraulic system | |
| CN208185091U (en) | Positive control load sensitive system | |
| JP2009084832A (en) | Revolving pump control system for hydraulic excavator | |
| CN104790457B (en) | A kind of electrohydraulic control method of positive flow system and its application on hydraulic grab | |
| CN114293617B (en) | Engineering machinery | |
| JP2023108604A (en) | hydraulic machine | |
| CN217150406U (en) | Quantitative system variable control system of electric excavator | |
| CN202969957U (en) | Combination drive control system of material distributing equipment and material distributing equipment | |
| US10794380B2 (en) | Pump device | |
| JPH06280807A (en) | Control device for hydraulically-operated machine | |
| CN115012467B (en) | Excavator rotary platform and working device action matching control system | |
| CN116972036A (en) | Engineering machinery and flow matching control method, device and system | |
| Huang et al. | Study of control mode and control strategy for direct drive volume control actuating unit of heave compensation winch |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |