CN117329183A - Method, system, main controller and storage medium for flow compensation of electro-hydraulic proportional valve - Google Patents

Method, system, main controller and storage medium for flow compensation of electro-hydraulic proportional valve Download PDF

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Publication number
CN117329183A
CN117329183A CN202311244989.6A CN202311244989A CN117329183A CN 117329183 A CN117329183 A CN 117329183A CN 202311244989 A CN202311244989 A CN 202311244989A CN 117329183 A CN117329183 A CN 117329183A
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CN
China
Prior art keywords
target
electro
proportional valve
hydraulic proportional
displacement
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CN202311244989.6A
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Chinese (zh)
Inventor
彭鹏
李怀福
胡廷江
李英
徐生富
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Priority to CN202311244989.6A priority Critical patent/CN117329183A/en
Publication of CN117329183A publication Critical patent/CN117329183A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • 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
    • F15B13/021—Valves for interconnecting the fluid chambers of an actuator
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • 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
    • 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
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The application discloses a method, a system, a main controller and a storage medium for flow compensation of an electro-hydraulic proportional valve. The method is applied to a main controller, and the main controller is communicated with an electrohydraulic proportional valve group controller, and comprises the following steps: determining a target executing mechanism and target valve core displacement and target flow of an electro-hydraulic proportional valve corresponding to the target executing mechanism according to an input instruction; sending a control signal to the electro-hydraulic proportional valve group controller so that the electro-hydraulic proportional valve group controller adjusts the valve core displacement of the electro-hydraulic proportional valve; under the condition that the actual valve core displacement of the electro-hydraulic proportional valve is regulated to the target valve core displacement, determining the actual flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism; the magnitude of the control signal is adjusted until the actual flow reaches the target flow. The closed-loop control of the output flow can be realized on the basis of not changing the original structure of the crane, the influence of temperature change or other factors is reduced, and the control consistency and the control precision of the crane are improved.

Description

Method, system, main controller and storage medium for flow compensation of electro-hydraulic proportional valve
Technical Field
The application relates to the technical field of engineering machinery, in particular to a method, a system, a main controller and a storage medium for flow compensation of an electro-hydraulic proportional valve.
Background
With the development of electromechanical and hydraulic integrated technology, the application of the electro-hydraulic proportional control technology is becoming wider. Currently, large-tonnage engineering cranes commonly adopt electro-hydraulic proportional valve groups to control each execution action. However, there are many factors that limit the control effect in real-world situations, and among them, the most important influencing factors are the ambient temperature and the consistency of the electro-hydraulic proportional valve element. For example, when the temperature change is large, the viscosity and the density of the oil liquid can change, so that the output flow rate is changed; in addition, with the current design and processing level, the consistency of the performance of the electro-hydraulic proportional valve group cannot be ensured, so that the control characteristics of each product are different. Therefore, under the influence of various factors, the electro-hydraulic proportional control method adopted in the prior art cannot ensure the control consistency in the operation process of the crane, and has lower control precision on the crane.
Disclosure of Invention
In order to solve the technical problems, an embodiment of the present application is to provide a method, a system, a main controller and a storage medium for flow compensation of an electro-hydraulic proportional valve.
In order to achieve the above object, a first aspect of the present application provides a method for flow compensation of an electro-hydraulic proportional valve, which is applied to a main controller, wherein the main controller communicates with an electro-hydraulic proportional valve group controller, and the method includes:
determining a target executing mechanism and target valve core displacement and target flow of an electro-hydraulic proportional valve corresponding to the target executing mechanism according to an input instruction;
sending a control signal to the electro-hydraulic proportional valve group controller so that the electro-hydraulic proportional valve group controller adjusts the valve core displacement of the electro-hydraulic proportional valve;
under the condition that the actual valve core displacement of the electro-hydraulic proportional valve is regulated to the target valve core displacement, determining the actual flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism;
the magnitude of the control signal is adjusted until the actual flow reaches the target flow.
In this embodiment of the present application, the main controller is further in communication with an angle encoder, and when the target actuator is a motor actuator, determining the actual flow of the electro-hydraulic proportional valve corresponding to the target actuator includes:
acquiring the angular speed of a target executing mechanism sent by an angle encoder;
acquiring motor displacement and motor speed ratio of a target executing mechanism;
determining a first actual flow according to the angular speed, the motor displacement of the target executing mechanism and the motor speed ratio;
The first actual flow rate satisfies the formula (1):
wherein Q is 1 For the first actual flow, v g The motor displacement of the target actuator is i is the motor speed ratio and ω is the angular velocity.
In this embodiment of the present application, the main controller is further in communication with an oil cylinder displacement encoder, and when the target actuating mechanism is an oil cylinder actuating mechanism, determining the actual flow of the electro-hydraulic proportional valve corresponding to the target actuating mechanism includes:
acquiring the displacement quantity sent by an oil cylinder displacement encoder;
acquiring the working area and the working time of an oil cylinder of a target executing mechanism;
determining a second actual flow according to the displacement, the working area and the working time length of the oil cylinder of the target executing mechanism;
the second actual flow rate satisfies the formula (2):
wherein Q is 2 And for the second actual flow, A is the working area of the oil cylinder of the target executing mechanism, t is the working time length of the oil cylinder of the target executing mechanism, and s is the displacement.
In this embodiment of the present application, adjusting the magnitude of the control signal until the actual flow reaches the target flow includes:
comparing the actual flow with the target flow;
reducing the magnitude of the control signal when the actual flow is greater than the target flow;
and increasing the magnitude of the control signal when the actual flow rate is smaller than the target flow rate.
A second aspect of the present application provides an electrohydraulic proportional valve flow compensation device, comprising:
the first determining module is configured to determine a target executing mechanism and target valve core displacement and target flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism according to an input instruction;
the first control module is configured to send a control signal to the electro-hydraulic proportional valve group controller so that the electro-hydraulic proportional valve group controller adjusts the valve core displacement of the electro-hydraulic proportional valve;
a second determining module configured to determine an actual flow rate of the electro-hydraulic proportional valve corresponding to the target actuator, in a case where it is determined that the actual valve spool displacement of the electro-hydraulic proportional valve is adjusted to the target valve spool displacement;
and a second control module configured to adjust the magnitude of the control signal until the actual flow reaches the target flow.
A third aspect of the present application provides a host controller comprising:
a memory configured to store instructions; and
and the processor is configured to call the instruction from the memory and can realize the method for compensating the flow of the electro-hydraulic proportional valve when executing the instruction.
A fourth aspect of the present application is a system for flow compensation of an electro-hydraulic proportional valve, comprising:
the main controller described above;
And the electrohydraulic proportional valve group controller is communicated with the main controller, and is configured to receive a control signal sent by the main controller and adjust the valve core displacement of the electrohydraulic proportional valve according to the control signal.
In an embodiment of the present application, the system further includes:
an angle encoder in communication with the master controller configured to acquire an angular velocity of the target actuator;
and the oil cylinder displacement encoder is communicated with the main controller and is configured to acquire displacement.
In an embodiment of the present application, the angle encoder comprises a hoist angle encoder and the ram displacement encoder comprises a telescopic ram displacement encoder.
A fifth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the method of electrohydraulic proportional valve flow compensation described above.
Through the technical scheme, the main controller firstly determines the target executing mechanism and the target valve core displacement and the target flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism according to the input instruction; then, a control signal is sent to the electro-hydraulic proportional valve group controller so that the electro-hydraulic proportional valve group controller can adjust the valve core displacement of the electro-hydraulic proportional valve; then, under the condition that the actual valve core displacement of the electro-hydraulic proportional valve is regulated to the target valve core displacement, determining the actual flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism; and finally, adjusting the size of the control signal until the actual flow reaches the target flow. The control system can carry out closed-loop control on the output flow by utilizing the original structure of the crane, avoids adverse effects on a crane control system due to temperature change or other factors, and is beneficial to improving the control consistency and control precision of the crane.
Additional features and advantages of embodiments of the present application will be set forth in the detailed description that follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain, without limitation, the embodiments of the present application. In the drawings:
FIG. 1 is a block diagram of a system for electrohydraulic proportional valve flow compensation provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method for flow compensation of an electro-hydraulic proportional valve according to an embodiment of the present disclosure;
FIG. 3 is a block diagram of an apparatus for flow compensation of an electro-hydraulic proportional valve according to an embodiment of the present disclosure;
fig. 4 is a block diagram of a main controller according to an embodiment of the present application.
Description of the reference numerals
100. Main controller 200 electrohydraulic proportional valve group controller
300. 400 angle encoder of electrohydraulic proportional valve group
500. Input mechanism of oil cylinder displacement encoder 600
700. First determination module of displacement sensor 310
320. First control Module 330 second determination Module
340. Second control module
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific implementations described herein are only for illustrating and explaining the embodiments of the present application, and are not intended to limit the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
It should be noted that, in the embodiment of the present application, directional indications (such as up, down, left, right, front, and rear … …) are referred to, and the directional indications are merely used to explain the relative positional relationship, movement conditions, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.
Fig. 1 is a block diagram of a system for flow compensation of an electro-hydraulic proportional valve according to an embodiment of the present application. As shown in fig. 1, an embodiment of the present application provides a system for electro-hydraulic proportional valve flow compensation, which includes a main controller 100, an electro-hydraulic proportional valve set controller 200, an electro-hydraulic proportional valve set 300, an angle encoder 400, and a cylinder displacement encoder 500.
In the embodiment of the present application, the main controller 100, i.e., the host programmable logic controller (Programmable Logic Controller, PLC), is a core processing module of the entire system. In one example, the electro-hydraulic proportional valve flow compensating system may also include an input mechanism 600. The main controller 100 may be in communication with the input mechanism 600 and the electro-hydraulic proportional valve 300 controller 200, and may be configured to receive an input command sent by the input mechanism 600, determine a target valve spool displacement and a target flow of the electro-hydraulic proportional valve corresponding to the target actuator and the electro-hydraulic proportional valve corresponding to the target actuator according to the input command, and send a control signal to the electro-hydraulic proportional valve 300 controller 200 to enable the electro-hydraulic proportional valve 300 controller 200 to adjust the valve spool displacement of the electro-hydraulic proportional valve. The electro-hydraulic proportional valve bank 300 controller 200 is in communication with the electro-hydraulic proportional valve bank 300 and is used for outputting corresponding control current to the electro-hydraulic proportional valve according to the control signal sent by the main controller 100 so as to control the valve core movement of the electro-hydraulic proportional valve.
In one example, the system for electrohydraulic proportional valve flow compensation further includes a displacement sensor 700, the displacement sensor 700 may be in communication with the electrohydraulic proportional valve block 300 controller 200 for real-time acquisition of actual spool displacement of the electrohydraulic proportional valve and feedback to the electrohydraulic proportional valve block 300 controller 200, and the electrohydraulic proportional method block controller may adjust the control current magnitude based on the target spool displacement and the actual spool displacement fed back by the displacement sensor 700 until the actual spool displacement reaches the target spool displacement, and feed back the spool displacement adjustment condition to the master controller 100.
Further, the main controller 100 may acquire data sent by the encoder to calculate the actual flow rate of the electro-hydraulic proportional valve corresponding to the target actuator when determining that the actual valve core displacement of the electro-hydraulic proportional valve is adjusted to the target valve core displacement, and further adjust the magnitude of the control signal based on the target flow rate and the actual flow rate until the actual flow rate reaches the target flow rate. In one example, where the target actuator is a motor type actuator, the master controller 100 may acquire the data sent by the angle encoder 400 and calculate the actual flow rate. In another example, where the target actuator is a cylinder-type actuator, the master controller 100 may acquire data sent by the cylinder displacement encoder 500 and calculate the actual flow rate. Therefore, feedback control is performed through flow compensation, a flow closed loop is formed, flow output accurately corresponding to an input instruction can be achieved, the influence of temperature change and other factors on control consistency is reduced, and control accuracy is improved.
Fig. 2 is a schematic flow chart of a flow compensation method for an electro-hydraulic proportional valve according to an embodiment of the present application. As shown in fig. 2, an embodiment of the present application provides a method for flow compensation of an electro-hydraulic proportional valve, which is applied to a main controller, where the main controller communicates with an electro-hydraulic proportional valve controller, and the method may include the following steps.
And 101, determining a target executing mechanism and target valve core displacement and target flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism according to an input instruction.
In the embodiment of the present application, the input instruction refers to a control instruction input by an operator through an input mechanism of an external device such as a joystick. According to the input instruction, the theoretical flow of the corresponding target actuating mechanism and the electrohydraulic proportional valve corresponding to the target actuating mechanism can be determined, and then the theoretical valve core displacement is obtained through calculation according to the theoretical flow. The target executing mechanism is an executing mechanism corresponding to the input instruction in a plurality of executing mechanisms of the crane corresponding to the input instruction, and the executing mechanism of the crane in the embodiment of the application can be divided into an oil cylinder executing mechanism and a motor executing mechanism according to types, wherein the oil cylinder executing mechanism is a telescopic mechanism, and the motor executing mechanism is a hoisting mechanism.
In one example, the relationship between the theoretical flow and the theoretical spool displacement is as in equation (1):
wherein Q is the theoretical flow output by the electro-hydraulic proportional valve group; alpha is the flow coefficient of the electro-hydraulic proportional valve group; beta is an area coefficient, and x is theoretical valve core displacement; ΔP is the front-to-back pressure difference of the orifices of the electro-hydraulic proportional valve bank; ρ is the oil density of the electro-hydraulic proportional valve set, and is different due to the influence of temperature.
Further, a target spool displacement may be determined based on the theoretical spool displacement, and a target flow may be determined based on the theoretical flow. In one example, the target valve core displacement may be any value within a false allowable range of the theoretical valve core displacement, the target flow rate may be any value within a false allowable range of the theoretical flow rate, and the error range may be set according to the actual situation. For example, if the target spool displacement is 80% and the error allowable range is 1%, the target spool displacement may be any value from 79% to 81%. In the case where the error allowable range is 0, the target spool displacement is equal to the theoretical spool displacement, and the target flow rate is equal to the theoretical flow rate.
102, sending a control signal to an electro-hydraulic proportional valve group controller so that the electro-hydraulic proportional valve group controller adjusts the valve core displacement of the electro-hydraulic proportional valve;
In the embodiment of the application, the main controller can send a control signal to the electrohydraulic proportional valve group controller according to an input instruction. After receiving the control signal, the electro-hydraulic proportional valve group controller outputs a corresponding control current to the electro-hydraulic proportional valve according to the control signal so as to control the valve core of the electro-hydraulic proportional valve to move to a certain position and output flow. In order to improve the control efficiency, the electro-hydraulic proportional valve group controller can be communicated with a displacement sensor, and the displacement sensor is used for acquiring the actual valve core displacement of the electro-hydraulic proportional valve and feeding back the actual valve core displacement to the electro-hydraulic proportional valve group controller.
Further, the electro-hydraulic proportional valve group controller can adjust the output control current according to the target valve core displacement and the actual valve core displacement, so that displacement closed-loop control is formed until the actual valve core displacement is equal to the target valve core displacement. In one example, the electro-hydraulic proportional valve bank controller may reduce the control current output to the electro-hydraulic proportional valve bank in the event that the actual spool displacement is greater than the target spool displacement. In another example, the electro-hydraulic proportional valve bank controller may increase the control current output to the electro-hydraulic proportional valve bank in the event that the actual valve spool displacement is less than the theoretical valve spool displacement.
Therefore, the valve core of the electro-hydraulic proportional valve group is subjected to displacement closed-loop control, so that the response speed and the control precision are further improved.
Step 103, under the condition that the actual valve core displacement of the electro-hydraulic proportional valve is regulated to the target valve core displacement, determining the actual flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism;
in the embodiment of the application, the main controller can receive the valve core displacement condition fed back by the electro-hydraulic proportional valve group in real time, and under the condition that the actual valve core displacement of the electro-hydraulic proportional valve is determined to be regulated to the target valve core displacement, the main controller can acquire data sent by the encoder to calculate the actual flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism. In one example, actual flow rates of electro-hydraulic proportional valves corresponding to different actuators of the crane are calculated in different manners.
Step 104, adjusting the magnitude of the control signal until the actual flow reaches the target flow.
In the embodiment of the application, in order to enable the actual flow of the electro-hydraulic proportional valve of the target executing mechanism to reach the target flow, the main controller can adjust the magnitude of the control signal according to the calculated magnitude relation between the actual flow and the target flow, so that the magnitude of the control current output by the electro-hydraulic proportional valve controller to the electro-hydraulic proportional valve is changed, and the actual flow of the electro-hydraulic proportional valve is further changed. And repeating the operation to form flow closed-loop control of flow feedback until the actual flow calculated by the main controller is equal to the target flow. Therefore, feedback control is performed through flow compensation, a flow closed loop is formed, flow output accurately corresponding to an input instruction can be achieved, the influence of temperature change and other factors on control consistency is reduced, and control accuracy is improved.
Under the premise that displacement closed-loop control ensures the accuracy of the valve core position of the electro-hydraulic proportional valve set, the newly added flow closed loop ensures the consistency of flow output and input signals of the electro-hydraulic proportional valve set, so that when the temperatures are different, the actual flow characteristic curve of the valve is basically consistent with the theoretical output characteristic curve (laboratory test curve) at 40 ℃.
Through the technical scheme, the main controller firstly determines the target executing mechanism and the target valve core displacement and the target flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism according to the input instruction; then, a control signal is sent to the electro-hydraulic proportional valve group controller so that the electro-hydraulic proportional valve group controller can adjust the valve core displacement of the electro-hydraulic proportional valve; then, under the condition that the actual valve core displacement of the electro-hydraulic proportional valve is regulated to the target valve core displacement, determining the actual flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism; and finally, adjusting the size of the control signal until the actual flow reaches the target flow. The control system can carry out closed-loop control on the output flow by utilizing the original structure of the crane, avoids adverse effects on a crane control system due to temperature change or other factors, and is beneficial to improving the control consistency and control precision of the crane.
In an embodiment of the present application, adjusting the magnitude of the control signal until the actual flow reaches the target flow may include:
comparing the actual flow with the target flow;
reducing the magnitude of the control signal when the actual flow is greater than the target flow;
and increasing the magnitude of the control signal when the actual flow rate is smaller than the target flow rate.
Specifically, the main controller can adjust the control signal sent to the electro-hydraulic proportional valve group controller according to the calculated magnitude relation between the actual flow and the target flow, so that the magnitude of the control current output by the electro-hydraulic proportional valve group controller to the electro-hydraulic proportional valve group is changed, and the actual flow of the electro-hydraulic proportional valve is changed. Specifically, the actual flow is compared with the target flow, and when the actual flow is larger than the target flow, the control signal output by the main controller to the electro-hydraulic proportional valve group controller is larger, and the control signal sent to the electro-hydraulic proportional valve group controller can be reduced. Under the condition that the actual flow is smaller than the target flow, the control signal output by the main controller to the electro-hydraulic proportional valve group controller is smaller, and the control signal can be increased and sent to the electro-hydraulic proportional valve group controller. Thus, the steps are circularly executed until the actual flow rate is equal to the target flow rate.
In the embodiment of the application, because of the plurality of executing mechanisms of the crane, the motion characteristics of the mechanisms are not completely consistent, and a control strategy cannot be formulated by a unified parameter. In this regard, the embodiments of the present application divide the actuators of the crane into two types, one being a motor type actuator, such as a hoisting mechanism, and the other being an oil cylinder type actuator, such as a telescopic mechanism.
In the embodiment of the present application, the main controller is further in communication with the angle encoder, and in the case that the target actuator is a motor actuator, determining the actual flow of the electro-hydraulic proportional valve corresponding to the target actuator may include:
acquiring the angular speed of a target executing mechanism sent by an angle encoder;
acquiring motor displacement and motor speed ratio of a target executing mechanism;
a first actual flow rate is determined based on the angular velocity, the motor displacement of the target actuator, and the motor speed ratio.
In the embodiment of the application, the first actual flow is the actual flow of the electro-hydraulic proportional valve when the target actuating mechanism is a motor actuating mechanism. The angle encoder may be in communication with the master controller for detecting an angular velocity of the target actuator and transmitting the detected angular velocity to the master controller. Under the condition that the type of the target mechanism is a motor type executing mechanism, the main controller can calculate the actual flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism according to the received angular speed and other data.
In a specific embodiment of the present application, taking the target actuating mechanism as a hoisting mechanism as an example, an angle encoder corresponding to the hoisting mechanism, that is, a hoisting angle encoder, is installed at an axial position of the hoisting mechanism of the crane, and rotates together with the hoisting of the crane, so that an angular velocity of the hoisting mechanism can be obtained. The rotation speed of the winch motor is calculated according to the angular speed of the winch mechanism, and then the actual flow of the winch motion is calculated according to the rotation speed of the winch motor. The calculation formulas are as formula (2) and formula (3):
where n is the rotation speed of the hoist motor, ω is the angular velocity detected by the angle encoder, and i is the motor speed ratio (i.e., the speed ratio of the hoist speed reducer).
Q 1 ＝n·v g ； (3)
Wherein Q1 is the actual flow of the electrohydraulic proportional valve corresponding to the winding action, v g Is the displacement of the winch motor.
In the embodiment of the application, the motor in the hoisting mechanism can be a quantitative motor or a variable motor, and if the quantitative motor is adopted, the displacement is a fixed value. In the case of a variable displacement motor, the displacement is determined from a motor current-displacement characteristic.
In this embodiment of the present application, according to the above formula (2) and formula (3), it may be deduced that, in the case that the target executing mechanism is a hoist motor, the first actual flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism may satisfy formula (4):
Wherein Q is 1 For the first actual flow, v g The motor displacement of the target actuator is i is the motor speed ratio and ω is the angular velocity.
In the embodiment of the application, the main controller is further in communication with the cylinder displacement encoder, and when the target actuating mechanism is a cylinder actuating mechanism, determining the actual flow of the electro-hydraulic proportional valve corresponding to the target actuating mechanism may include:
acquiring the displacement quantity sent by an oil cylinder displacement encoder;
acquiring the working area and the working time of an oil cylinder of a target executing mechanism;
and determining a second actual flow according to the displacement, the working area and the working time length of the oil cylinder of the target executing mechanism.
In the embodiment of the application, the second actual flow is the actual flow of the electro-hydraulic proportional valve when the target actuating mechanism is an oil cylinder actuating mechanism. The ram displacement encoder may be in communication with the master controller for detecting a displacement value, i.e., a displacement amount, and transmitting the displacement amount to the master controller. Under the condition that the target actuating mechanism is an oil cylinder actuating mechanism, the main controller can calculate the actual flow of the electro-hydraulic proportional valve according to the received displacement and other information.
In a specific embodiment of the present application, taking a target actuating mechanism as an example of a telescopic mechanism, an oil cylinder displacement encoder corresponding to the telescopic mechanism, namely a telescopic oil cylinder displacement encoder, is installed on a boom of a crane and is used for detecting a displacement value of the boom, firstly, the allowable speed of the telescopic oil cylinder is calculated according to the displacement value of the boom, and then the actual flow of an electro-hydraulic proportional valve corresponding to the telescopic oil cylinder is calculated according to the running speed of the telescopic oil cylinder. The calculation formulas are as formula (5) and formula (6):
Wherein v is the running speed of the telescopic cylinder, s is the displacement detected by the cylinder displacement encoder, and t is the working time of the cylinder of the target actuating mechanism.
Q 2 ＝A·v； (6)
Wherein Q is 2 For the actual flow of the telescopic action, A is the working area of the oil cylinder of the target actuating mechanism.
In this embodiment of the present application, according to the above formula (5) and formula (6), it may be deduced that, in the case that the target actuator is an oil cylinder actuator, the second actual flow of the electro-hydraulic proportional valve corresponding to the target actuator may satisfy formula (7):
wherein Q is 2 And for the second actual flow, A is the working area of the oil cylinder of the target executing mechanism, t is the working time length of the oil cylinder of the target executing mechanism, and s is the displacement.
According to the characteristics of different mechanisms of the crane, the plurality of actuating mechanisms of the crane are divided into motor actuating mechanisms and oil cylinder actuating mechanisms, feedback parameters are respectively acquired through the angle encoder and the oil cylinder displacement encoder, and the feedback data are more direct, accurate and universal, so that the feedback parameters can be popularized to each actuating mechanism of the crane. In addition, the angle encoder and the oil cylinder displacement encoder are components contained in the crane, and extra cost is not required to be increased.
According to the method, based on the design of the load-sensitive system, the pressure of the load-sensitive system depends on the load, and the accurate instruction can be output only by correcting the control signal of the main controller through the data returned by the angle encoder or the oil cylinder displacement encoder, so that the accurate pressure and flow control effect is realized, and the method is simpler and more efficient. In addition, the displacement closed-loop control is applied to the valve core of the electro-hydraulic proportional valve group, so that the response and control precision are further improved.
Fig. 3 is a block diagram of a flow compensation device for an electro-hydraulic proportional valve according to an embodiment of the present application. As shown in fig. 3, an apparatus for flow compensation of an electro-hydraulic proportional valve according to an embodiment of the present application may include:
a first determination module 310 configured to determine a target actuator and a target spool displacement and a target flow rate of the electro-hydraulic proportional valve corresponding to the target actuator according to an input instruction;
a first control module 320 configured to send a control signal to the electro-hydraulic proportional valve block controller to cause the electro-hydraulic proportional valve block controller to adjust a spool displacement of the electro-hydraulic proportional valve;
a second determination module 330 configured to determine an actual flow rate of the electro-hydraulic proportional valve corresponding to the target actuator, in a case where it is determined that the actual spool displacement of the electro-hydraulic proportional valve is adjusted to the target spool displacement;
a second control module 340 is configured to adjust the magnitude of the control signal until the actual flow reaches the target flow.
Specifically, the first determining module 310 may determine, according to an input instruction, a theoretical flow of the corresponding target actuator and the electro-hydraulic proportional valve corresponding to the target actuator, and further calculate, according to the theoretical flow, a theoretical spool displacement. The first determination module 310 may also determine a target spool displacement based on the theoretical spool displacement and a target flow based on the theoretical flow. Then, the first control module 320 may send a control signal to the electro-hydraulic proportional valve controller, so that the electro-hydraulic proportional valve controller outputs a control current to adjust the displacement of the valve core of the electro-hydraulic proportional valve. Specifically, the electro-hydraulic proportional valve group controller can adjust the output control current according to the target valve core displacement and the actual valve core displacement, so that displacement closed-loop control is formed until the actual valve core displacement is equal to the target valve core displacement.
Further, the second determining module 330 may receive the valve core displacement adjustment condition fed back by the electro-hydraulic proportional valve controller in real time, and in the case of determining that the actual valve core displacement of the electro-hydraulic proportional valve is adjusted to the target valve core displacement, the second determining module 330 may determine the actual flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism through calculation. Finally, the second control module 340 may compare the actual flow with the target flow, and control the magnitude of the signal according to the comparison result until the actual flow reaches the target flow.
Fig. 4 is a block diagram of a main controller according to an embodiment of the present application. As shown in fig. 3, an embodiment of the present application provides a main controller, which may include:
a memory 410 configured to store instructions; and
processor 420 is configured to retrieve instructions from memory 410 and to implement the method of electro-hydraulic proportional valve flow compensation described above when executing the instructions.
Specifically, in embodiments of the present application, the processor 420 may be configured to:
determining a target executing mechanism and target valve core displacement and target flow of an electro-hydraulic proportional valve corresponding to the target executing mechanism according to an input instruction;
Sending a control signal to the electro-hydraulic proportional valve group controller so that the electro-hydraulic proportional valve group controller adjusts the valve core displacement of the electro-hydraulic proportional valve;
under the condition that the actual valve core displacement of the electro-hydraulic proportional valve is regulated to the target valve core displacement, determining the actual flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism;
the magnitude of the control signal is adjusted until the actual flow reaches the target flow.
Further, the processor 420 may be further configured to:
the main controller is also communicated with the angle encoder, and when the target executing mechanism is a motor executing mechanism, determining the actual flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism comprises:
acquiring the angular speed of a target executing mechanism sent by an angle encoder;
acquiring motor displacement and motor speed ratio of a target executing mechanism;
a first actual flow rate is determined based on the angular velocity, the motor displacement of the target actuator, and the motor speed ratio.
In the embodiment of the present application, the first actual flow rate satisfies formula (4):
wherein Q is 1 For the first actual flow, v g The motor displacement of the target actuator is i is the motor speed ratio and ω is the angular velocity.
Further, the processor 420 may be further configured to:
the main controller is also communicated with the oil cylinder displacement encoder, and when the target executing mechanism is an oil cylinder executing mechanism, determining the actual flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism comprises the following steps:
Acquiring the displacement quantity sent by an oil cylinder displacement encoder;
acquiring the working area and the working time of an oil cylinder of a target executing mechanism;
and determining a second actual flow according to the displacement, the working area and the working time length of the oil cylinder of the target executing mechanism.
In the embodiment of the present application, the second actual flow rate satisfies the formula (7):
wherein Q is 2 And for the second actual flow, A is the working area of the oil cylinder of the target executing mechanism, t is the working time length of the oil cylinder of the target executing mechanism, and s is the displacement.
Further, the processor 420 may be further configured to:
comparing the actual flow with the target flow;
reducing the magnitude of the control signal when the actual flow is greater than the target flow;
and increasing the magnitude of the control signal when the actual flow rate is smaller than the target flow rate.
Through the technical scheme, the main controller firstly determines the target executing mechanism and the target valve core displacement and the target flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism according to the input instruction; then, a control signal is sent to the electro-hydraulic proportional valve group controller so that the electro-hydraulic proportional valve group controller can adjust the valve core displacement of the electro-hydraulic proportional valve; then, under the condition that the actual valve core displacement of the electro-hydraulic proportional valve is regulated to the target valve core displacement, determining the actual flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism; and finally, adjusting the size of the control signal until the actual flow reaches the target flow. The control system can carry out closed-loop control on the output flow by utilizing the original structure of the crane, avoids adverse effects on a crane control system due to temperature change or other factors, and is beneficial to improving the control consistency and control precision of the crane.
As shown in fig. 1, the embodiment of the present application further provides a system for flow compensation of an electro-hydraulic proportional valve, including:
the above-described main controller 100;
the electro-hydraulic proportional valve bank controller 200 is in communication with the main controller 100, and is configured to receive a control signal sent by the main controller 100 and adjust the spool displacement of the electro-hydraulic proportional valve according to the control signal.
In the embodiment of the present application, the main controller 100, i.e., the host programmable logic controller (Programmable Logic Controller, PLC), is a core processing module of the entire system. In one example, the electro-hydraulic proportional valve flow compensating system may also include an input mechanism 600. The main controller 100 may be in communication with the input mechanism 600 and the electro-hydraulic proportional valve controller 200, and may be configured to receive an input command sent by the input mechanism 600, determine a target valve element displacement and a target flow of the electro-hydraulic proportional valve corresponding to the target actuator and the electro-hydraulic proportional valve corresponding to the target actuator according to the input command, and send a control signal to the electro-hydraulic proportional valve controller 200, so that the electro-hydraulic proportional valve controller 200 adjusts the valve element displacement of the electro-hydraulic proportional valve. The electro-hydraulic proportional valve bank controller 200 is in communication with the electro-hydraulic proportional valve bank 300 and is used for outputting corresponding control current to the electro-hydraulic proportional valve according to a control signal sent by the main controller 100 so as to control valve core movement of the electro-hydraulic proportional valve.
In one example, the system for electrohydraulic proportional valve flow compensation further includes a displacement sensor 700, the displacement sensor 700 may be in communication with the electrohydraulic proportional valve block controller 200 for real-time acquisition of actual spool displacement of the electrohydraulic proportional valve and feedback to the electrohydraulic proportional valve block controller 200, and the electrohydraulic proportional valve block controller may adjust the control current magnitude based on the target spool displacement and the actual spool displacement fed back by the displacement sensor 700 until the actual spool displacement reaches the target spool displacement, and feed back the spool displacement adjustment condition to the master controller 100.
Further, the main controller 100 may acquire data sent by the encoder to calculate the actual flow rate of the electro-hydraulic proportional valve corresponding to the target actuator when determining that the actual valve core displacement of the electro-hydraulic proportional valve is adjusted to the target valve core displacement, and further adjust the magnitude of the control signal based on the target flow rate and the actual flow rate until the actual flow rate reaches the target flow rate.
As shown in fig. 1, in an embodiment of the present application, the system further includes:
an angle encoder 400, in communication with the main controller 100, configured to acquire an angular velocity of the target actuator;
the ram displacement encoder 500, in communication with the master controller 100, is configured to collect displacement amounts.
In the embodiment of the present application, the system for compensating the flow of the electro-hydraulic proportional valve further comprises an angle encoder 400 and a cylinder displacement encoder 500. In one example, where the target actuator is a motor type actuator, the master controller 100 may acquire the data sent by the angle encoder 400 and calculate the actual flow rate. In another example, where the target actuator is a cylinder-type actuator, the master controller 100 may acquire data sent by the cylinder displacement encoder 500 and calculate the actual flow rate.
In the present embodiment, the angle encoder 400 includes a hoist angle encoder and the ram displacement encoder 500 includes a telescoping ram displacement encoder.
Specifically, when the target actuating mechanism is a hoisting motor, the corresponding angle encoder 400 is a hoisting angle encoder, and the hoisting angle encoder is installed at the axis position of the hoisting mechanism of the crane, and rotates along with the hoisting of the crane, so that the hoisting angular velocity value of the crane can be detected and information can be transmitted to the host controller. When the target actuating mechanism is a telescopic cylinder, the corresponding cylinder displacement encoder 500 is a telescopic cylinder displacement encoder, and the telescopic cylinder displacement encoder is arranged on a crane boom, so that the displacement value of the boom can be detected.
The pressure of the system depends on the load based on the design of the load-sensitive system, and the accurate instruction can be output only by correcting the control signal of the main controller 100 through the data returned by the angle encoder 400 or the oil cylinder displacement encoder 500, so that the accurate pressure and flow control effect is realized, and the system is simpler and more efficient. In addition, the displacement closed-loop control is applied to the valve core of the electro-hydraulic proportional valve set 300, so that the response and control precision are further improved.
The embodiment of the application also provides a machine-readable storage medium, wherein the machine-readable storage medium is stored with instructions, and the instructions are used for enabling a machine to execute the method for compensating the flow of the electro-hydraulic proportional valve.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (10)

1. A method of electro-hydraulic proportional valve flow compensation, characterized by being applied to a master controller in communication with an electro-hydraulic proportional valve block controller, the method comprising:
determining a target executing mechanism and target valve core displacement and target flow of an electro-hydraulic proportional valve corresponding to the target executing mechanism according to an input instruction;
Sending a control signal to the electro-hydraulic proportional valve group controller so that the electro-hydraulic proportional valve group controller adjusts the valve core displacement of the electro-hydraulic proportional valve;
under the condition that the actual valve core displacement of the electro-hydraulic proportional valve is regulated to the target valve core displacement, determining the actual flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism;
and adjusting the magnitude of the control signal until the actual flow reaches the target flow.
2. The method of claim 1, wherein the master controller is further in communication with an angle encoder, and wherein the determining the actual flow of the electro-hydraulic proportional valve corresponding to the target actuator, if the target actuator is a motor-type actuator, comprises:
acquiring the angular speed of the target executing mechanism sent by the angle encoder;
acquiring motor displacement and motor speed ratio of a target executing mechanism;
determining a first actual flow rate according to the angular velocity, the motor displacement of the target actuator and the motor speed ratio;
the first actual flow rate satisfies the formula (1):
wherein Q is 1 For the first actual flow, v g And (3) the motor displacement of the target actuating mechanism, i is the motor speed ratio, and ω is the angular speed.
3. The method of claim 1, wherein the master controller is further in communication with a ram displacement encoder, and wherein in the event that the target actuator is a ram-type actuator, the determining the actual flow of the electro-hydraulic proportional valve corresponding to the target actuator comprises:
acquiring the displacement quantity sent by the oil cylinder displacement encoder;
acquiring the working area and the working time of an oil cylinder of the target executing mechanism;
determining a second actual flow according to the displacement, the working area and the working time length of the oil cylinder of the target executing mechanism;
the second actual flow rate satisfies the formula (2):
wherein Q is 2 And for the second actual flow, A is the working area of the oil cylinder of the target executing mechanism, t is the working time length of the oil cylinder of the target executing mechanism, and s is the displacement.
4. The method of claim 1, wherein the adjusting the magnitude of the control signal until the actual flow reaches the target flow comprises:
comparing the actual flow with the target flow;
reducing the magnitude of the control signal if the actual flow is greater than the target flow;
And increasing the magnitude of the control signal when the actual flow is smaller than the target flow.
5. An electro-hydraulic proportional valve flow compensating device, comprising:
the first determining module is configured to determine a target executing mechanism and target valve core displacement and target flow of the electro-hydraulic proportional valve corresponding to the target executing mechanism according to an input instruction;
the first control module is configured to send a control signal to the electro-hydraulic proportional valve group controller so that the electro-hydraulic proportional valve group controller adjusts the valve core displacement of the electro-hydraulic proportional valve;
a second determination module configured to determine an actual flow rate of the electro-hydraulic proportional valve corresponding to the target actuator, in a case where it is determined that the actual spool displacement of the electro-hydraulic proportional valve is adjusted to the target spool displacement;
and a second control module configured to adjust the magnitude of the control signal until the actual flow reaches the target flow.
6. A master controller, comprising:
a memory configured to store instructions; and
a processor configured to invoke the instructions from the memory and to enable the method of electro-hydraulic proportional valve flow compensation according to any one of claims 1 to 4 when executing the instructions.
7. A system for electrohydraulic proportional valve flow compensation, comprising:
the master controller according to claim 6;
and the electrohydraulic proportional valve group controller is communicated with the main controller, and is configured to receive a control signal sent by the main controller and adjust the valve core displacement of the electrohydraulic proportional valve according to the control signal.
8. The system of claim 7, wherein the system further comprises:
an angle encoder in communication with the master controller configured to acquire an angular velocity of a target actuator;
and the oil cylinder displacement encoder is communicated with the main controller and is configured to acquire displacement.
9. The system of claim 8, wherein the angle encoder comprises a hoist angle encoder and the ram displacement encoder comprises a telescoping ram displacement encoder.
10. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method of electro-hydraulic proportional valve flow compensation of any of claims 1 to 4.
CN202311244989.6A 2023-09-25 2023-09-25 Method, system, main controller and storage medium for flow compensation of electro-hydraulic proportional valve Pending CN117329183A (en)

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Application Number Priority Date Filing Date Title
CN202311244989.6A CN117329183A (en) 2023-09-25 2023-09-25 Method, system, main controller and storage medium for flow compensation of electro-hydraulic proportional valve

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CN117329183A true CN117329183A (en) 2024-01-02

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