WO2012167499A1

WO2012167499A1 - Pressure regulating method and system for a concrete pumping device and the concrete pumping device

Info

Publication number: WO2012167499A1
Application number: PCT/CN2011/078027
Authority: WO
Inventors: 易伟春; 林叔斌; 王帅; 李仁玉
Original assignee: 长沙中联重工科技发展股份有限公司; 湖南中联重科专用车有限责任公司
Priority date: 2011-06-08
Filing date: 2011-08-04
Publication date: 2012-12-13
Also published as: CN102269157A; CN102269157B

Abstract

Disclosed are a pressure regulating method and system for a concrete pumping device and a concrete pumping device, wherein the system comprises a constant pressure pump (1), a pressure sensor (2) for acquiring a pumping pressure value and the change of rate in the pumping pressure, a pressure regulating valve (4) connected to the constant pressure pump (1) and for regulating the distributing pressure output by the constant pressure pump (1), a controller (3) connected between the pressure sensor (2) and the pressure regulating valve (4) and for receiving the pumping pressure value and the changing rate in the pumping pressure obtained by the pressure sensor (2) and for controlling the degree of opening of the pressure regulating valve (4) according to the pumping pressure value and the changing rate in the pumping pressure, and an oscillating oil cylinder (6) connected to the constant pressure pump (1) and for obtaining the distributing pressure output by the constant pressure pump (1) and a pressurized oil from an energy reservoir (5) so as to obtain a reversing pressure for urging a distributing valve. The present solution can achieve, by means of intelligently regulating the distributing pressure output by the constant pressure pump, reduced longitudinal impact on the whole vehicle during a distribution reversing, so as to prolong the service life of hardware devices and save energy.

Description

混凝土泵送设备的压力调节方法、 ***及混凝土泵送设备技术领域本发明涉及混凝土机械领域，具体而言，涉及一种混凝土泵送设备的压力调节方法、 ***及混凝土泵送设备。背景技术随着我国基础建设的迅猛发展，各地的混凝土机械的行业发展和增长也是史无前例的。如何减少泵送过程中的振动，以及如何提高器件的使用寿命和泵送效率直接关系到泵车使用者的经济效益。目前现有技术常采用最大固定的分配压力值对分配换向进行控制，此时的分配换向对整车会产生一个纵向的冲击，且使该冲击会保持在最大，增加了***机械器件的磨损，造成一定的能源浪费。图 1是根据现有技术的混凝土泵送设备的压力调节控制***结构示意图。如图 1所示，现有***由蓄能器 5'内储存的压力油汇同恒压泵 Γ泵出的油一起进入摆动油缸 6'，实现推动 S管分配阀摆动。现有技术通过压力调节阀 4'将恒压泵 1'的恒压泵压力设定为一个固定值，即每次进行泵送操作时，摆缸的换向压力是固定不变的。由上述方案可知当采用固定分配压力进行控制时，尽管能满足工作需要，但由于为了保证高压力泵送时摆缸能动作，故通常该固定值为最大需要的分配压力值。由于分配换向对整车会产生一个纵向的冲击，采用最大固定的分配压力值对分配换向进行控制时，显然会使该冲击保持在最大，易造成整车振动，导致相关硬件器件的使用寿命减少，如蓄能器、摆动油缸、 S管等，同时也造成大量的能量浪费。目前针对相关技术由于在泵送机械工作过程中采用固定的分配压力进行控制，导致混凝土泵送设备硬件器件损耗大、不符合节能要求的问题，目前尚未提出有效的解决方案。发明内容本发明的主要目的在于提供一种混凝土泵送设备的压力调节方法、 ***及混凝土泵送设备，以解决上述相关技术由于在泵送机械工作过程中采用固定的分配压力进行控制，导致混凝土泵送设备硬件器件损耗大、不符合节能要求的问题。为了实现上述目的，根据本发明的一个方面，提供了一种混凝土泵送设备的压力调节***，该混凝土泵送设备的压力调节***包括：恒压泵；压力传感器，用于采集泵送压力值和泵送压力的变化率；压力调节阀，与恒压泵连接，用于调节恒压泵输出的分配压力；控制器，连接在压力传感器和压力调节阀之间，用于接收压力传感器获取到的泵送压力值和泵送压力的变化率，并根据泵送压力值和泵送压力的变化率来控制压力调节阀的调节阀开度；摆动油缸，与恒压泵连接，用于获取恒压泵输出的分配压力和蓄能器的压力油，以获取换向压力来推动分配阀。进一步地，控制器包括：接收装置，用于接收泵送压力值和泵送压力的变化率；处理装置，用于获取泵送压力值在一个或多个压力区间段中对应的第一隶属度，以及泵送压力的变化率在一个或多个变化率区间段中对应的第二隶属度，并根据第一隶属度和第二隶属度获取第一模糊推理参数和第二模糊推理参数，以得到调节阀开度值，其中，通过调节阀开度值来确定调节阀的调节阀开度。进一步地，处理装置包括：比较装置，用于获取任意两个第一隶属度和第二隶属度的隶属度组合，比较隶属度组合中的第一隶属度和第二隶属度，得到的最小值为第一模糊推理参数 ; 查询装置，用于在模糊推理数据库中查询隶属度组合对应的输出值，输出值为第二模糊推理参数。进一步地，处理装置还包括：计算装置，根据如下公式获取调节阀开度值 u: u = _j (Y_l x0_l)/ _j Y_l , 其中， i和 n为自然数，且 l≤i≤n。 BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the field of concrete machinery, and in particular to a pressure regulating method, system and concrete pumping apparatus for a concrete pumping apparatus. BACKGROUND OF THE INVENTION With the rapid development of infrastructure construction in China, the development and growth of concrete machinery in various places is unprecedented. How to reduce the vibration during pumping, and how to improve the service life and pumping efficiency of the device is directly related to the economic benefits of the pump user. At present, the prior art often uses the maximum fixed distribution pressure value to control the distribution commutation. At this time, the distribution commutation will have a longitudinal impact on the whole vehicle, and the impact will be kept at the maximum, which increases the mechanical components of the system. Wear and tear, causing a certain amount of energy waste. 1 is a schematic view showing the structure of a pressure adjustment control system of a concrete pumping apparatus according to the prior art. As shown in Fig. 1, the existing system is connected to the swing cylinder 6' by the pressure oil stored in the accumulator 5' together with the oil pumped by the constant pressure pump to realize the swing of the S tube distribution valve. In the prior art, the constant pressure pump pressure of the constant pressure pump 1' is set to a fixed value by the pressure regulating valve 4', that is, the reversing pressure of the swing cylinder is fixed every time the pumping operation is performed. From the above scheme, it can be known that when the control is performed by the fixed distribution pressure, although the work can be satisfied, since the swing cylinder can be operated in order to ensure high pressure pumping, the fixed value is usually the maximum required distribution pressure value. Since the distribution commutation will have a longitudinal impact on the whole vehicle, when the maximum fixed distribution pressure value is used to control the distribution commutation, it is obvious that the impact will be kept at the maximum, which may cause the whole vehicle to vibrate, resulting in the use of related hardware devices. Reduced life, such as accumulators, swing cylinders, S tubes, etc., also cause a lot of energy waste. At present, the related technology is controlled by a fixed distribution pressure during the working process of the pumping machine, which causes the loss of the hardware components of the concrete pumping equipment and does not meet the requirements of energy saving. At present, no effective solution has been proposed. SUMMARY OF THE INVENTION The main object of the present invention is to provide a pressure regulating method, system and concrete pumping device for a concrete pumping device, to solve the above related technology, which is controlled by a fixed distribution pressure during the working process of the pumping machine, resulting in concrete The pumping equipment hardware device has a large loss and does not meet the energy saving requirements. In order to achieve the above object, according to an aspect of the invention, a pressure regulating system for a concrete pumping apparatus is provided, the pressure regulating system of the concrete pumping apparatus comprising: a constant pressure pump; a pressure sensor for collecting a pumping pressure value And the rate of change of the pumping pressure; the pressure regulating valve, connected to the constant pressure pump, for regulating the distribution pressure of the constant pressure pump output; the controller, connected between the pressure sensor and the pressure regulating valve, for receiving the pressure sensor The pumping pressure value and the rate of change of the pumping pressure, and controlling the opening of the regulating valve of the pressure regulating valve according to the pumping pressure value and the rate of change of the pumping pressure; the oscillating cylinder is connected with the constant pressure pump for obtaining constant The distribution pressure of the pump output and the accumulator pressure oil are used to obtain the reversing pressure to push the dispense valve. Further, the controller includes: receiving means for receiving a pumping pressure value and a rate of change of the pumping pressure; and processing means for obtaining a corresponding first degree of membership of the pumping pressure value in one or more pressure interval segments And a second membership degree corresponding to the rate of change of the pumping pressure in the one or more rate-of-change intervals, and acquiring the first fuzzy inference parameter and the second fuzzy inference parameter according to the first membership degree and the second membership degree, The adjustment valve opening value is obtained, wherein the adjustment valve opening degree of the regulating valve is determined by adjusting the valve opening value. Further, the processing device includes: a comparing device, configured to acquire a membership degree combination of any two first membership degrees and a second membership degree, and compare the first membership degree and the second membership degree in the membership degree combination, and obtain the minimum value The first fuzzy inference parameter is used as the first fuzzy inference parameter; the query device is configured to query the output value corresponding to the membership degree combination in the fuzzy inference database, and the output value is the second fuzzy inference parameter. Further, the processing device further includes: a calculating device, obtaining a regulating valve opening value u according to the following formula: u = _j (Y _l x0 _l ) / _j Y _l , wherein i and n are natural numbers, and l ≤ i ≤ n .

ι=1 ι=1 为了实现上述目的，根据本发明的另一方面，提供了一种混凝土泵送设备的压力调节方法，该混凝土泵送设备的压力调节方法包括：通过压力传感器来采集泵送压力值和泵送压力的变化率；控制器接收泵送压力值和泵送压力的变化率，并根据泵送压力值和泵送压力的变化率来控制压力调节阀的调节阀开度；压力调节阀根据调节阀开度来调节恒压泵输出的分配压力。进一步地，根据泵送压力值和泵送压力的变化率来控制压力调节阀的调节阀开度包括：获取泵送压力值在一个或多个压力区间段中对应的第一隶属度；获取泵送压力的变化率在一个或多个变化率区间段中对应的第二隶属度；根据第一隶属度和第二隶属度获取第一模糊推理参数和第二模糊推理参数；根据第一模糊推理参数和第二模糊推理参数来获取调节阀开度值；通过调节阀开度值来确定调节阀的调节阀开度。进一步地，根据第一隶属度和第二隶属度获取第一模糊推理参数和第二模糊推理参数包括：获取任意两个第一隶属度和第二隶属度的隶属度组合，并确定隶属度组合中的最小值为第一模糊推理参数；在模糊推理数据库中查询隶属度组合对应的输出值，输出值为第二模糊推理参数。进一步地，根据第一模糊推理参数和第二模糊推理参数 ^Y1来获取调节阀开度值包括：根据如下公式获取调节阀开度值 u: 调节阀开度值 u : ;^ ^^^) / !^，其中，ι=1 ι=1 In order to achieve the above object, according to another aspect of the present invention, a pressure adjusting method of a concrete pumping apparatus is provided, and a pressure adjusting method of the concrete pumping apparatus includes: collecting pumping by a pressure sensor The rate of change of the pressure value and the pumping pressure; the controller receives the pumping pressure value and the rate of change of the pumping pressure, and controls the opening of the regulating valve of the pressure regulating valve according to the pumping pressure value and the rate of change of the pumping pressure; The regulating valve adjusts the distribution pressure of the constant pressure pump output according to the opening of the regulating valve. Further, controlling the opening degree of the pressure regulating valve according to the pumping pressure value and the rate of change of the pumping pressure comprises: obtaining a corresponding first degree of membership of the pumping pressure value in one or more pressure interval segments; acquiring the pump Send pressure a second membership degree corresponding to the rate of change in the one or more rate of change interval segments; obtaining the first fuzzy inference parameter and the second fuzzy inference parameter according to the first membership degree and the second membership degree; according to the first fuzzy inference parameter and The second fuzzy inference parameter is used to obtain the adjustment valve opening value; the adjustment valve opening degree of the regulating valve is determined by adjusting the valve opening value. Further, acquiring the first fuzzy inference parameter and the second fuzzy inference parameter according to the first membership degree and the second membership degree comprises: acquiring a membership degree combination of any two first membership degrees and a second membership degree, and determining the membership degree combination The minimum value is the first fuzzy inference parameter; the output value corresponding to the membership degree combination is queried in the fuzzy inference database, and the output value is the second fuzzy inference parameter. Further, obtaining the adjustment valve opening value according to the first fuzzy inference parameter and the second fuzzy inference parameter ^Y1 includes: obtaining the adjustment valve opening value u according to the following formula: adjusting the valve opening value u: ;^ ^^^) / !^, where,

=1 =1 =1 =1

i和 n为自然数，且 l≤i≤n。进一步地，在根据泵送压力值和泵送压力的变化率来控制压力调节阀的调节阀开度之前，方法还包括：按需划分压力区间以获取一个或多个压力区间段；按需划分变化率区间以获取一个或多个变化率区间段；其中，相邻的压力区间段之间包括重合的部分，相邻的变化率区间段之间包括重合的部分。为了实现上述目的，根据本发明的又一方面，提供了一种混凝土泵送设备，该混凝土泵送设备包括上述任意一种混凝土泵送设备的压力调节***。通过本发明，采用恒压泵；压力传感器，用于采集泵送压力值和泵送压力的变化率；压力调节阀，与恒压泵连接，用于调节恒压泵输出的分配压力；控制器，连接在压力传感器和压力调节阀之间，用于接收压力传感器获取到的泵送压力值和泵送压力的变化率，并根据泵送压力值和泵送压力的变化率来控制压力调节阀的调节阀开度；摆动油缸，与恒压泵连接，用于获取恒压泵输出的分配压力和蓄能器的压力油，以获取换向压力来推动分配阀，解决了现有相关技术由于在泵送机械工作过程中采用固定的分配压力进行控制，导致硬件器件损耗大、不符合节能要求的问题，进而实现通过按需智能调节恒压泵输出的分配压力，大大减少分配换向时对整车的纵向冲击，从而延长了硬件器件的寿命，同时达到了很好的节能效果。附图说明此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：图 1是根据现有技术的混凝土泵送设备的压力调节控制***结构示意图；图 2是根据本发明实施例的混凝土泵送设备的压力调节控制***结构示意图；图 3是根据本发明实施例的泵送压力的区间函数示意图；图 4是根据本发明实施例的泵送压力变化率的区间函数示意图；图 5是根据本发明实施例的模糊推理获取的函数示意图；图 6是根据本发明实施例的混凝土泵送设备的压力调节方法的流程图。具体实施方式需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。图 2是根据本发明实施例的混凝土泵送设备的压力调节控制***结构示意图。如图 2所示，该控制***包括：恒压泵 1 ; 压力传感器 2，用于采集泵送压力值和泵送压力的变化率；压力调节阀 4，与所述恒压泵 1连接，用于调节恒压泵 1输出的分配压力；控制器 3，连接在压力传感器 2和压力调节阀 4之间，用于接收压力传感器 2获取到的泵送压力值和泵送压力的变化率，并根据泵送压力值和泵送压力的变化率来控制压力调节阀 4的调节阀开度。本发明上述实施例通过控制器 3来控制压力调节阀 4去调节恒压泵 1的分配压力，在调节的过程中控制输出值直接以电流大小的形式控制分配压力，具体的，可以以泵送压力及其变化值作为分配压力调节的依据，采用模糊控制算法实现分配压力的智能调节，实现对分配压力进行完全平缓的控制，摒弃了分配压力采用固定值进行控制的方式，实现了通过按需智能调节恒压泵 1输出的分配压力，大大减少了分配换向时对整车的纵向冲击，从而延长了硬件器件的寿命，同时达到了很好的节能效果。该调节 ***结构简单且可靠性高。本发明上述控制器 3可以包括：接收装置，用于接收泵送压力值和泵送压力的变化率；处理装置，用于获取泵送压力值在一个或多个压力区间段中对应的第一隶属度，以及泵送压力的变化率在一个或多个变化率区间段中对应的第二隶属度，并根据第一隶属度和第二隶属度获取第一模糊推理参数和第二模糊推理参数，以得到调节阀开度值，其中，通过调节阀开度值来确定调节阀的调节阀开度。优选地，上述实施例中的处理装置可以包括：比较装置，用于获取任意两个第一隶属度和第二隶属度的隶属度组合，比较隶属度组合中的第一隶属度和第二隶属度，得到的最小值为第一模糊推理参数 ; 查询装置，用于在模糊推理数据库中查询隶属度组合对应的输出值，输出值为第二模糊推理参数。优选地，上述实施例钟的处理装置还包括：计算装置，根据如下公式获取调节阀开度值 u: u =∑(Y_I x6|) / Y_I , 其中， i和 n为自然数，且 l≤i≤n。 i and n are natural numbers, and l ≤ i ≤ n. Further, before controlling the opening of the regulating valve of the pressure regulating valve according to the pumping pressure value and the rate of change of the pumping pressure, the method further comprises: dividing the pressure interval as needed to obtain one or more pressure interval segments; The rate of change interval is to obtain one or more rate of change interval segments; wherein adjacent pressure interval segments include coincident portions, and adjacent rate of change interval segments include coincident portions. In order to achieve the above object, according to still another aspect of the present invention, a concrete pumping apparatus including the pressure regulating system of any of the above concrete pumping apparatuses is provided. By the invention, a constant pressure pump is used; a pressure sensor is used for collecting the pumping pressure value and a rate of change of the pumping pressure; a pressure regulating valve is connected with the constant pressure pump for regulating the distribution pressure of the constant pressure pump output; , connected between the pressure sensor and the pressure regulating valve, for receiving the pumping pressure value and the rate of change of the pumping pressure obtained by the pressure sensor, and controlling the pressure regulating valve according to the pumping pressure value and the rate of change of the pumping pressure The adjusting valve opening; the oscillating cylinder is connected with the constant pressure pump, and is used for obtaining the distribution pressure of the constant pressure pump output and the pressure oil of the accumulator to obtain the reversing pressure to push the distribution valve, thereby solving the existing related technology In the process of pumping machinery, the fixed distribution pressure is used for control, which leads to the loss of hardware components and the failure to meet the requirements of energy saving. In addition, the distribution pressure of the output of the constant pressure pump is intelligently adjusted on demand, which greatly reduces the distribution of commutation. The longitudinal impact of the vehicle, thus extending the life of the hardware device, while achieving a very good energy-saving effect. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are set to illustrate,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic structural view of a pressure regulating control system of a concrete pumping apparatus according to the prior art; FIG. 2 is a schematic structural view of a pressure regulating control system of a concrete pumping apparatus according to an embodiment of the present invention; FIG. 4 is a schematic diagram showing the interval function of the pumping pressure change rate according to an embodiment of the present invention; FIG. 5 is a schematic diagram of the function of fuzzy inference acquisition according to an embodiment of the present invention; It is a flow chart of a pressure adjustment method of a concrete pumping apparatus according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments. 2 is a schematic structural view of a pressure adjustment control system of a concrete pumping apparatus according to an embodiment of the present invention. As shown in FIG. 2, the control system comprises: a constant pressure pump 1; a pressure sensor 2 for collecting a pumping pressure value and a rate of change of the pumping pressure; a pressure regulating valve 4 connected to the constant pressure pump 1 For adjusting the distribution pressure of the output of the constant pressure pump 1; the controller 3 is connected between the pressure sensor 2 and the pressure regulating valve 4 for receiving the pumping pressure value and the rate of change of the pumping pressure obtained by the pressure sensor 2, and The adjustment valve opening degree of the pressure regulating valve 4 is controlled in accordance with the pumping pressure value and the rate of change of the pumping pressure. The above embodiment of the present invention controls the pressure regulating valve 4 to adjust the distribution pressure of the constant pressure pump 1 through the controller 3, and controls the output value directly in the form of current to control the distribution pressure during the adjustment process. Specifically, the pumping pressure can be pumped. The pressure and its change value are used as the basis for the distribution pressure adjustment. The fuzzy control algorithm is used to realize the intelligent adjustment of the distribution pressure, which realizes the complete and gentle control of the distribution pressure, and eliminates the way that the distribution pressure is controlled by a fixed value. The intelligent adjustment of the distribution pressure of the output of the constant pressure pump 1 greatly reduces the longitudinal impact on the whole vehicle when the commutation is distributed, thereby prolonging the life of the hardware device and achieving a good energy saving effect. The adjustment system is simple in structure and high in reliability. The controller 3 of the present invention may include: receiving means for receiving a pumping pressure value and a rate of change of the pumping pressure; and processing means for obtaining a pumping pressure value corresponding to the first one of the one or more pressure interval segments a membership degree, and a corresponding second degree of membership in the rate of change of the pumping pressure in the one or more rate-of-change intervals, and acquiring the first fuzzy inference parameter and the second fuzzy inference parameter according to the first membership degree and the second membership degree , to obtain a regulating valve opening value, wherein the regulating valve opening degree of the regulating valve is determined by adjusting the valve opening value. Preferably, the processing apparatus in the above embodiment may include: comparing means, configured to obtain a membership degree combination of any two first membership degrees and a second membership degree, and compare the first membership degree and the second membership in the membership degree combination Degree, the obtained minimum value is the first fuzzy inference parameter; the query device is configured to query the output value corresponding to the membership degree combination in the fuzzy inference database, and the output value is the second fuzzy inference parameter. Preferably, the processing apparatus of the above embodiment clock further comprises: a calculating means for obtaining a regulating valve opening value u according to the following formula: u = ∑(Y _I x6|) / Y _I , wherein i and n are natural numbers, and ≤ i ≤ n.

ι=1 ι=1 具体的，如图 2所示，本申请中的压力调节阀 4可以采用电磁比例阀，通过改变电流调节比例阀开度。 ι=1 ι=1 Specifically, as shown in Fig. 2, the pressure regulating valve 4 of the present application can employ an electromagnetic proportional valve to adjust the proportional valve opening degree by changing the current.

1 ) 该实施例在控制器 3中实现模糊化设计。首先，当处理器的接收装置接收到泵送压力值及其变化率时，将其作为两个输入变量输入至处理装置。如图 3所示，该函数图表示不同的泵送压力值在不同压力区间段上对应的隶属度，控制器 3根据接收到的泵送压力在该函数图中获取对应的隶属度，由于不同压力区间的分段之间有重合的部分，因此在图 3中同一个泵送压力可以对应获得一个或两个隶属度。如图 4所示，该函数图表示不同的泵送压力的变化率在不同的变化率区间段上对应的隶属度，控制器 3根据接收到的泵送压力的变化率在盖函数图中获取对应的隶属度，由于不同变化率区间段的分段之间有重合的部分，因此在图 4中同一个泵送压力的变化率可以对应获得一个或两个隶属度。由上可知，任意一个输入变量最多可能同时属于两个不同的区间段，同时可求出分别对应每个区间段的隶属度大小，故根据输入的泵送压力和泵送压力的变化率可以最多有 4种组合状态，用于模糊推理。具体的，例如：泵送压力最大值为 40兆帕，某时刻采集到的泵送压力值为 10兆帕，则可以定义该泵送的等比参数为 0.25MaxPumpPress，如图 3所示， 0.25的泵送压力值可以分别属于两个区间段：低段 LOW和中段 Mediu,其中，该泵送压力值在 LOW 区间段的函数中对应的隶属度为 0.75，泵送压力值在 Mediu区间段的函数中对应的隶属度为 0.25。同样的，如图 4可知，泵送压力值压力变化率采用与泵送压力类似的方法进行段的划分及隶属度计算，同样可知其最多可能同时属于两个不同段，分别对应两个隶属度值。故针对上述泵送压力值和泵送压力的变化率这两个输入变量，最多可有 4种组合。 2)控制器 3在通过模糊化设计来获取两个输入变量对应的隶属度之后，开始进行模糊推理的设计。首先，如图 5所示定义 5种推理规则输出值。根据模糊化时求出的两个输入变量所属的区间段（共四种组合）进行模糊推理，具体的，可以根据图 3和 4所获得的两个输入变量对应的隶属度，得到 4个模糊推理输出值，即 Yi (i=l， 2， 3， 4)，同时每一组输入变量对应有 4组隶属度组合（因为对应每个区间段都有一个隶属度值），求出每组中的最小值，即 6i (i=l， 2， 3， 4) 值。如图 3-5所示，例如：泵送压力为 0.25MaxPumpPress时，该泵送压力在图 3所示的函数中同时属于两个区间段。包括：低段 LOW和中段 Mediu ，同时可以获得该泵送压力在 LOW区间段上对应的隶属度为 0.75，在 Mediu区间段函数上对应的隶属度为 0.25;泵送压力变化率为 0.25MaxChangRate时，该泵送压力变化率在图 4所示的函数中同时属于两个区间段，包括：负区间段 Negative和零区间段 Zero, 同时可以获得该泵送压力变化率 0.25在 Negative区间段上对应的隶属度为 0.5，在零区间段 Zero上对应的隶属度为 0.5，其组合形式有以下四组： 1) This embodiment implements a fuzzification design in the controller 3. First, when the receiving device of the processor receives the pumping pressure value and its rate of change, it is input to the processing device as two input variables. As shown in FIG. 3, the function graph represents the corresponding membership degrees of different pumping pressure values in different pressure interval segments, and the controller 3 obtains the corresponding membership degree in the function graph according to the received pumping pressure, due to different There is a coincident portion between the segments of the pressure interval, so in Figure 3 the same pumping pressure can be corresponding to one or two degrees of membership. As shown in FIG. 4, the function graph represents the corresponding membership degree of different pumping pressure change rates in different change rate interval segments, and the controller 3 obtains the change rate of the pumping pressure in the cover function map according to the received rate of change. Corresponding membership degree, because there are coincident parts between the segments of different change rate interval segments, the rate of change of the same pumping pressure in Fig. 4 can correspondingly obtain one or two membership degrees. It can be seen from the above that any one of the input variables may belong to two different interval segments at the same time, and the degree of membership corresponding to each segment segment can be obtained at the same time, so the rate of change of the pumping pressure and the pumping pressure according to the input can be the most There are 4 combined states for fuzzy reasoning. Specifically, for example: the maximum pumping pressure is 40 MPa, and the pumping pressure value collected at a certain time is 10 MPa, then the equivalent parameter of the pumping can be defined as 0.25MaxPumpPress, as shown in Figure 3, 0.25 The pumping pressure value can belong to two interval segments: low segment LOW and middle segment Mediu, wherein the pumping pressure value corresponds to a membership degree of 0.75 in the function of the LOW interval segment, and the pumping pressure value is in the Mediu interval segment. The corresponding membership in the function is 0.25. Similarly, as shown in Fig. 4, the pressure change rate of the pumping pressure value is divided into sections and the degree of membership calculation using a method similar to the pumping pressure. It is also known that it may belong to two different sections at the same time, corresponding to two membership degrees. value. Therefore, there are up to four combinations of the two input variables of the pumping pressure value and the pumping pressure change rate. 2) After the controller 3 obtains the membership degree corresponding to the two input variables through the fuzzification design, the design of the fuzzy inference is started. First, five inference rule output values are defined as shown in FIG. According to the interval segments (four combinations) of the two input variables obtained during the fuzzification, the fuzzy reasoning is performed. Specifically, according to the membership degrees of the two input variables obtained in FIGS. 3 and 4, four blurs are obtained. Inferential output value, ie Yi (i=l, 2, 3, 4), and each set of input variables corresponds to 4 sets of membership degrees (because there is one membership value for each interval segment), find each group The minimum value in , which is the value of 6i (i=l, 2, 3, 4). As shown in Figure 3-5, for example: When the pumping pressure is 0.25MaxPumpPress, the pumping pressure belongs to the two interval segments in the function shown in Figure 3. Including: low section LOW and middle section Mediu, at the same time, the corresponding membership degree of the pumping pressure in the LOW interval is 0.75, and the corresponding membership degree in the Mediu interval function is 0.25; when the pumping pressure change rate is 0.25 MaxChangRate The pumping pressure change rate belongs to two interval segments in the function shown in FIG. 4, including: Negative interval segment Negative and zero interval segment Zero, and the pumping pressure change rate 0.25 can be obtained corresponding to the Negative interval segment. The membership degree is 0.5, and the corresponding membership degree on the zero interval segment Zero is 0.5. The combination form has the following four groups:

( 1 ) "LOW, Negative", 对应隶属度组合为" 0.75， 0.5"，最小值为 0.5，即 Θ1。根据规则可得出一个输出值 Y1 ; (1) "LOW, Negative", the corresponding membership degree is "0.75, 0.5", and the minimum value is 0.5, which is Θ1. According to the rules, an output value Y1 can be obtained;

(2) "Mediu, Negative", 对应隶属度组合为" 0.25， 0.5"，最小值为 0.25，即 Θ2。根据规则可得出一个输出值 Υ2; (2) "Mediu, Negative", the corresponding membership degree is "0.25, 0.5", and the minimum value is 0.25, which is Θ2. According to the rules, an output value Υ2 can be obtained;

(3 ) "LOW, Zero", 对应隶属度组合为" 0.75， 0.5"，最小值为 0.5，即 Θ3。根据规则可得出一个输出值 Υ3 ; (4) "Mediu, Zero", 对应隶属度组合为" 0.25， 0.5"，最小值为 0.25，即 Θ4。根据规则可得出一个输出值 Υ4。上述实施例，通过在模糊推理数据库中查询各个隶属度组合，从而获得对应的输出值 Y1-Y4, 本申请中的模糊推理数据库包括两个输入变量（泵送压力值和泵送压力的变化率）对应的隶属度的任意组合及其对应的模糊推理参数，其中，第一个输入变量（泵送压力值）可以包括 4个区间段，第二个输入变量可以（泵送压力的变化率）包括 3个区间段，两个输入变量一共可以获得 12组隶属度组合，模糊推理数据库为预先设定的包括该 12组隶属度组合及其对应的输出值，每一组中的一个或多个隶属度可以根据经验值获取，区间段中的隶属度划分越细致得到的模糊推理结果越准确。上述实施例采用可通过电磁比例阀进行比例调节的恒压泵 1来控制分配压力的泵送机械，通过检测泵送压力，自动匹配最合理的分配压力。 (3) "LOW, Zero", the corresponding membership degree is "0.75, 0.5", and the minimum value is 0.5, that is, Θ3. According to the rules, an output value Υ3 can be obtained; (4) "Mediu, Zero", the corresponding membership degree is "0.25, 0.5", and the minimum value is 0.25, that is, Θ4. According to the rules, an output value Υ4 can be derived. In the above embodiment, the corresponding output values Y1-Y4 are obtained by querying each membership degree combination in the fuzzy inference database, and the fuzzy inference database in the present application includes two input variables (the pumping pressure value and the pumping pressure change rate). Any combination of the corresponding membership degrees and their corresponding fuzzy inference parameters, wherein the first input variable (pumping pressure value) may include 4 interval segments, and the second input variable may (the rate of change of pumping pressure) Including three interval segments, a total of 12 membership degrees can be obtained from the two input variables, and the fuzzy inference database is preset to include the 12 groups of membership degrees and their corresponding output values, one or more in each group. The membership degree can be obtained according to the empirical value, and the more detailed the membership degree division in the interval segment, the more accurate the fuzzy reasoning result is. The above embodiment employs a constant pressure pump 1 which can be proportionally adjusted by an electromagnetic proportional valve to control the pumping mechanism for distributing the pressure, and automatically detects the most reasonable distribution pressure by detecting the pumping pressure.

3 ) 控制器 3在完成模糊推理之后开始执行去模糊化。去模糊化采用了重心法，如图 3-5所示的实施例中，该计算公式如下：输出的调节阀开度值为 u=(Yl* Θ1+ Υ2* Θ2+ Y3* Θ3+ Υ4* Θ4)/ (Y1+ Y2+ Y3+ Y4)。本申请上述实施例将经过去模糊化的输出计算值，转换为电流的形式，用以调节压力体调节阀的调节阀开度，从而控制恒压泵 1输出的分配压力，即控制分配换向压力，实现分配压力自动跟随泵送压力变化而进行变化的智能调节。本申请上述实施例钟还可以包括蓄能器 5; 摆动油缸 6，用于获取恒压泵 1输出的分配压力和蓄能器 5的压力油，以获取换向压力来推动分配阀。本申请发明还可以采用分段设计的方式将泵送压力值进行分段，使每一段泵送压力对应一个分配压力值。该分段设计方式比较图 3-5所示实施例的模糊控制算法而言，程序设计简单，当分段较多时，能达到很好的调节效果，但存在一个缺点，在两个分段的交界处会出现一个分配压力跳变的过程，会产生一定的冲击力。具体的，采用分段设计方式时，图 3中的函数图的不同压力区间之间不存在重合的部分，因此，当接收到一个泵送压力值时仅会在一个区间上获得一个隶属度，同理，图 4中。由于不同变化率区间段的分段之间没有重合的部分，因此在图 4中同一个泵送压力的变化率仅可以对应获得一个隶属度。因此，针对同一个泵送压力及其变化率仅获得一个隶属度组合，因此省去了去模糊化的过程，可以直接获得该分配压力。模糊控制算法复杂，但可以优化采用分段形式对分配进行调试时交界点压力跳变的问题。优选地，当泵送压力持续出现压力过大或压力传感器 2损坏，导致泵送压力为零，此时分配压力将自动调整为一个固定值。。图 6是根据本发明实施例的混凝土泵送设备的压力调节方法的流程图，如图 6所示该方法包括如下步骤：步骤 S102, 通过图 2中的压力传感器 2来采集泵送压力值和泵送压力的变化率。步骤 S104, 通过图 2中的控制器 3来接收泵送压力值和泵送压力的变化率，来实现根据泵送压力值和泵送压力的变化率来控制压力调节阀 4的调节阀开度。步骤 S106,通过图 2中的压力调节阀 4根据调节阀开度来调节恒压泵 1输出的分配压力。本发明上述实施例通过控制器 3来控制压力调节阀 4去调节恒压泵 1的分配压力，可以以泵送压力及其变化值作为分配压力调节的依据，采用模糊控制算法实现分配压力的智能调节，实现对分配压力进行完全平缓的控制，摒弃了分配压力采用固定值进行控制的方式，实现了通过按需智能调节恒压泵 1输出的分配压力，大大减少了分配换向时对整车的纵向冲击，从而延长了硬件器件的寿命，同时达到了很好的节能效果。该调节***结构简单且可靠性高。本申请实施例中，根据泵送压力值和泵送压力的变化率来控制压力调节阀 4的调节阀开度包括：获取泵送压力值在一个或多个压力区间段中对应的第一隶属度；获取泵送压力的变化率在一个或多个变化率区间段中对应的第二隶属度；根据第一隶属度和第二隶属度获取第一模糊推理参数和第二模糊推理参数；根据第一模糊推理参数和第二模糊推理参数来获取调节阀开度值；通过调节阀开度值来确定调节阀的调节阀开度。优选地，根据第一隶属度和第二隶属度获取第一模糊推理参数和第二模糊推理参数包括：获取任意两个第一隶属度和第二隶属度的隶属度组合，并确定隶属度组合中的最小值为第一模糊推理参数 ; 在模糊推理数据库中查询隶属度组合对应的输出值，输出值为第二模糊推理参数。优选地，根据第一模糊推理参数和第二模糊推理参数来获取调节阀开度值包括：根据如下公式获取调节阀开度值 u: 调节阀开度值 u : ;^ ^^^) / ! ^，其中， i ι=1 ι=1 3) The controller 3 starts performing defuzzification after completing the fuzzy inference. The decentering method uses the center of gravity method. In the embodiment shown in Figure 3-5, the calculation formula is as follows: The output valve opening value is u=(Yl* Θ1+ Υ2* Θ2+ Y3* Θ3+ Υ4* Θ4)/ (Y1+ Y2+ Y3+ Y4). The above embodiment of the present application converts the defuzzified output calculated value into a current form for adjusting the opening of the regulating valve of the pressure body regulating valve, thereby controlling the distribution pressure of the output of the constant pressure pump 1, that is, controlling the distribution and commutation. Pressure, the intelligent adjustment of the distribution pressure automatically changes in accordance with the pumping pressure changes. The above embodiment clock of the present application may further include an accumulator 5; a swing cylinder 6 for acquiring the distribution pressure of the output of the constant pressure pump 1 and the pressure oil of the accumulator 5 to obtain the commutation pressure to push the distribution valve. The invention of the present application can also segment the pumping pressure value in a segmented design such that each pumping pressure corresponds to a distributed pressure value. Comparing the segment design method with the fuzzy control algorithm of the embodiment shown in FIG. 3-5, the program design is simple, and when there are many segments, a good adjustment effect can be achieved, but there is a disadvantage in two segments. A process of distributing pressure jumps at the junction will produce a certain impact. Specifically, when the segmented design mode is adopted, there is no coincident portion between different pressure intervals of the function graph in FIG. 3, and therefore, when a pumping pressure value is received, only one membership degree is obtained in one interval. Similarly, in Figure 4. Since there is no coincident portion between the segments of the different rate of change intervals, the rate of change of the same pumping pressure in FIG. 4 can only be obtained correspondingly to one membership degree. Therefore, only one membership combination is obtained for the same pumping pressure and its rate of change, thus eliminating the process of defuzzification, which can be directly obtained. The fuzzy control algorithm is complex, but it can optimize the problem of the pressure jump at the junction point when debugging the allocation in segmented form. Preferably, when the pumping pressure continues to be excessively pressurized or the pressure sensor 2 is damaged, the pumping pressure is zero, and the dispensing pressure is automatically adjusted to a fixed value. . 6 is a flow chart of a pressure adjustment method of a concrete pumping apparatus according to an embodiment of the present invention. As shown in FIG. 6, the method includes the following steps: Step S102, collecting a pumping pressure value by the pressure sensor 2 in FIG. The rate of change of pumping pressure. Step S104, receiving the pumping pressure value and the rate of change of the pumping pressure by the controller 3 in FIG. 2, thereby controlling the opening of the regulating valve of the pressure regulating valve 4 according to the pumping pressure value and the rate of change of the pumping pressure. . In step S106, the distribution pressure of the output of the constant pressure pump 1 is adjusted by the pressure regulating valve 4 in Fig. 2 in accordance with the opening degree of the regulating valve. The above embodiment of the present invention controls the pressure regulating valve 4 to adjust the distribution pressure of the constant pressure pump 1 through the controller 3, and can use the pumping pressure and its variation value as the basis for the distribution pressure adjustment, and adopts the fuzzy control algorithm to realize the intelligence of the distribution pressure. The adjustment realizes the complete gentle control of the distribution pressure, and the method of controlling the distribution pressure by a fixed value is abandoned, thereby realizing the intelligent adjustment of the distribution pressure of the output of the constant pressure pump 1 on demand, and greatly reducing the distribution of the commutation to the whole vehicle. The longitudinal impact, which extends the life of the hardware device, while achieving a very good energy saving effect. The adjustment system is simple in structure and high in reliability. In the embodiment of the present application, controlling the opening degree of the pressure regulating valve 4 according to the pumping pressure value and the rate of change of the pumping pressure includes: obtaining a first subordinate corresponding to the pumping pressure value in one or more pressure interval segments Obtaining a second membership degree corresponding to a rate of change of the pumping pressure in one or more rate-of-change intervals; obtaining a first fuzzy inference parameter and a second fuzzy inference parameter according to the first membership degree and the second membership degree; The first fuzzy inference parameter and the second fuzzy inference parameter are used to obtain the adjustment valve opening value; and the regulating valve opening degree of the regulating valve is determined by adjusting the valve opening value. Preferably, obtaining the first fuzzy inference parameter and the second fuzzy inference parameter according to the first membership degree and the second membership degree comprises: acquiring a membership degree combination of any two first membership degrees and a second membership degree, and determining the membership degree combination The minimum value is the first fuzzy inference parameter; the output value corresponding to the membership degree combination is queried in the fuzzy inference database, and the output value is the second fuzzy inference parameter. Preferably, obtaining the adjustment valve opening value according to the first fuzzy inference parameter and the second fuzzy inference parameter comprises: obtaining the adjustment valve opening value u according to the following formula: adjusting the valve opening value u: ;^ ^^^) / ! ^, where, i ι=1 ι=1

和 n为自然数，且 l≤i≤n。上述方法实施例通过在控制器 3中使用模糊控制算法来计算分配压力输出值，具体是采用 ZER-ORDER方法实现模糊化设计、模糊推理以及区模糊化。具体的，在实现模糊化设计的过程中，如图 3和 4所示，控制器 3根据接收到的泵送压力在图 3所示的函数图中获取对应的隶属度，在图 4所示的泵送压力的变化率在盖函数图中获取对应的隶属度，由于不同压力区间的分段之间有重合的部分，因此在图 3中同一个泵送压力可以对应获得一个或两个隶属度，同理，在图 4中同一个泵送压力的变化率可以对应获得一个或两个隶属度。由上可知，任意一个输入变量最多可能同时属于两个不同的区间段，同时可求出分别对应每个区间段的隶属度大小，故根据输入的泵送压力和泵送压力的变化率可以最多有 4种组合状态，用于模糊推理。具体的，例如：泵送压力最大值为 40兆帕，某时刻采集到的泵送压力值为 10兆帕，则可以定义该泵送的等比参数为 0.25MaxPumpPress，如图 3所示， 0.25的泵送压力值可以分别属于两个区间段：低段 LOW和中段 Mediu,其中，该泵送压力值在 LOW 区间段的函数中对应的隶属度为 0.75，泵送压力值在 Mediu区间段的函数中对应的隶属度为 0.25。在实现模糊推理的设计的过程中，首先，如图 5所示定义 5种推理规则输出值。根据模糊化时求出的两个输入变量所属的区间段（共四种组合）进行模糊推理，具体的，可以根据图 3和 4所获得的两个输入变量对应的隶属度，得到 4个模糊推理输出值，即 Yi (i=l， 2， 3， 4)，同时每一组输入变量对应有 4组隶属度组合（因为对应每个区间段都有一个隶属度值），求出每组中的最小值，即 6i (i=l， 2， 3， 4) 值。具体的，泵送压力为 0.25MaxPumpPress时，该泵送压力在图 3所示的函数中同时属于两个区间段。包括：低段 LOW和中段 Mediu ，同时可以获得该泵送压力在 LOW 区间段上对应的隶属度为 0.75，在 Mediu区间段函数上对应的隶属度为 0.25; 泵送压力变化率为 0.25MaxChangRate时，该泵送压力变化率在图 4所示的函数中同时属于两个区间段，包括：负区间段 Negative和零区间段 Zero, 同时可以获得该泵送压力变化率 0.25在 Negative区间段上对应的隶属度为 0.5，在零区间段 Zero上对应的隶属度为 0.5，其组合形式有以下四组： And n are natural numbers, and l ≤ i ≤ n. The above method embodiment calculates the distribution pressure output value by using the fuzzy control algorithm in the controller 3, specifically using the ZER-ORDER method to realize the fuzzy design, the fuzzy reasoning, and the area blurring. Specifically, in the process of implementing the fuzzification design, as shown in FIGS. 3 and 4, the controller 3 acquires the corresponding membership degree in the function diagram shown in FIG. 3 according to the received pumping pressure, as shown in FIG. The rate of change of the pumping pressure is obtained in the cover function diagram. Since there are coincident parts between the segments of different pressure intervals, the same pumping pressure in Fig. 3 can correspondingly obtain one or two subordinates. Similarly, in the same manner, the rate of change of the same pumping pressure in Fig. 4 can be corresponding to one or two degrees of membership. It can be seen from the above that any one of the input variables may belong to two different interval segments at the same time, and the degree of membership corresponding to each segment segment can be obtained at the same time, so the rate of change of the pumping pressure and the pumping pressure according to the input can be the most There are 4 combined states for fuzzy reasoning. Specifically, for example: the maximum pumping pressure is 40 MPa, and the pumping pressure value collected at a certain time is 10 MPa, then the equivalent parameter of the pumping can be defined as 0.25MaxPumpPress, as shown in Figure 3, 0.25 The pumping pressure value can belong to two interval segments: low segment LOW and middle segment Mediu, wherein the pumping pressure value corresponds to a membership degree of 0.75 in the function of the LOW interval segment, and the pumping pressure value is in the Mediu interval segment. The corresponding membership in the function is 0.25. In the process of implementing the design of fuzzy reasoning, first, five kinds of inference rule output values are defined as shown in FIG. 5. According to the interval segments (four combinations) of the two input variables obtained during the fuzzification, the fuzzy reasoning is performed. Specifically, according to the membership degrees of the two input variables obtained in FIGS. 3 and 4, four blurs are obtained. Inferential output value, ie Yi (i=l, 2, 3, 4), and each set of input variables corresponds to 4 sets of membership degrees (because there is one membership value for each interval segment), find each group The minimum value in , which is the value of 6i (i=l, 2, 3, 4). Specifically, when the pumping pressure is 0.25 Max PumpPress, the pumping pressure belongs to two interval segments in the function shown in FIG. Including: low section LOW and middle section Mediu, at the same time, the corresponding membership degree of the pumping pressure in the LOW interval is 0.75, and the corresponding membership degree in the Mediu interval function is 0.25; when the pumping pressure change rate is 0.25 MaxChangRate The pumping pressure change rate belongs to two interval segments in the function shown in FIG. 4, including: Negative interval segment Negative and zero interval segment Zero, and the pumping pressure change rate 0.25 can be obtained corresponding to the Negative interval segment. The membership degree is 0.5, and the corresponding membership degree on the zero interval segment Zero is 0.5. The combination form has the following four groups:

( 1 ) "LOW, Negative", 对应隶属度组合为" 0.75， 0.5"，最小值为 0.5，即 Θ1。根据规则可得出一个输出值 Y1 ; (2) "Mediu, Negative", 对应隶属度组合为" 0.25， 0.5"，最小值为 0.25，即 Θ2。根据规则可得出一个输出值 Υ2; (1) "LOW, Negative", the corresponding membership degree is "0.75, 0.5", and the minimum value is 0.5, which is Θ1. According to the rules, an output value Y1 can be obtained; (2) "Mediu, Negative", the corresponding membership degree is "0.25, 0.5", and the minimum value is 0.25, that is, Θ2. According to the rules, an output value Υ2 can be obtained;

(3 ) "LOW, Zero", 对应隶属度组合为" 0.75， 0.5"，最小值为 0.5，即 Θ3。根据规则可得出一个输出值 Υ3 ; (4) "Mediu, Zero", 对应隶属度组合为" 0.25， 0.5"，最小值为 0.25, 即 Θ4。根据规则可得出一个输出值 Υ4。上述实施例采用可通过电磁比例阀进行比例调节的恒压泵来控制分配压力的泵送机械，通过检测泵送压力，自动匹配最合理的分配压力。在完成模糊推理的处理过程之后开始执行去模糊化。即可以通过公式 u = (Y₁ xS) / Y₁获取输出的调节阀开度值，本申请图 3-6所示的实施例中，输出 =1 =1 (3) "LOW, Zero", the corresponding membership degree is "0.75, 0.5", and the minimum value is 0.5, that is, Θ3. According to the rule, an output value Υ3 can be obtained; (4) "Mediu, Zero", the corresponding membership degree is "0.25, 0.5", and the minimum value is 0.25, that is, Θ4. According to the rules, an output value Υ4 can be derived. The above embodiment employs a constant pressure pump that can be proportionally adjusted by an electromagnetic proportional valve to control the pumping mechanism that distributes the pressure, and automatically detects the most reasonable distribution pressure by detecting the pumping pressure. Defuzzification begins after the process of fuzzy inference is completed. That is, the output valve opening degree value can be obtained by the formula u = (Y ₁ xS) / Y ₁ . In the embodiment shown in FIG. 3-6 of the present application, the output=1=1.

的调节阀开度值为 u=(Yl* Θ1+ Y2* Θ2+ Y3* Θ3+ Y4* Θ4)/ (Y1+ Y2+ Y3+ Y4)。本申请上述实施例将经过去模糊化的输出计算值，转换为电流的形式，控制分配换向压力，实现分配压力自动跟随泵送压力变化而进行变化的智能调节。本申请发明还可以采用分段设计的方式将泵送压力值进行分段，使每一段泵送压力对应一个分配压力值。该分段设计方式比较图 3-5所示实施例的模糊控制算法而言，程序设计简单，当分段较多时，能达到很好的调节效果，但存在一个缺点，在两个分段的交界处会出现一个分配压力跳变的过程，会产生一定的冲击力。优选地，在根据泵送压力值和泵送压力的变化率来控制压力调节阀 4的调节阀开度之前，方法还包括：按需划分压力区间以获取一个或多个压力区间段；按需划分变化率区间以获取一个或多个变化率区间段；其中，相邻的压力区间段之间包括重合的部分，相邻的变化率区间段之间包括重合的部分。上述实施例，由于研发人员可以根据经验值划分压力区段和变化率区间段，因此可以根据实际需要来确定区间段的划分，区间段划分越细致得到的模糊推理结果越准确，相应得到的分配压力值越准确。本申请还可以提供一种混凝土泵送设备，该混凝土泵送设备可以包括上述任意一种混凝土泵送设备的压力调节***的实施方式。需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机***中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。从以上的描述中，可以看出，本发明实现了如下技术效果: The opening value of the regulating valve is u=(Yl* Θ1+ Y2* Θ2+ Y3* Θ3+ Y4* Θ4)/ (Y1+ Y2+ Y3+ Y4). The above embodiment of the present application converts the defuzzified output calculation value into a current form, controls the distribution of the commutation pressure, and realizes the intelligent adjustment of the distribution pressure automatically following the change of the pumping pressure. The invention of the present application can also segment the pumping pressure value in a segmented design such that each pumping pressure corresponds to a distributed pressure value. Comparing the segment design method with the fuzzy control algorithm of the embodiment shown in FIG. 3-5, the program design is simple, and when there are many segments, a good adjustment effect can be achieved, but there is a disadvantage in two segments. A process of distributing pressure jumps at the junction will produce a certain impact. Preferably, before controlling the opening of the regulating valve of the pressure regulating valve 4 according to the pumping pressure value and the rate of change of the pumping pressure, the method further comprises: dividing the pressure interval as needed to obtain one or more pressure interval segments; The change rate interval is divided to obtain one or more change rate interval segments; wherein adjacent pressure interval segments include coincident portions, and adjacent change rate interval segments include coincident portions. In the above embodiment, since the R&D personnel can divide the pressure section and the change rate interval segment according to the empirical value, the division of the interval segment can be determined according to actual needs, and the more detailed the segmentation segmentation, the more accurate the fuzzy inference result is obtained, and the corresponding allocation is obtained. The more accurate the pressure value. The present application may also provide a concrete pumping apparatus that may include an embodiment of a pressure regulating system of any of the concrete pumping devices described above. It should be noted that the steps shown in the flowchart of the accompanying drawings may be performed in a computer system such as a set of computer executable instructions, and, although the logical order is shown in the flowchart, in some cases, The steps shown or described may be performed in an order different than that herein. From the above description, it can be seen that the present invention achieves the following technical effects:

1：实现分配压力以泵送压力为依据，按实际需求调节压力。将泵送机械分配压力由一个固定值改变为一个可智能调节的变化值，大大减少了分配换向时对整车的纵向冲击，延长相关器件的使用寿命。达到很好的节能效果。 2：采用模糊控制算法实现分配压力的智能调节。取泵送压力值和泵送压力变化值作为模糊控制的输入变量，很好的实现了分配压力对泵送压力的跟踪调节。 1: Realize the distribution pressure based on the pumping pressure and adjust the pressure according to actual demand. The pumping mechanical distribution pressure is changed from a fixed value to an intelligently adjustable change value, which greatly reduces the longitudinal impact on the whole vehicle when the commutation is distributed, and prolongs the service life of the related device. Achieve good energy saving results. 2: The fuzzy control algorithm is used to realize the intelligent adjustment of the distribution pressure. Taking the pumping pressure value and the pumping pressure change value as the input variables of the fuzzy control, the tracking pressure adjustment of the pumping pressure is well realized.

3：采用输出压力可比例调节的恒压泵，通过电流值调节压力值，实现了模糊控制输出值（电流值）与分配压力的关联。硬件控制模式简单，无需增加太大成本。显然，本领域的技术人员应该明白，上述的本发明的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，可选地，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本发明不限制于任何特定的硬件和软件结合。以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。 3: The constant pressure pump whose output pressure is proportionally adjusted is used to adjust the pressure value by the current value to realize the correlation between the fuzzy control output value (current value) and the distribution pressure. The hardware control mode is simple, without adding too much cost. Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general-purpose computing device, which can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in the storage device by the computing device, or they may be separately fabricated into individual integrated circuit modules, or they may be Multiple modules or steps are made into a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software. The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

权利要求书 Claim

1. 一种混凝土泵送设备的压力调节***，其特征在于，包括： A pressure regulating system for a concrete pumping apparatus, comprising:

恒压泵； Constant pressure pump

压力传感器，用于采集泵送压力值和泵送压力的变化率； a pressure sensor for collecting a pumping pressure value and a rate of change of the pumping pressure;

压力调节阀，与所述恒压泵连接，用于调节所述恒压泵输出的分配压力；控制器，连接在所述压力传感器和所述压力调节阀之间，用于接收所述压力传感器获取到的所述泵送压力值和所述泵送压力的变化率，并根据所述泵送压力值和所述泵送压力的变化率来控制所述压力调节阀的调节阀开度； a pressure regulating valve connected to the constant pressure pump for regulating a distribution pressure of the constant pressure pump output; a controller connected between the pressure sensor and the pressure regulating valve for receiving the pressure sensor Obtaining the pumping pressure value and the rate of change of the pumping pressure, and controlling a regulating valve opening degree of the pressure regulating valve according to the pumping pressure value and a rate of change of the pumping pressure;

摆动油缸，与所述恒压泵连接，用于获取所述恒压泵输出的所述分配压力和蓄能器的压力油，以获取换向压力来推动分配阀。 a swing cylinder connected to the constant pressure pump for obtaining the distribution pressure of the constant pressure pump output and the pressure oil of the accumulator to obtain a commutation pressure to push the distribution valve.

2. 根据权利要求 1所述的***，其特征在于，所述控制器包括： 2. The system according to claim 1, wherein the controller comprises:

接收装置，用于接收所述泵送压力值和所述泵送压力的变化率；处理装置，用于获取所述泵送压力值在一个或多个压力区间段中对应的第一隶属度，以及所述泵送压力的变化率在一个或多个变化率区间段中对应的第二隶属度，并根据所述第一隶属度和第二隶属度获取第一模糊推理参数和第二模糊推理参数 Y,，以得到所述调节阀开度值，其中，通过所述调节阀开度值来确定所述调节阀的所述调节阀开度。 a receiving device, configured to receive the pumping pressure value and a rate of change of the pumping pressure; and a processing device, configured to acquire a first degree of membership of the pumping pressure value in one or more pressure interval segments, And a corresponding second degree of membership of the rate of change of the pumping pressure in the one or more rate of change intervals, and acquiring the first fuzzy inference parameter and the second fuzzy reasoning according to the first membership degree and the second membership degree a parameter Y, to obtain the regulator valve opening value, wherein the regulator valve opening degree of the regulator valve is determined by the regulator valve opening value.

3. 根据权利要求 2所述的***，其特征在于，所述处理装置包括： 3. The system according to claim 2, wherein the processing device comprises:

比较装置，用于获取任意两个所述第一隶属度和所述第二隶属度的隶属度组合，比较所述隶属度组合中的所述第一隶属度和所述第二隶属度，得到的最小值为所述第一模糊推理参数；查询装置，用于在模糊推理数据库中查询所述隶属度组合对应的输出值，所述输出值为所述第二模糊推理参数。 a comparison device, configured to obtain a membership degree combination of any two of the first membership degree and the second membership degree, and compare the first membership degree and the second membership degree in the membership degree combination to obtain The minimum value is the first fuzzy inference parameter; the querying device is configured to query, in the fuzzy inference database, an output value corresponding to the membership degree combination, and the output value is the second fuzzy inference parameter.

4. 根据权利要求 3所述的***，其特征在于，所述处理装置还包括：计算装置，根据如下公式获取所述调节阀开度值 u: u =∑(Y_I x^_I) /∑Y_I , 4. The system according to claim 3, wherein the processing device further comprises: a calculating device that obtains the opening value u of the regulating valve according to the following formula: u = ∑ (Y _I x ^ _I ) / ∑ Y _I ,

ι=1 ι=1 其中， i和 n为自然数，且 l≤i≤n。 ι=1 ι=1 where i and n are natural numbers, and l ≤ i ≤ n.

5. 一种混凝土泵送设备的压力调节方法，其特征在于，包括：通过压力传感器来采集泵送压力值和泵送压力的变化率； A pressure regulating method for a concrete pumping device, comprising: collecting a pumping pressure value and a rate of change of a pumping pressure by a pressure sensor;

控制器接收所述泵送压力值和所述泵送压力的变化率，并根据所述泵送压力值和所述泵送压力的变化率来控制压力调节阀的调节阀开度； The controller receives the pumping pressure value and the rate of change of the pumping pressure, and controls the opening of the regulating valve of the pressure regulating valve according to the pumping pressure value and the rate of change of the pumping pressure;

压力调节阀根据所述调节阀开度来调节恒压泵输出的分配压力。 The pressure regulating valve adjusts the distribution pressure of the constant pressure pump output according to the adjustment valve opening degree.

6. 根据权利要求 5所述的方法，其特征在于，根据所述泵送压力值和所述泵送压力的变化率来控制压力调节阀的调节阀开度包括：获取所述泵送压力值在一个或多个压力区间段中对应的第一隶属度；获取所述泵送压力的变化率在一个或多个变化率区间段中对应的第二隶属度； 6. The method according to claim 5, wherein controlling the valve opening of the pressure regulating valve according to the pumping pressure value and the rate of change of the pumping pressure comprises: acquiring the pumping pressure value Corresponding first membership degree in one or more pressure interval segments; acquiring a second membership degree corresponding to a rate of change of the pumping pressure in one or more rate of change interval segments;

根据所述第一隶属度和第二隶属度获取第一模糊推理参数和第二模糊推理参数 Y_{1 ;} 根据所述第一模糊推理参数和所述第二模糊推理参数来获取所述调节阀开度值； Obtaining a first fuzzy inference parameter and a second fuzzy inference parameter Y ₁ according to the first membership degree and the second membership degree _; acquiring the adjustment valve according to the first fuzzy inference parameter and the second fuzzy inference parameter Degree value

通过所述调节阀开度值来确定所述调节阀的所述调节阀开度。 The regulator valve opening of the regulator valve is determined by the regulator valve opening value.

7. 根据权利要求 6所述的方法，其特征在于，根据所述第一隶属度和第二隶属度获取第一模糊推理参数 ^和第二模糊推理参数包括：获取任意两个所述第一隶属度和所述第二隶属度的隶属度组合，并确定所述隶属度组合中的最小值为所述第一模糊推理参数；在模糊推理数据库中查询所述隶属度组合对应的输出值，所述输出值为所述第二模糊推理参数 Y,。 The method according to claim 6, wherein the acquiring the first fuzzy inference parameter and the second fuzzy inference parameter according to the first membership degree and the second membership degree comprises: acquiring any two of the first Combining the membership degree with the membership degree of the second membership degree, and determining that the minimum value in the membership degree combination is the first fuzzy inference parameter; querying the output value corresponding to the membership degree combination in the fuzzy inference database, The output value is the second fuzzy inference parameter Y.

8. 根据权利要求 7所述的方法，其特征在于，根据所述第一模糊推理参数和所述第二模糊推理参数来获取所述调节阀开度值包括：根据如下公式获取所述调节阀开度值 u: 调节阀开度值 u : ! ^^^) / ! ^，其中， i和 n为自然数，且 l≤i≤n。根据权利要求 8所述的方法，其特征在于，在根据所述泵送压力值和所述泵送压力的变化率来控制压力调节阀的调节阀开度之前，所述方法还包括： The method according to claim 7, wherein the obtaining the adjustment valve opening value according to the first fuzzy inference parameter and the second fuzzy inference parameter comprises: acquiring the regulating valve according to the following formula The opening value u: adjusts the valve opening value u : ! ^^^) / ! ^, where i and n are natural numbers, and l ≤ i ≤ n. The method according to claim 8, wherein the method further comprises: before controlling the opening of the regulating valve of the pressure regulating valve according to the pumping pressure value and the rate of change of the pumping pressure, the method further comprising:

按需划分压力区间以获取一个或多个所述压力区间段； Dividing the pressure interval as needed to obtain one or more of the pressure interval segments;

按需划分变化率区间以获取一个或多个所述变化率区间段； Dividing the rate of change interval as needed to obtain one or more of the rate of change intervals;

其中，相邻的所述压力区间段之间包括重合的部分，相邻的所述变化率区间段之间包括重合的部分。一种混凝土泵送设备，其特征在于，包括：权利要求 1-4中任一项所述的混凝土泵送设备的压力调节***。 Wherein adjacent pressure section segments include coincident portions, and adjacent ones of said rate of change intervals include coincident portions. A concrete pumping apparatus, comprising: the pressure regulating system of the concrete pumping apparatus according to any one of claims 1 to 4.