CN116906393A - Low-cost high-precision hydraulic synchronization system suitable for extra heavy load - Google Patents
Low-cost high-precision hydraulic synchronization system suitable for extra heavy load Download PDFInfo
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- CN116906393A CN116906393A CN202311057649.2A CN202311057649A CN116906393A CN 116906393 A CN116906393 A CN 116906393A CN 202311057649 A CN202311057649 A CN 202311057649A CN 116906393 A CN116906393 A CN 116906393A
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- 238000005303 weighing Methods 0.000 description 10
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- 230000002159 abnormal effect Effects 0.000 description 1
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- 230000003321 amplification Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000006880 cross-coupling reaction Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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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
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- 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
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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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
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- 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 invention discloses a high-precision hydraulic synchronization system for an extra-heavy tipping platform, which comprises an oil tank, a hydraulic power module, a hydraulic proportion speed regulation module and a plurality of hydraulic execution elements, wherein the oil tank is connected with the hydraulic proportion speed regulation module; the hydraulic synchronous system adopts a digital synchronous motor and a displacement sensor to form a hydraulic cylinder synchronous control system, and also adopts an electrohydraulic proportional valve and an inclination sensor to form a speed control system, wherein the hydraulic synchronous control system adopts a flow bypass active regulation function on the basis of motor volume synchronization, detects the displacement of each hydraulic executive component during operation, carries out calculation and comparison, regulates the hydraulic executive components exceeding the error to eliminate the synchronous error of different hydraulic executive components, and the speed control system realizes speed regulation by controlling the total entering flow control platform of the digital synchronous motor to integrally operate angular speed, detecting the operating speed by the inclination sensor on the platform and regulating the main loop flow by the opening of the proportional valve, and the two control systems work simultaneously.
Description
Technical Field
The invention relates to a hydraulic driving technology and a hydraulic system synchronous control technology for overturning an extra-heavy platform, in particular to a high-precision hydraulic synchronous system of a multi-point synchronous supporting structure suitable for driving loads exceeding 200t under an outdoor environment.
Background
The heavy-duty hydraulic synchronization system is widely applied in the advanced equipment field and manufacturing industry, and plays a role in heavy-duty high-power-ratio occasions such as mass center measurement of large equipment, large antenna erection, hydraulic hoist, ship lift, large engineering machinery movement and the like, particularly when the mass center measurement platform is driven, in order to ensure the accuracy of weighing measurement elements on the platform, the hydraulic synchronization system of the platform is required to maintain good rigidity and synchronism so as to reduce the influence of the deformation and the weight accuracy of the platform, meanwhile, due to the development of equipment manufacturing industry, the equipment preparation quality of large mining, military and aerospace industries is larger and larger, experimental data support is required for quality characteristics, and the requirement on the high-precision hydraulic synchronization system for extra heavy load is strong.
The common hydraulic synchronous system has several forms of rigid synchronization, proportional valve feedback synchronization control (oil inlet throttle control and oil return throttle control), pump control synchronization, synchronous motor synchronization and the like. The rigidity synchronization is suitable for occasions with uniform load and good rigidity of structural members, and the synchronization precision is determined by the structural members and cannot be adjusted and controlled. The proportional valve feedback synchronous control is that each oil cylinder is provided with a displacement sensor and a proportional valve control mode, the synchronous precision is high, each oil cylinder can be independently adjusted, when the executing mechanism is more, the control difficulty is high, and when the software runs out of control, structural members are easy to deform. The pump control is synchronous, each executing mechanism is controlled by one pump in volume, the control precision is lower, and the system volume and weight are larger. The synchronous precision of the conventional synchronous motor synchronous system is about 3% -5%, and the synchronous error is required to be compensated at the tail end in a limiting way, and meanwhile, when the large unbalanced load exists in the actuating mechanism, the error is required to be increased due to the obvious increase of the leakage quantity difference.
Disclosure of Invention
The invention aims to provide a low-cost high-precision hydraulic synchronization system suitable for an extra heavy load, which is used for high-precision synchronous movement of a platform supporting point, and meanwhile, the synchronization system has good rigidity, and the adjustment process is stable and free from abrupt change and oscillation.
The technical solution for realizing the purpose of the invention is as follows:
a high-precision hydraulic synchronization system for an extra-heavy tipping platform comprises an oil tank, a hydraulic power module, a hydraulic proportion speed regulation module and a plurality of hydraulic execution elements,
the hydraulic proportional speed regulation module comprises: the device comprises an electrohydraulic proportional valve, a two-position three-way electromagnetic reversing valve, a balance valve and a two-position two-way electromagnetic reversing valve;
the electrohydraulic proportional valve is arranged in a main loop behind the power module and is used for adjusting the extending speed of the hydraulic cylinder,
the two-position three-way electromagnetic reversing valve is arranged in the oil return path, realizes the oil return and oil supplementing functions of the oil return path by switching the position of the valve core, and realizes independent action control of different execution mechanisms by matching with the two-position two-way electromagnetic reversing valve;
the balance valve is arranged on the main loop behind the electro-hydraulic proportional valve and is used for resisting negative load caused by gravity action in the falling process of the extra-heavy platform;
a digital synchronous motor control module is connected in series between the proportional speed regulation module and the hydraulic actuating elements, and comprises a digital synchronous motor, an overflow valve and a synchronous motor controller; the digital synchronous motor oil inlet is connected with a load port of the balance valve and supplies oil to the plurality of hydraulic execution elements; an overflow valve is independently arranged at each outlet position of the motor;
the two-position two-way electromagnetic reversing valve is arranged behind the outlet position of the synchronous motor and in front of each executing mechanism;
the hydraulic synchronous system adopts a digital synchronous motor and a displacement sensor to form a hydraulic cylinder synchronous control system, and also adopts an electrohydraulic proportional valve and an inclination sensor to form a speed control system, wherein the hydraulic synchronous control system adopts a flow bypass active regulation function on the basis of motor volume synchronization, the displacement of each hydraulic executive component is detected during operation, calculation and comparison are carried out, the hydraulic executive components exceeding the errors are regulated to eliminate the synchronous errors of different hydraulic executive components, the speed control system controls the overall running angular speed of a flow control platform by controlling the total entering flow of the digital synchronous motor, the running speed is detected by the inclination sensor on the platform, the main loop flow is regulated by the opening degree of the proportional valve to realize speed regulation, and the two control systems do not interfere with each other and work simultaneously.
Compared with the prior art, the invention has the remarkable advantages that:
the hydraulic power module is a power source of the hydraulic system, the combination of the two groups of variable frequency motors and the plunger pumps is adopted to provide all hydraulic kinetic energy for the hydraulic system, meanwhile, double-machine hot backup is realized, and all functions can be completed by the rest group of pumps when one group of pumps fails in the working process. The hydraulic proportional speed regulating module mainly takes a proportional reversing valve as a main part and is provided with a control element such as an overflow valve, an electromagnetic reversing valve, a throttle valve and the like, and mainly realizes the control functions of dynamic speed regulation and the like of a high-precision hydraulic synchronous system, so that the action response speed of an executive element of the hydraulic system is faster, more accurate and smoother. The digital synchronous motor control module takes a digital synchronous motor and a digital synchronous controller as core control elements and is provided with auxiliary elements such as an overflow valve, a bypass throttle valve and the like, and the digital synchronous motor control module takes a displacement sensor on a hydraulic execution element as a control reference signal, so that synchronous operation of a plurality of execution elements can be realized, the system rigidity is good, and high-precision control can be realized.
Drawings
Fig. 1 is a schematic diagram of a hydraulic synchronization system according to the present invention.
Fig. 2 is a control schematic block diagram of the hydraulic proportional speed regulation module of the invention.
Fig. 3 is a schematic block diagram of the digital synchronous motor control of the present invention.
FIG. 4 is a schematic diagram of an integrated structure of a pump station of the electro-hydraulic synchronization system of the present invention.
Fig. 5 is a schematic view of the hydraulic actuator of the present invention.
Fig. 6 shows the fluctuation of the motion process data of the empty load weighing system without adopting the synchronous control method of the invention.
Fig. 7 shows the fluctuation of motion process data of an empty weighing system adopting the digital synchronous motor system of the invention.
Detailed Description
The invention is further described with reference to the drawings and specific embodiments.
As shown in fig. 1, taking 6 hydraulic actuating elements as an example, the main components of the high-precision hydraulic synchronization system for the extra-heavy tipping platform in the embodiment comprise a hydraulic power module 1, a hydraulic proportion speed regulation module 2, a digital synchronous motor control module 3, hydraulic actuating elements (fig. 5), hydraulic auxiliary elements 5, a hydraulic medium and the like. The hydraulic power module 1 comprises a variable frequency motor 1-1, a constant pressure variable plunger pump 1-2, an overflow valve 1-3 and an energy accumulator 1-4. The output shaft of the variable frequency motor 1-1 is connected with the input shaft of the constant pressure variable plunger pump 1-2 through an elastic coupling, and a hydraulic oil source with certain pressure and flow is provided for the system through motor driving to provide power for the system; the overflow valve 1-3 is connected in parallel with the outlet of the plunger pump through a pipeline and is used for setting the maximum working pressure of the system; the two accumulators 1-4 are respectively arranged at the positions of the two plunger pumps and are connected with the main pipeline in parallel to absorb hydraulic impact of the plunger pumps. The hydraulic proportional speed regulation module 2 comprises an electrohydraulic proportional valve 2-1, a two-position three-way electromagnetic reversing valve 2-2, a balance valve 2-3, a two-position two-way electromagnetic reversing valve 2-4 and the like. The electro-hydraulic proportional valve 2-1 is a main amplifying conversion element for regulating the system speed, and is arranged in a main loop behind the power module, four oil ports P, T, A, B are respectively communicated with valve block oil circuit holes, wherein a P port is communicated with an outlet oil circuit of the plunger pump; the T port is communicated with an oil return pipeline; the two oil ports A/B are respectively connected with two oil ports leading to the actuating mechanism, the port A is connected to a rodless cavity interface of the actuating mechanism through a balance valve, a stop valve, a synchronous motor and the like, and the port B is connected to a rod cavity interface of the actuating mechanism through a two-position three-way electromagnetic reversing valve; two three-way electromagnetic reversing valves 2-2 are arranged in the system oil return channel, each reversing valve corresponds to three execution, the oil return and oil supplementing functions of the oil return channel are realized by switching the positions of valve cores, the reversing valves have P, A, B interfaces, a port P is communicated with a rod cavity of an executing mechanism, a port A is connected with a port B of an electrohydraulic proportional valve for oil return in the extending process, a port B is connected with a hydraulic oil tank for oil supplementing of the rod cavity in the retracting process of the executing mechanism, and the two-way electromagnetic reversing valves 2-4 are matched to realize the independent action control functions of different executing mechanisms; the balance valve 2-3 is arranged on a main loop behind the electro-hydraulic proportional valve and is mainly used for resisting negative load caused by gravity in the falling process of an extra-heavy platform, so that the pressure balance of the system at any position is ensured not to be in a weightlessness state of the load; when the two-position two-way electromagnetic reversing valve 2-4 is respectively arranged in front of the actuating mechanism behind the outlet position of the synchronous motor and does not need the actuating mechanism to act, the valve core is opened to unload so as to ensure that the actuating mechanism does not act. The digital synchronous motor control module 3 is connected in series between the hydraulic proportional speed regulation module 2 and the hydraulic actuating element 4 and comprises a digital synchronous motor 3-1, an overflow valve 3-2 and a synchronous motor controller, wherein an oil inlet of the digital synchronous motor 3-1 is connected with a load port of the main oil way balance valve 2-3, and is divided into 6 oil outlets through a motor inner cavity to supply oil to the 6 actuating elements; after the 6 overflow valves 3-2 are respectively arranged in the oil supply loops, the overflow valves 3-2 are independently arranged at each outlet position of the motor, and the working pressure of the limiting execution mechanism plays a role in limiting and protecting the system. The hydraulic actuating element 4 mainly comprises a single-rod double-acting hydraulic cylinder and functional auxiliaries, and comprises a hydraulic cylinder 4-1, a hydraulic lock 4-2, an emergency unloading valve 4-3 and a displacement sensor 4-4. The hydraulic cylinder 4-1 is a main executive component body part, and the rodless cavity and the rod cavity are respectively connected with two oil supply loops of a main oil way; the hydraulic lock 4-2 is mainly used for maintaining the pressure of an actuating mechanism loop when the hydraulic cylinder stops at any position, so that the platform can hover and be maintained at any position; the emergency unloading valve 4-3 is used for relieving the pressure maintaining effect of the hydraulic lock under emergency conditions such as power failure and the like, so that the platform can slowly fall back to the actual position under the action of gravity; the displacement sensor 4-4 is installed in the hydraulic cylinder. The hydraulic auxiliary 5 comprises a hydraulic oil tank 5-1, a filter 5-2, a heater 5-3, a liquid level meter 5-4, an air filter 5-5, a thermometer 5-6, a pressure sensor 5-7, a pressure gauge 5-8 and the like, wherein the hydraulic oil tank 5-1 is respectively connected with the hydraulic power module 1 and an oil return path through pipelines and is mainly used for storing oil and providing clean and proper-temperature hydraulic medium for a system; the filter 5-2 is divided into oil absorption filtration, pressure filtration and oil return filtration according to different functions, and the filter is connected in series in a pipeline, so that dust and impurities in the system can be removed; the heater 5-3 is arranged at the bottom of the oil tank and is used for heating the hydraulic oil when the viscosity is high due to the fact that the temperature of the hydraulic oil is too low in winter so as to ensure the normal operation of the system; the liquid level meter 5-4 is arranged at the outer side of the hydraulic oil tank, can display the liquid level of the hydraulic oil, is integrated with an electromagnetic switch, and can send an alarm signal and limit the system to start after the liquid level drops to the lower limit; the air filter 5-5 is arranged above the oil tank, can enable the inner cavity of the oil tank to be communicated with the atmosphere, keeps the atmospheric pressure and prevents dust particles in the air from entering the hydraulic oil tank; the thermometer 5-6 is also arranged on the hydraulic oil tank, can detect the temperature of the hydraulic medium in the oil tank, and heats or cools the hydraulic medium when the temperature of the medium exceeds the upper limit and the lower limit (the oil tank is provided with a cooler interface and can also adopt environmental ventilation cooling); the pressure sensor 5-7 is arranged at the outlet of the system pump, in front of the actuating mechanism and on the pipeline of the oil return pipeline to monitor the pressure state of the system during operation in real time, and sends an alarm signal and limits the system to start up when abnormal values occur. The hydraulic medium is mainly hydraulic oil, and the hydraulic oil with a proper national standard mark can be selected according to the use environment, so that the hydraulic allowable medium viscosity of the system is 32-68 cSt. The hydraulic medium is mainly hydraulic oil, and the hydraulic oil with a proper national standard can be selected according to the use environment, so that the system has the hydraulic allowable medium viscosity of 32-68 cSt and is suitable for the climate change in the north of China.
As shown in FIG. 2, a control block diagram of the hydraulic proportional speed regulation module is shown, and an inclination sensor is arranged on a platform driven by the system. The main control object in the electrohydraulic proportional speed regulating system is a hydraulic executive element, the overturning angle of a platform is controlled, and an electrohydraulic proportional valve is used as an electrohydraulic conversion and amplification element. The operation angular speed is input into a control system through operation software of an industrial personal computer, the signal is converted into an analog signal through a lower computer and is converted into driving current of a proportional valve through an amplifier, a proportional electromagnet drives a pilot valve core to generate certain displacement, pilot oil with corresponding pressure is led to two sides of the main valve core to push the main valve core to move, a certain gap is generated between the main valve core and a valve seat, hydraulic oil in a main oil way flows to a synchronous motor and a hydraulic cylinder in an oil cylinder synchronous system through a circulation channel opened by the valve core, pressure difference is generated when the hydraulic oil flows through an opening of the main valve, and oil supply flow can be adjusted by matching with an electromagnetic overflow valve, so that the extending speed of the hydraulic cylinder is adjusted. Meanwhile, the hydraulic cylinder is rigidly connected with the bearing platform through a hinge, the platform is pushed to overturn according to a preset speed, the overturning angle of the platform is acquired through a rotary encoder, the overturning angle is converted into a current value through a digital-to-analog conversion module in an electrohydraulic system to serve as a feedback signal of the electrohydraulic proportional valve, the opening of a main valve core of the proportional valve is regulated, the flow is increased and decreased through the increase and decrease of the opening of the valve core, and then the speed regulation function of the system is realized.
As shown in fig. 3, the digital synchronous motor is a novel synchronous driving motor which adopts a bypass parallel high-frequency switching valve as a compensation mechanism on the basis of a gear synchronous motor to realize the active adjustment of the synchronism of an actuating mechanism, so that the characteristics of high reliability and high load matching of a common motor are reserved, and the defects that the common synchronous motor can only be zeroed at the stroke end point and the error is accumulated in the stroke process are overcome. Because the outlet displacement of the motors is the same and the parameters of the hydraulic cylinders are the same, the displacement of the hydraulic cylinders is basically the same, the displacement of the hydraulic cylinders is acquired in real time through a built-in magnetostrictive displacement sensor and is transmitted into a logic controller, the controller uses the displacement of one of the oil cylinders as a reference, a cross coupling algorithm is adopted for calculation and comparison, the hydraulic cylinders beyond the error range are regulated, the difference value between the maximum displacement and the minimum displacement of the oil cylinders is monitored, and the synchronous displacement error is controlled to be between 2mm and 5 mm; when the volume leakage amount is different due to different factors such as load pressure, the displacement of the oil cylinder generates an error, when the error difference is larger than the adjustment range set by the system, the logic controller controls the action frequency (pulse control, slows down the speed of the oil cylinder with high speed) of the high-speed switch valve connected in parallel to the outlet of the adjusting motor through the PLC, the high-speed switch valve is opened to discharge a constant flow, the extension speed of the hydraulic cylinder is reduced, the high-speed switch valve is closed after the error is reduced to be within the allowable range, and the hydraulic cylinder continues to extend synchronously. In the process, the response speed of the quick switching valve is high, and the rear end of the switching valve is provided with a variable throttling orifice, so that the pressure stability in the rodless cavity of the oil cylinder in the reversing process can be ensured. The six-cylinder synchronization process is similar to the three-cylinder synchronization process, and the difference is only that the displacement variable adopted in logic judgment is different and the object selection in control is different.
In the hydraulic synchronization system, a hydraulic power module 1, a hydraulic proportion speed regulation module 2, a digital synchronous motor control module 3, hydraulic auxiliaries 5, a hydraulic medium 6 and the like are integrated in a field pump station and are fixed on a profile base, a shock pad is additionally arranged at the position of a motor, a hydraulic executive component 4 is independently arranged in a field foundation as an action executive component, and the lower part of the hydraulic executive component is connected with a foundation support and the upper part of the hydraulic executive component is rigidly connected with a driven platform structure; the hydraulic power module 1 adopts a mode that two variable frequency motors respectively drive two plunger type variable pumps, has the functions of variable frequency speed regulation, displacement regulation and constant pressure unloading, and simultaneously realizes double-machine hot backup of a system, and when one set of power source fails, the system can still be normally used in a speed halving state; the hydraulic proportional speed regulating module 2 is integrally arranged on a special valve block, and controls the action sequence and speed of the hydraulic cylinder by controlling the action of the valve core through an electric signal, so that the integral operation of a six-cylinder driving platform, the grouping operation of a single platform and the regulation of the movement speed of the oil cylinder are realized; the digital synchronous motor control module 3 mainly comprises a synchronous control motor and a height switch valve, is arranged above the oil tank after integration, and is connected with other modules through a hydraulic pipeline; the hydraulic auxiliary 5 is arranged along the open surface of the pump station, so that maintenance personnel can conveniently carry out maintenance operation; the hydraulic medium 6 is stored in the tank and in the hydraulic line.
As shown in fig. 5, a schematic structural diagram of a hydraulic actuator is shown, a hydraulic cylinder 4-1 of the hydraulic actuator is rigidly connected with a driven load platform through joint bearings at two ends, a field valve block is integrated on each actuator, and a hydraulic lock 4-2 and an emergency unloading valve 4-3 are installed on the valve block; the measuring rod of the displacement sensor 4-4 is fixed with the base at the end part of the cylinder barrel through threads, the reading measuring device and the measuring rod are integrated into a rear cavity, the magnetic ring is arranged at the end part of the piston rod, and when the magnetic ring moves along with the piston rod, the moving position of the magnetic ring can be detected through a pulse signal sent by the reading head of the sensor, so that the displacement of the piston rod is obtained.
As shown in fig. 6 and fig. 7, the zero weighing numerical value fluctuation in the motion process of the unified high-precision weighing platform is driven by the hydraulic synchronous system without adopting the bypass throttling adjustment mode and adopting the bypass throttling adjustment mode, the abscissa is the platform overturning angle, and the ordinate is the weighing measurement numerical value in the empty platform state. As can be seen from the graph, in the process that the platform is turned over from 0 to 45 degrees, 6 weighing platforms have strong zero numerical fluctuation, and the fluctuation amplitude can reach +/-40 kg; and the zero numerical fluctuation of the 6 weighing platforms is obviously reduced in the process that the platform is turned from 0 to 45 degrees by adopting the weighing platform of the hydraulic synchronous system with the bypass throttling function, and the fluctuation amplitude is +/-10 kg at maximum. Therefore, the synchronous operation error of the lifting system can be controlled within a range of 10mm in a bypass throttling mode, and the improvement of the synchronous precision has a positive effect on the improvement of the platform weighing precision.
In summary, the high-precision hydraulic synchronization system for the extra-heavy tipping platform can be used for driving the extra-heavy loading platform with the weight more than 200t to perform multi-pivot synchronous motion in an outdoor environment. Compared with the conventional hydraulic synchronous system, the system has the advantages of high precision, low cost, high reliability and the like, has high system rigidity, can allow a load to have large unbalanced load, can still effectively control structural deformation and oscillation of the system under the condition of unbalanced load change in the motion process of the system, and allows high-precision measuring elements to be arranged on a platform. Meanwhile, the system adopts a control mode of a synchronous small closed loop and a synchronous large closed loop, so that the platform can finish system motion speed regulation under the requirement of keeping synchronous errors, and the adaptability of the system to different working conditions is enhanced; the hydraulic element and the system design adopted by the system have stronger environmental adaptability, have lower requirements on medium granularity level compared with a synchronous system adopting a servo valve, improve the adaptability of the system to the environmental temperature through hydraulic auxiliary parts, and have stronger adaptability to the driving requirement of outdoor extra heavy load.
The foregoing is merely illustrative of the principles and advantages of the present invention, and it will be apparent to those skilled in the art that the invention is not limited to the above embodiments, but may be modified or varied in different embodiments without departing from the spirit and scope of the invention.
Claims (8)
1. A high-precision hydraulic synchronization system for an extra-heavy tipping platform comprises an oil tank, a hydraulic power module, a hydraulic proportion speed regulation module and a plurality of hydraulic execution elements, and is characterized in that,
the hydraulic proportional speed regulation module comprises: the device comprises an electrohydraulic proportional valve, a two-position three-way electromagnetic reversing valve, a balance valve and a two-position two-way electromagnetic reversing valve;
the electrohydraulic proportional valve is arranged in a main loop behind the power module and is used for adjusting the extending speed of the hydraulic cylinder,
the two-position three-way electromagnetic reversing valve is arranged in the oil return path, realizes the oil return and oil supplementing functions of the oil return path by switching the position of the valve core, and realizes independent action control of different execution mechanisms by matching with the two-position two-way electromagnetic reversing valve;
the balance valve is arranged on the main loop behind the electro-hydraulic proportional valve and is used for resisting negative load caused by gravity action in the falling process of the extra-heavy platform;
a digital synchronous motor control module is connected in series between the proportional speed regulation module and the hydraulic actuating elements, and comprises a digital synchronous motor, an overflow valve and a synchronous motor controller; the digital synchronous motor oil inlet is connected with a load port of the balance valve and supplies oil to the plurality of hydraulic execution elements; an overflow valve is independently arranged at each outlet position of the motor;
the two-position two-way electromagnetic reversing valve is arranged behind the outlet position of the synchronous motor and in front of each executing mechanism;
the hydraulic synchronous system adopts a digital synchronous motor and a displacement sensor to form a hydraulic cylinder synchronous control system, and also adopts an electrohydraulic proportional valve and an inclination sensor to form a speed control system, wherein the hydraulic synchronous control system adopts a flow bypass active regulation function on the basis of motor volume synchronization, the displacement of each hydraulic executive component is detected during operation, calculation and comparison are carried out, the hydraulic executive components exceeding the errors are regulated to eliminate the synchronous errors of different hydraulic executive components, the speed control system controls the overall running angular speed of a flow control platform by controlling the total entering flow of the digital synchronous motor, the running speed is detected by the inclination sensor on the platform, the main loop flow is regulated by the opening degree of the proportional valve to realize speed regulation, and the two control systems do not interfere with each other and work simultaneously.
2. The high precision hydraulic synchronization system for an extra heavy tipping platform of claim 1 wherein the back end of the quick switch valve has a variable orifice to ensure pressure stability in the cylinder rodless cavity during reversing.
3. The high precision hydraulic synchronization system for an extra heavy tipping platform of claim 1, wherein the hydraulic power module comprises a variable frequency motor, a constant pressure variable plunger pump, an overflow valve, an accumulator; an output shaft of the variable frequency motor is connected with an input shaft of the constant pressure variable plunger pump through an elastic coupling to provide power for the system; the overflow valve is connected in parallel with the outlet of the plunger pump through a pipeline and is used for setting the maximum working pressure of the system, and the energy accumulator is arranged at the position of the plunger pump outlet and is connected in parallel with the main pipeline to absorb the hydraulic impact of the plunger pump.
4. The high precision hydraulic synchronization system for an extra heavy tipping platform according to claim 1 or 2, wherein two sets of hydraulic power modules are provided and connected in parallel.
5. The high precision hydraulic synchronization system for an extra heavy tip-over platform of claim 1, wherein the hydraulic actuators include hydraulic cylinders, hydraulic locks, emergency unloading valves, displacement sensors;
the rodless cavity and the rod cavity of the hydraulic cylinder are respectively connected with two oil supply loops of the main oil way;
the hydraulic lock is used for maintaining pressure of the actuating mechanism loop when the hydraulic cylinder stops at any position;
the emergency unloading valve is used for relieving the pressure maintaining function of the hydraulic lock.
6. The high-precision hydraulic synchronization system for the extra-heavy tipping platform according to claim 1, wherein an inclination sensor is arranged on the driven platform, the tipping angle of the platform is collected through a rotary encoder, a digital-to-analog conversion module in the electro-hydraulic system converts the tipping angle into a current value to serve as a feedback signal of an electro-hydraulic proportional valve, the opening of a main valve core of the electro-hydraulic proportional valve is regulated, and the flow is increased and reduced through the increase and the decrease of the opening of the valve core, so that the speed regulation function of the system is realized.
7. The high precision hydraulic synchronization system for an extra heavy tipping platform of claim 1 or 5, wherein each hydraulic actuator is integrated with a field valve block, and a hydraulic lock and an emergency unloading valve are mounted on the valve blocks; the measuring rod of the displacement sensor is fixed with the base at the end part of the cylinder barrel through threads, the reading measuring device of the displacement sensor and the measuring rod are integrated into a whole in the rear cavity, the magnetic ring of the displacement sensor is arranged at the end part of the piston rod, and when the magnetic ring moves along with the piston rod, the moving position of the magnetic ring is detected through an integrated pulse signal emitted from the sensor, so that the displacement of the piston rod is obtained.
8. The high precision hydraulic synchronization system for an extra heavy tipping platform according to claim 1 or 5, wherein a filter, a heater, a level gauge, an air filter are provided.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118088510A (en) * | 2024-04-22 | 2024-05-28 | 沈阳麦凯思电源科技研究院有限公司 | Multi-point dynamic monitoring autonomous control system in industrial hydraulic pressure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118088510A (en) * | 2024-04-22 | 2024-05-28 | 沈阳麦凯思电源科技研究院有限公司 | Multi-point dynamic monitoring autonomous control system in industrial hydraulic pressure |
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