Control device for a hydraulic device with multiple receivers operating in parallel

Abstract

Control device for a hydraulic installation with a plurality of receivers running in parallel. The invention relates to a control system for a hydraulic installation with a plurality of receivers (R i ) running in parallel, comprising: control means J i for adjusting the control position (α i ) of each receiver R j ) supplied by a pump (1) whose pressure (P) and flow rate (Q) are adjusted by a regulator (6), a flowmeter (26) providing control signals (SX) to switches PT i (i=1...n) for switching at least two receivers (R i ) to a flow sharing mode if they should be activated, each control means (J i ) generating a pressure value (P i (α j )) and a flow rate value (Q i (α j )) to generate, in the flow sharing mode, a flow rate adjustment signal (SQC) corresponding to the sum of all flow rates (Q i (α j )) and a pressure signal (SP i ) corresponding to the maximum pressure (P j ) among all pressures (P max (α max )).

Description

Technical Field

[0001] This invention relates to a control device for a hydraulic system having multiple receivers operating in parallel, comprising:

[0002] - The receiver, which is supplied by a pump whose pressure and flow rate are regulated by a regulator in the case of flow sharing.

[0003] - A distributor associated with each receiver for supplying the receiver in a controlled manner downstream of the pump, based on the control position of the control element. Background Technology

[0004] As is well known, construction machinery such as excavators are equipped with hydraulic systems that provide multiple hydraulic functions supplied by a single pump, allowing multiple machines to operate simultaneously. These systems consist of a main hydraulic circuit with a controlled pump, driven by a motor, which supplies power to branch circuits. These branch circuits are connected to each actuator (receiver) via spool valve distributors, which are actuated by control signals based on the movement or position of a joystick.

[0005] Displacement or position caused by the operator's manipulation of the control components is detected and thus used to generate an electrical or hydraulic control signal to actuate the distributor spool valve associated with the device or function.

[0006] At the pump outlet and downstream of the distributor, two pressure sensors provide two pressure signals to the compensator, which manages the pump's operation and therefore takes into account the implementation of different receivers.

[0007] Schematic, each joystick sends a pilot pressure signal corresponding to its actuation angle. This pilot pressure acts directly on the distributor slide valve associated with the actuator. The pump is managed by a flow regulator.

[0008] If the flow rate is sufficient at a given pressure, the flow will be distributed among the actuators, and then the actuators can operate at the desired speed.

[0009] However, if the flow rate is insufficient, the distribution will not be completed, and control over the actuator's operating speed will be lost because the flow rate will be directed to the actuator with minimal load.

[0010] This drawback can be avoided by integrating compensators into the supply line of each actuator. These compensators detect the pressure in each actuator's supply line and connect directly to a selector that sends a maximum pressure signal to the pump regulator. When the pressure differential generated by the pump disappears, the compensator relays the pressure by more or less shutting off the actuator's supply.

[0011] The speed decreases, but the speed ratio between different actuators remains unchanged.

[0012] In summary, such a device requires complex hydraulic components, especially hydraulic mechanical compensators, in order to release and coordinate the flow sharing of the pumps supplying the actuators and their equipment. Summary of the Invention

[0013] Purpose of the invention

[0014] The purpose of this invention is to provide a control device for a hydraulic system comprising multiple receivers that can operate in parallel and have different and variable operating characteristics, thereby simplifying the control components and making them more reliable and accurate.

[0015] Disclosure and advantages of the present invention

[0016] Therefore, the present invention relates to a device having multiple receivers (R) operating in parallel. i The control system of the hydraulic device includes:

[0017] - Control component J i Used to adjust each receiver R i Control position (α) j The receiver is supplied by pump (1) with or without flow sharing, and the pump pressure (P) and flow rate (Q) are regulated by regulator (6).

[0018] - Distributor (D i ), which is related to each receiver (R) i ) is associated with, in accordance with the control component (J) i ) control position (α) j Supply to the receiver,

[0019] The characteristics of the control system are

[0020] - It includes a running mode switcher (PT) i ), which is related to each receiver R i Associated, and for the allocator (D) i Switching is performed to provide the supply in the presence or absence of traffic sharing, and

[0021] Flow rate counter (26), which sends a value to switch PT i (i = 1…n) provides the operating mode control signal (SX) for: if at least two receivers (R) i If a single receiver (R) should be activated, switch it to traffic-sharing mode, or if a single receiver (R) is active. i If they should be activated, switch them to non-traffic sharing mode.

[0022] Each control component (J) activated at time (t) iAccording to its control position (α) j ) Generate pressure value (P) i (α j )) and flow value (Q) i (α j In order to enable traffic sharing mode,

[0023] - Generate the corresponding traffic (Q) i (α j The sum of the flow control signal (SQC) and the corresponding flow rate (P) for all pressures. i (α j The maximum pressure (P) in) max ) pressure signal (SP) max ), to control pump (1), and

[0024] - Adjust each distributor (Di) at time (t) according to the flow rate (Qi(αj)) required at time (t) based on the control position (αj).

[0025] Therefore, this control system includes all active branches of the hydraulic system. Even inactive branches are automatically integrated because they provide zero pressure and flow demand signals, thus not affecting the selection of flow accumulation or maximum pressure.

[0026] The pump's flow distribution is accomplished without any abrupt changes during the operation of different equipment, while allowing the equipment with the maximum load to operate under good conditions, even if its speed is lower than its nominal operating speed.

[0027] According to a particularly advantageous feature, the adjustment of each distributor also depends on the pressure required at that moment by the control element associated with that distributor.

[0028] According to an advantageous feature, the control element is combined with a conversion unit that contains a table of pressure and flow values ​​associated with each control position of the receiver's control element. These values ​​are pressure and flow measurements obtained individually for the receiver for each control position.

[0029] According to another advantageous feature of the flow sharing mode, the required flow rate for adjusting the location is combined with a correction factor that depends on the required pressure to form a control signal for the distributor that regulates the supply to the receiver.

[0030] According to another advantageous feature, the distributor is an electro-hydraulic distributor controlled by a base current, which depends on the flow rate required by the distributor only when there is no flow sharing. In flow sharing mode, the control current of the distributor is controlled only between closed and fully open according to the control position. The control signal is the current multiplied by a correction factor.

[0031] According to another advantageous feature, the pump is controlled by a pressure signal and a cumulative flow signal, wherein the pressure signal is the maximum pressure required by the control element, and the cumulative flow signal is the accumulation of the required flow rate.

[0032] Therefore, all branches in this control system are involved because, as mentioned earlier, those branches that are not running require zero flow, and zero flow has no effect on the accumulation of flow.

[0033] According to another advantageous feature, each receiver R is calculated according to the following formula. i Correction coefficient CR i Depends on the common parameter (P) of the hydraulic circuit at time (t). max (N, No) and the required pressure P i (α j )

[0034] (2)

[0035] In this formula

[0036] Po i = Pressure in receiver Ri at minimum speed No

[0037] No = Minimum motor speed

[0038] P max = Device E activated at time (t) i (R i The maximum pressure among the required set of operating pressures.

[0039] N = the rotational speed of the pump motor at time (t).

[0040] Finally, in general, the present invention relates to a hydraulic device control system having multiple receivers operating in parallel with pump flow distribution, the control system comprising:

[0041] - A pump, which is driven by a motor rotating at a certain speed at a certain moment, and regulated by a regulator that receives pressure and flow signals.

[0042] - Branches, each including a unique device that connects the control component to the hydraulic receiver of the device controlled by said component.

[0043] - A conversion unit, connected to the control component, to receive its control position and generate the required flow rate and required pressure.

[0044] - A mode selector, associated with each receiver, and a switcher to provision the receiver with or without traffic sharing.

[0045] - Flow rate counter, which directs to the selector (PT) i (i = l…n) provides the operating mode control signal to switch it, switching them to traffic-sharing mode if at least two receivers should be active, or switching to non-traffic-sharing mode if only one receiver is active.

[0046] - The processing module is used to generate a correction factor for the required traffic in traffic sharing mode, and then generate the control signal for the distributor.

[0047] - An adder that receives the requested flow rate, adds them together, and forms a flow control signal, which is the accumulation of the flow rate.

[0048] - Maximum pressure selector, which receives the required pressure and maintains the required maximum pressure.

[0049] - Motor speed sensor,

[0050] - A table containing the receiver pressure and minimum rotational speed obtained for the pump motor at its minimum speed.

[0051] - The cumulative flow signal and the maximum pressure signal are applied to the pump's regulator.

[0052] - Signals are applied to each processing module.

[0053] - The signal is applied to the processing module.

[0054] - Processing Module (MT) i The correction signal CR is generated according to the following formula. i

[0055] (2)

[0056] in

[0057] Po i = Pressure in receiver Ri at minimum speed No

[0058] No = Minimum motor speed

[0059] P max = Device E activated at time (t) i (R i The maximum pressure among the required set of operating pressures.

[0060] N = the rotational speed of the pump's motor at time (t).

[0061] Based on a favorable characteristic, in the traffic sharing mode, the distributor (D) i ) control signal (SCD) i (α j )) depends on the control component (J) only when there is no traffic sharing. i ) control position (α) j Consider the allocator (D) i ) control current (I i (α j Multiply by the correction factor (CR) i (α j )).

[0062] SCD i = CR i ·I i (α j ). Attached Figure Description

[0063] The invention will now be described in more detail with reference to embodiments of the control device shown in the accompanying drawings, wherein:

[0064] - Figure 1 This is a general schematic diagram of a control device integrated with a hydraulic system, which has multiple receivers capable of operating in parallel.

[0065] - Figure 2 yes Figure 1 A simplified diagram,

[0066] - Figure 3 yes Figure 2 A magnified portion of the schematic diagram. Detailed Implementation

[0067] Figure 1 An embodiment of a hydraulic control device 100 is shown, which is used to control mechanical equipment E. i Associated hydraulic actuator (receiver) R i (i = 1…4), the mechanical equipment E i It has a hydraulic cylinder and / or hydraulic motor supplied by a pump 1, which is controlled by a pressure and flow regulator 6, which determines the pressure and flow operating point of the pump 1 for the hydraulic circuit formed by the various devices therefrom.

[0068] The control device 100 consists of (4) parallel branches BR i It consists of (i = 1…4), each branch connected to a receiver R. i Related. Branch BR iThe flow is supplied in parallel by pump 1, and at each time (t), there is flow sharing between the active branches, whereas if there is only one branch BR i Once activated, there is no traffic sharing.

[0069] Figure 1 It is a BR with four branches i A general schematic diagram of the device (i=1…4). Figure 2 A schematic diagram of the device is shown, limited to a representative single branch BR. i The diagram is provided to make it easier to explain the situation when there are n branches in BR. i The device (i = l…n) typically operates with a hydraulic circuit that shares flow. Using Figure 3 The details of the control for operating modes with or without traffic sharing are explained in detail.

[0070] For example, in the case of an excavator, equipment E i It includes cylinder 8 for actuating the boom, cylinder 9 for actuating the arm supported by the boom, cylinder 10 for actuating the bucket at the end of the arm, and hydraulic motor 11 for controlling the movement of the machine turntable.

[0071] These devices E i Function F i By the relevant control component J i Control. Device E i It can have multiple functions F i For example, excavator boom lifting equipment can not only ensure the lifting of the boom and its loaded bucket, but also use the bucket as a stacking component, and can be repeatedly raised and lowered using the same control component. Simply switch to this new function. i To have the operating characteristics (speed, rather than lift) for that other function.

[0072] Because excavator arms can receive different equipment, they have different functions and need to be adapted to the same equipment. i The pressure P and flow rate D for each function.

[0073] According to an embodiment of the present invention, for receiver R i Distributor D that performs the supply i Pump 1 is controlled by component J i Controlled by electrical signals, this replaces the intermediate hydraulic and mechanical components or devices of conventional devices.

[0074] Control component J operated by the operator iIt is a joystick, and may be a pedal or cursor, enabling multiple functions to be performed simultaneously based on variable conditions (pressure and flow) via multiple control components. The operator controls component J... i The position (α) j The generation corresponds to pressure P. i (α j ) and traffic Q i (α j The control signals for the distributor D and the control signals for the distributor D i The control signals are usually based on Table T, which will be explained below. i Depends on allocator D i and depends on the position of the control component (α) j The current signal I) i (α) j ).

[0075] Control component J i It can shift from the neutral position or move to either side of the neutral position. The two ranges of motion do not have to be symmetrical; they usually correspond to movements in opposite directions, such as the upward and downward movements of an excavator boom, which do not have the same speed (flow) and pressure (load) characteristics.

[0076] J, as the control component for pivoting i For example, the joystick has a control position sensor, which here is the pivot angle (α). j ), which is related to pressure P i (α j ) and traffic Q i (α j and current I i (α j Related to, pressure P i (α j ) and traffic Q i (α j ) is from receiver R i The required value, current I i (α j Used to control distributor D i and regulating supply distributor D i The flow rate. These values ​​(α) j P i Q i I i The relationships between ) are recorded in the corresponding relationship table T. i middle.

[0077] Minimum speed No and pressure PO i It is recorded in the branch BR i Related basic table Toi The values ​​in the table; this table can be used with the conversion unit UC i Table T i merge.

[0078] Pressure P i (α j ) and traffic Q i (α j ) is related to the control component J i Related device E i and receiver R i These values ​​depend on the specific characteristics of a particular device, or a series or class of similar devices, and the function to be performed. i .

[0079] Value P i (α j ) and Q i (α j (This corresponds to when the operator controls component J) i Placed in the control position (α) j ) Device E i The running status of (8...11).

[0080] Control component J i Position (α) j ) conversion unit UC i Based on the correspondence table T i Provides a representation of the required pressure P i (α j ) and the required flow rate Q i (α j and current I i (α j These tables are based on the signal from receiver R. i The characteristics are established; they come from experiments and studies on the receiver R. i The study of motion. Relative to the neutral position, they do not necessarily have to be symmetrical towards the positive or negative side. For example, these tables T i The flow rate and pressure are described as the boom rises and falls. Depending on the function being controlled, these tables do not necessarily need to be symmetrical about the positive or negative side relative to the neutral position.

[0081] Some control components J i It can also have a control amplitude that increases from a neutral position and returns to a neutral position without a negative portion.

[0082] Pressure P i (α j (Required pressure) Adjust receiver R i Pressure in the middle, flow rate Q i (αj (Required flow rate) Adjust the supply to receiver R i The flow rate. In the electro-hydraulic distributor D preferred for use according to the invention... i In this case, the required flow rate Q i (α j ) and Distributor D i The current I of the control signal i (α j The flow rate Q is quite high. i (α j The expression ) is used for certain controls, which is converted into current I. i (α j ) for allocator D i Controls are in place to obtain the corrected expected or specified traffic in the case of traffic sharing.

[0083] The two required values ​​P i (α j ) and Q i (α j The signal SP is processed to form the pressure and flow regulator 6 applied to pump 1. max SQC; In this specification, the regulator 6 schematically combines the two adjustments together.

[0084] The control device 100 includes:

[0085] - Processing Module MT i (28, 29...), which is related to component J i Associate and generate for allocator D i SCD control signal i

[0086] - Branch BR i Common general components

[0087] - Adder 24, which receives different control components J i The required flow rate Q i (α j ), to generate the cumulative flow signal SQC applied to regulator 6, and

[0088] - Selector 25, which receives the activated device E i The required pressure P i (α j ), to extract the maximum pressure P max And generate the signal SP for regulator 6. max .

[0089] Processing Module MT i Based on the required flow Qi Multiply by the correction factor CR i Current I i (α j Generate signal SCD i (α j To obtain the final control signal SCF i The final control signal SCF i It is the distributor D i The slide valve faces its side (a) j ) or (b i ) control and control the receiver R i It is necessary for one of the two chambers to be supplied.

[0090] Correction factor CR i It depends on the following parameters:

[0091] P oi : The reference pressure of the actuator; this pressure is used to control component J i The minimum speed of the motor of the [class] level was measured at No.

[0092] No: Minimum Speed

[0093] P max : Regarding control component J i The maximum possible pressure of the journey

[0094] N: The nominal controlled operating speed of the motor.

[0095] Minimum speed No and pressure PO i It is recorded in the branch BR i Related basic table To i The values ​​in the table; this table can be used with the conversion unit UC i Table T i merge.

[0096] coefficient CR i It is expressed by the following formula

[0097] (2)

[0098] Control signal SCD i It is expressed as follows:

[0099]

[0100] As mentioned above, the coefficient CR i The receiver R that is supplied i Receiver R in the group i To form distributor D i SCD control signal i Current Ii (α j ) is the control distributor D i The required current intensity. This current is applied to distributor D. i To control the supply of individual components to distributor D i Traffic Q i (α j It consists of the coefficient CR. i (α j Correction is performed to share the available flow rate Q provided by the pump.

[0101] If the allocator D i If they are the same, then the current value I i (α j For all allocators D i They are all the same. However, if these allocators are different, then the value I... i (α j ) different, and preferably included in each control element J i Related table T i middle.

[0102] Figure 2 supplemented with Figure 3 It shows Figure 1 The simplified details of the overall schematic diagram are limited to one branch, BR. i Used to transmit data from control component J i Movement or position (α) j The introduction of this for device E i receiver R i Distributor D that performs the supply i The requirements, and how to apply these requirements to pump 1 and distributor D i Common components of a device that is controlled by the control of the device.

[0103] Branch BR i By conversion unit UC i Composition, as shown in its table T i As shown, the required flow rate value Q is generated. i (α j The required pressure P i (α j ) and Distributor D i Control current I i (α j ).

[0104] It includes the processing module MT i This module directly receives signal I. i (α j ) and other signals to be combined to obtain the output for controlling branch BR.i Distributor D i SCD control signal i .

[0105] Slide valve distributor D i Controlled to adjust (in positive or negative values) through distributor D i The flow rate, thus affecting the receiver R, which is in the form of a linear cylinder or rotary cylinder (hydraulic motor). i Supply is made to either side (chamber). Electro-hydraulic distributor D i Considering the control component J i Position (α) j The current control is determined by the coefficient CR if the device is in flow-sharing mode. i Correction.

[0106] Different components, in the form of hardware or program modules, are connected to the general device of the device, which is relevant to all branches of the device. i It is public.

[0107] Therefore, unit UC i Connected to pressure selector (25), which receives all active branches BR i The pressure value P (i = ln) i (i = ln). Selector 25 obtains the maximum pressure value VP from this set of received values. max , to be used to transmit the corresponding signal SP max Apply to module MT i And the regulating unit 6 of pump 1.

[0108] Conversion Unit UC i It is also connected to the processing module MT i and used to transfer these values ​​Q i (α j Adder 24 for adding together.

[0109] Adder 24 from all converters UC in the active branch i Receive the required traffic Q i (α j (i=ln), to account for the flow Q i (α j The summation is performed to generate the control signal SQC applied to the regulator 6 of pump 1.

[0110] Signal P i (α j ) and Q i (α j ) indicates that all control components J iThe required running state (i=1-n). This means that the branch BR is not active at time (t). i The control component J in the neutral position i Send a zero signal, which corresponds to pressure P max The choice of flow rate and the total flow rate have no effect, so that the regulating unit 6 is activated only according to the branch BR activated at that time (t). i Manage pump 1.

[0111] Correction factor CR i Based on each activated branch BR i The value of P i (α j ) and Q i (α j This is obtained by pre-determining each branch of BR to be considered separately. i The parameters are then determined by using the control component J that activates the branch. i Adjustment position (α) j The associated pressure P i (α j ) and traffic Q i (α j The value of ); the activated branches are those branches connected to the hydraulic circuit of pump 1 at time (t) during the operation phase of device 100, so as to be controlled by regulator 6 and each activated branch BR i Unique devices are used to control the common components of the device, pump 1 and its motor, thereby controlling component J. i Under the requirement of the most suitable pressure P max Allocate available traffic Q. Branch BR i The requirement is the required pressure P. i (α j ) and traffic Q i (α j The controlled device for each branch is the distributor D. i .

[0112] 1) Determine the branch BR i Parameters:

[0113] These parameters depend on table T. i The table T i The control component J is given. i Control position (α) j Each receiver R i Traffic Q i and pressure P i And the separately obtained allocator D i Control current I i (α j), which is related to the receiver R i Control component J i Each control position (α) within the control range j (related to)

[0114] T i (α j )↔P i (α j ), Q i (α j ), I i (α j )

[0115] Table T i Includes the value P obtained through measurement of actual values. i (α j ), Q i (α j ), I i (α j The actual value was measured in device E. i Control component J is manipulated only during implementation under real-world conditions. i And control the pump and distributor D of the hydraulic circuit. i It was carried out.

[0116] Table T i It is a record of measurements taken based on the displacement increments of the control component Ji, at any position (α) j ) and branch BR i Unique pressure P i (α j ) and traffic Q i (α j (or current I representing flow rate) i (α j And the distributor D, which depends on the control signal (current) applied to it. i The degree of openness is associated with the openness of the device.

[0117] - In the subsequent preparation steps, the receiver R is determined for the minimum speed No of the motor driving pump 1. i Pressure Po i .

[0118] - In device E i During the current operation, the pressure P is measured. i and the rotational speed N of the motor driving pump 1. Only device E i Activated to adjust pressure P based on motor speed N i These measurements are taken to measure the changes.

[0119] 2) Correction coefficient CRi :

[0120] In order to distribute the flow rate Q provided by the pump, the device E activated at that time (t) must be supplied with the flow rate Q. i The required flow rate Q i (α j ) Allocation correction factor CR i To share traffic and allow all devices to E i The operation, even if the operating mode at that moment is more or less degraded due to the distribution of the flow rate Q provided by the pump.

[0121] According to the present invention, each branch BR i Correction coefficient CR (i = l...n) i as follows:

[0122] (1)

[0123] The formula can also be written as

[0124] (2)

[0125] In this formula:

[0126] Po i =Pressure in receiver Ri at minimum speed No

[0127] No = Minimum motor speed

[0128] P max = Device E activated at time (t) i (R i The maximum pressure among the required set of operating pressures.

[0129] N = the rotational speed of the pump motor at time (t).

[0130] Po i The two items, "No" and "No", are fixed values ​​and are recorded in the branch BR. i Related table T i In the middle, there is each device E i Unique.

[0131] Pressure P max Device E is activated at time t i Required pressure P i The greatest pressure in.

[0132] N is the motor speed at time (t).

[0133] Therefore, the correction factor CR i Involves:

[0134] - All devices E activated at time t in the hydraulic circuit i Common items: N, No, P max

[0135] - Unique features for each device: Po i

[0136] - Branch BR i coefficient CR i Therefore, it depends on branch BR i Unique item Po i :

[0137] CR i = f(Po i )

[0138] Due to the correction factor CR i With the required flow rate Q i Relatedly, by analogy with the Toricelli-Bernoulli formula, the following relationship exists:

[0139] or ;

[0140] Flow rate is equivalent to the velocity of flow, supplied to device E i Actual traffic Q iréel It will depend on the required traffic volume:

[0141]

[0142] P max The value is not a time-based constant, but changes during the operation phase of the hydraulic unit because of the activated equipment E. i Possible changes; Equipment E i Stop and / or add another piece of equipment to the hydraulic circuit; if equipment E i The pressure P i It is those devices E that are activated at that moment. i Required pressure P i The maximum value in the range, then the device E i Activation can change the pressure P max .

[0143] coefficient CR i It is all devices E i Specific to this, including those corresponding to pressure P i =P max The equipment.

[0144] 3) Control signal SCD i Determination:

[0145] In the traffic sharing model, branch BR i Distributor D i SCD control signal i The receiver R is controlled according to the following items. i Supply:

[0146] - Device E i receiver R i parameters

[0147] - Control component J i Position (α) j )

[0148] - Other branches activated simultaneously j That is, these branches BR j Pressure P j and traffic Q j Activated.

[0149] By all activated receivers R i Required traffic Q i and pressure P i The control method according to the subject matter of the invention is used at a selected pressure P. max The value of the flow rate Q supplied by pump P is distributed below.

[0150] Figure 1 A schematic diagram of the control device 100 is shown, including an overall view. Figure 2 Some of the attached figures are labeled, where i = 1, 2, 3, 4.

[0151] 4) Determining the operating mode ( Figure 3 )

[0152] Traffic sharing operation mode is a degradation mode that allows all active receivers R to share traffic. i The program is running, but it cannot obtain E data from each device. i Maximum performance.

[0153] The traffic sharing mode does not restrict the operating mode to control the activation of a single receiver R among all relevant receivers. i .

[0154] For this reason, it is necessary to communicate with each branch BR i Associated switch PT i A device for switching between two modes, but taking into account a single branch BR. i It provides the necessary interactions for operation, and therefore does not require traffic sharing.

[0155] The operating mode signal SX is provided by flow meter 26, which receives all control components J. i The required flow rate Q i (α j These traffic Q i (α j ) is converted into a flow value VQ i (α j These are binary logical values:

[0156] If Q i (α j If ) = 0, then VQ i (α j ) = 0

[0157] If Q i (α j If VQ ≠ 0, then VQ i (α j ) = 1

[0158] Flowmeter 26 receives all VQs i (α j The value is counted, and a mode signal SX is provided as defined below:

[0159] If the total ∑Q i (α j If ) = 1, then SX = 0

[0160] If the total ∑Q i (α j If ) ≥ 2, then SX = 1

[0161] in other words:

[0162] SX = 0 indicates operation without traffic sharing.

[0163] SX = 1 indicates that there is traffic sharing in operation.

[0164] The SX signal is applied to all switch PTs. i Regardless of the desired running state or branch BR i What is its current status?

[0165] Switcher PT i Switch to the mode set by the same signal SX, they all receive this signal.

[0166] If the required mode is a traffic-sharing mode, this is naturally done between individually active receivers.

[0167] If the required mode is direct mode with no traffic sharing, then all switchers PTi Let the final control signal SCF i = 0 passed.

[0168] However, because there is only one branch BR i It is activated, so it is the only branch that receives traffic under the set pressure. Therefore, the correction factor is equal to 1 to some extent, while in traffic sharing mode, the factor CR... i It is always less than 1.

[0169] List of reference numerals

[0170] 100 Control device

[0171] 1 pump

[0172] 2 motors

[0173] 5. Pump speed sensor

[0174] 6. Pump control regulator

[0175] 8. Boom actuator

[0176] 9-arm actuator

[0177] 10 Bucket Actuator

[0178] 11. Hydraulic turntable motor

[0179] 12 boom distributor

[0180] 13-arm distributor

[0181] 14 Bucket Distributor

[0182] 15 Hydraulic motor distributor

[0183] 16. Hoist control lever

[0184] 17-arm control joystick

[0185] 18 Bucket Control Lever

[0186] 19 Turntable control joystick

[0187] 20-23 conversion unit

[0188] 24 Adders

[0189] 25 Selection Unit

[0190] 26 Flowmeter

[0191] No minimum speed

[0192] N rotational speed

[0193] UCi Conversion Unit

[0194] MT i Processing module

[0195] PT i switcher

[0196] SCD i (α j Distributor control signals

[0197] SCF i Final control signal

[0198] SX operating mode signal

[0199] D i Distributor

[0200] I i I i (α j Distributor D i Basic control current

[0201] E i Controlled equipment

[0202] F i Device Functions

[0203] A j Control component J i Location

[0204] J i Control components

[0205] BR i Equipment E i branch

[0206] T i Control component J i Position (α) i ) and supply equipment E i receiver R i The pressure P of the hydraulic fluid i and traffic Q i Correspondence table between them

[0207] CR i Traffic Q i Correction coefficient

[0208] P i (α j ), P i By receiver R i The pressure of demands

[0209] Qi (α j ), Q i By receiver R i Required traffic

[0210] VQI(α j ) Flow value

[0211] Po i Equipment E i Pressure at speed No

[0212] T i Branch BR i Correspondence table

[0213] To i Branch BR i Basic value table

Claims

1. A device with multiple receivers operating in parallel (R) i The control system of the hydraulic device includes: - Control component J i It is used to adjust each receiver R i Control position (α) j The receiver is supplied by a pump (1) with or without flow sharing, and the pressure (P) and flow rate (Q) of the pump are regulated by a regulator (6). - Distributor (D i ), which is related to each receiver (R) i Associated with the control element (J) i ) control position (α) j The receiver is supplied with [supply / resources]. The control system is characterized in that, - It includes a operating mode switcher (PT) i ), which is related to each receiver R i Associated, and for the allocator (D) i Switching is performed to provide the supply in the presence or absence of traffic sharing, and Flow rate counter (26), which sends a value to the switch PT i (i = 1…n) provides the operating mode control signal (SX) for: if at least two receivers (R) i If it should be activated, switch the switch to traffic sharing mode, or if there is only one receiver (R) i If activated, the switcher will be switched to non-traffic sharing mode. Each control element (J) activated at time (t) i According to its control position (α) j ) generation pressure (P i (α j )) value and flow (Q) i (α j )) value, so that in traffic sharing mode, - Generate the corresponding traffic (Q) i (α j The sum of the flow control signal (SQC) and the corresponding flow rate (P) for all pressures. i (α j The maximum pressure (P) in) max ) pressure signal (SP) max ), to control the pump (1), and - Based on the control position (α) j The required flow rate (Q) at time (t) i (α j At that moment (t), adjust each distributor (D) i ).

2. The control system according to claim 1, Its features are, Each distributor D i The adjustment also depends on the distributor D. i Associated control component J i The pressure (P) required at that moment (t) i (α j )).

3. The control system according to claim 1, Its features are, The flow rate counter (26) receives the flow rate signals (Q) from all control components. i (α j This is to convert these flow signals into binary values ​​of flow (VQ). i (α j For zero flow, it equals the binary value 0; for non-zero flow, it equals the binary value 1. If the count of values ​​(VQ) i (α j If )) equals 1, then the sum of the flow values ​​(∑Q) i (α j The operation mode control signal (SX) is generated to be equal to 0, which means that only one receiver should be supplied if at least two receivers (R) are required. i If ) should be supplied, then the signal (SX) equals 1.

4. The control system according to claim 1, Its features are, The control component J i With conversion unit (UC) i In combination with the receiver R, the conversion unit includes... i Control component J i Each control position (α) j ) associated pressure (P i (α j )) and flow (Q) i (α j Table T of values i These values ​​are for the control position (α) j Separately acquired for the receiver R i The measured pressure (P) i (α j )) and flow (Q) i (α j )).

5. The control system according to claim 1, Its features are, In the traffic sharing model For the control position (α) i The required flow rate (Q) i (α j )) and depends on the required pressure (P) i (α j Correction coefficient (CR) i ) are combined to form the distributor (D) i ) control signal (SCD) i The distributor regulates the supply to the receiver (R). i ) supply.

6. The control system according to any one of claims 1 to 5, Its features are, The distributor (D) i ) is composed of the fundamental current (I i (α j The electro-hydraulic distributor is controlled by the basic current (I). i (α j )) depends only on the distributor (D) in the absence of traffic sharing. i The required flow rate (Q) i (α j The distributor (D) i ) control current (I i (α j In traffic sharing mode, according to the control position (α) j The control signal (SCD) controls the passage through the cross section only between closed and fully open states. i (α j )) is the current (I) i (α j Multiply by the correction factor (CR) i (α j )) SCD i (a j ) = CR i (a j )·I i (a j )。 7. The control system according to claim 1, Its features are, The pump (1) is powered by a pressure signal (SP). max Controlled by the cumulative flow signal (SQC), where the pressure signal (SP) max ) is the control component (J) i The required pressure (P) i (α j The maximum pressure (P) in) max The cumulative flow signal is the required flow rate (Q). i (α j The accumulation of )).

8. The control system according to claim 1, Its features are, According to the following formula, each receiver (R) i The correction factor CR i Depends on the common parameter (P) of the hydraulic circuit at time (t). max (N, No) and the required pressure (P) i (α j )) （2） in Po i =At minimum rotational speed No, the receiver (R) i Pressure in) No = Minimum motor speed P max = Device E activated at time (t) i (R i The maximum pressure among the required set of operating pressures. N = the rotational speed of the pump motor at time (t).

9. A control system for a hydraulic device having a plurality of receivers operating in parallel with pump flow distribution, the control system comprising: - A pump (1), which is driven at time (t) by a motor (2) rotating at a speed (N), and is powered by a pressure signal (SP) received. max The regulator (6) regulates the cumulative flow signal (SQC). - Branch (BR) i Each branch includes unique devices that control the components (J) i ) connected to the component (J) i ) in its control position (α) j ) controlled equipment (E i The hydraulic receiver (R) i ), - Conversion Unit (UC) i ), which is connected to the control component (J) i ), to receive its control position (α) j And generate the required traffic (Q) i (α j )) and the required pressure (P) i (α j )), - Mode Selector (PT) i ), which is related to each receiver (R) i Associated with, and switching allocator (D) i ), so that it can be supplied with or without traffic sharing. - Flow value counter (26), which sends a value to the selector (PT) i (i = 1…n) provides the operating mode control signal (SX) to switch it if at least two receivers (R) i If a receiver (R) should be activated, switch it to traffic-sharing mode, or if there is only one receiver (R) i If activated, it switches to non-traffic sharing mode. - Processing Module (MT) i ), used to generate the required traffic (Q) in traffic sharing mode. i (α j Correction coefficient (CR) i ), and then form the distributor (D) i The control signal (SCD) of the ) i ), - Adder (24), which receives the requested flow (Q) i (α j These are added together to form a cumulative flow signal (SQC), which is the accumulation of flow. - Maximum pressure selector (25), which receives the required pressure (P) i (α j ), and retain the maximum pressure required therein (SP) max ), - The speed sensor of the motor (2), - Table (To), which contains the receivers (R) respectively acquired for the pump motor rotating at minimum speed (No). i ) pressure (Po i ) and minimum speed (No), - The cumulative flow signal (SQC) and maximum pressure signal (SP) max The regulator (6) is applied to the pump (1). - The maximum pressure signal (SP) max ) and rotational speed (N) are applied to all processing modules (MT) i ) - The receiver (R) i ) pressure (Po i The minimum speed (No) and minimum rotation speed (BR) are applied to its branch (BR). i ) processing module (MT) i ), - The processing module (MT) i The correction signal (CR) is generated according to the following formula. i ) （2） in Po i =Pressure in receiver Ri at minimum rotational speed No No = Minimum motor speed P max = Device E activated at time (t) i (R i The maximum pressure among the required set of operating pressures. N = the rotational speed of the pump motor at time (t).

10. The control system according to claim 9, Its features are, In the traffic sharing model The distributor (D) i ) control signal (SCD) i (α j )) depends on the control component (J) only when there is no traffic sharing. i ) control position (α) j The distributor (D) is considered i ) control current (I i (α j Multiply by the correction factor (CR) i (α j )) SDC i (a j ) = CR i (a j )·I i (a j ) Furthermore, in the non-traffic-sharing mode, the signal is current (I0). i (α j )).

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