A shunt motor and control method thereof

Abstract

The present invention provides a shunt motor and a control method thereof, comprising a first pilot pressure reducing valve, a first blade type variable motor, a first proportional electromagnet, a first displacement sensor, a first flow meter, a second pilot pressure reducing valve, a second blade type variable motor, a second proportional electromagnet, a second displacement sensor, a second flow meter, a controller and a touch screen display, which solves the problem that a traditional synchronous shunt motor has a synchronous error accumulation, resulting in low shunt accuracy and inability to realize different speed shunt of the actuator. Two blade type variable motors, two proportional electromagnets, two displacement sensors, two flow meters, a controller and a touch screen display are adopted to realize shunt of multiple working oil circuits in the same or different proportions and realize flow error compensation; at the same time, a closed-loop control system with displacement feedback and flow feedback is used to effectively improve the shunt accuracy.

Description

Technical Field

[0001] The invention belongs to the field of hydraulic technology, and in particular relates to a flow splitter motor capable of automatically adjusting branch flow and a control method thereof. Background Art

[0002] Hydraulic shunt motors, also known as hydraulic synchronous motors, are now widely used in metallurgy, ports, hydropower, lubrication, petroleum, engineering machinery and other industries. The most widely used hydraulic synchronous motors are generally divided into two structural forms: gear type and radial piston type. With the rapid development of the hydraulic industry, the demand for synchronous movement of multiple actuators is increasing. As a reversible hydraulic element for shunting or collecting flow in hydraulic transmission systems, shunt motors are widely used in hydraulic systems to solve a series of problems such as flow distribution and synchronization of the system. The shunt error of the shunt motor directly affects the energy conversion efficiency and performance of the hydrostatic transmission system. Therefore, it is necessary to reduce the shunt error of the shunt motor to within the allowable range.

[0003] The cartridge valve used on the oil circuit block of the traditional hydraulic synchronous shunt motor outlet is a pilot-operated single-phase relief valve. An important function of this valve is to ensure the elimination of the cumulative error of the cylinder at the beginning or end of the cylinder stroke, but it is limited to the beginning or end of the cylinder stroke. Since the synchronization error of the synchronous shunt motor is about 2.5%, the cumulative error will increase with the increase of the cylinder stroke, resulting in low shunt accuracy and the inability to achieve the purpose of shunt of actuators at different speeds. Summary of the invention

[0004] A shunt motor disclosed in the present invention solves the problem that traditional synchronous shunt motors have accumulated synchronization errors, resulting in low shunt accuracy and inability to achieve different speed shunts of actuators. It achieves shunts in multiple working oil circuits in the same or different proportions and effectively improves the shunt accuracy.

[0005] To achieve the above object, the technical solution of the present invention is specifically implemented as follows:

[0006] The present invention discloses a shunt motor, comprising a first pilot pressure reducing valve, a first blade type variable motor, a first proportional electromagnet, a first displacement sensor, a first flow meter, a second pilot pressure reducing valve, a second blade type variable motor, a second proportional electromagnet, a second displacement sensor, a second flow meter, a controller and a touch screen display, wherein the touch screen display is used to input a first set flow rate and a second set flow rate; the controller receives the first set flow rate or the second set flow rate input by the touch screen display, and outputs a current control signal to change the current of the first proportional electromagnet or the second proportional electromagnet, so that the push rod of the first proportional electromagnet or the second proportional electromagnet extends or retracts; the push rod of the first proportional electromagnet extends or retracts or retracts to change the stator eccentricity of the first vane-type variable motor, thereby changing the displacement of the first vane-type variable motor; the first displacement sensor is used to detect the displacement of the push rod of the first proportional electromagnet and feed back to the controller; the first flow meter is used to detect the actual flow value flowing through the first vane-type variable motor; the push rod of the second proportional electromagnet extends or retracts to change the stator eccentricity of the second vane-type variable motor, thereby changing the displacement of the second vane-type variable motor; the second displacement sensor is used to detect the displacement of the push rod of the second proportional electromagnet and feed back to the controller; the second flow meter is used to detect the actual flow value flowing through the second vane-type variable motor.

[0007] Further, the oil outlet B1 of the first pilot pressure reducing valve is connected to the oil inlet A3 of the first vane-type variable motor, the oil discharge port B5 of the first vane-type variable motor is connected to the oil inlet A5 of the first flowmeter, the oil outlet B7 of the first flowmeter is connected to the total oil outlet T1, and the pilot oil port B3 of the first pilot pressure reducing valve is connected to the oil discharge port B5 of the first vane-type variable motor; the oil outlet B2 of the second pilot pressure reducing valve is connected to the oil inlet A4 of the second vane-type variable motor, the oil discharge port B6 of the second vane-type variable motor is connected to the oil inlet A6 of the second flowmeter, the oil outlet B8 of the second flowmeter is connected to the total oil outlet T2, and the pilot oil port B4 of the second pilot pressure reducing valve is connected to the oil discharge port B6 of the second vane-type variable motor.

[0008] Furthermore, the structures of the first vane-type variable motor and the second vane-type variable motor are exactly the same, and the first vane-type variable motor and the second vane-type variable motor use the same shaft as the output shaft. The first vane-type variable motor includes a first stator, a first rotor, a first vane, a first oil distribution plate, a second oil distribution plate, a first comparison push rod, a first comparison spring and a first bearing, and the first vane is clamped in a vane groove on the first rotor.

[0009] Furthermore, the structure of the first pilot pressure reducing valve is exactly the same as that of the second pilot pressure reducing valve. The first pilot pressure reducing valve comprises a first main valve core, a first main valve spring, a first pilot valve core, a first pressure regulating spring, a first pressure regulating electromagnet and a first pilot valve seat. The first main valve spring and the first main valve core are sequentially arranged in the main valve spring mounting hole of the first pilot valve seat. The first pilot valve core, the first pressure regulating spring and the first pressure regulating electromagnet are sequentially arranged in the pilot element mounting hole of the first pilot valve seat.

[0010] Furthermore, the shunt motor also includes a first valve block, a second valve block and an end cover, the end cover is fixedly connected to the first valve block, the second valve block is fixedly connected to the first valve block, and the first pilot valve seat of the first pilot pressure reducing valve and the second pilot valve seat of the second pilot pressure reducing valve are fixedly connected to the second valve block.

[0011] Furthermore, the oil port A on the first valve block 012 Through its internal oil passage and oil port P 011 Connected, port A 011 Through its internal oil passage and oil port T 012 Connected, port B 012 、Oil port B 011 And oil port T 011 The three oil ports are connected through their internal oil passages. 011 With the second valve block oil port A 026 Coincidence, port A 011 With the second valve block oil port T 012 Coincident, port T 012 With end cover oil port A 031 Coincident, port T 011 With end cover oil port A 032 coincide.

[0012] Furthermore, the oil port A on the second valve block 023 Through its internal oil passage and oil port B 025 Same, oil port A 027 Through its internal oil passage and oil port B 026 Same, oil port A 024 、Oil port A 025 、Oil port B 022 The three are connected through their internal oil passages. 021 、Oil port A 021 、Oil port A 022 The three are connected through their internal oil passages. 021 、Oil port B 024 、Oil port B 021 The three are connected through their internal oil passages. 027 With the first valve block oil port P 011 Coincidence, port A 026With the first valve block oil port B 011 Coincident, port T 021 With the first valve block oil port A 011 Coincidence, port A 025 With the first pilot valve seat of the first pilot pressure reducing valve on the oil port B 1061 Coincident, port B 024 The oil port A on the first pilot valve seat of the first pilot pressure reducing valve 1061 Coincidence, port A 024 With the second pilot valve seat oil port B of the second pilot pressure reducing valve 6061 Coincident, port B 023 It coincides with the oil port A6061 on the second pilot valve seat of the second pilot pressure reducing valve.

[0013] Furthermore, the oil port B on the first pilot valve seat of the first pilot pressure reducing valve 1061 、Oil port A 1061 、Oil port B 1062 The three are connected through their internal oil passages. 1061 With the second valve block oil port A 025 Coincidence, port A 1061 With the second valve block oil port B 024 Coincident; oil port B on the second pilot valve seat of the second pilot pressure reducing valve 6061 、Oil port A 6061 、Oil port B 6062 The three are connected through their internal oil passages. 6061 With the second valve block oil port A 024 Coincidence, port A 6061 With the second valve block oil port B 023 coincide.

[0014] Another aspect of the present invention discloses an automatic control method of a shunt motor, comprising the following steps:

[0015] Step 1: Initialization: Initialize the control system of the shunt motor;

[0016] Step 2: Parameter setting: Set the flow rate of each vane motor through the touch screen display;

[0017] Step 3: Data collection: The controller collects relevant signals through the knobs on the touch screen display, displacement sensors, flow meters, etc.

[0018] Step 4: Determine whether the actuators are the same: Use the actuator option on the touch screen to determine whether the actuators are the same. If the actuators are the same, proceed to step 5.1; if the actuators are different, proceed to step 5.2.

[0019] Step 5.1: Synchronous automatic adjustment of motor flow: The vane motor flow is controlled in real time by a feedforward-feedback composite control method. The set flow value of the vane motor is detected by the touch screen display, and the flow value is converted into the displacement value of the push rod of the proportional electromagnet, and the calculated displacement value is used as the output value of the feedforward control. At the same time, the set flow value of the vane motor is subtracted from the actual flow value of the vane motor detected by the flow meter, and the difference is used as the output value of the feedback control after PID operation. The output value of the feedforward control and the output value of the feedback control are superimposed and then subtracted from the actual displacement of the push rod of the proportional electromagnet detected by the displacement sensor. The difference is PID operated and output to the proportional electromagnet through the controller, so that the push rod of the proportional electromagnet is displaced and the eccentricity of the stator of the vane motor is changed to make the flow of the vane motor meet the set flow value.

[0020] Step 5.2: Automatic step-by-step adjustment of motor flow: A feedforward-feedback composite control method is used to control the vane motor flow in real time. In the first step, the set flow value of the first vane motor is detected according to the touch screen display, and this flow value is converted into the displacement value of the push rod of the first proportional electromagnet, and this calculated displacement value is used as the output value of the feedforward control. At the same time, the set flow value of the first vane motor is subtracted from the actual flow value of the first vane motor detected by the first flow meter, and the difference is used as the output value of the feedback control after PID operation. The output value of the feedforward control and the output value of the feedback control are superimposed and then subtracted from the actual displacement of the push rod of the first proportional electromagnet detected by the first displacement sensor. After PID operation, this difference is output to the first proportional electromagnet through the controller, so that the push rod of the first proportional electromagnet is displaced, thereby changing the eccentricity of the stator of the first vane motor so that the flow of the first vane motor conforms to the standard. The set flow value is matched; the second step is to detect the set flow value of the second vane motor according to the touch screen display, convert this flow value into the displacement value of the push rod of the second proportional electromagnet, and use this calculated displacement value as the output value of the feedforward control. At the same time, the set flow value of the second vane motor is subtracted from the actual flow value of the second vane motor detected by the second flowmeter, and the difference is used as the output value of the feedback control after PID operation. The output value of the feedforward control and the output value of the feedback control are superimposed and then subtracted from the actual displacement of the push rod of the second proportional electromagnet detected by the second displacement sensor. The difference is output to the second proportional electromagnet through the controller after PID operation, so that the push rod of the second proportional electromagnet is displaced and the eccentricity of the stator of the second vane motor is changed to make the flow of the second vane motor meet the set flow value; repeat the control process of the first step to make the flow of each vane motor meet its set flow value.

[0021] Beneficial technical effects:

[0022] 1. The present invention discloses a shunt motor, comprising a first pilot pressure reducing valve, a first vane variable motor, a first proportional electromagnet, a first displacement sensor, a first flow meter, a second pilot pressure reducing valve, a second vane variable motor, a second proportional electromagnet, a second displacement sensor, a second flow meter, a controller and a touch screen display, which solves the problem that the traditional synchronous shunt motor has a synchronous error accumulation, resulting in low shunt accuracy and inability to achieve different speed shunts of the actuator, and achieves shunts of multiple working oil circuits in the same or different proportions and effectively improves the shunt accuracy;

[0023] 2. In the present invention, two vane variable motors and two proportional electromagnets are used to achieve the purpose of changing the flow splitting ratio of multiple working oil circuits and the purpose of flow error compensation;

[0024] 3. In the present invention, two displacement sensors, two flow meters, a controller and a touch screen display are used to form a closed-loop control system with displacement feedback and flow feedback, which effectively improves the diversion accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solution of the present invention, the drawings required for describing the embodiments are briefly introduced below.

[0026] Figure 1 It is a schematic diagram of the overall structure of a split-flow motor according to the present invention;

[0027] Figure 2 An exploded view of the overall structure of a split-flow motor according to the present invention;

[0028] Figure 3 A schematic diagram of a hydraulic system of a split-flow motor according to the present invention;

[0029] Figure 4 An exploded view of two vane-type variable motors in a split-flow motor according to the present invention;

[0030] Figure 5 An exploded view of two pilot-operated pressure reducing valves in a split-flow motor according to the present invention;

[0031] Figure 6 This is a diagram of the internal flow passage of an end cover in a split-flow motor according to the present invention;

[0032] Figure 7 The internal flow passage diagram of the first valve block in the split flow motor described in the present invention;

[0033] Figure 8 The internal flow passage diagram of the second valve block in the split flow motor according to the present invention;

[0034] Fig. 9It is an internal flow passage diagram of a first pilot valve seat of a first pilot pressure reducing valve in a split-flow motor according to the present invention;

[0035] Fig.10 It is a diagram of the internal flow passage of the second pilot valve seat of the second pilot pressure reducing valve in the split-flow motor according to the present invention;

[0036] Fig.11 is a structural diagram of an electric control system according to an embodiment of the present invention;

[0037] Fig.12 is a closed-loop control block diagram of an embodiment of the present invention;

[0038] Fig.13 It is a control flow diagram of the present invention;

[0039] Among them, 1-first pilot pressure reducing valve, 11-first main valve core, 12-first main valve spring, 13-first pilot valve core, 14-first pressure regulating spring, 15-first pressure regulating electromagnet, 16-first pilot valve seat, 2-first vane variable motor, 21-first stator, 22-first rotor, 23-first vane, 24-first oil distribution plate, 25-second oil distribution plate, 26-first comparison push rod, 27-first comparison spring, 28-first bearing, 29-output shaft, 3-first proportional electromagnet, 4-first displacement sensor, 5-first flowmeter, 6-second pilot pressure reducing valve, 61-second main Valve core, 62-second main valve spring, 63-second pilot valve core, 64-second pressure-regulating spring, 65-second pressure-regulating electromagnet, 66-second pilot valve seat, 7-second vane-type variable motor, 71-second stator, 72-second rotor, 73-second vane, 74-third oil distribution plate, 75-fourth oil distribution plate, 76-second comparison push rod, 77-second comparison spring, 78-second bearing, 8-second proportional electromagnet, 9-second displacement sensor, 10-second flow meter, 101-controller, 102-touch screen display, 103-first valve block, 104-second valve block, 105-end cover. DETAILED DESCRIPTION

[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0041] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0042] The present invention discloses a split-flow motor, see Figure 1-Figure 2The shunt motor includes a first pilot pressure reducing valve 1, a first vane type variable motor 2, a first proportional solenoid 3, a first displacement sensor 4, a first flow meter 5, a second pilot pressure reducing valve 6, a second vane type variable motor 7, a second proportional solenoid 8, a second displacement sensor 9, a second flow meter 10, a controller 101 and a touch screen display 102. The structures of the first vane type variable motor 2 and the second vane type variable motor 7 are completely the same, and the first vane type variable motor 2 and the second vane type variable motor 7 use the same shaft as the output shaft, see Figure 4 The first vane variable motor 2 includes a first stator 21, a first rotor 22, a first vane 23, a first oil distribution plate 24, a second oil distribution plate 25, a first comparison push rod 26, a first comparison spring 27 and a first bearing 28. The first vane 23 is clamped in the vane groove on the first rotor 22. The first pilot pressure reducing valve 1 has the same structure as the second pilot pressure reducing valve 6. The first pilot pressure reducing valve 1 includes a first main valve core 11, a first main valve spring 12, a first pilot valve core 13, a first pressure regulating spring 14, a first pressure regulating solenoid 15 and a first pilot valve seat 16. The first main valve spring 11 and the first main valve core 11 are sequentially arranged in the main valve spring mounting hole K of the first pilot valve seat 16. 1061 The first pilot valve core 13, the first pressure regulating spring 14, and the first pressure regulating electromagnet 15 are sequentially placed in the pilot element mounting hole K of the first pilot valve seat 16. 1062 wherein the touch screen display 102 is used to input a first set flow rate and a second set flow rate; the controller 101 receives the first set flow rate or the second set flow rate input by the touch screen display 102, and outputs a current control signal to change the current of the first proportional electromagnet 3 or the second proportional electromagnet 8, so that the push rod of the first proportional electromagnet 3 or the second proportional electromagnet 8 extends or retracts; the push rod of the first proportional electromagnet 3 extends or retracts to change the stator eccentricity of the first vane-type variable motor 2, thereby changing the displacement of the first vane-type variable motor 2; the first displacement sensor The sensor 4 is used to detect the displacement of the push rod of the first proportional electromagnet 3 and feed it back to the controller 101; the first flow meter 5 is used to detect the actual flow value flowing through the first vane-type variable motor 2; the push rod of the second proportional electromagnet 8 extends or retracts to change the stator eccentricity of the second vane-type variable motor 7, thereby changing the displacement of the second vane-type variable motor 7; the second displacement sensor 9 is used to detect the displacement of the push rod of the second proportional electromagnet 8 and feed it back to the controller 101; the second flow meter 10 is used to detect the actual flow value flowing through the second vane-type variable motor 7. The present invention adopts two vane-type variable motors, two proportional electromagnets, two displacement sensors, two flow meters, a controller, and a touch screen display, achieving the purpose of diverting multiple working oil circuits in the same or different proportions and realizing the purpose of flow error compensation; at the same time, through a closed-loop control system with displacement feedback and flow feedback, the diversion accuracy is improved.

[0043] As an embodiment of the present invention, see Figure 3 The oil outlet B1 of the first pilot pressure reducing valve 1 is connected to the oil inlet A3 of the first vane type variable motor 2, the oil discharge port B5 of the first vane type variable motor 2 is connected to the oil inlet A5 of the first flowmeter 5, the oil outlet B7 of the first flowmeter 5 is connected to the total oil outlet T1, the pilot oil port B3 of the first pilot pressure reducing valve 1 is connected to the oil discharge port B5 of the first vane type variable motor 2; the oil outlet B2 of the second pilot pressure reducing valve 6 is connected to the oil inlet A4 of the second vane type variable motor 7, the oil discharge port B6 of the second vane type variable motor 7 is connected to the oil inlet A6 of the second flowmeter 10, the oil outlet B8 of the second flowmeter 10 is connected to the total oil outlet T2, and the pilot oil port B4 of the second pilot pressure reducing valve 6 is connected to the oil discharge port B6 of the second vane type variable motor 7.

[0044] As an embodiment of the present invention, the split flow motor further includes a first valve block 103, a second valve block 104 and an end cover 105, the end cover 105 is fixedly connected to the first valve block 103, the second valve block 104 is fixedly connected to the first valve block 103, the first pilot valve seat 16 of the first pilot pressure reducing valve 1 and the second pilot valve seat 66 of the second pilot pressure reducing valve 6 are fixedly connected to the second valve block 104; see Figure 7 , oil port A on the first valve block 103 012 Through its internal oil passage and oil port P 011 Connected, port A 011 Through its internal oil passage and oil port T 012 Connected, port B 012 、Oil port B 011 And oil port T 011 The three oil ports are connected through their internal oil passages. 011 With the second valve block 104 oil port A 026 Coincidence, port A 011 With the oil port T of the second valve block 104 012 Coincident, port T 012 With end cover 105 oil port A 031 Coincident, port T 011 With end cover 105 oil port A 032 coincidence; see Figure 8 , oil port A on the second valve block 104 023 Through its internal oil passage and oil port B 025 Same, oil port A 027 Through its internal oil passage and oil port B 026 Same, oil port A 024 、Oil port A 025 、Oil port B 022 The three are connected through their internal oil passages. 021、Oil port A 021 、Oil port A 022 The three are connected through their internal oil passages. 021 、Oil port B 024 、Oil port B 021 The three are connected through their internal oil passages. 027 With the first valve block 103 oil port P 011 Coincidence, port A 026 With the first valve block 103 oil port B 011 Coincident, port T 021 With the first valve block 103 oil port A 011 Coincidence, port A 025 The oil port B on the first pilot valve seat 16 of the first pilot pressure reducing valve 1 1061 Coincident, port B 024 The oil port A on the first pilot valve seat 16 of the first pilot pressure reducing valve 1 1061 Coincidence, port A 024 The oil port B on the second pilot valve seat 66 of the second pilot pressure reducing valve 6 6061 Coincident, port B 023 It coincides with the oil port A6061 on the second pilot valve seat 66 of the second pilot pressure reducing valve 6.

[0045] As an embodiment of the present invention, the oil port B on the first pilot valve seat 16 of the first pilot pressure reducing valve 1 1061 、Oil port A 1061 、Oil port B 1062 The three are connected through their internal oil passages. 1061 With the second valve block oil port A 025 Coincidence, port A 1061 With the second valve block 104 oil port B 024 coincidence, see Fig. 9 ; The second pilot valve seat 66 of the second pilot pressure reducing valve 6 has an oil port B 6061 、Oil port A 6061 、Oil port B 6062 The three are connected through their internal oil passages. 6061 With the second valve block 104 oil port A 024 Coincidence, port A 6061 With the second valve block 104 oil port B 023 coincidence, see Fig.10 .

[0046] It should be noted that the actuator matched with the present invention can be a hydraulic cylinder, a hydraulic motor, etc. When the actuator is a hydraulic cylinder, the cylinder diameter and rod diameter of each actuator hydraulic cylinder can be the same or different; when the actuator is a hydraulic motor, the displacement of each actuator hydraulic motor can be the same or different; in the present invention, a pilot pressure reducing valve, a vane-type variable motor, a proportional solenoid, a displacement sensor and a flow meter are combined into a unit, and the present invention can be combined into a multi-unit shunt motor, each unit can be matched with an actuator, and the number of units of the shunt motor is determined according to the number of actuators when in use.

[0047] Another aspect of the present invention discloses an automatic control method of a shunt motor, comprising the following steps:

[0048] Step 1: Initialization: Initialize the control system of the shunt motor;

[0049] Specifically, check whether the input and output parameters of the controller, displacement sensor, flow meter, proportional solenoid, etc. are normal. If not, do not proceed further and send out an alarm signal; if normal, continue to proceed further;

[0050] Step 2: Parameter setting: Set the flow rate of each vane motor through the touch screen display;

[0051] Step 3: Data collection: The controller collects relevant signals through the knobs, displacement sensors, flow meters, etc. on the touch screen display, and then proceeds to the next step;

[0052] Step 4: Determine whether the actuators are the same: Use the actuator option on the touch screen to determine whether the actuators are the same. If the actuators are the same, proceed to step 5.1; if the actuators are different, proceed to step 5.2.

[0053] Step 5.1: Synchronous automatic adjustment of motor flow: The vane motor flow is controlled in real time by a feedforward-feedback composite control method. The set flow value of the vane motor is detected by the touch screen display, and the flow value is converted into the displacement value of the push rod of the proportional electromagnet, and the calculated displacement value is used as the output value of the feedforward control. At the same time, the set flow value of the vane motor is subtracted from the actual flow value of the vane motor detected by the flow meter, and the difference is used as the output value of the feedback control after PID operation. The output value of the feedforward control and the output value of the feedback control are superimposed and then subtracted from the actual displacement of the push rod of the proportional electromagnet detected by the displacement sensor. The difference is PID operated and output to the proportional electromagnet through the controller, so that the push rod of the proportional electromagnet is displaced and the eccentricity of the stator of the vane motor is changed to make the flow of the vane motor meet the set flow value.

[0054] Step 5.2: Automatic step-by-step adjustment of motor flow: A feedforward-feedback composite control method is used to control the vane motor flow in real time. In the first step, the set flow value of the first vane motor is detected according to the touch screen display, and this flow value is converted into the displacement value of the push rod of the first proportional electromagnet, and this calculated displacement value is used as the output value of the feedforward control. At the same time, the set flow value of the first vane motor is subtracted from the actual flow value of the first vane motor detected by the first flow meter, and the difference is used as the output value of the feedback control after PID operation. The output value of the feedforward control and the output value of the feedback control are superimposed and then subtracted from the actual displacement of the push rod of the first proportional electromagnet detected by the first displacement sensor. After PID operation, this difference is output to the first proportional electromagnet through the controller, so that the push rod of the first proportional electromagnet is displaced, thereby changing the eccentricity of the stator of the first vane motor so that the flow of the first vane motor conforms to the standard. The set flow value is matched; the second step is to detect the set flow value of the second vane motor according to the touch screen display, convert this flow value into the displacement value of the push rod of the second proportional electromagnet, and use this calculated displacement value as the output value of the feedforward control. At the same time, the set flow value of the second vane motor is subtracted from the actual flow value of the second vane motor detected by the second flowmeter, and the difference is used as the output value of the feedback control after PID operation. The output value of the feedforward control and the output value of the feedback control are superimposed and then subtracted from the actual displacement of the push rod of the second proportional electromagnet detected by the second displacement sensor. The difference is output to the second proportional electromagnet through the controller after PID operation, so that the push rod of the second proportional electromagnet is displaced and the eccentricity of the stator of the second vane motor is changed to make the flow of the second vane motor meet the set flow value; repeat the control process of the first step to make the flow of each vane motor meet its set flow value.

[0055] A shunt motor disclosed in the present invention adopts two vane-type variable motors, two proportional electromagnets, two displacement sensors, two flow meters, a controller, and a touch screen display, thereby realizing shunt of multiple working oil circuits in the same or different proportions and realizing flow error compensation; at the same time, through a closed-loop control system with displacement feedback and flow feedback, the shunt accuracy is effectively improved.

[0056] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0057] The above embodiments are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary engineering and technical personnel in the field should fall within the protection scope determined by the claims of the present invention.

Claims

1. A split-flow motor, characterized in that: include: A first pilot-operated pressure reducing valve (1); A first vane-type variable displacement motor (2); A first proportional electromagnet (3), a push rod of the first proportional electromagnet (3) extending or retracting to change the stator eccentricity of the first vane-type variable motor (2), thereby changing the displacement of the first vane-type variable motor (2); A first displacement sensor (4) for detecting the displacement of the push rod of the first proportional electromagnet (3) and feeding back the displacement to the controller (101); A first flow meter (5) for detecting an actual flow value flowing through the first vane-type variable motor (2); A second pilot-operated pressure reducing valve (6); A second vane-type variable displacement motor (7); A second proportional electromagnet (8), a push rod of the second proportional electromagnet (8) extending or retracting to change the stator eccentricity of the second vane-type variable motor (7), thereby changing the displacement of the second vane-type variable motor (7); A second displacement sensor (9) is used to detect the displacement of the push rod of the second proportional electromagnet (8) and feed back the displacement to the controller (101); A second flow meter (10) for detecting an actual flow value flowing through the second vane-type variable motor (7); A touch screen display (102) is used to input the set flow rate of each flow-dividing motor; The controller (101) receives the input flow of each motor input by the touch screen display (102), and outputs a current control signal to change the current of the first proportional electromagnet (3) or the second proportional electromagnet (8), so that the push rod of the first proportional electromagnet (3) or the second proportional electromagnet (8) extends or retracts.

2. A split-flow motor according to claim 1, characterized in that: The oil outlet B1 of the first pilot pressure reducing valve (1) is connected to the oil inlet A3 of the first vane type variable motor (2), the oil outlet B5 of the first vane type variable motor (2) is connected to the oil inlet A5 of the first flow meter (5), the oil outlet B7 of the first flow meter (5) is connected to the total oil outlet T1, the pilot oil outlet B3 of the first pilot pressure reducing valve (1) is connected to the oil outlet B5 of the first vane type variable motor (2); the oil outlet B2 of the second pilot pressure reducing valve (6) is connected to the oil inlet A4 of the second vane type variable motor (7), the oil outlet B6 of the second vane type variable motor (7) is connected to the oil inlet A6 of the second flow meter (10), the oil outlet B8 of the second flow meter (10) is connected to the total oil outlet T2, and the pilot oil outlet B4 of the second pilot pressure reducing valve (6) is connected to the oil outlet B6 of the second vane type variable motor (7).

3. A split-flow motor according to claim 1, characterized in that: The first vane-type variable motor (2) and the second vane-type variable motor (7) have completely the same structure, and the first vane-type variable motor (2) and the second vane-type variable motor (7) use the same shaft as the output shaft. The first vane-type variable motor (2) comprises a first stator (21), a first rotor (22), a first vane (23), a first oil distribution plate (24), a second oil distribution plate (25), a first comparison push rod (26), a first comparison spring (27) and a first bearing (28). The first vane (23) is clamped in a vane groove on the first rotor (22).

4. A split-flow motor according to claim 1, characterized in that: The first pilot pressure reducing valve (1) and the second pilot pressure reducing valve (6) have the same structure. The first pilot pressure reducing valve (1) comprises a first main valve core (11), a first main valve spring (12), a first pilot valve core (13), a first pressure regulating spring (14), a first pressure regulating solenoid (15) and a first pilot valve seat (16). The first main valve spring (12) and the first main valve core (11) are sequentially arranged in a main valve spring mounting hole K of the first pilot valve seat (16). 1061 The first pilot valve core (13), the first pressure regulating spring (14), and the first pressure regulating electromagnet (15) are sequentially placed in the pilot element installation hole K of the first pilot valve seat (16). 1062 Inside.

5. A split-flow motor according to claim 1, characterized in that: It also includes a first valve block (103), a second valve block (104) and an end cover (105), wherein the end cover (105) is fixedly connected to the first valve block (103), the second valve block (104) is fixedly connected to the first valve block (103), and the first pilot valve seat (16) of the first pilot pressure reducing valve (1) and the second pilot valve seat (66) of the second pilot pressure reducing valve (6) are fixedly connected to the second valve block (104).

6. A split-flow motor according to claim 5, characterized in that: The oil port A on the first valve block (103) 012 Through its internal oil passage and oil port P 011 Connected, port A 011 Through its internal oil passage and oil port T 012 Connected, port B 012 、Oil port B 011 And oil port T 011 The three oil ports are connected through their internal oil passages. 011 With the oil port A of the second valve block (104) 026 Coincidence, port A 011 With the second valve block oil port T 012 Coincident, port T 012 With end cover (105) oil port A 031 Coincident, port T 011 With end cover oil port A 032 coincide.

7. A split-flow motor according to claim 6, characterized in that: The oil port A on the second valve block (104) 023 Through its internal oil passage and oil port B 025 Same, oil port A 027 Through its internal oil passage and oil port B 026 Same, oil port A 024 、Oil port A 025 、Oil port B 022 The three are connected through their internal oil passages. 021 、Oil port A 021 、Oil port A 022 The three are connected through their internal oil passages. 021 、Oil port B 024 、Oil port B 021 The three are connected through their internal oil passages. 027 Connected to the oil port P of the first valve block (103) 011 Coincidence, port A 026 With the first valve block oil port B 011 Coincident, port T 021 Connect to the oil port A of the first valve block (103) 011 Coincidence, port A 025 Connected to the oil port B on the first pilot valve seat (16) of the first pilot pressure reducing valve (1) 1061 Coincident, port B 024 The oil port A on the first pilot valve seat (16) of the first pilot pressure reducing valve (1) 1061 Coincidence, port A 024 The oil port B on the second pilot valve seat (66) of the second pilot pressure reducing valve (6) 6061 Coincident, port B 023 The oil port A on the second pilot valve seat (66) of the second pilot pressure reducing valve (6) 6061 coincide.

8. A split-flow motor according to claim 6, characterized in that: The oil port B on the first pilot valve seat (16) of the first pilot pressure reducing valve (1) 1061 、Oil port A 1061 、Oil port B 1062 The three are connected through their internal oil passages. 1061 With the second valve block oil port A 025 Coincidence, port A 1061 With the second valve block oil port B 024 Coincident; oil port B on the second pilot valve seat (66) of the second pilot pressure reducing valve (6) 6061 、Oil port A 6061 、Oil port B 6062 The three are connected through their internal oil passages. 6061 With the oil port A of the second valve block (104) 024 Coincidence, port A 6061 With the second valve block oil port B 023 coincide.

9. The automatic control method of a shunt motor according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: Initialization: Initialize the control system of the shunt motor; Step 2: Parameter setting: Set the flow rate of each vane motor through the touch screen display; Step 3: Data collection: The controller collects relevant signals through the knobs on the touch screen display, displacement sensors, flow meters, etc. Step 4: Determine whether the actuators are the same: Use the actuator option on the touch screen to determine whether the actuators are the same. If the actuators are the same, proceed to step 5.1; if the actuators are different, proceed to step 5.

2. Step 5.1: Synchronous automatic adjustment of motor flow: The vane motor flow is controlled in real time by a feedforward-feedback composite control method. The set flow value of the vane motor is detected by the touch screen display, and the flow value is converted into the displacement value of the push rod of the proportional electromagnet, and the calculated displacement value is used as the output value of the feedforward control. At the same time, the set flow value of the vane motor is subtracted from the actual flow value of the vane motor detected by the flow meter, and the difference is used as the output value of the feedback control after PID operation. The output value of the feedforward control and the output value of the feedback control are superimposed and then subtracted from the actual displacement of the push rod of the proportional electromagnet detected by the displacement sensor. The difference is PID operated and output to the proportional electromagnet through the controller, so that the push rod of the proportional electromagnet is displaced and the eccentricity of the stator of the vane motor is changed to make the flow of the vane motor meet the set flow value. Step 5.2: Automatic step-by-step adjustment of motor flow: A feedforward-feedback composite control method is used to control the vane motor flow in real time. In the first step, the set flow value of the first vane motor is detected according to the touch screen display, and the flow value is converted into the displacement value of the push rod of the first proportional electromagnet, and the calculated displacement value is used as the output value of the feedforward control. At the same time, the set flow value of the first vane motor is subtracted from the actual flow value of the first vane motor detected by the first flow meter, and the difference is used as the output value of the feedback control after PID operation. The output value of the feedforward control and the output value of the feedback control are superimposed and then subtracted from the actual displacement of the push rod of the first proportional electromagnet detected by the first displacement sensor. The difference is PID operated and output to the first proportional electromagnet through the controller, so that the push rod of the first proportional electromagnet is displaced and the eccentricity of the stator of the first vane motor is changed to make the flow of the first vane motor meet the set flow value. In the second step, according to the set flow value of the second vane motor detected by the touch screen display, this flow value is converted into the displacement value of the push rod of the second proportional electromagnet, and this calculated displacement value is used as the output value of the feedforward control. At the same time, the set flow value of the second vane motor is subtracted from the actual flow value of the second vane motor detected by the second flowmeter, and the difference is used as the output value of the feedback control after PID operation. The output value of the feedforward control and the output value of the feedback control are superimposed and then subtracted from the actual displacement of the push rod of the second proportional electromagnet detected by the second displacement sensor. After PID operation, this difference is output to the second proportional electromagnet through the controller, so that the push rod of the second proportional electromagnet is displaced and the eccentricity of the stator of the second vane motor is changed to make the flow of the second vane motor meet the set flow value; Repeat the first step of the control process to make the flow rate of each vane motor meet its set flow value.

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