Rotary pump calibration system, method and crane

Abstract

This invention provides a calibration system, method, and crane for a rotary pump. The calibration system includes a control handle, a hydraulic oil temperature sensor, a controller, a display, an electric pump proportional valve one, and an electric pump proportional valve two. Through the automatic calibration system, the minimum control current of the rotary pump at the lowest stable speed of the rotary system is determined. At the same time, a compensation scheme is proposed for the changes in current-displacement control characteristics caused by the performance degradation of the solenoid valve and the hydraulic oil temperature, which is used for the precise control of the crane's rotary speed.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery, specifically to a rotary pump calibration system, method, and crane. Background Technology

[0002] Currently, construction machinery is developing towards electrification and intelligentization. Large-tonnage cranes employ electronically controlled pump systems in their slewing systems, controlling the slewing speed by regulating the pump's displacement. The pump displacement is directly proportional to the magnitude of its control current, and the control accuracy of the slewing speed is closely related to the control current. Cranes, in particular, require high precision in the micro-motion control of their slewing systems, specifically the precise control accuracy of the minimum stable current corresponding to the minimum stable flow rate of the electronically controlled pump. Due to the influence of internal friction in the variable displacement mechanism of the electronically controlled pump and the hysteresis of the electromagnet material, the pump's current-displacement control characteristics exhibit hysteresis, thus affecting the control accuracy of the pump displacement. After prolonged operation, the electromagnetic force of the electromagnet controlling the displacement of an electronically controlled pump gradually weakens under the same current. This means that the pump displacement and rotation speed decrease under the same control current. The control current needs to be compensated for this weakening. (After prolonged operation, the electromagnetic force gradually weakens under the same current. The interaction between the electromagnetic force and the spring determines the displacement of the pump's variable displacement control valve core; therefore, a decrease in valve core displacement leads to a decrease in pump displacement.) Due to the influence of machining deviations in the internal structural dimensions of the electronically controlled pump, the current-displacement control characteristics exhibited by each pump also differ. The pump's control current needs to be calibrated. (Due to the influence of machining deviations in the internal structural dimensions of the electronically controlled pump, the initial variable current value of each pump is different. Finding this starting current value is called calibration.) Furthermore, different temperatures affect the viscosity of the hydraulic oil, which also significantly impacts the current-displacement control characteristics of the electronically controlled pump. The pump's control current needs to be compensated for based on the hydraulic oil temperature (lower hydraulic oil temperatures result in higher viscosity, requiring a larger control current to achieve the same pump displacement).

[0003] Authorized invention patent CN201811178150.6—A calibration method for the control current of a solenoid valve in an engineering machinery walking system—provides a method for calibrating the control current of a pump and motor in an electrically controlled pump and motor system. Utilizing the series connection between the hydraulic pump and hydraulic motor, and based on the values ​​obtained from the hydraulic motor speed sensor, the control current of the hydraulic pump and hydraulic motor is calibrated. A fixed current value is given to the hydraulic motor, and then the control current of the hydraulic pump solenoid valve is increased incrementally from its minimum value. When the controller reads a change in the speed of the hydraulic motor speed sensor, the minimum current of the hydraulic pump is calibrated; subsequently, the hydraulic motor solenoid valve is calibrated.

[0004] However, existing solutions, by adding a speed sensor to the motor to determine the minimum current of the hydraulic pump or motor, increase costs. Furthermore, the motor signal requires one analog input port on the controller, potentially increasing controller costs. The added motor speed sensor, being an electrical signal, is also a potential point of failure, affecting system reliability. This solution does not consider the impact of hysteresis in the solenoid valves of the electronically controlled pump and motor system on displacement, nor does it propose a calibration method. Additionally, this solution does not offer a compensation method for changes in current-displacement control characteristics caused by hydraulic oil temperature and temperature decay. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a calibration system, method and crane for a rotary pump. Through an automatic calibration system, the minimum control current of the rotary pump under the lowest stable speed of the rotary system is determined, which is used for precise control of the crane's rotary speed.

[0006] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0007] In a first aspect, the present invention provides a rotary pump calibration system, including a control handle, a hydraulic oil temperature sensor, a controller, a display, an electric pump proportional valve one, and an electric pump proportional valve two.

[0008] The control handle is used to control the left and right slewing of the crane. Pushing the handle to the left causes the upper part of the crane to slew to the left, and pushing the handle to the right causes the upper part of the crane to slew to the right. When the crane operator operates the control handle, the handle signal enters the controller. The controller analyzes the handle signal, determines whether the signal is a left or right slewing signal, and simultaneously determines the magnitude of the signal. It then converts the signal into a control current for the proportional valve of the electric pump and outputs it to the electric proportional valve of the electric pump. The larger the handle signal, the larger the control current of the proportional valve of the electric pump, and the larger the displacement of the electric pump. With the engine speed remaining constant, the crane slewing speed is also faster.

[0009] The electric pump proportional valve one and electric proportional valve two control the crane to rotate left and right respectively. The control current is determined by the controller. The larger the current, the faster the crane rotates while the machine speed remains constant.

[0010] The hydraulic oil temperature sensor is installed at the hydraulic oil tank of the crane. Its oil temperature signal is connected to the controller. The controller reads the temperature signal in real time and sends the oil temperature to the display. At the same time, it compensates the control current of the proportional valve of the electric pump according to the oil temperature signal. The compensation current can be obtained by bench testing.

[0011] The controller is used to perform calibration control based on the control handle signal, the hydraulic oil temperature sensor signal, and the control current of the electric proportional valve one and the electric proportional valve two of the electric pump. It also detects the rising edge signal and falling edge signal of the control handle, determines the number of times the electric proportional valve one and the electric proportional valve two of the electric pump are operated based on the rising edge signal and the falling edge signal, records the number of operations in real time, and compensates the control current of the electric proportional valve based on the current number of operations.

[0012] The display is used to send input commands to the controller based on the control handle signal, hydraulic oil temperature sensor signal, control current of the electric pump proportional valve one and electric pump proportional valve two, and number of operations.

[0013] Furthermore, the method for calibrating the controller includes a rotary pump starting current calibration method, comprising:

[0014] The crane is in an unloaded state. During the calibration process, the working radius and boom length are both in a fixed state, and the hydraulic oil temperature is at T0.

[0015] Select the calibration mode via the display panel (the controller needs to confirm the current operating conditions and select the calibration mode to run the calibration program; otherwise, it is considered to be a normally operating machine and the normal control program is used). Enter the left turn calibration and slowly and uniformly push the control handle to the left. The controller converts the control handle signal into the control current of the electric pump proportional valve one. During this process, the control handle signal gradually increases from 0, and the control current of the electric pump proportional valve one also gradually increases from 0.

[0016] When the left turn begins to stabilize, keep the control handle signal unchanged, and click the calibration button on the display. The controller will extract and store the hydraulic oil temperature T1, the control handle signal (the handle signal and control current correspond one-to-one; this record is only for future reference, and the current is the key point here), and the control current I of the electric pump proportional valve. 1min .

[0017] Continue pushing the control handle to the left at the same speed to its maximum, hold for 5 seconds, then release the control handle to the right at the same speed. The control handle signal will gradually decrease. When the maximum rotational speed is approximately 0, keep the control handle signal unchanged and click the calibration button on the display. The controller will then extract and store the hydraulic oil temperature T1', the control handle signal, and the control current I' of the proportional valve of the electric pump. 1min Repeat the above steps three times and take the average as the final value.

[0018] Based on the calibration results, the initial current of the proportional valve of the electronically controlled pump can be set to I. 10 I 10 =I' 1min-30mA (30mA is just an example; the actual value is set by the manufacturer based on controller performance and control strategy), input I on the display. 10 Configure the settings.

[0019] The same method was used to calibrate the proportional valve two of the electronically controlled pump, and the initial current of the proportional valve two of the electronically controlled pump was set to I. 20 The rotary pump starting current calibration is complete and the calibration mode has been exited.

[0020] Once calibration is complete, during slewing operations, the control current can quickly switch from I... 10 (I 20 Loading to I 1min (I' 2min It offers a faster response time, and when the slewing motion stops, the control current returns to I. 10 (I 20 (less than I') 1min (I' 2min To avoid malfunctions during rotation.

[0021] Furthermore, the method for calibrating the controller includes a rotary pump control current temperature compensation method, comprising:

[0022] The hydraulic oil temperature sensor sends the hydraulic oil temperature signal T to the controller. The controller compares this signal with the slewing system setpoint signal T0. If |T-T0|≤ΔT, then the control current I of the electric pump is not adjusted. 10 (I 20 Compensation is performed, and the proportional valve of the electronically controlled pump controls the current I. 11 =I 10 (I 21 =I 20 If |T-T0|>ΔT, then determine the control current compensation value I by referring to the table. T The controller outputs I 11 (I 21 As the control current of proportional valve one (two) of the electronically controlled pump, I 11 =I 10 +I T (I 21 =I 20 +I T ).

[0023] Current compensation value I T The acquisition methods include: current value compensation I T The value is obtained from the test of the electronically controlled pump bench. It is the difference in control current at the same pump displacement when the hydraulic oil temperature is T and T0.

[0024] Furthermore, the method for calibrating the controller includes a rotary pump control current attenuation compensation method, which includes:

[0025] The controller is powered on, and the number of actuations N of the proportional valve of the current electronically controlled pump is read. L When the control handle is pushed to the left, the controller detects the rising edge signal of the control handle and sets N... L +1 is stored in the controller as the current number of actions of the proportional valve of the electronically controlled pump. The current number of solenoid valve actions, N, is then determined. L With the set values ​​N1, N2, ..., N i-1 N i (i is a natural number and N) i >N i-1 The relationship is: >…>N2>N1), if |N L -N i If |≤N0, then refer to the table and operate N according to the proportional valve of the electronically controlled pump. i The corresponding attenuation compensation current I at this time Ni Compensation is performed, at which point the controller outputs current I. 11 =I 10 +I Ni .

[0026] Attenuation compensation current I Ni The value, obtained from bench testing of the electrically controlled pump, represents the proportional valve of the electrically controlled pump operating in the same displacement condition during N cycles. i The difference between the control current when the number of runs is less than N1 and the control current when the number of runs is less than N1. (A number less than N1 is considered to be a smaller number of runs for the electromagnet, with no attenuation.)

[0027] Furthermore, the method for calibrating the controller includes a method for compensating for the attenuation of the control current of the proportional valve of the right-hand rotary electric pump, which includes:

[0028] The controller is powered on, and the number of actuations N of the proportional valve of the current electronically controlled pump is read. R When the control handle is pushed to the left, the controller detects the rising edge signal of the control handle and sets N... L +1 is stored in the controller as the current number of actions of the proportional valve of the electronically controlled pump. The current number of solenoid valve actions, N, is then determined. R With the set values ​​N1, N2, ..., N i The relationship, if |N R -N i If |≤N0, then refer to the table and operate N according to the proportional valve of the electronically controlled pump. i The corresponding attenuation compensation current I at this time Ni Compensation is performed, at which point the controller outputs current I. 11 =I 10 +I NiAttenuation compensation current I Ni The value, obtained from bench testing of the electrically controlled pump, represents the proportional valve of the electrically controlled pump operating in the same displacement condition during N cycles. i The difference between the control current when the number of runs is less than N1 and the control current when the number of runs is less than N1.

[0029] Furthermore, the method for calibrating the controller includes a rotary pump control current compensation method, which includes:

[0030] Upon powering on, the controller determines the real-time hydraulic oil temperature T and the number of operations of the proportional valve of the electronically controlled pump. It then operates the pump using the aforementioned rotary pump control current temperature compensation and attenuation compensation methods. Ultimately, the controller outputs a current I. 11 =I 10 +I T +I Ni (I 21 =I 20 +I T +I Ni The proportional valve of the electric pump is controlled.

[0031] Secondly, the present invention provides a rotary pump calibration method, based on the rotary pump calibration system described in the first aspect, comprising the following steps:

[0032] Select the calibration mode via the display panel (the controller needs to confirm the current operating conditions and select the calibration mode to run the calibration program; otherwise, it is considered to be a normally operating machine and the normal control program is used). Enter the left turn calibration and slowly and uniformly push the control handle to the left. The controller converts the control handle signal into the control current of the electric pump proportional valve one. During this process, the control handle signal gradually increases from 0, and the control current of the electric pump proportional valve one also gradually increases from 0.

[0033] When the left turn begins to stabilize, keep the control handle signal unchanged, and click the calibration button on the display. The controller will extract and store the hydraulic oil temperature T1, the control handle signal (the handle signal and control current correspond one-to-one; this record is only for future reference, and the current is the key point here), and the control current I of the electric pump proportional valve. 1min .

[0034] Continue pushing the control handle to the left at the same speed to its maximum, hold for 5 seconds, then release the control handle to the right at the same speed. The control handle signal will gradually decrease. When the maximum rotational speed is approximately 0, keep the control handle signal unchanged and click the calibration button on the display. The controller will then extract and store the hydraulic oil temperature T1', the control handle signal, and the control current I' of the proportional valve of the electric pump. 1min Repeat the above steps three times and take the average as the final value.

[0035] Based on the calibration results, the initial current of the proportional valve of the electronically controlled pump can be set to I. 10 I 10 =I' 1min -30mA (30mA is just an example; the actual value is set by the manufacturer based on controller performance and control strategy), input I on the display. 10 Configure the settings.

[0036] The same method was used to calibrate the proportional valve two of the electronically controlled pump, and the initial current of the proportional valve two of the electronically controlled pump was set to I. 20 The rotary pump starting current calibration is complete and the calibration mode has been exited.

[0037] Thirdly, the present invention provides a crane including the rotary pump calibration system as described in the first aspect.

[0038] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0039] 1. This method takes into account the hysteresis phenomenon in the current-displacement control characteristics of the electronically controlled pump, making the calibration method more accurate.

[0040] 2. This calibration method does not require a motor speed sensor, thus avoiding additional costs and system failure points.

[0041] 3. At the same time, this invention proposes a compensation scheme to address the changes in current-displacement control characteristics caused by the performance degradation of the solenoid valve and the temperature of the hydraulic oil, thereby making the control of the crane's slewing speed more precise. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the rotary pump calibration system of the present invention;

[0043] Figure 2 This is a control current-displacement curve for a rotary pump.

[0044] Figure 3 This is a schematic diagram of the control current compensation principle for a rotary pump. Detailed Implementation

[0045] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0046] Example 1:

[0047] This embodiment provides a rotary pump calibration system, such as Figure 1 As shown, it mainly includes a control handle, a hydraulic oil temperature sensor, a controller, a display, an electric pump proportional valve one, an electric pump proportional valve two, etc.

[0048] The control handle is used to control the crane's left and right rotation. Pushing the handle to the left rotates the crane's upper structure to the left, and pushing the handle to the right rotates the crane's upper structure to the right.

[0049] When the crane operator operates the control handle, the handle signal enters the controller. The controller analyzes the handle signal, determines whether the signal is a left or right slewing signal, and simultaneously determines the magnitude of the signal. It then converts the signal into a control current for the proportional valve of the electric pump and outputs it to the electric proportional valve. The larger the handle signal, the larger the control current of the proportional valve of the electric pump, and the larger the displacement of the electric pump. With the engine speed remaining constant, the crane slewing speed is also faster.

[0050] The electric pump proportional valve one and electric proportional valve two control the crane to rotate left and right respectively. The control current is determined by the controller. The larger the current, the faster the crane rotates while the machine speed remains constant.

[0051] The hydraulic oil temperature sensor is installed at the hydraulic oil tank of the crane. Its oil temperature signal is connected to the controller. The controller reads the temperature signal in real time and sends the oil temperature to the display. At the same time, it compensates the control current of the proportional valve of the electric pump according to the oil temperature signal. The compensation current can be obtained by bench testing. The controller is used to receive the control handle signal, the hydraulic oil temperature sensor signal, and the control current of proportional valve one and proportional valve two of the electric pump.

[0052] The controller detects the rising and falling edge signals of the control handle, determines the number of times the electric proportional valve one and electric proportional valve two of the electric pump have been operated based on the rising and falling edge signals, records the number of operations in real time, and compensates the control current of the electric proportional valve of the electric pump based on the current number of operations.

[0053] The display shows information such as control handle signals sent by the controller, hydraulic oil temperature sensor signals, control current of proportional valve one and proportional valve two of the electric pump, and number of operations. It can also send instructions from the crane operator to the controller.

[0054] The process for calibrating the starting current of a rotary pump is as follows:

[0055] The crane is in an unloaded state. During the calibration process, the working radius and boom length are both in a fixed state, and the hydraulic oil temperature is at T0.

[0056] Select the calibration mode via the display panel (the controller needs to confirm the current operating conditions and select the calibration mode to run the calibration program; otherwise, it is considered to be a normally operating machine and the normal control program is used). Enter the left turn calibration and slowly and uniformly push the control handle to the left. The controller converts the control handle signal into the control current of the electric pump proportional valve one. During this process, the control handle signal gradually increases from 0, and the control current of the electric pump proportional valve one also gradually increases from 0.

[0057] When the left turn begins to stabilize, keep the control handle signal unchanged, and click the calibration button on the display. The controller will extract and store the hydraulic oil temperature T1, the control handle signal (the handle signal and control current correspond one-to-one; this record is only for future reference, and the current is the key point here), and the control current I of the electric pump proportional valve. 1min .

[0058] Continue pushing the control handle to the left at the same speed to its maximum, hold for 5 seconds, then release the control handle to the right at the same speed. The control handle signal will gradually decrease. When the maximum rotational speed is approximately 0, keep the control handle signal unchanged and click the calibration button on the display. The controller will then extract and store the hydraulic oil temperature T1', the control handle signal, and the control current I' of the proportional valve of the electric pump. 1min Repeat the above steps three times and take the average as the final value.

[0059] Furthermore, the method also includes:

[0060] Based on the calibration results, the initial current of the proportional valve of the electronically controlled pump can be set to I. 10 I 10 =I' 1min -30mA (30mA is just an example; the actual value is set by the manufacturer based on controller performance and control strategy), input I on the display. 10 Configure the settings.

[0061] The same method was used to calibrate the proportional valve two of the electronically controlled pump, and the initial current of the proportional valve two of the electronically controlled pump was set to I. 20 The rotary pump starting current calibration is complete and the calibration mode has been exited.

[0062] Once calibration is complete, during slewing operations, the control current can quickly switch from I... 10 (I 20 Loading to I 1min (I' 2min It offers a faster response time, and when the slewing motion stops, the control current returns to I. 10 (I 20 (less than I') 1min (I' 2min To avoid malfunctions during rotation.

[0063] The rotary pump control current temperature compensation process is as follows:

[0064] The hydraulic oil temperature sensor sends the hydraulic oil temperature signal T to the controller. The controller compares this signal with the slewing system setpoint signal T0. If |T-T0|≤ΔT, then the control current I of the electric pump is not adjusted. 10 (I 20Compensation is performed, and the proportional valve of the electronically controlled pump controls the current I. 11 =I 10 (I 21 =I 20 If |T-T0|>ΔT, then determine the control current compensation value I by referring to the table. T The controller outputs I 11 (I 21 As the control current of proportional valve one (two) of the electronically controlled pump, I 11 =I 10 +I T (I 21 =I 20 +I T ).

[0065] Current compensation value I T The acquisition methods include: obtaining the current value compensation I based on the test results of the electrically controlled pump bench. T The table shows the difference in control current at the same pump displacement when the hydraulic oil temperature is T and T0.

[0066] The rotary pump control current attenuation compensation process is as follows:

[0067] The controller is powered on, and the number of actuations N of the proportional valve of the current electronically controlled pump is read. L When the control handle is pushed to the left, the controller detects the rising edge signal of the control handle and sets N... L +1 is stored in the controller as the current number of actions of the proportional valve of the electronically controlled pump. The current number of solenoid valve actions, N, is then determined. L With the set values ​​N1, N2, ..., N i-1 N i (i is a natural number and N) i >N i-1 The relationship is: >…>N2>N1), if |N L -N i If |≤N0, then refer to the table and operate N according to the proportional valve of the electronically controlled pump. i The corresponding attenuation compensation current I at this time Ni Compensation is performed, at which point the controller outputs current I. 11 =I 10 +I Ni .

[0068] Attenuation compensation current I Ni The value, obtained from bench testing of the electrically controlled pump, represents the proportional valve of the electrically controlled pump operating in the same displacement condition during N cycles. i The difference between the control current when the number of runs is less than N1 and the control current when the number of runs is less than N1. (A number less than N1 is considered to be a smaller number of runs for the electromagnet, with no attenuation.)

[0069] Similarly, the compensation method for the attenuation of the control current of the proportional valve of the right-hand rotary electric pump is as follows: Power on the controller and read the current number of actions N of the proportional valve of the electric pump. R When the control handle is pushed to the left, the controller detects the rising edge signal of the control handle and sets N... L +1 is stored in the controller as the current number of actions of the proportional valve of the electronically controlled pump. The current number of solenoid valve actions, N, is then determined. R With the set values ​​N1, N2, ..., N i The relationship, if |N R -N i If |≤N0, then refer to the table and operate N according to the proportional valve of the electronically controlled pump. i The corresponding attenuation compensation current I at this time Ni Compensation is performed, at which point the controller outputs current I. 11 =I 10 +I Ni Attenuation compensation current I Ni The value, obtained from bench testing of the electrically controlled pump, represents the proportional valve of the electrically controlled pump operating in the same displacement condition during N cycles. i The difference between the control current when the number of runs is less than N1 and the control current when the number of runs is less than N1.

[0070] Rotary pump control current compensation scheme:

[0071] Upon powering on, the controller determines the real-time hydraulic oil temperature T and the number of operations of the proportional valve of the electronically controlled pump. It then operates the pump using the aforementioned rotary pump control current temperature compensation and attenuation compensation methods. Ultimately, the controller outputs a current I. 11 =I 10 +I T +I Ni (I 21 =I 20 +I T +I Ni The proportional valve of the electric pump is controlled.

[0072] This invention proposes a rotary pump calibration system, method, and crane. It presents a calibration method for the minimum stable current of the electrically controlled pump at the minimum stable speed of the rotary system. This method considers the hysteresis phenomenon in the current-displacement control characteristics of the electrically controlled pump, resulting in a more accurate calibration. This calibration method does not require a motor speed sensor, thus avoiding additional costs and potential failure points. Furthermore, this invention proposes a compensation scheme to address changes in the current-displacement control characteristics caused by solenoid valve performance degradation and hydraulic oil temperature, making the control of the crane's rotary speed more precise.

[0073] Example 2:

[0074] This embodiment provides a rotary pump calibration method based on the rotary pump calibration system described in Embodiment 1, including the following steps:

[0075] Select the calibration mode via the display panel (the controller needs to confirm the current operating conditions and select the calibration mode to run the calibration program; otherwise, it is considered to be a normally operating machine and the normal control program is used). Enter the left turn calibration and slowly and uniformly push the control handle to the left. The controller converts the control handle signal into the control current of the electric pump proportional valve one. During this process, the control handle signal gradually increases from 0, and the control current of the electric pump proportional valve one also gradually increases from 0.

[0076] When the left turn begins to stabilize, keep the control handle signal unchanged, and click the calibration button on the display. The controller will extract and store the hydraulic oil temperature T1, the control handle signal (the handle signal and control current correspond one-to-one; this record is only for future reference, and the current is the key point here), and the control current I of the electric pump proportional valve. 1min .

[0077] Continue pushing the control handle to the left at the same speed to its maximum, hold for 5 seconds, then release the control handle to the right at the same speed. The control handle signal will gradually decrease. When the maximum rotational speed is approximately 0, keep the control handle signal unchanged and click the calibration button on the display. The controller will then extract and store the hydraulic oil temperature T1', the control handle signal, and the control current I' of the proportional valve of the electric pump. 1min Repeat the above steps three times and take the average as the final value.

[0078] Based on the calibration results, the initial current of the proportional valve of the electronically controlled pump can be set to I. 10 I 10 =I' 1min -30mA (30mA is just an example; the actual value is set by the manufacturer based on controller performance and control strategy), input I on the display. 10 Configure the settings.

[0079] The same method was used to calibrate the proportional valve two of the electronically controlled pump, and the initial current of the proportional valve two of the electronically controlled pump was set to I. 20 The rotary pump starting current calibration is complete and the calibration mode has been exited.

[0080] Example 3:

[0081] This embodiment provides a crane, including the rotary pump calibration system as described in Embodiment 1.

[0082] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0084] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0085] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0086] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A rotary pump calibration system, characterized in that, Includes control handle, hydraulic oil temperature sensor, controller, display, electric pump proportional valve one, and electric pump proportional valve two; The control handle is used to control the left and right rotation of the crane. Pushing the handle to the left will cause the upper part of the crane to rotate to the left, and pushing the handle to the right will cause the upper part of the crane to rotate to the right. When the crane operator operates the control handle, the handle signal enters the controller. The controller analyzes the handle signal, determines whether the signal is a left or right rotation signal, and at the same time determines the magnitude of the signal. It then converts the signal into a control current for the proportional valve of the electric pump and outputs it to the electric proportional valve of the electric pump. The electric pump proportional valve one and electric proportional valve two control the crane to rotate to the left and right respectively, and their control current is determined by the controller; The hydraulic oil temperature sensor is installed at the hydraulic oil tank of the crane. Its oil temperature signal is connected to the controller. The controller reads the temperature signal in real time and sends the oil temperature to the display. At the same time, it compensates the control current of the proportional valve of the electric pump according to the oil temperature signal. The controller is used to perform calibration control based on the control handle signal, the hydraulic oil temperature sensor signal, and the control current of the electric proportional valve one and the electric proportional valve two of the electric pump. It also detects the rising edge signal and the falling edge signal of the control handle, determines the number of times the electric proportional valve one and the electric proportional valve two of the electric pump are operated based on the rising edge signal and the falling edge signal, records the number of operations in real time, and compensates the control current of the electric proportional valve based on the current number of operations. The display is used to send input commands to the controller based on the control handle signal, the hydraulic oil temperature sensor signal, the control current and number of operations of the electric pump proportional valve one and the electric pump proportional valve two. The method for calibrating the controller includes a rotary pump starting current calibration method, comprising: The crane is in an unloaded state. During the calibration process, the working radius and boom length are both in a fixed state. The hydraulic oil temperature is T0. The input information is acquired and the calibration mode is entered. The left turn calibration is entered. The control handle is slowly and uniformly pushed to the left. The controller converts the control handle signal into the control current of the electric pump proportional valve one. During this process, the control handle signal gradually increases from 0, and the control current of the electric pump proportional valve one also gradually increases from 0. When the left rotation begins to be stable, the control handle signal is kept unchanged, the calibration button is clicked on the display, the controller extracts and stores the hydraulic oil temperature T1, the control handle signal and the control current I of the proportional valve of the electric control pump at this time 1min ; Continue pushing the control handle to the left at the same speed to its maximum, hold for 5 seconds, and then release the control handle to the right at the same speed. At this time, the control handle signal gradually decreases. When the maximum rotational speed is approximately 0, keep the control handle signal unchanged and acquire the input information. The controller extracts and stores the hydraulic oil temperature, control handle signal, and control current of the proportional valve of the electric pump at this time. Repeat the above actions three times and take the average value as the final value to obtain the hydraulic oil temperature T1', control handle signal, and control current I' of the proportional valve of the electric pump. 1min ; Based on the calibration results, the initial current of the proportional valve of the electronically controlled pump is set to I. 10 I 10 =I' 1min -I' 预设 , where I' 预设 Preset values ​​by the manufacturer; Input I on the display 10 Configure settings; The same method was used to calibrate the proportional valve two of the electronically controlled pump, and the initial current of the proportional valve two of the electronically controlled pump was set to I. 20 The rotary pump starting current calibration is complete and the calibration mode has been exited.

2. The rotary pump calibration system according to claim 1, characterized in that, I’ 预设 =30mA。 3. The rotary pump calibration system according to claim 1, characterized in that, The method for calibrating the controller includes a rotary pump control current temperature compensation method, comprising: The hydraulic oil temperature sensor sends the hydraulic oil temperature signal T to the controller. The controller compares this signal with the slewing system setpoint signal T0. If |T - T0| ≤ ΔT, then the control current I of the electric pump is not adjusted. 10 I 20 To compensate, the proportional valve of the electronically controlled pump controls the current I. 11 = I 10 I 21 = I 20 If |T - T0| > ΔT, then refer to the current compensation value table to determine the control current compensation value I. T The controller outputs I 11 I 21 As the control current for proportional valve one and proportional valve two of the electrically controlled pump, I 11 = I 10 +I T I 21 = I 20 +I T .

4. The rotary pump calibration system according to claim 1, characterized in that, The method for calibrating the controller includes a rotary pump control current attenuation compensation method, which includes: The controller is powered on, and the number of actuations N of the proportional valve of the current electronically controlled pump is read. L When the control handle is pushed to the left, the controller detects the rising edge signal of the control handle and sets N... L +1 is stored in the controller as the current number of actuations of the proportional valve of the electronically controlled pump; determine the current number of actuations of the solenoid valve N. L With the set values ​​N1, N2, ..., N i-1 N i The relationship is that i is a natural number and N i >N i-1 >…> N2>N1, if |N L -N i If |≤N0, then refer to the current compensation value table and operate the electric pump proportional valve according to N. i The corresponding attenuation compensation current I at this time Ni Compensation is performed, at which point the controller outputs a control current I for the proportional valve of the electronically controlled pump. 11 = I 10 +I Ni ; Attenuation compensation current I Ni The value, obtained from bench testing of the electrically controlled pump, represents the proportional valve of the electrically controlled pump operating in the same displacement condition during N cycles. i The difference between the control current when the number of runs is less than N1 and the control current when the number of runs is less than N1 is considered to be the result of fewer runs of the electromagnet and no attenuation.

5. The rotary pump calibration system according to claim 3 or 4, characterized in that, Methods for obtaining current compensation value tables include: current value compensation I T The value is obtained from the test of the electronically controlled pump bench. It is the difference in control current at the same pump displacement when the hydraulic oil temperature is T and T0.

6. The rotary pump calibration system according to claim 1, characterized in that, The method for calibrating the controller includes a method for compensating for the attenuation of the control current of the proportional valve of the right-hand rotary electric pump, which includes: The controller is powered on, and the number of actuations N of the proportional valve of the current electronically controlled pump is read. R When the control handle is pushed to the left, the controller detects the rising edge signal of the control handle and sets N... L +1 is stored in the controller as the current number of actuations of the proportional valve of the electronically controlled pump; determine the current number of actuations of the solenoid valve N. R With the set values ​​N1, N2, ..., N i The relationship, if |N R -N i If |≤N0, then refer to the current compensation value table and operate the electric pump proportional valve according to N. i The corresponding attenuation compensation current I at this time Ni Compensation is performed, at which point the controller outputs a control current I for the proportional valve of the electronically controlled pump. 11 = I 10 +I Ni ; Attenuation compensation current I Ni The value, obtained from bench testing of the electrically controlled pump, represents the proportional valve of the electrically controlled pump operating in the same displacement condition during N cycles. i The difference between the control current when the number of runs is less than N1 and the control current when the number of runs is less than N1.

7. The rotary pump calibration system according to claim 1, characterized in that, The method for calibrating the controller includes a rotary pump control current compensation method, which includes: Upon power-up, the controller determines the real-time hydraulic oil temperature T and the number of operations of the proportional valve of the electronically controlled pump. It then operates using the aforementioned rotary pump control current temperature compensation and attenuation compensation methods. The final controller output current is: I. 11 = I 10 + I T +I Ni I 21 = I 20 + I T +I Ni Control the proportional valve of the electronically controlled pump.

8. A method for calibrating a rotary pump, characterized in that, Based on the rotary pump calibration system as described in any one of claims 1-7, the system includes the following steps: Select the calibration mode through the display panel and enter the left rotation calibration. Slowly and uniformly push the control handle to the left. The controller converts the control handle signal into the control current of the electric pump proportional valve one. During the left rotation calibration, the control handle signal gradually increases from 0, and the control current of the electric pump proportional valve one also gradually increases from 0. When the left turn begins to stabilize, keep the control handle signal unchanged, click the calibration button on the display, and the controller will extract and store the hydraulic oil temperature T1, control handle signal, and control current I of the proportional valve of the electric pump at this time. 1min ; Continue pushing the control handle to the left at the same speed to its maximum, hold for 5 seconds, then release the control handle to the right at the same speed. The control handle signal will gradually decrease. When the maximum rotational speed is approximately 0, keep the control handle signal unchanged and click the calibration button on the display. The controller will then extract and store the hydraulic oil temperature T1', the control handle signal, and the control current I' of the proportional valve of the electric pump. 1min Repeat the above steps three times and take the average value as the final value. Based on the calibration results, the initial current of the proportional valve of the electronically controlled pump can be set to I. 10 I 10 =I' 1min -30 mA, at display input I 10 Configure settings; The same method was used to calibrate the proportional valve two of the electronically controlled pump, and the initial current of the proportional valve two of the electronically controlled pump was set to I. 20 The rotary pump starting current calibration is complete and the calibration mode has been exited.

9. A crane, characterized in that, Includes the rotary pump calibration system as described in any one of claims 1-7.

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