Multi-way valve multi-execution element cooperative control device and method

Abstract

The application discloses a kind of multi-way valve multiple execution element collaborative control device and method, the device includes the mechanical compensator installed in each working link and the control unit connected with each working link, control unit includes ECU processing unit, electric proportional pressure reducing valve and the displacement sensor for obtaining the actual position information of working link valve core;Mechanical compensator is used for mechanical compensation according to load feedback;ECU processing unit adjusts the control current of electric proportional pressure reducing valve according to the received external control signal to adjust the position of working link valve core;ECU processing unit calculates the deviation of valve core according to the received actual position information of working link valve core, and adjusts the control current of electric proportional pressure reducing valve according to deviation to close-loop adjust the valve core position of working link.This application fully integrates mechanical compensation technology and electronic compensation technology, and high-precision flow distribution can be realized.

Description

Technical Field

[0001] This invention relates to the field of multi-way valve technology, and more specifically to a multi-way valve multi-actuator collaborative control device and method. Background Technology

[0002] In modern construction projects, due to time constraints and the goal of reducing operating costs, high demands are placed on the working efficiency of cranes. Using composite control functions in crane operation can significantly improve crane operating efficiency and reduce the workload of operators. The multi-way valve is a core control component in the crane's hydraulic system, and its performance directly affects the overall controllability of the crane.

[0003] Currently, multi-way valve spool control often adopts the post-valve compensation load-sensing principle. This type of hydraulic system based on the load-sensing principle can be applied when the flow is not saturated. However, when the sum of the flow required by each actuator is greater than the maximum flow provided by the pump, the system lacks the ability to coordinate control for pressure and flow compensation. The high-load linkage is affected first, the flow to the high-load mechanism decreases, and the flow to other lower-load mechanisms does not change immediately, thus disrupting the coordination of system operation.

[0004] Existing technical solutions compensate using mechanical compensators, such as Figure 1 As shown, patent CN207596344U discloses a multi-way valve equipped with a compensator, including a valve body 1 and a valve stem 2. The valve body 1 is provided with multiple valve groups, each valve group corresponding to a compensator 3. The compensator 3 includes an oil inlet 31, an oil outlet 32, a pressure pickup port 33, a feedback oil port 34, and a feedback chamber 35. The oil inlet 31 and the oil outlet 32 ​​are connected. The compensator 3, during operation, allows the oil inlet 31 to contact the valve body 1 through the oil outlet 32. The compensator 3 has two states: a first state where the oil outlet 32 ​​is connected to the pressure oil port, and a second state where the oil outlet 32 ​​is separated from the pressure oil port of the valve body 1. The pressure pickup port 33 of the compensator 3 is connected to the working oil port and picks up the pressure oil from the working oil port when the compensator 3 is in the first state. A one-way valve 4 is installed between the pressure pickup port 33 and the feedback oil port 34 of each valve group. The feedback oil ports 34 of different compensators 3 on different valve groups are interconnected and reverse-cut off by the one-way valve 4. The feedback oil port 34 is connected to the feedback chamber 35. By adjusting the opening size of the compensator, oil pressure can be quickly established during operation. The feedback oil ports of the compensators on different valve groups are connected. During compound actions, the feedback pressure oil generated at the end with the higher load pressure closes the openings of other compensators, thereby distributing more pressure oil to the end with the higher load per unit time, achieving pressure compensation. This solves the problem of existing cranes where hydraulic oil flows to the light load during compound actions, resulting in slow or no action under heavy load. The disadvantage of this mechanical compensation is a large compensation error. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-way valve and multi-actuator coordinated control device and method to solve the problem of large errors in the prior art through mechanical compensation.

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

[0007] In a first aspect, the present invention discloses a multi-way valve multi-actuator collaborative control device, including a mechanical compensator installed in each working link and a control unit connected to each working link. The control unit includes an ECU processing unit, an electro-proportional pressure reducing valve, and a displacement sensor for acquiring the actual position information of the valve core of the working link.

[0008] The mechanical compensator is used to perform mechanical compensation based on load feedback;

[0009] The ECU processing unit adjusts the control current of the electro-proportional pressure reducing valve according to the received external control signal to adjust the position of the working link valve core; the ECU processing unit calculates the deviation of the valve core according to the received actual position information of the working link valve core, and adjusts the control current of the electro-proportional pressure reducing valve according to the deviation to adjust the position of the working link valve core in a closed loop.

[0010] Furthermore, the mechanical compensator performs compensation based on load feedback, including:

[0011] Open the mechanical compensator of each working link to connect the feedback oil ports of multiple mechanical compensators;

[0012] The feedback pressure oil generated by the working link with high load pressure closes the mechanical compensators in other working links, so that more pressure oil is distributed to the working link with high load per unit time.

[0013] Furthermore, the control current of the electro-proportional pressure reducing valve is adjusted according to the received external control signal to regulate the position of the working valve core:

[0014] Obtain the pressure difference between the oil ports before and after the working valve core and the valve core opening area;

[0015] The actual required flow rate is calculated based on the pressure difference between the oil ports before and after the working valve core and the valve core opening area.

[0016] Adjust the control current of each working link of the multi-way valve based on the comparison between the actual required flow rate and the set flow rate.

[0017] Adjust the opening degree of the valve core inside the oil circuit of the working valve end cover according to the control current to adjust the position of the working valve core.

[0018] Furthermore, obtaining the pressure difference between the oil ports before and after the working valve core includes:

[0019] The pressure at the oil ports before and after the valve core is obtained by pressure sensors installed at the oil ports before and after the valve core.

[0020] The ECU processing unit, which is connected to the pressure sensor signal, calculates the pressure difference between the oil ports before and after the valve core.

[0021] Furthermore, the opening area of ​​the working valve core includes:

[0022] The valve core position is obtained through the displacement detection sensor;

[0023] The valve core opening area is calculated by the ECU processing unit, which is connected to the displacement detection sensor signal.

[0024] Furthermore, the control unit on each working link is signal-connected to the control units of other working links, so that the ECU processing unit can receive displacement signals, flow signals, pressure signals and fault signals from other links.

[0025] Secondly, this invention discloses a method for coordinated control of multiple valves and multiple actuators, comprising:

[0026] The mechanical compensator performs mechanical compensation based on load feedback;

[0027] When the pressure difference between the oil ports before and after the working link exceeds a set threshold, the control unit performs electronic compensation;

[0028] The electronic compensation includes: controlling the opening degree of the working link valve core according to the received external control signal to adjust the position of the working link valve core; obtaining the actual position information of the working link valve core and calculating the deviation of the valve core; and adjusting the position of the working link valve core in a closed loop according to the deviation.

[0029] Control ends when the pressure before and after the working link is less than the set threshold.

[0030] Furthermore, the mechanical compensator performs compensation based on load feedback, including:

[0031] Open the mechanical compensator of each working link to connect the feedback oil ports of multiple mechanical compensators;

[0032] The feedback pressure oil generated by the working link with high load pressure closes the mechanical compensators in other working links, so that more pressure oil is distributed to the working link with high load per unit time.

[0033] Furthermore, the control current of the electro-proportional pressure reducing valve is adjusted according to the received external control signal to regulate the position of the working valve core:

[0034] Obtain the pressure difference between the oil ports before and after the working valve core and the valve core opening area;

[0035] The actual required flow rate is calculated based on the pressure difference between the oil ports before and after the working valve core and the valve core opening area.

[0036] Adjust the control current of each working link of the multi-way valve based on the comparison between the actual required flow rate and the set flow rate.

[0037] Adjust the opening degree of the valve core inside the oil circuit of the working valve end cover according to the control current to adjust the position of the working valve core.

[0038] Furthermore, obtaining the pressure difference between the oil ports before and after the working valve core and the valve core opening area includes:

[0039] The pressure at the oil ports before and after the valve core is obtained by pressure sensors at the oil ports before and after the valve core, so as to calculate the pressure difference between the oil ports before and after the valve core.

[0040] The valve core position is obtained by a valve core displacement detection sensor, and the valve core opening area is calculated.

[0041] According to the above technical solution, the embodiments of the present invention have at least the following effects: The collaborative control device of this application fully integrates mechanical compensation technology and electronic compensation technology. The mechanical compensation technology can quickly feed back the load through the compensator for mechanical compensation, and then adjust the control current according to the pressure difference for electronic compensation. The electronic compensation technology makes up for the error of the mechanical compensation technology, thereby achieving high-precision flow distribution. When performing electronic compensation, this application uses feedback adjustment, that is, firstly, the valve core position is adjusted according to the external control signal, then the valve core deviation is calculated according to the real-time position of the valve core, and then the adjustment is performed again according to the deviation to ensure the accuracy of the valve core position adjustment. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the background technology;

[0043] Figure 2 This is a flowchart illustrating the control method in this application;

[0044] Figure 3 This is a schematic diagram of each working link in this application;

[0045] Figure 4 This is a schematic diagram of the installation of the control unit in this application;

[0046] Figure 5 This is a schematic diagram of the internal working logic of the control unit in this application. Detailed Implementation

[0047] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0048] This invention proposes a method and device for coordinated control of multiple actuators in a multi-way valve. With a compensator installed in the multi-way valve, an independent control unit is added to the working link side to compensate the flow rate of the working link according to the working conditions, thus solving the problem that the existing technology cannot achieve high-precision flow distribution when multiple actuators work synchronously.

[0049] This method utilizes the opening size of mechanical compensators to quickly establish oil pressure during operation. The feedback ports of the compensators on different valve groups are connected. During compound operations, the feedback pressure oil generated at the end with the higher load pressure closes the openings of other compensators, thereby distributing more pressure oil to the end with the higher load per unit time and achieving pressure compensation. At the same time, by adding an independent control unit, the current operating conditions of the working link, as well as parameters such as flow and pressure, are identified, and the valve opening of the working link is controlled to improve the flow compensation accuracy. This solves the problem of existing technologies being unable to achieve high-precision flow distribution when multiple actuators are working synchronously.

[0050] Terminology Definitions and Explanations: Multi-way valve: A device used in crane hydraulic systems for integrated hydraulic fluid reversal. Load-sensitive system: A hydraulic circuit that senses the system's pressure-flow demand and only provides the required flow and pressure.

[0051] Example 1

[0052] This embodiment provides a multi-way valve multi-actuator collaborative control device, including a mechanical compensator installed in each working link and a control unit connected to each working link. The control unit includes an ECU processing unit, an electro-proportional pressure reducing valve, and a displacement sensor for acquiring the actual position information of the valve core in the working link. The mechanical compensator is used to perform mechanical compensation based on load feedback. The ECU processing unit adjusts the control current of the electro-proportional pressure reducing valve to adjust the position of the valve core in the working link according to the received external control signal. The ECU processing unit calculates the deviation of the valve core based on the received actual position information of the valve core in the working link, and adjusts the control current of the electro-proportional pressure reducing valve according to the deviation to achieve closed-loop regulation of the valve core position in the working link.

[0053] The collaborative control device of this application fully integrates mechanical compensation technology and electronic compensation technology. The mechanical compensation technology can quickly provide feedback to the load through the compensator for mechanical compensation, and then adjust the control current according to the pressure difference for electronic compensation. The electronic compensation technology makes up for the error of the mechanical compensation technology, thereby achieving high-precision flow distribution. When performing electronic compensation, this application uses feedback adjustment, that is, firstly, the valve core position is adjusted according to the external control signal, then the valve core deviation is calculated according to the real-time position of the valve core, and then the adjustment is made again according to the deviation to ensure the accuracy of the valve core position adjustment.

[0054] The control unit integrates a displacement sensor, an ECU processing unit, an electro-proportional pressure reducing valve, and other devices. External control signals (displacement signals, flow signals, pressure signals, and fault signals from other links) are sent to the ECU processing unit. The ECU processing unit adjusts the valve opening in the end cap oil circuit by changing the control current of the electro-proportional pressure reducing valve, thereby changing the pressure in the control chamber of the control link valve core and ultimately changing the position of the control link valve core. Based on the actual position of the control link valve core fed back by the displacement sensor, the deviation of the valve core is obtained. The deviation is adjusted through an internal algorithm to form a closed-loop control of the valve core displacement, which can achieve rapid response. The various control devices can work together to achieve flow distribution.

[0055] Example 2

[0056] like Figure 1 As shown, a multi-way valve and multi-actuator coordinated control method includes: Step 10, the mechanical compensator performs compensation based on load feedback. Step 20, in response to the pressure difference between the oil ports before and after the working link exceeding a set threshold, the control unit performs electronic compensation. Step 30, in response to the pressure before and after the working link being less than the set threshold, the control ends.

[0057] In step 20, electronic compensation includes: controlling the opening degree of the working link valve core according to the received external control signal to adjust the position of the working link valve core; acquiring the actual position information of the working link valve core and calculating the deviation of the valve core; and adjusting the position of the working link valve core in a closed loop according to the deviation. This setting achieves feedback adjustment, ensuring the accuracy of the valve core position adjustment.

[0058] In step 30, the control ends when the pressure before and after the working link is less than the set threshold. The pressure before and after the working link in this step can be obtained after compensation by a mechanical compensator, or it can be obtained after compensation by a mechanical compensator first and then compensation by control current adjustment.

[0059] Specifically, the internal pressure compensation logic of the multi-way valve is as follows: Figure 1 As shown, the mechanical compensator compensates first. A compensator is installed inside the multi-way valve, and the feedback ports on different valve groups are connected. The compensator opens to establish oil pressure and quickly compensate for the flow. Then, the pressure difference between the ports before and after the working link is judged. When the pressure difference between the ports before and after the working link exceeds the set threshold, the control current is adjusted to control the valve opening, so that the flow output is more accurate and meets the current actual working conditions.

[0060] As attached Figure 2 As shown, the multi-way valve analyzes the control signal through its internal system algorithm and decomposes it into the flow rate and pressure parameters of each control link required for actions such as luffing and hoisting, luffing and telescopic, and hoisting and telescopic. This drives the valve core to change the valve opening size, so that each control link can be allocated an appropriate flow rate, thereby realizing the composite action control of the crane.

[0061] Electronic compensation technology ensures the valve core opening area through high-precision valve core displacement detection, detects the pressure difference through pressure sensors before and after the valve, calculates the actual required flow rate based on the pressure difference before and after the valve core and the valve core opening area, and adjusts the control current of each actuator of the multi-way valve according to the comparison between the actual flow rate and the set flow rate to achieve high-precision flow distribution control.

[0062] To ensure control accuracy, each working link of the multi-way valve has an independent control device, which has functions such as closed-loop control of valve core displacement and flow calculation. Figure 3 As shown, an independent control unit is configured at one end of each control link of the multi-way valve. The unit integrates a displacement sensor, an ECU processing unit, an electro-proportional pressure reducing valve, and other devices, and has detection, decision-making, and execution functions.

[0063] The control unit's working logic block diagram is attached. Figure 4 As shown, external signals are sent to the ECU processing unit. The ECU processing unit adjusts the valve opening in the end cover oil circuit by changing the control current of the proportional pressure reducing valve, thereby changing the pressure in the control chamber of the control valve core and ultimately changing the position of the control valve core. Based on the actual position of the control valve core fed back by the displacement sensor, the deviation is obtained. The deviation is adjusted through an internal algorithm to form a closed-loop control of the valve core displacement, which can achieve rapid response. The various control devices can work together to achieve flow distribution.

[0064] This application has the following advantages: it has internal closed-loop control, which can respond to changes in external pressure in a timely manner;

[0065] It has detection capabilities and can reasonably allocate the total flow according to the working conditions of each link, and compensate for links with large loads; the control unit has decision-making and driving capabilities, avoids occupying the control port of the controller, and reduces the complexity of the main control unit.

[0066] As is known from common technical knowledge, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative in all respects and are not the only ones. All modifications within the scope of this invention or its equivalents are included in this invention.

Claims

1. A plurality of valve multi-executive element cooperative control device, characterized in that, It includes a mechanical compensator installed in each working link and a control unit connected to each working link. The control unit includes an ECU processing unit, an electro-proportional pressure reducing valve, and a displacement sensor for acquiring the actual position information of the valve core in the working link. The mechanical compensator is used to perform mechanical compensation based on load feedback; The ECU processing unit adjusts the control current of the electro-proportional pressure reducing valve according to the received external control signal to adjust the position of the working link valve core; the ECU processing unit calculates the deviation of the valve core according to the received actual position information of the working link valve core, and adjusts the control current of the electro-proportional pressure reducing valve according to the deviation to adjust the valve core position of the working link in a closed loop. The mechanical compensator compensates based on load feedback, including: Open the mechanical compensator of each working link to connect the feedback oil ports of multiple mechanical compensators; The feedback pressure oil generated by the working link with high load pressure closes the mechanical compensator in other working links, so that more pressure oil is distributed to the working link with high load per unit time. The control current of the electro-proportional pressure reducing valve is adjusted according to the received external control signal to regulate the position of the working valve core: Obtain the pressure difference between the oil ports before and after the working valve core and the valve core opening area; The actual required flow rate is calculated based on the pressure difference between the oil ports before and after the working valve core and the valve core opening area. Adjust the control current of each working link of the multi-way valve based on the comparison between the actual required flow rate and the set flow rate. Adjust the opening degree of the valve core in the oil circuit of the working valve end cover according to the control current to adjust the position of the working valve core; The control unit on each working link is signal-connected to the control units of other working links, so that the ECU processing unit can receive displacement signals, flow signals, pressure signals and fault signals from other links.

2. The multi-valve multi-executor element cooperative control device according to claim 1, wherein Obtaining the pressure difference between the oil ports before and after the working valve core includes: The pressure at the oil ports before and after the valve core is obtained by pressure sensors installed at the oil ports before and after the valve core. The ECU processing unit, which is connected to the pressure sensor signal, calculates the pressure difference between the oil ports before and after the valve core.

3. The multiple valve multiple actuator coordinated control device of claim 1, wherein The working valve core opening area includes: The valve core position is obtained through the displacement sensor; The valve core opening area is calculated by the ECU processing unit, which is connected to the displacement sensor signal.

4. A method for coordinated control of multiple valve multiple actuator elements, comprising: include: The mechanical compensator performs mechanical compensation based on load feedback; When the pressure difference between the oil ports before and after the working link exceeds a set threshold, the control unit performs electronic compensation; The electronic compensation includes: controlling the opening degree of the working link valve core according to the received external control signal to adjust the position of the working link valve core; obtaining the actual position information of the working link valve core and calculating the deviation of the valve core; and adjusting the position of the working link valve core in a closed loop according to the deviation. Control ends when the pressure before and after the working link is less than the set threshold.

5. The method of claim 4, wherein: The mechanical compensator compensates based on load feedback, including: Open the mechanical compensator of each working link to connect the feedback oil ports of multiple mechanical compensators; The feedback pressure oil generated by the working link with high load pressure closes the mechanical compensators in other working links, so that more pressure oil is distributed to the working link with high load per unit time.

6. The method of claim 4, wherein: The control current of the electro-proportional pressure reducing valve is adjusted according to the received external control signal to regulate the position of the working valve core: Obtain the pressure difference between the front and rear oil ports of the working link valve core and the opening area of the valve core; Calculate the actual demand flow according to the pressure difference between the front and rear oil ports of the working link valve core and the opening area of the valve core; Adjust the control current of each working link of the multi-way valve according to the comparison result of the actual demand flow and the set flow; Adjust the opening of the valve core in the valve end cover oil way according to the control current to adjust the position of the working link valve core.

7. The method of claim 4, wherein: The obtaining of the pressure difference between the front and rear oil ports of the working link valve core and the opening area of the valve core comprises: Obtain the pressure of the front and rear oil ports of the valve core through the pressure sensors of the front and rear oil ports to calculate the pressure difference between the front and rear oil ports of the valve core; Obtain the position of the valve core through the valve core displacement detection sensor to calculate the opening area of the valve core.

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