Hydraulic cylinder control system and control method

Abstract

The invention relates to the technical field of hydraulic control, and provides a hydraulic cylinder control system and method. The water-based proportional directional valve comprises a first proportional pilot valve group, a first proportional directional valve, a second proportional pilot valve group and a second proportional directional valve, the first proportional pilot valve group and the second proportional pilot valve group are respectively connected with the hydraulic support controller, the first proportional pilot valve group is connected with the first proportional directional valve, and the second proportional directional valve is connected with the second proportional directional valve. The second proportional pilot valve group is connected with the second proportional reversing valve; the hydraulic cylinder comprises a first cavity and a second cavity, the first cavity is connected with the first proportional directional valve, and the second cavity is connected with the second proportional directional valve. The stroke of the hydraulic cylinder can be accurately controlled, and accurate control over the hydraulic support and the whole working face is achieved; the water-based proportional reversing valve is simple in structure and high in response speed, and the control accuracy of the hydraulic cylinder is further improved.

Description

Technical Field

[0001] The present disclosure relates to the field of hydraulic control technology, and in particular to a hydraulic cylinder control system and a control method. Background Art

[0002] Hydraulic supports are mainly used to support underground fully-mechanized mining working faces (hereinafter referred to as "working faces") in coal mines. A working face is generally equipped with about 100-200 hydraulic supports or more, which provide a safe working space for the working face production equipment and operators, and are responsible for the migration of the working face production equipment. The electro-hydraulic control technology of hydraulic supports is the key to realizing the automation of coal production.

[0003] The hydraulic support electro-hydraulic control system is a system that uses single-chip microcomputers, sensors and other electronic devices and hydraulic circuit control components to realize the automatic movement of the hydraulic support according to production needs. The hydraulic support electro-hydraulic control system can change the original manual operation of the hydraulic support's lowering, pulling, lifting, pushing the front conveyor, pulling the rear conveyor, retracting the side guard plate, extending the side guard plate, spraying water and top coal caving to electro-hydraulic automatic control and programmed operation, which can match with the high-efficiency coal mining machine to speed up the advancement of the working face and significantly improve the production efficiency of the coal mining working face.

[0004] The reversing valve is the flow distribution mechanism of the hydraulic support. By connecting or cutting off the flow channel, it controls the movement of various power hydraulic cylinders, thereby achieving the purpose of controlling the movement of the hydraulic support. The hydraulic support control system has also achieved the purpose of electro-hydraulic control of the reversing valve. At present, the switch-type proportional reversing valve is usually used to control the movement of the hydraulic support in coal mining. The switch-type proportional reversing valve has only two working states: "fully open" and "fully closed", that is, the hydraulic support can only move at a constant speed, which is difficult to meet the precise control of the hydraulic support posture and the precise pushing and sliding of the hydraulic support, and the soft start of the hydraulic cylinder cannot be achieved, which affects the service life of the hydraulic cylinder, causes the quality of the working face support to decline, affects the straightness of the working face support, and then affects the straightness of the scraper conveyor, resulting in a reduction in the life of the scraper conveyor. In addition, the existing hydraulic support control system has a response delay and poor control accuracy, which causes the displacement deviation of the hydraulic cylinder and affects the straightness of the working face support. Summary of the invention

[0005] The purpose of the embodiments of the present disclosure is to provide a hydraulic cylinder control system and a control method to at least solve the technical problems in the prior art that the hydraulic cylinder control accuracy is poor, the hydraulic cylinder control system has a slow response speed, and the movement of the hydraulic support cannot be accurately controlled.

[0006] In order to solve the above technical problems, the embodiments of the present disclosure adopt the following technical solutions:

[0007] In a first aspect, an embodiment of the present disclosure provides a hydraulic cylinder control system, comprising:

[0008] Hydraulic support controller;

[0009] A water-based proportional reversing valve, comprising a first proportional pilot valve group, a first proportional reversing valve, a second proportional pilot valve group and a second proportional reversing valve, wherein the first proportional pilot valve group and the second proportional pilot valve group are respectively connected to the hydraulic support controller, the first proportional pilot valve group is connected to the first proportional reversing valve, and the second proportional pilot valve group is connected to the second proportional reversing valve;

[0010] The hydraulic cylinder comprises a first cavity and a second cavity, wherein the first cavity is connected to the first proportional reversing valve, and the second cavity is connected to the second proportional reversing valve.

[0011] In some embodiments, the structure of the first proportional pilot valve group is the same as that of the second proportional pilot valve group, and the structure of the first proportional reversing valve is the same as that of the second proportional reversing valve.

[0012] The first proportional reversing valve includes a first liquid inlet valve core and a first liquid return valve core, the first proportional pilot valve group includes a first proportional solenoid controller, a first proportional solenoid, a first proportional pilot valve, a second proportional solenoid and a second proportional pilot valve, the first proportional solenoid controller, the first proportional solenoid, the first proportional pilot valve and the first liquid inlet valve core are connected in sequence, and the first proportional solenoid controller, the second proportional solenoid, the second proportional pilot valve and the first liquid return valve core are connected in sequence.

[0013] In some embodiments, the second proportional solenoid is connected to the first liquid return valve core through a first switch pilot valve.

[0014] In some embodiments, the hydraulic support controller is connected to the first proportional solenoid controller of the first proportional pilot valve group and the second proportional solenoid controller of the second proportional pilot valve group through a CAN bus.

[0015] In some embodiments, the first proportional reversing valve and the second proportional reversing valve are provided with a pressure sensor and / or a valve core displacement sensor, and the pressure sensor or the displacement sensor is connected to the first proportional solenoid controller and the second proportional solenoid controller.

[0016] In some embodiments, a hydraulic cylinder stroke sensor is provided on the hydraulic cylinder, and the hydraulic cylinder stroke sensor is connected to the hydraulic support controller.

[0017] In some embodiments, the first proportional reversing valve is a pull-position proportional reversing valve, the second proportional reversing valve is a push-slide position proportional reversing valve, the first cavity is a rodless cavity, and the second cavity is a rod-containing cavity.

[0018] In a second aspect, an embodiment of the present disclosure provides a hydraulic cylinder control method, which is applied to the above-mentioned hydraulic cylinder control system, and the method includes:

[0019] The proportional solenoid controller of the water-based proportional reversing valve receives a valve port opening instruction of the proportional reversing valve sent by the hydraulic support controller;

[0020] The proportional solenoid controller receives valve port opening information of the proportional reversing valve sent by the valve core displacement sensor;

[0021] The proportional solenoid controller compares the valve port opening information with the valve port opening instruction, performs negative feedback control on the current of the proportional solenoid, and adjusts the valve port opening of the proportional reversing valve.

[0022] In some embodiments, the method further comprises:

[0023] The hydraulic support controller obtains a hydraulic cylinder stroke signal sent by a hydraulic cylinder stroke sensor;

[0024] The hydraulic support controller adjusts the valve opening instruction sent to the proportional solenoid controller according to the hydraulic cylinder stroke signal.

[0025] In some embodiments, the method further comprises:

[0026] When the hydraulic support controller adjusts the valve port opening of the first liquid inlet valve core of the first proportional reversing valve, the hydraulic support controller controls the second liquid return valve core of the second proportional reversing valve to open; or

[0027] When the hydraulic support controller adjusts the valve port opening of the second liquid inlet valve core of the second proportional reversing valve, the hydraulic support controller controls the first liquid return valve core of the first proportional reversing valve to open.

[0028] A hydraulic cylinder control system and control method provided by an embodiment of the present disclosure, wherein the hydraulic cylinder control system is configured to include a hydraulic support controller, a water-based proportional reversing valve and a hydraulic cylinder, wherein the water-based proportional reversing valve includes a first proportional pilot valve group, a first proportional reversing valve, a second proportional pilot valve group and a second proportional reversing valve, wherein the first proportional pilot valve group and the second proportional pilot valve group are respectively connected to the hydraulic support controller, the first proportional pilot valve group is connected to the first proportional reversing valve, and the second proportional pilot valve group is connected to the second proportional reversing valve; the hydraulic cylinder includes a first cavity and a second cavity, wherein the first cavity is connected to the first proportional reversing valve. The first cavity is connected to the second proportional reversing valve, the second cavity is connected to the second proportional reversing valve, the water-based proportional reversing valve is set as a combination structure of two groups of proportional pilot valve groups and proportional reversing valves, and each group of proportional pilot valve groups and proportional reversing valves is connected to different cavities of the hydraulic cylinder, so that the direction and flow of the working medium entering the hydraulic cylinder can be accurately controlled, and the stroke of the hydraulic cylinder can be accurately controlled, so as to realize accurate control of the pushing, pulling, raising, lowering, and extending of the hydraulic support, thereby realizing accurate control of the hydraulic support and the entire working surface; in addition, the water-based proportional reversing valve has a simple structure and a fast response speed, which further improves the control accuracy of the hydraulic cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0030] Figure 1 It is a structural schematic diagram of a hydraulic cylinder control system according to an embodiment of the present disclosure;

[0031] Figure 2 It is a schematic structural diagram of the water-based proportional reversing valve according to an embodiment of the present disclosure.

[0032] Reference numerals:

[0033] 1-hydraulic support controller; 2-first proportional pilot valve group, 21-first proportional solenoid controller, 22-first proportional solenoid, 23-first proportional pilot valve, 24-second proportional solenoid, 25-second proportional pilot valve; 3-first proportional reversing valve, 31-first liquid inlet valve core, 32-first liquid return valve core; 4-second proportional pilot valve group, 41-second proportional solenoid controller, 42-third proportional solenoid, 43-third proportional pilot valve, 24-fourth proportional solenoid, 25-fourth proportional pilot valve; 5-second proportional reversing valve, 51-second liquid inlet valve core, 52-second liquid return valve core; 6-hydraulic cylinder; 71-first damping hole, 72-second damping hole; 8-hydraulic cylinder stroke sensor; 20-liquid tank. DETAILED DESCRIPTION

[0034] Various aspects and features of the present disclosure are described herein with reference to the drawings.

[0035] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0036] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0037] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the attached drawings.

[0038] It should also be understood that, although the present disclosure has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0039] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0040] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments claimed are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0041] This specification may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0042] Embodiment 1

[0043] Figure 1 The structure diagram of the hydraulic cylinder control system according to the embodiment of the present disclosure is shown. Figure 2 The structural diagram of the water-based proportional reversing valve according to the embodiment of the present disclosure is shown ( Figure 2 The solid line in the middle is the main pipeline for the flow of working medium, and the dotted line is the secondary pipeline). Figure 1 and Figure 2 As shown, a hydraulic cylinder control system provided by an embodiment of the present disclosure includes:

[0044] Hydraulic support controller (referred to as support controller) 1;

[0045] A water-based proportional reversing valve, comprising a first proportional pilot valve group 2, a first proportional reversing valve 3, a second proportional pilot valve group 4 and a second proportional reversing valve 5, wherein the first proportional pilot valve group 2 and the second proportional pilot valve group 4 are respectively connected to the hydraulic support controller 1, the first proportional pilot valve group 2 is connected to the first proportional reversing valve 3, and the second proportional pilot valve group 4 is connected to the second proportional reversing valve 5;

[0046] The hydraulic cylinder 6 includes a first cavity and a second cavity. The first cavity is connected to the first proportional reversing valve 5 , and the second cavity is connected to the second proportional reversing valve 5 .

[0047] The hydraulic cylinder 6 is a hydraulic actuator. After the first proportional pilot valve group 2 and the first proportional reversing valve 3 are connected, they can be placed in the first cavity; after the second proportional pilot valve group 4 and the second proportional reversing valve 5 are connected, they can be placed in the second cavity. The first proportional reversing valve 3 and the second proportional reversing valve 5 are main valves of the water-based proportional reversing valve. The hydraulic support controller 1 controls the first proportional reversing valve 3 by controlling the first proportional pilot valve group 2, thereby controlling the hydraulic cylinder to perform a first action (such as an extension action). The hydraulic support controller 1 controls the second proportional reversing valve 5 by controlling the second proportional pilot valve group 4, thereby controlling the hydraulic cylinder to perform a second action (such as a retraction action).

[0048] In this embodiment, the water-based proportional reversing valve is set as a combination structure of two groups of proportional pilot valve groups and proportional reversing valves, and each group of proportional pilot valve groups and proportional reversing valves is connected to different cavities of the hydraulic cylinder, so that the direction and flow of the working medium entering the hydraulic cylinder 6 can be accurately controlled, and the stroke of the hydraulic cylinder 6 can be accurately controlled, so as to realize accurate control of the pushing, pulling, raising, lowering, and extending of the hydraulic support, thereby realizing accurate control of the hydraulic support and the entire working surface; in addition, the water-based proportional reversing valve has a simple structure and a fast response speed, which further improves the control accuracy of the hydraulic cylinder 6.

[0049] The working medium can be a water-based medium, hydraulic oil, etc. When the first cavity is a rodless cavity and the second cavity is a rod cavity, the first proportional reversing valve 3 is a proportional reversing valve for the pulling position, and the pulling position is realized by the extension action of the hydraulic cylinder 6, and the second proportional reversing valve 5 is a proportional reversing valve for the pushing position, and the pushing position is realized by the retraction (retraction) action of the hydraulic cylinder 6.

[0050] In some embodiments, the first proportional reversing valve 3 includes a first liquid inlet valve core 31 and a first liquid return valve core 32, the first proportional pilot valve group 2 includes a first proportional solenoid controller 21, a first proportional solenoid 22, a first proportional pilot valve 23, a second proportional solenoid 24 and a second proportional pilot valve 25, the first proportional solenoid controller 21, the first proportional solenoid 22, the first proportional pilot valve 23 and the first liquid inlet valve core 31 are connected in sequence, and the first proportional solenoid controller 21, the second proportional solenoid 24, the second proportional pilot valve 25 and the first liquid return valve core 32 are connected in sequence.

[0051] The structure of the second proportional pilot valve group 4 is the same as that of the first proportional pilot valve group 2 , and the structure of the second proportional reversing valve 5 is the same as that of the first proportional reversing valve 3 .

[0052] The second proportional reversing valve 5 includes a second liquid inlet valve core 51 and a second liquid return valve core 52, and the second proportional pilot valve group 4 includes a second proportional solenoid controller 41, a third proportional solenoid 42, a third proportional pilot valve 43, a fourth proportional solenoid 44 and a fourth proportional pilot valve 45. The second proportional solenoid controller 41, the third proportional solenoid 42, the third proportional pilot valve 43 and the second liquid inlet valve core 51 are connected in sequence, and the second proportional solenoid controller 41, the fourth proportional solenoid 44, the fourth proportional pilot valve 45 and the second liquid return valve core 52 are connected in sequence.

[0053] That is, the water-based proportional reversing valve integrates a proportional solenoid controller, a proportional solenoid, a proportional pilot valve, and a liquid inlet and return valve core, etc. The proportional solenoid controller receives the valve opening instruction sent by the hydraulic support controller 1, controls the corresponding proportional pilot valve to work through the corresponding proportional solenoid, and then controls the movement of the corresponding liquid inlet and return valve core, and proportionally controls the liquid flow direction and flow of the water-based proportional reversing valve.

[0054] like Figure 2 As shown, port P is the liquid inlet of the water-based proportional reversing valve, and port A and port B are working interfaces, which are respectively connected to the first cavity and the second cavity. For example, the first cavity is a rodless cavity, and the second cavity is a rod cavity. Port A is connected to the first cavity, and port B is connected to the second cavity.

[0055] When the hydraulic cylinder 6 needs to extend, port A is used to supply liquid to the hydraulic cylinder 6, and port B is used to return liquid from the hydraulic cylinder 6. The first proportional solenoid controller 21 controls the first proportional pilot valve 23 to open proportionally, and controls the opening of the first liquid inlet valve core 31 connected to the first proportional pilot valve 23 by controlling the opening of the first proportional pilot valve 23, so as to supply liquid to the rodless chamber of the hydraulic cylinder 6. At the same time, the first proportional solenoid controller 21 controls the second proportional pilot valve 25 to be in a closed state, that is, the liquid return control chamber of the first liquid return valve core 32 is closed; at this time, in order to ensure the reliable operation of the hydraulic cylinder 6, the second proportional solenoid controller 41 controls the fourth proportional pilot valve 45 to open, and opens the second liquid return valve core 52 connected to the fourth proportional pilot valve 45, so that the working medium in the rodless chamber of the hydraulic cylinder 6 flows back to the second liquid return valve core 52 through port B, and then flows back to the liquid tank 20, so as to realize the liquid return of the hydraulic cylinder 6 and ensure that the hydraulic cylinder 6 can smoothly complete the extension action.

[0056] Similarly, when the hydraulic cylinder 6 needs to retract, the hydraulic cylinder 6 returns liquid through port A, so that the working medium in the rodless chamber flows back to the first liquid return valve core 32, and then flows back to the liquid tank 20. Port B is used to supply liquid to the hydraulic cylinder 6. The second proportional solenoid controller 41 controls the third proportional pilot valve 43 to open proportionally. By controlling the opening of the third proportional pilot valve 43, the opening of the second liquid inlet valve core 51 connected to the third proportional pilot valve 43 is controlled to supply liquid to the rod chamber of the hydraulic cylinder 6. At the same time, the second proportional solenoid controller 41 controls The fourth proportional pilot valve 45 is in a closed state, that is, the return liquid control chamber of the second return liquid valve core 52 is closed; at this time, in order to ensure the reliable operation of the hydraulic cylinder 6, the first proportional solenoid controller 21 controls the second proportional pilot valve 25 to open, and opens the first return liquid valve core 32 connected to the second proportional pilot valve 25, so that the working medium can flow back from the rodless chamber of the hydraulic cylinder 6 to the first return liquid valve core 32 through the A port connected to the first return liquid valve core 32, and then flow back to the liquid tank 20, thereby realizing the return of the hydraulic cylinder 6 and ensuring that the hydraulic cylinder can smoothly complete the extension action.

[0057] It is understandable that the number of the liquid tank 20 may be only one, for the convenience of description. Figure 2 Each relevant component is connected to a liquid tank 20.

[0058] The water-based proportional reversing valve in the disclosed embodiment can independently control the first liquid inlet valve core 31 of the first proportional reversing valve 3 or the second liquid inlet valve core 51 of the second proportional reversing valve 5, without considering the liquid return valve core in the proportional reversing valve. The control of the liquid inlet valve core and the liquid return valve core in the same proportional reversing valve are independent of each other, and there is no mechanical linkage relationship. The control is convenient and the response speed is fast.

[0059] In this embodiment, while proportionally controlling the opening of the liquid inlet valve core in one proportional reversing valve, the liquid return valve core in another proportional reversing valve is controlled, so that a complete working medium circuit can be formed to ensure smooth and reliable operation of the hydraulic cylinder 6 (for example, to ensure that the hydraulic cylinder 6 can fully perform the telescopic action) and extend the service life of the hydraulic cylinder and other related components.

[0060] like Figure 2 As shown, the first liquid inlet valve core 31 has a first liquid inlet control chamber, and the first liquid inlet port of the first liquid inlet valve core 31 is connected to the first liquid inlet control chamber through the first damping hole 71, and the first liquid inlet control chamber is also connected to the first proportional pilot valve chamber of the first proportional pilot valve 23;

[0061] The second liquid inlet valve core 51 has a second liquid inlet control chamber, and the second liquid inlet port of the second liquid inlet valve core 51 is connected to the second liquid inlet control chamber through the second damping hole 72. The second liquid inlet control chamber is also connected to the third proportional pilot valve chamber of the third proportional pilot valve 43.

[0062] When the first proportional solenoid controller 21 controls the first proportional pilot valve 23 to open, the first proportional pilot valve chamber of the first proportional pilot valve 23 is connected to the first liquid inlet control chamber, and the working medium enters the first liquid inlet control chamber through the first proportional pilot valve chamber. Due to the action of the first damping hole 71, a pressure difference is formed between the first liquid inlet and the first liquid inlet control chamber, so that the pressure in the first liquid inlet control chamber can be controlled by matching the flow relationship between the first damping hole 71 and the first proportional pilot valve 23, and the opening of the first liquid inlet valve core 31 can be controlled; at the same time, the second proportional solenoid controller 41 controls the fourth proportional pilot valve 45 to conduct and control the second liquid return valve core 5 to open, so that the working medium in the hydraulic cylinder 6 flows back to the liquid tank 20 through the second liquid return valve core 52. When the first liquid inlet valve core 31 is opened, the first proportional solenoid controller 21 controls the second proportional pilot valve 25 to close, so that the first liquid return valve core 32 is closed, and the second proportional solenoid controller 41 controls the third proportional pilot valve 43 to close, and the second liquid inlet valve core 51 is closed.

[0063] The control of the valve opening of the second liquid inlet valve core 51 is similar to the control of the first liquid inlet valve core 51 described above, and will not be repeated here.

[0064] In some embodiments, the second proportional solenoid 24 is connected to the first liquid return valve core 32 via a first switch pilot valve, and the fourth proportional solenoid 44 is connected to the second liquid return valve core 52 via a second switch pilot valve.

[0065] In the above embodiment, the opening of the first liquid return valve core 32 is proportionally controlled by the second proportional pilot valve 25, and the opening of the second liquid return valve core 52 is proportionally controlled by the fourth proportional pilot valve 45, so that the opening of the liquid return valve core can be accurately controlled, so that the valve opening of the liquid return valve core is stabilized at the command position. In this embodiment, the first switch pilot valve and the second switch pilot valve can be used to control the on and off of the first liquid return valve core 32 and the second liquid return valve core 52. The first liquid return valve core 32 and the second liquid return valve core 52 are in a fully open or fully closed state when working. The fully open state of the liquid return valve core is conducive to reducing the liquid return flow resistance, so that the hydraulic cylinder 6 works more smoothly, and the switch pilot valve has a low cost.

[0066] In some embodiments, the hydraulic support controller 1 is connected to the first proportional solenoid controller 21 of the first proportional pilot valve group 2 and the second proportional solenoid controller 41 of the second proportional pilot valve group 4 through the CAN bus, respectively, so that communication is convenient and fast.

[0067] There are multiple hydraulic support controllers 1, each of which is connected to a corresponding water-based proportional valve and a hydraulic cylinder 6, so as to control the action of the corresponding hydraulic support. The hydraulic support controller 1 is powered by a flameproof and intrinsically safe power supply. The hydraulic support controllers 1 are connected in series and complete information transmission and reception through the CA bus.

[0068] In some embodiments, the first proportional reversing valve 3 and the second proportional reversing valve 5 are provided with a pressure sensor and / or a valve core displacement sensor, and the pressure sensor or the displacement sensor is connected to the first proportional solenoid controller 21 and the second proportional solenoid controller 41 .

[0069] Since the proportional solenoid controller controls the movement of the valve core, a corresponding valve core displacement sensor can be set at the position of the inlet and return valve cores to detect the displacement of the valve core and feed it back to the corresponding proportional solenoid controller. The proportional solenoid controller can compare the valve port opening obtained by the valve core displacement sensor with the valve port opening instruction sent by the bracket controller, perform negative feedback control on the current of the proportional solenoid, adjust the control current of the proportional solenoid, and then adjust the valve port opening of the water-based proportional valve, so that the valve port opening of the inlet and return valve cores is stabilized at the instruction position, thereby realizing the first closed-loop control of the hydraulic cylinder 6.

[0070] The proportional solenoid controller controls the voltage of the proportional solenoid to make the proportional solenoid generate a corresponding force, which is converted into a corresponding control chamber pressure through the proportional pilot valve. The control chamber pressure corresponds to the valve core opening of the proportional reversing valve, thereby adjusting the valve core opening. Therefore, the pressure in the valve core control chamber can also be detected by the pressure sensor set at each valve core of the proportional reversing valve, and the current of the proportional solenoid can be negatively feedback controlled according to the pressure.

[0071] It can be understood that the proportional solenoid controller can adjust the opening of both the inlet valve core and the return valve core. When the first return valve core 32 and the second return valve core 52 are driven and controlled by the switch pilot valve, the proportional solenoid controller only adjusts the opening of the inlet valve core.

[0072] In some embodiments, Figure 1 As shown, a hydraulic cylinder stroke sensor 8 is provided on the hydraulic cylinder 6 , and the hydraulic cylinder stroke sensor 8 is connected to the hydraulic support controller 1 .

[0073] When the hydraulic cylinder 6 is in motion, the hydraulic cylinder stroke sensor 8 can monitor the hydraulic cylinder stroke signal in real time and send it to the hydraulic support controller 1. The hydraulic support controller 1 adjusts the valve opening instruction sent to the proportional solenoid controller according to the hydraulic cylinder stroke signal fed back by the hydraulic cylinder stroke sensor 8, adjusts the movement direction, movement speed, etc. of the hydraulic cylinder 6, and realizes the second closed-loop control of the hydraulic cylinder 6.

[0074] It should be noted that, since the goal of the hydraulic cylinder control system is to control the action of the hydraulic cylinder 6, the second closed-loop control is the main control logic, and the first closed-loop control is the auxiliary control logic.

[0075] Embodiment 2

[0076] The embodiment of the present disclosure provides a hydraulic cylinder control method, which is applied to the above hydraulic cylinder control system, and the method includes:

[0077] S101: The proportional solenoid controller of the water-based proportional reversing valve receives a valve port opening instruction of the proportional reversing valve sent by the hydraulic support controller;

[0078] S102: The proportional solenoid controller receives valve port opening information of the proportional reversing valve sent by the valve core displacement sensor;

[0079] S103: The proportional solenoid controller compares the valve opening information with the valve opening instruction, performs negative feedback control on the current of the proportional solenoid, and adjusts the valve opening of the proportional reversing valve.

[0080] Corresponding valve core displacement sensors are provided at the positions of the inlet and return valve cores to detect the displacement of the inlet and return valve cores, thereby detecting the valve port opening of the valve core. The proportional solenoid controller can compare the valve port opening detected by the valve core displacement sensor with the valve port opening instruction sent by the bracket controller, perform negative feedback control on the current of the proportional solenoid, adjust the control current of the proportional solenoid, and then adjust the valve port opening of the water-based proportional valve, so that the valve port opening of the inlet and return valve cores is stabilized at the instruction position, thereby realizing the first closed-loop control of the hydraulic cylinder 6.

[0081] In some embodiments, the method further comprises:

[0082] S201: The hydraulic support controller obtains a hydraulic cylinder stroke signal sent by a hydraulic cylinder stroke sensor;

[0083] S202: The hydraulic support controller adjusts the valve opening instruction sent to the proportional solenoid controller according to the hydraulic cylinder stroke signal.

[0084] When the hydraulic cylinder 6 is in motion, the hydraulic cylinder stroke sensor 8 can monitor the hydraulic cylinder stroke signal in real time and send it to the hydraulic support controller 1. The hydraulic support controller 1 adjusts the valve opening instruction sent to the proportional solenoid controller according to the hydraulic cylinder stroke signal fed back by the hydraulic cylinder stroke sensor 8, adjusts the movement direction, movement speed, etc. of the hydraulic cylinder 6, and realizes the second closed-loop control of the hydraulic cylinder 6.

[0085] In some embodiments, the method further comprises:

[0086] When the hydraulic support controller 1 adjusts the valve opening of the first liquid inlet valve core 31 of the first proportional reversing valve 3, the hydraulic support controller 1 controls the second liquid return valve core 52 of the second proportional reversing valve 5 to open; or

[0087] When the hydraulic support controller 1 adjusts the valve port opening of the second liquid inlet valve core 51 of the second proportional reversing valve 5 , the hydraulic support controller 1 controls the first liquid return valve core 32 of the first proportional reversing valve 3 to open.

[0088] When the valve port opening of the inlet valve core of a proportional reversing valve is controlled, the return valve core of another proportional reversing valve is opened, and the return valve core of the other proportional reversing valve can be used to smoothly return liquid, ensuring that the hydraulic cylinder 6 can smoothly complete the extension and retraction actions.

[0089] The hydraulic cylinder control method provided in the embodiment of the present disclosure corresponds to the hydraulic cylinder control system of the above-mentioned embodiment. Any optional items in the embodiment of the hydraulic cylinder control system are also applicable to the embodiment of the hydraulic cylinder control method, which will not be repeated here.

[0090] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0091] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0092] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A hydraulic cylinder control system, characterized in that: include: Hydraulic support controller; A water-based proportional reversing valve, comprising a first proportional pilot valve group, a first proportional reversing valve, a second proportional pilot valve group and a second proportional reversing valve, wherein the first proportional pilot valve group and the second proportional pilot valve group are respectively connected to the hydraulic support controller, the first proportional pilot valve group is connected to the first proportional reversing valve, and the second proportional pilot valve group is connected to the second proportional reversing valve; The hydraulic cylinder comprises a first cavity and a second cavity, wherein the first cavity is connected to the first proportional reversing valve, and the second cavity is connected to the second proportional reversing valve.

2. The hydraulic cylinder control system according to claim 1, characterized in that: The structure of the first proportional pilot valve group is the same as that of the second proportional pilot valve group, and the structure of the first proportional reversing valve is the same as that of the second proportional reversing valve. The first proportional reversing valve includes a first liquid inlet valve core and a first liquid return valve core, the first proportional pilot valve group includes a first proportional solenoid controller, a first proportional solenoid, a first proportional pilot valve, a second proportional solenoid and a second proportional pilot valve, the first proportional solenoid controller, the first proportional solenoid, the first proportional pilot valve and the first liquid inlet valve core are connected in sequence, and the first proportional solenoid controller, the second proportional solenoid, the second proportional pilot valve and the first liquid return valve core are connected in sequence.

3. The hydraulic cylinder control system according to claim 2, characterized in that: The second proportional solenoid is connected to the first liquid return valve core through a first switch pilot valve.

4. The hydraulic cylinder control system according to claim 2, characterized in that: The hydraulic support controller is connected to the first proportional solenoid controller of the first proportional pilot valve group and the second proportional solenoid controller of the second proportional pilot valve group through a CAN bus.

5. The hydraulic cylinder control system according to claim 4, characterized in that: The first proportional reversing valve and the second proportional reversing valve are provided with a pressure sensor and / or a valve core displacement sensor, and the pressure sensor or the displacement sensor is connected to the first proportional solenoid controller and the second proportional solenoid controller.

6. The hydraulic cylinder control system according to claim 1, characterized in that: The hydraulic cylinder is provided with a hydraulic cylinder stroke sensor, and the hydraulic cylinder stroke sensor is connected to the hydraulic support controller.

7. The hydraulic cylinder control system according to claim 1, characterized in that: The first proportional reversing valve is a pull-position proportional reversing valve, the second proportional reversing valve is a push-slide position proportional reversing valve, the first cavity is a rodless cavity, and the second cavity is a rod-containing cavity.

8. A hydraulic cylinder control method, characterized in that: Applied to the hydraulic cylinder control system according to any one of claims 1 to 7, the method comprising: The proportional solenoid controller of the water-based proportional reversing valve receives a valve port opening instruction of the proportional reversing valve sent by the hydraulic support controller; The proportional solenoid controller receives valve port opening information of the proportional reversing valve sent by the valve core displacement sensor; The proportional solenoid controller compares the valve port opening information with the valve port opening instruction, performs negative feedback control on the current of the proportional solenoid, and adjusts the valve port opening of the proportional reversing valve.

9. The control method according to claim 8, characterized in that: The method further comprises: The hydraulic support controller obtains a hydraulic cylinder stroke signal sent by a hydraulic cylinder stroke sensor; The hydraulic support controller adjusts the valve opening instruction sent to the proportional solenoid controller according to the hydraulic cylinder stroke signal.

10. The control method according to claim 8, characterized in that: The method further comprises: When the hydraulic support controller adjusts the valve port opening of the first liquid inlet valve core of the first proportional reversing valve, the hydraulic support controller controls the second liquid return valve core of the second proportional reversing valve to open; or When the hydraulic support controller adjusts the valve port opening of the second liquid inlet valve core of the second proportional reversing valve, the hydraulic support controller controls the first liquid return valve core of the first proportional reversing valve to open.

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