Compound action flow control method, hydraulic control system and working device thereof

Abstract

The present application belongs to the technical field of engineering machinery and provides a composite action shunt control method, a hydraulic control system thereof and a working device. The composite action shunt control method comprises: calculating the actual flow of a proportional valve group distributed to each execution unit performing an action during the execution of a composite action by the device; calculating the current opening proportion of each proportional valve in the proportional valve group according to the actual flow; performing ratio calculation on the values of each current opening proportion to obtain a first ratio relationship; obtaining a target ratio relationship of the target opening proportions of the proportional valves of the instruction input, and comparing the first ratio relationship with the target ratio relationship; and adjusting the current opening proportion so that the comparison result of the ratio comparison falls within a preset range. The method can ensure that the power source output flow is accurately distributed to each execution unit in the expected proportion at all times during the execution of the composite action by the device, thereby ensuring the coordination of the movement speeds of each execution unit.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery technology, specifically relating to a composite motion diversion control method, a composite motion hydraulic control system, and working equipment. Background Technology

[0002] With the development of mechatronics technology, electro-hydraulic proportional control technology is being used more and more widely. At present, large-tonnage engineering equipment (such as cranes) generally use electro-hydraulic proportional valve groups to control the actions of each actuator. In order to increase the operating efficiency of the equipment, some of the multiple actuators are configured to perform actions simultaneously (referred to as compound actions).

[0003] When equipment performs complex actions, there are currently two main control technologies for the flow distribution among the execution units of each action. One is a multi-power-source, separate oil supply method, where each execution unit has its own independent power source. This method ensures that the hydraulic oil does not interfere with each other, resulting in good control performance, but it is more expensive and requires more space. The other method is a single power source supplying oil to multiple execution units simultaneously, with the flow of each execution unit distributed through an electro-hydraulic proportional valve. This method is less expensive and requires less space, but the hydraulic oil is prone to mutual interference, leading to lower flow distribution accuracy. Summary of the Invention

[0004] To address the aforementioned deficiencies or shortcomings, this invention provides a composite motion flow distribution control method, a composite motion hydraulic control system, and an operating device, aiming to solve the technical problem of low flow distribution accuracy in existing composite motion control methods that supply oil to multiple actuators simultaneously from a single power source.

[0005] To achieve the above objectives, the present invention provides a composite action diversion control method, the composite action diversion control method comprising:

[0006] S100: During the process of the equipment performing a compound action, calculate the actual flow rate allocated by the proportional valve group to each execution unit performing the action;

[0007] S200: Calculate the current opening ratio of each proportional valve in the proportional valve group based on the actual flow rate;

[0008] S300: Calculate the ratio of each currently activated ratio to obtain the first ratio relationship;

[0009] S400: Obtain the target ratio relationship of the target opening ratio of each proportional valve input by the command, and compare the first ratio relationship with the target ratio relationship;

[0010] S500: Adjust the current opening ratio so that the comparison result of the ratio relationship falls within the preset range.

[0011] In an embodiment of the present invention, before S500: adjusting the current activation ratio so that the comparison result of the ratio relationship falls within a preset range, the composite action diversion control method further includes:

[0012] S410: Determine if the pump's output flow rate is saturated;

[0013] If saturation occurs, the current opening ratio of each proportional valve will be adjusted accordingly when the comparison result exceeds the preset range.

[0014] If the system is not saturated, the proportional valve is controlled to maintain its current state.

[0015] In embodiments of the present invention, the criteria for determining pump output flow saturation include:

[0016] When the proportional valves in each actuator operate at the target opening ratio as instructed, the total required flow rate of each actuator is greater than the total output flow rate of the pump.

[0017] In an embodiment of the present invention, S500: Adjusting the current activation ratio so that the comparison result of the ratio relationship falls within a preset range specifically includes:

[0018] S510: Adjust the current opening ratio of each proportional valve round by round. In each round of adjustment, reduce the current opening ratio of the proportional valve according to the reduction ratio value corresponding to the preset attenuation gradient.

[0019] S520: After each round of adjustment, the comparison value relationship is recalculated;

[0020] S530: Stop adjusting the proportional valve when the comparison result of the recalculated ratio relationship falls within the preset range.

[0021] In an embodiment of the present invention, reducing the current opening ratio of the proportional valve according to the reduction ratio value corresponding to the preset attenuation gradient in each round of adjustment specifically includes:

[0022] S511: In each round of adjustment, based on the working oil pressure of each execution unit, the current opening ratio of the proportional valve in each execution unit is adjusted sequentially from the execution unit with low working oil pressure to the execution unit with high working oil pressure.

[0023] In an embodiment of the present invention, the formula for calculating the current opening ratio of each proportional valve in the proportional valve group based on the actual flow rate is as follows:

[0024] Current activation ratio = Actual working flow / Rated maximum flow.

[0025] In an embodiment of the present invention, the proportional valve is an electro-hydraulic proportional valve, and adjusting the current opening ratio of the proportional valve is equivalent to adjusting the current input to the control terminal of the proportional valve.

[0026] To achieve the above objectives, the present invention also provides a composite action hydraulic control system, which includes a hydraulic pump, multiple actuators and a controller. Each actuator includes an actuator for performing an action and a proportional valve for controlling the flow rate. The proportional valve is connected between the output oil circuit of the hydraulic pump and the corresponding actuator. The hydraulic pump can simultaneously drive multiple actuators to move simultaneously to perform composite actions. The controller is connected to the proportional valve and is used to execute the composite action flow control method described above.

[0027] In an embodiment of the present invention, the composite action hydraulic control system further includes a rate sensing unit, which is used to acquire the movement speed of each actuator. The controller is also used to calculate the actual working flow of the corresponding actuator based on the movement speed of each actuator, and to calculate the current opening ratio of the proportional valve based on the actual working flow and the rated maximum flow of the corresponding proportional valve.

[0028] To achieve the above objectives, the present invention also provides a working device, wherein the working device includes a composite motion hydraulic control system according to the above description.

[0029] Through the above technical solution, the composite action diversion control method provided by the embodiments of the present invention has the following beneficial effects:

[0030] Controlling the ratio of the output flow of each proportional valve is essentially to ensure the rate ratio of each action. This method first calculates the initial ratio relationship of the current opening ratio between each proportional valve, and then compares this initial ratio relationship with the target ratio relationship to determine whether the ratio relationship between the actual output flow of each proportional valve exceeds a preset range. By adjusting the opening ratio of proportional valves that exceed the preset range based on the comparison results, the flow output from the power source can be redistributed, ensuring that the difference between the ratio of the actual output flow of the proportional valves in each execution unit and the ratio of the target output flow of each proportional valve corresponding to the command is within a preset range. This achieves precise distribution of the power source output flow to each execution unit according to the expected ratio, ensuring the coordination of the movement speed of each execution unit.

[0031] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0032] The accompanying drawings are provided to illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0033] Figure 1 This is a flowchart of the steps of the composite action diversion control method according to an embodiment of the present invention;

[0034] Figure 2 This is a flowchart of one of the steps preceding step S500 in an embodiment of the present invention;

[0035] Figure 3 This is a detailed flowchart of step S500 according to an embodiment of the present invention;

[0036] Figure 4 This is a detailed flowchart of step S510 according to an embodiment of the present invention;

[0037] Figure 5 This is a control principle diagram of a composite motion hydraulic control system according to one embodiment of the present invention;

[0038] Figure 6 This is a flowchart illustrating the operation process of a composite motion hydraulic control system according to one embodiment of the present invention.

[0039] Explanation of reference numerals in the attached figures

[0040] 1. First actuator; 2. Second actuator; 3. First proportional valve; 4. Second proportional valve. Detailed Implementation

[0041] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0042] The compound action diversion control method of the present invention is described below with reference to the accompanying drawings.

[0043] For a composite motion oil supply method in which a single power source supplies oil to multiple actuators simultaneously, the hydraulic oil between actuators is very prone to mutual interference due to factors such as load changes of each actuator, equipment operating conditions, and power source output flow saturation. This results in more hydraulic oil flowing to the lightly loaded actuators and less hydraulic oil flowing to the heavily loaded actuators, causing a large difference between the actual flow rate ratio of each actuator and the expected working flow rate ratio.

[0044] Therefore, this invention provides a composite action diversion control method, such as... Figure 1 As shown, the method includes:

[0045] S100: During the process of the equipment performing a compound action, calculate the actual flow rate allocated by the proportional valve group to each execution unit performing the action;

[0046] S200: Calculate the current opening ratio of each proportional valve in the proportional valve group based on the actual flow rate;

[0047] S300: Calculate the ratio of each currently activated ratio to obtain the first ratio relationship;

[0048] S400: Obtain the target ratio relationship of the target opening ratio of each proportional valve input by the command, and compare the first ratio relationship with the target ratio relationship;

[0049] S500: Adjust the current opening ratio so that the comparison result of the ratio relationship falls within the preset range.

[0050] Specifically, such as Figure 5 As shown, taking action one and action two as examples, action one and action two are respectively realized by the movement of the execution components in the first execution unit 1 and the second execution unit 2. The first execution unit 1 and the second execution unit 2 also include a first proportional valve 3 and a second proportional valve 4 corresponding to the two execution components. By adjusting the opening ratio of the first proportional valve 3 and the second proportional valve 4, the flow rate of the power source to the execution components in the first execution unit 1 and the second execution unit 2 can be adjusted.

[0051] During the combined action of action one and action two, the power source simultaneously supplies oil to the first execution unit 1 and the second execution unit 2. The first proportional valve 3 and the second proportional valve 4 open proportionally according to the parameters input by the command. For example, if the target opening ratio input by the command is (X1, X2), then the first proportional valve 3 operates at the opening ratio of X1, and the second proportional valve 4 operates at the opening ratio of X2. Correspondingly, the target output flow rate Q1 of the first proportional valve 3 is equal to the rated maximum flow rate Q of the first proportional valve 3. 1额 *X1, the target output flow rate Q2 of the second proportional valve 4 = the rated maximum flow rate Q of the second proportional valve 4 2额 *X2. The rated maximum flow rate refers to the output flow rate when the proportional valve is fully open under rated operating conditions; this value is a known constant.

[0052] Under ideal conditions, it should satisfy

[0053] Controlling the ratio of the output flow of each proportional valve is essentially to ensure the rate ratio of each action. However, in actual operation, due to factors such as load changes, equipment operating conditions, and power source output flow saturation, the actual output flow of some proportional valves may be greater than or less than the target output flow corresponding to the command, thus affecting the coordination of action one and action two.

[0054] To address this, this method first calculates the initial ratio of the current opening ratios of each proportional valve, then compares this initial ratio with the target ratio to determine whether the actual output flow ratios of each proportional valve exceed a preset range. Based on the comparison results, the opening ratios of proportional valves exceeding the preset range are adjusted, thereby redistributing the power source output flow. This ensures that the difference between the ratio of the actual output flow of the proportional valves in each execution unit and the ratio of the target output flow of each proportional valve corresponding to the command is within a preset range. This achieves precise distribution of the power source output flow to each execution unit according to the expected ratio, ensuring coordinated movement speeds of each execution unit.

[0055] Meanwhile, by constantly monitoring changes in the first ratio relationship, this method makes the adjustment response speed more sensitive, thereby reducing the time when the equipment exhibits uncoordinated movements.

[0056] It should be noted that the opening ratio of the first proportional valve 3 and the second proportional valve 4 can be adjusted within the range of 0-1, that is, the values ​​of X1 and X2 mentioned above are between 0 and 1.

[0057] like Figure 2 and Figure 6 As shown, in an embodiment of the present invention,

[0058] In S500: Before adjusting the current activation ratio so that the comparison result of the ratio relationship falls within the preset range, the composite action diversion control method also includes:

[0059] S410: Determine if the pump's output flow rate is saturated;

[0060] If saturation occurs, the current opening ratio of each proportional valve will be adjusted accordingly when the comparison result exceeds the preset range.

[0061] If the system is not saturated, the proportional valve is controlled to maintain its current state.

[0062] If the opening ratio of the proportional valves is constantly controlled during the execution of compound actions, it may lead to unintended adjustments and deterioration of control characteristics. This method uses pump output flow saturation as a prerequisite for adjusting the current opening ratio of each proportional valve, reducing the adjustment frequency of the proportional valves and avoiding over-adjustment caused by occasional system fluctuations.

[0063] It is understandable that step S410 can be determined before any of steps S100-S500.

[0064] In embodiments of the present invention, the criteria for determining pump output flow saturation include:

[0065] When the proportional valves in each actuator operate at the target opening ratio as instructed, the total required flow rate of each actuator is greater than the total output flow rate of the pump.

[0066] When the pump reaches saturation, its output flow will be less than the required flow of each actuator. In this situation, the flow is more likely to prioritize lighter-load actuators, causing them to move faster and heavier-load actuators to move slower, thus disrupting the coordinated movement. By adjusting the current opening ratio of the corresponding proportional valve, the power source output flow can be redistributed, thereby restoring coordination among the actuators.

[0067] In an embodiment of the present invention, the formula for calculating the total output flow rate of the pump is:

[0068] Q 泵 =n*v g Where n is the engine speed, which can be read directly, and v g This is the theoretical displacement of the pump.

[0069] In an embodiment of the present invention, the total required flow Q of each execution unit 阀需求 =Q 1理论 ×X1+Q 2理论 ×X2+Q 3理论 ×X3···.

[0070] Where X1, X2, X3, X4... represent the target opening ratios of each proportional valve as input by the command, and the values ​​of X1, X2, X3, X4... range from 0 to 1.

[0071] The pump being in a flow saturation state can be expressed by the formula: Q 泵 <Q 阀需求 .

[0072] like Figure 3 As shown, in an embodiment of the present invention, S500: adjusting the current opening ratio so that the comparison result of the ratio relationship falls within a preset range specifically includes:

[0073] S510: Adjust the current opening ratio of each proportional valve round by round. In each round of adjustment, reduce the current opening ratio of the proportional valve according to the reduction ratio value corresponding to the preset attenuation gradient.

[0074] S520: After each round of adjustment, the comparison value relationship is recalculated;

[0075] S530: Stop adjusting the proportional valve when the comparison result of the recalculated ratio relationship falls within the preset range.

[0076] Another important purpose of adjusting the current opening ratio of each proportional valve is to ensure the total required flow rate Q of each actuator. 阀需求 With the total output flow rate Q of the pump 泵 Balance. In Q 泵 <Q 阀需求 At the same time, by adjusting the current opening ratio of each proportional valve in multiple rounds, the balance between the two can be achieved.

[0077] Specifically, before adjustment, the current opening ratios of each proportional valve are X1, X2, X3, X4, ... Assuming the preset attenuation gradient reduction ratio is 1%, then in the first round of adjustment, the current opening ratio of each proportional valve should be 0.99*X1, 0.99*X2, 0.99*X3, 0.99*X4, ..., 0.99*Xn. In the second round of adjustment, the current opening ratio of each proportional valve should be 0.99*0.99*X1, 0.99*0.99*X2, 0.99*0.99*X3, 0.99*0.99*X4, ..., 0.99*0.99*Xn, and so on.

[0078] After multiple rounds of adjustments, if the target output flow of each proportional valve approximately meets the following requirements: Then it represents Q 阀需求 With Q 泵 The balance is achieved, and the ratio comparison results are within the preset range, indicating that the adjustment is complete.

[0079] It needs to be explained that the above In the formula, Xn represents the current opening ratio before the nth proportional valve is adjusted, and Q... n理论 *X n The current output flow rate of the nth proportional valve before adjustment is represented by the new Q after adjustment. 阀需求 =Q 1理论 *X′1+Q 2理论 *X′2+…Q n理论 *X′n, where X′n represents the current opening ratio of the nth proportional valve after adjustment.

[0080] In embodiments of the present invention, the preset attenuation gradient can also be a variable gradient. For example, if the reduction ratio in the first round of adjustment is 3%, in the second round it is 2%, and in the third round it is 1%, then in the first round of adjustment, the current opening ratio of each proportional valve should be 0.97*X1, 0.97*X2, 0.97*X3, 0.97*X4...0.97*Xn. In the second round of adjustment, the current opening ratio of each proportional valve should be 0.98*0.97*X1, 0.98*0.97*X2, 0.98*0.97*X3, 0.98*0.97*X4...0.98*0.97*Xn, and so on.

[0081] like Figure 4 and Figure 6 As shown, in an embodiment of the present invention, in each round of adjustment, reducing the current opening ratio of the proportional valve according to the reduction ratio value corresponding to the preset attenuation gradient specifically includes:

[0082] S511: In each round of adjustment, based on the working oil pressure of each execution unit, the current opening ratio of the proportional valve in each execution unit is adjusted sequentially from the execution unit with low working oil pressure to the execution unit with high working oil pressure.

[0083] If a device performs a compound motion involving n actions, and the working oil pressures of each actuator are P1 > P2 > ... > Pn-1 > Pn, then in each adjustment cycle, the adjustment sequence of the proportional valves is as follows: first adjust the opening ratio of the proportional valve corresponding to Pn, then adjust the opening ratio of the proportional valve corresponding to Pn-1, and so on. Higher pressure indicates a higher load. Once the pump's flow rate is saturated, the flow will preferentially flow to the actuators with lighter loads. By preferentially adjusting the opening ratio of the proportional valves with smaller loads (lower working pressures), the amount of hydraulic oil flowing to the lighter-loaded actuators is reduced, forcing more oil to be supplied to the heavier-loaded actuators. By optimizing the adjustment sequence, the impact of flow redistribution on the coordination of the actuators' movements can be further reduced.

[0084] In an embodiment of the present invention, the formula for calculating the current opening ratio of each proportional valve in the proportional valve group based on the actual flow rate is as follows:

[0085] Current activation ratio = Actual working flow / Rated maximum flow.

[0086] Each actuator unit includes an actuator for performing the action and a proportional valve for controlling the flow rate. All proportional valves are assembled into a proportional valve group. Taking a hydraulic cylinder as an example, the cylinder diameters of the rodless and rod chambers are known parameters. Based on the cylinder's extension and retraction rate, the actual inlet and outlet flow rates of the cylinder can be calculated. Alternatively, taking a motor as an example, the relationship between the motor's speed and flow rate is a known parameter. In practice, as long as the motor's speed is obtained, the actual working flow rate of the motor can be calculated.

[0087] After determining the actual working flow of the execution unit, the current opening ratio of the proportional valve can be determined simply by calculating according to the corresponding formula.

[0088] The formula for calculating the current activation ratio is: Current activation ratio = Actual working flow / Rated maximum flow.

[0089] In embodiments of the present invention, the aforementioned proportional valve generally refers to an electro-hydraulic proportional valve, and adjusting the current opening ratio of the proportional valve is equivalent to adjusting the magnitude of the current I supplied to the control terminal of the proportional valve. For example, the opening ratios of the first proportional valve 3 and the second proportional valve 4 are adjusted by regulating currents I1 and I2, respectively.

[0090] To achieve the above objectives, the present invention also provides a composite motion hydraulic control system, which includes a hydraulic pump, multiple actuators, and a controller.

[0091] The hydraulic pump is the pump described in the above method embodiment.

[0092] Each actuator includes an actuator for performing actions and a proportional valve for controlling the flow of hydraulic oil from the hydraulic pump to the actuator. The proportional valve is connected between the output oil circuit of the hydraulic pump and the corresponding actuator.

[0093] By controlling the opening of multiple proportional valves, the hydraulic pump can simultaneously supply oil to multiple actuators, enabling these actuators to perform compound actions.

[0094] In an embodiment of the present invention, the compound action hydraulic control system further includes a controller, which is connected to a proportional valve control and is used to execute the compound action diversion control method described above.

[0095] In an embodiment of the present invention, the composite action hydraulic control system further includes a rate sensing unit, which is used to acquire the movement speed of each actuator. The controller is also used to calculate the actual working flow of the corresponding actuator based on the movement speed of each actuator, and to calculate the current opening ratio of the proportional valve based on the actual working flow and the rated maximum flow of the corresponding proportional valve.

[0096] like Figure 5 and Figure 6 As shown, taking the simultaneous luffing and lifting actions of a crane as an example, action one represents the luffing action, and action two represents the lifting action. The first execution unit 1 and the second execution unit 2 are the luffing unit and the lifting winch unit, respectively. The luffing unit includes a luffing motor and a first proportional valve 3, and the lifting unit includes a winch motor and a second proportional valve 4.

[0097] After receiving an input command, the controller will control the first proportional valve 3 and the second proportional valve 4 to operate according to the opening ratio corresponding to the input parameters. For example, a signal parameter of 100-900mA linearly corresponds to an opening ratio of 0-100% for the proportional valve. If the input signal parameters are 300mA and 400mA, it means that the target opening ratios X1 and X2 of the first proportional valve 3 and the second proportional valve 4 are 0.250 and 0.375, respectively. The controller will control the opening currents I1 and I2 of the two proportional valves according to the target opening ratios to make the proportional valves open proportionally.

[0098] When a crane performs a combined action of luffing and lifting, if the load increases and the pump flow becomes saturated, the controller needs to readjust the opening of each proportional valve. The adjustment of the opening of each proportional valve is done in rounds, that is, in each round of adjustment, the opening of each proportional valve will decrease by a certain proportion. Through multiple rounds of adjustment, the flow output of the pump will be rebalanced with the flow demand of each actuator, and the flow ratio between each proportional valve will remain unchanged. The actuators will then coordinate their movements again at a new speed.

[0099] like Figure 6 As shown, in each adjustment process, if the opening ratio of the proportional valve of the actuator with small load is adjusted first, the oil intake and movement speed of the actuator with small load will further increase, resulting in worse coordinated movement. Therefore, this method prioritizes adjusting the proportional valve of the actuator with small load. If the working pressure P1 of the first actuator 1 is greater than the working pressure P2 of the second actuator 2, the opening ratio of the second proportional valve 4 is reduced first (effectively adjusting I2), and then the opening ratio of the first proportional valve 3 is reduced (effectively adjusting I1).

[0100] The above adjustments can further reduce the impact of traffic redistribution on the motion coordination of each execution unit.

[0101] To achieve the above objectives, the present invention also provides a working device, wherein the working device includes a hydraulic control system for compound actions as described above. The working device can be the crane described above, or other engineering machinery capable of performing compound actions, such as excavators, aerial work platforms, etc. Since the working device adopts all the technical solutions of the above embodiments, it at least has the beneficial effects brought about by the above embodiments, and will not be repeated here.

[0102] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0103] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0104] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0105] Although embodiments of the present invention have been described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for controlling the flow of compound actions, characterized in that, The composite action diversion control method includes: During the process of the equipment performing a compound action, the actual flow rate allocated by the proportional valve group to each execution unit performing the action is calculated; Calculate the current opening ratio of each proportional valve in the proportional valve group based on the actual flow rate; The values ​​of each of the currently activated ratios are compared to obtain the first ratio relationship; Obtain the target ratio relationship of the target opening ratio of each of the proportional valves input by the instruction, and compare the first ratio relationship with the target ratio relationship; Adjust the current opening ratio so that the comparison result of the ratio relationship falls within a preset range; Adjusting the current activation ratio so that the comparison result of the ratio relationship falls within a preset range includes: The current opening ratio of each proportional valve is adjusted round by round. In each round of adjustment, according to the working oil pressure of each execution unit, the current opening ratio of the proportional valve in each execution unit is adjusted in sequence from the execution unit with low working oil pressure to the execution unit with high working oil pressure. After each round of adjustment, the ratio relationship is recalculated; When the comparison result of the recalculated ratio relationship falls within the preset range, the adjustment of the proportional valve is stopped.

2. The composite action diversion control method according to claim 1, characterized in that, Before adjusting the current activation ratio so that the comparison result of the ratio relationship falls within a preset range, the composite action diversion control method further includes: Determine if the pump's output flow rate is saturated; If saturation occurs, the current opening ratio of each proportional valve will be adjusted accordingly when the comparison result exceeds the preset range. If the system is not saturated, the proportional valve is controlled to maintain its current state.

3. The composite motion diversion control method according to claim 2, characterized in that, The conditions for determining that the pump's output flow rate is saturated include: When the proportional valve in each of the execution units operates according to the target opening ratio input by the instruction, if the total demand flow of each of the execution units is greater than the total output flow of the pump, then it is determined that the output flow of the pump is saturated.

4. The composite motion diversion control method according to any one of claims 1 to 3, characterized in that, The formula for calculating the current opening ratio of each proportional valve in the proportional valve group based on the actual flow rate is as follows: Current activation ratio = Actual working flow / Rated maximum flow.

5. The composite motion diversion control method according to any one of claims 1 to 3, characterized in that, The proportional valve is an electro-hydraulic proportional valve, and adjusting the current opening ratio of the proportional valve adjusts the current supplied to the control terminal of the proportional valve.

6. A composite motion hydraulic control system, characterized in that, The composite motion hydraulic control system includes: Hydraulic pump; Multiple execution units, each of the execution units including an execution component for performing an action and a proportional valve for controlling flow rate, the proportional valve being connected between the output oil circuit of the hydraulic pump and the corresponding execution component, the hydraulic pump being capable of simultaneously driving multiple execution units to move simultaneously to perform a compound action; A controller is connected to the proportional valve control and is used to execute the compound action diversion control method according to any one of claims 1 to 5.

7. The composite motion hydraulic control system according to claim 6, characterized in that, The composite motion hydraulic control system further includes a rate sensing unit, which is used to acquire the motion speed of each of the actuators. The controller is also configured to calculate the actual working flow rate of the corresponding execution unit based on the movement speed of each of the execution components, and to calculate the current opening ratio of the proportional valve based on the actual working flow rate and the rated maximum flow rate of the corresponding proportional valve.

8. A working device, characterized in that, Includes the composite motion hydraulic control system according to claim 6 or 7.

Images