Hydraulic tractor control system and control method based on double-variable speed regulation

Abstract

The hydraulic tractor control system comprises a power source, an electric proportional variable pump, an electric proportional variable motor, a controller and a control handle, the controller can control the operation states of the electric proportional variable pump and the electric proportional variable motor, and the control handle inputs a control signal; the opening proportion of the control handle is 0-100%, the control handle is divided into a speed regulation interval of 0-A% and a speed regulation interval of A%-100% through a calibration point A%, when the opening of the control handle is 0-A%, the electric proportional variable displacement motor keeps the maximum displacement, and the displacement of the electric proportional variable displacement pump changes from 0 to the maximum correspondingly when the opening of the control handle is increased; and when the opening degree of the control handle is A%-100%, the displacement of the electric proportional variable displacement pump is kept at the maximum value, and the displacement of the electric proportional variable displacement motor is gradually reduced along with the increase of the opening degree until the displacement is reduced to the minimum set value. By controlling the working states of the electric proportional variable pump and the electric proportional variable motor, full-automatic adjustment adapting to different loads is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of hydraulic traction machine speed regulation control, and in particular to a hydraulic traction machine control system and a control method based on dual variable speed regulation. Background Art

[0002] Traditional hydraulic tractors usually rely on a single variable displacement pump or a combination of a fixed displacement pump and a motor to achieve power transmission. This design has certain limitations in terms of speed regulation range and efficiency: Limited speed range: Traditional tractors can only operate efficiently within a narrow speed range and cannot meet the needs of both high speed and low torque and low speed and high torque at the same time; this limits their ability to adapt to working conditions in actual complex and changeable construction scenarios.

[0003] Low energy efficiency: Due to the single traction speed adjustment mechanism, traditional control systems are usually unable to optimize the working conditions of hydraulic pumps and motors according to load requirements, causing the control system to work in a low-efficiency range for a large amount of time, resulting in unnecessary energy waste due to low transmission efficiency; especially when a higher traction speed is required under low load conditions, the diesel engine must rotate at a very high speed to provide sufficient hydraulic oil flow, thereby increasing the fuel consumption and noise of the diesel engine.

[0004] Operational complexity: The operation of traditional hydraulic tractors usually requires the driver to have a high level of skills in order to manually adjust the operating parameters of the pump and motor, which is a challenge for non-professional operators and is prone to damage to the equipment or performance degradation due to misoperation. Summary of the invention

[0005] To this end, the technical problem to be solved by the present invention is to overcome the limitations of traditional hydraulic traction machines in the prior art when dealing with complex construction scenes. The present invention proposes a hydraulic traction machine control system and control method based on dual variable speed regulation. The control system accurately controls the working states of the electric proportional variable pump and the electric proportional variable motor, which not only greatly expands the speed regulation range and improves the transmission efficiency, but also realizes fully automatic adaptive regulation and reduces the difficulty of operation.

[0006] In order to solve the above technical problems, the present invention provides a hydraulic traction machine control system based on dual variable speed regulation, comprising: Power source; The hydraulic energy conversion unit includes: an electric proportional variable pump connected to the power source, converting the mechanical energy input by the power source into hydraulic energy, and the electric proportional variable pump can adjust the hydraulic oil displacement of the variable pump by inputting a proportional current; The actuator comprises: an electric proportional variable motor connected to the electric proportional variable pump, the electric proportional variable motor can receive the hydraulic oil of the electric proportional variable pump, convert the hydraulic energy into mechanical energy, and drive the actuator to rotate; the electric proportional variable motor adjusts the motor displacement by inputting proportional current; The control part includes a controller and a control handle. The controller can control the operating state of the electric proportional variable pump and the electric proportional variable motor. The control handle inputs a control signal to the controller. The control handle is an opening ratio adjustment handle. The opening ratio of the control handle is 0-100%. A control switching calibration point A is set between the opening ratios of 0-100%; When the opening degree of the control handle is 0, the controller controls the electric proportional variable pump to be in a zero output state, and the controller controls the electric proportional variable motor to be in a maximum displacement; When the opening of the control handle is 0-A%, the controller controls the hydraulic oil displacement of the electric proportional variable pump to increase from 0 as the opening ratio increases. When the opening of the control handle reaches the calibration point A%, the hydraulic oil displacement of the electric proportional variable pump reaches the maximum, and the controller controls the electric proportional variable motor to maintain the maximum displacement. When the opening of the control handle is A% to 100%, the controller controls the electric proportional variable pump to maintain the maximum hydraulic oil displacement, and the controller controls the displacement of the electric proportional variable motor to gradually decrease as the opening ratio increases until it decreases to the minimum set value.

[0007] In one embodiment of the present invention, the hydraulic energy conversion unit also includes two pressure sensors, which are respectively arranged at two working oil ports connecting the electric proportional variable pump and the electric proportional variable motor. The pressure sensors detect the pressure of the oil ports on both sides of the electric proportional variable motor in real time, and the difference between the pressures is the pressure difference of the electric proportional variable motor. The displacement of the electric proportional variable motor is automatically controlled by using the pressure difference feedback.

[0008] In one embodiment of the present invention, the controller compares the pressure difference detected in real time by the pressure sensor with a preset pressure difference safety threshold. When the real-time pressure difference exceeds the pressure difference safety threshold, the displacement of the electric proportional variable pump returns to a zero output state. At this time, the control system is in a safe stop state and an alarm is initiated until the opening of the control handle is adjusted back to 0.

[0009] In one embodiment of the present invention, the controller detects the real-time load value of the power source through the CAN bus in real time. When the real-time load value of the power source exceeds a preset load safety threshold, the control system dynamically adjusts the displacement of the electric proportional variable pump.

[0010] In one embodiment of the present invention, a speed sensor is also included. The controller detects the rotation speed of the electric proportional variable motor driving the actuator in real time through the speed sensor. When the rotation speed of the actuator exceeds a preset traction speed safety threshold, the control system will automatically adjust the displacement of the electric proportional variable pump.

[0011] In one embodiment of the present invention, it further includes: a brake, which is used to control the braking of the load. When the opening of the control handle is 0, the brake is in a braking state, and when the opening of the control handle is greater than 0, the brake is in an open state.

[0012] In one embodiment of the present invention, the execution unit further includes: A reducer, the input end of which is connected to the electric proportional variable motor; A gear set, the output end of which is connected to the reducer to achieve power transmission; The actuator is a drum, which is connected to the gear set and is used for winding and reeling the traction rope.

[0013] In one embodiment of the present invention, the electric proportional variable pump is a bidirectional electric proportional variable pump, the electric proportional variable motor is a bidirectional electric proportional variable motor, and the control handle is a bidirectional control handle.

[0014] In one embodiment of the present invention, it also includes: a display, which is connected and communicated with the controller via a CAN bus, and is used to centrally display the status and parameters of the control system, including but not limited to the operating status and parameters of the electric proportional variable pump, the electric proportional variable motor, and the control handle, as well as the rotation speed and traction force of the actuator in the control system.

[0015] In order to solve the above technical problems, the present invention also provides a hydraulic traction machine control method based on dual variable speed regulation, which is completed by applying the above hydraulic traction machine control system based on dual variable speed regulation, and includes the following steps: Providing a power source, and connecting an electric proportional variable pump to the power source; Connecting the electric proportional variable pump to the electric proportional variable motor so that the electric proportional variable motor can receive hydraulic oil from the electric proportional variable pump to drive a load; The controller receives a control signal from the control handle and adjusts the working state of the electric proportional variable pump and the electric proportional variable motor according to the control signal; When the opening of the control handle is adjusted to 0, the controller controls the electric proportional variable pump to be in a zero output state, and controls the electric proportional variable motor to be in a maximum displacement; When the opening of the control handle is adjusted to increase from 0 until the opening ratio reaches the calibration point A%, the controller controls the hydraulic oil displacement of the electric proportional variable pump to increase from 0 along with the opening ratio until the opening of the control handle reaches the calibration point A%, and the hydraulic oil displacement of the electric proportional variable pump reaches the maximum, and at the same time, the controller controls the electric proportional variable motor to maintain the maximum displacement; When the opening of the control handle continues to be adjusted from the opening ratio of the calibration point A% to the opening ratio of 100%, the controller controls the electric proportional variable pump to maintain the maximum hydraulic oil displacement. At the same time, the controller controls the displacement of the electric proportional variable motor to gradually decrease with the increase of the opening ratio until it is reduced to the minimum set value.

[0016] The above technical solution of the present invention has the following advantages compared with the prior art: 1. Compared with the existing traditional traction machine, the hydraulic traction machine controlled by the dual-variable control system has a very wide and continuous speed regulation range, which effectively improves its performance. When the traction force is small, the maximum traction speed can be achieved when the power source has a small oil port output, which effectively reduces the power source noise and fuel consumption.

[0017] 2. When using a dual-variable control system, compared with simply using hydraulic pump variable adjustment, the hydraulic energy conversion unit can work more in the high-pressure range. Since the hydraulic components are at a higher working efficiency in the high-pressure range, the transmission efficiency of the control system can be effectively improved. At the same time, the displacement requirements of the hydraulic pump and motor can be effectively reduced during design and selection, thereby improving the economy of the control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein: Figure 1 It is a principle diagram of a hydraulic traction machine control system based on dual variable speed regulation of the present invention; Figure 2 It is a structural schematic diagram of a hydraulic traction machine control system based on dual variable speed regulation of the present invention; Figure 3 It is a curve diagram showing the relationship between the electric proportional variable pump and the electric proportional variable motor of the present invention and the change in the opening of the control handle; Figure 4 It is a curve diagram of the traction force and traction speed according to the change of the opening of the control handle of the present invention.

[0019] Explanation of the reference numerals in the drawings in the specification: 1. Power source; 2. Electric proportional variable pump; 3. Electric proportional variable motor; 4. Pressure sensor; 5. Speed ​​sensor; 6. Brake; 7. Reducer; 8. Reel; 9. Controller; 10. Control handle. DETAILED DESCRIPTION

[0020] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention. Example 1

[0021] Reference Figure 1 and Figure 2 As shown, the present invention discloses a hydraulic traction machine control system based on dual variable speed regulation, comprising: a power source 1, a hydraulic energy conversion unit, an execution unit and a control unit, wherein: The power source 1 is usually a diesel engine or an electric motor, which provides mechanical energy as the power source of the entire hydraulic energy conversion unit; The hydraulic energy conversion unit includes: an electric proportional variable pump 2, connected to the power source 1, the electric proportional variable pump 2 is integrated with a proportional solenoid valve, which can adjust the opening of the solenoid valve to adjust the position of the variable pump cylinder through the input of proportional current, thereby realizing the displacement change of the variable pump; The actuator comprises: an electric proportional variable motor 3 connected to the electric proportional variable pump 2, the electric proportional variable motor 3 can receive the hydraulic oil of the electric proportional variable pump 2 and convert it into mechanical energy for driving the actuator to rotate; the electric proportional variable motor 3 is also integrated with a proportional solenoid valve, and the motor displacement is adjusted by the input of proportional current; specifically, when the swing angle sensor is installed, the current actual displacement of the electric proportional variable motor 3 can be obtained by measuring and converting the swing angle sensor, and when the swing angle sensor is not installed, the current actual displacement of the electric proportional variable motor 3 can be obtained by converting the current on the proportional electromagnet; The control unit includes a controller 9 and a control handle 10. The controller 9 can process signals from the control handle 10 and send instructions to the electric proportional variable pump 2 and the electric proportional variable motor 3 accordingly to control the operating status of the electric proportional variable pump 2 and the electric proportional variable motor 3; the control handle 10 is used by the operator to send control signals to the controller 9.

[0022] The speed regulation of the control system can be expressed as follows: ; ; Where: Nm: speed of electric proportional variable motor 3; Np: speed of electric proportional variable pump 2; since the electric proportional variable pump 2 and the driving flywheel of power source 1 are directly connected through a coupling, the speed of the electric proportional variable pump 2 is equal to the speed of the diesel engine; Vp: Displacement of the electric proportional variable pump 2, which is proportional to the current controlled by the electromagnet; it can be adjusted between the minimum displacement Vp.min (usually 0) and the maximum displacement Vp.max; Vm: displacement of the electric proportional variable motor 3, which is proportional to the current controlled by the electromagnet; it can be adjusted between the minimum displacement Vm.min (which can be set before leaving the factory as needed) and the maximum displacement Vm.max; η1: Total volumetric efficiency of the hydraulic energy conversion unit, which can be regarded as a constant; V: traction speed; K1: proportional constant, which is related to the speed ratio of the reducer, the gear ratio, the reel diameter and other parameters in the actuator; It can be seen from the above formula that, when the speed of the power source 1 is constant, the speed Np of the electric proportional variable pump 2 coaxially connected to the power source 1 is constant, the adjustment of the traction speed can be achieved by adjusting Vp and Vm, and the traction speed is directly proportional to Vp and inversely proportional to Vm.

[0023] Based on the above analysis, in this embodiment, the control handle 10 is set as an opening ratio adjustment handle, the opening ratio of the control handle 10 is 0-100%, and a control switching calibration point A% is set between the opening ratios of 0-100%. The calibration point A% represents the switching of control between the electric proportional variable pump 2 and the electric proportional variable motor 3 by the controller 9. By reasonably setting the A value through calculation, the change rate of the traction speed can be basically the same when the opening of the control handle 10 is adjusted in the 0%-A% segment and the A%-100% segment.

[0024] Reference Figure 3 As shown, the specific control logic is: When the opening degree of the control handle 10 is 0, the controller 9 controls the electric proportional variable pump 2 to be in a zero output state, that is, no oil is supplied to the control system. At this time, the control system is in a waiting state. The controller 9 controls the electric proportional variable motor 3 to be in a maximum displacement, and can immediately respond and provide maximum torque output when the electric proportional variable pump 2 has flow output; In the first stage, when the opening of the control handle 10 is steplessly adjusted in the range of 0 to A%, the controller 9 controls the hydraulic oil displacement of the electric proportional variable pump 2 to increase from 0 as the opening ratio increases, so that the output hydraulic oil flow increases accordingly. When the opening of the control handle 10 reaches the calibration point A%, the hydraulic oil displacement of the electric proportional variable pump 2 reaches the maximum synchronously. In this process, the controller 9 controls the electric proportional variable motor 3 to keep the maximum displacement unchanged. Therefore, the speed adjustment in this adjustment range is mainly achieved by the displacement change of the electric proportional variable pump 2. In stage II, when the opening of the control handle 10 is adjusted in the range of A% to 100%, the controller 9 controls the electric proportional variable pump 2 to keep the maximum hydraulic oil displacement unchanged. At this time, the controller 9 controls the displacement of the electric proportional variable motor 3 to gradually decrease with the increase of the opening ratio. As the opening of the control handle 10 further increases, the displacement of the electric proportional variable motor 3 gradually decreases to the minimum set value, thereby increasing the rotation speed. Therefore, the speed adjustment in this adjustment range is mainly achieved by the displacement change of the electric proportional variable motor 3.

[0025] In this embodiment, by adjusting the displacement of the electric proportional variable pump 2 and the electric proportional variable motor 3 respectively, the control system performance can be optimized under a wide range of working conditions. Whether it is a situation where high torque and low speed or high speed and low torque are required, under different load conditions, the working parameters of the intelligent electric proportional variable pump 2 and the electric proportional variable motor 3 can effectively reduce energy consumption and improve overall efficiency. Furthermore, by using the proportional current regulation technology, the displacement of the electric proportional variable pump 2 and the electric proportional variable motor 3 can be controlled very accurately, thereby achieving fine regulation of the traction machine speed and torque.

[0026] The traction calculation of the control system can be expressed as follows: ; Where: F: traction force; K2: Proportional constant, which is related to the speed ratio of the reducer, the gear ratio, the reel diameter and other parameters in the actuator; Vm: displacement of electric proportional variable motor 3; ΔP: the inlet and outlet pressure difference of the electric proportional variable motor 3; η2: Total mechanical transmission efficiency, mainly including the mechanical transmission efficiency of the electric proportional variable motor 3, the mechanical transmission efficiency of the reducer and gear set in the actuator, etc., which can be regarded as a constant.

[0027] As can be seen from the above, by measuring the inlet and outlet pressure difference of the electric proportional variable motor 3 and the current displacement of the electric proportional variable motor 3, the current traction force can be calculated.

[0028] Reference Figure 4 As shown, the relationship between the traction force and the traction speed of the present invention as the opening of the control handle 10 changes is: when the opening of the control handle 10 is in the range of 0 to A%, the controller 9 controls the electric proportional variable motor 3 to be at the maximum displacement, at which time the maximum traction force can be provided. As the opening of the control handle 10 increases, the traction speed ratio increases. When the opening of the control handle 10 is in the range of A to 100%, as the displacement of the electric proportional variable motor 3 decreases, the traction speed ratio increases. At the same time, the upper limit value ratio of the traction force that the control system can provide decreases.

[0029] In the figure: Point A represents the maximum power that the power source 1 can output, and its corresponding speed V1 is the speed when the equipment has maximum traction force; at Point B, the opening of the control handle 10 reaches A%, and its corresponding speed V2 is the speed when the electric proportional variable pump 2 and the electric proportional variable motor 3 both reach the maximum displacement; at Point C, the displacement of the electric proportional variable motor 3 reaches the minimum setting value, and its corresponding speed V3 is the calibrated value of the maximum traction speed of the equipment; the speed V4 corresponding to Point D is the maximum traction speed that the equipment can actually reach.

[0030] The solid line in the curve is the boundary of the equipment adjustment range. Under any working condition, the actual output of the equipment will not exceed this boundary. For example, point h in the figure is any working point when the equipment is working normally. Under this working condition, its traction speed is V h， Traction force F h , the corresponding shaded area is the actual output power of the equipment under the working condition at that point; on this basis, if the maximum traction speed calibration value of the equipment is increased, the solid line part of the curve will increase and the dotted line part will decrease, that is, point C moves to point D.

[0031] Through the analysis of the above traction speed and traction force, it can be known that the hydraulic traction machine controlled by the dual-variable control system adopted by the present invention has a very wide speed regulation range, which effectively improves its performance and adaptability to different working conditions. When the traction force is small, the maximum traction speed can be achieved when the power source 1 outputs at a small oil port, which effectively reduces the noise and fuel consumption of the power source 1. When a dual-variable control system is used, compared with simply using hydraulic pump variable adjustment, the hydraulic energy conversion unit can work more in the high-pressure range, which can effectively improve the transmission efficiency of the control system. At the same time, during the design and selection, it can effectively reduce the displacement requirements of the hydraulic pump and motor, and improve the economy of the control system.

[0032] Reference Figure 1 As shown, the hydraulic energy conversion unit also includes two pressure sensors 4, which are respectively arranged at two working oil ports connecting the electric proportional variable pump 2 and the electric proportional variable motor 3. The pressure sensor 4 detects the pressure difference of the oil ports on both sides of the electric proportional variable motor 3 in real time. Therefore, the displacement of the electric proportional variable motor 3 can be adaptively closed-loop controlled by using the pressure difference feedback to ensure that the control system can output traction matching the current load.

[0033] Specifically, if the calculated pressure difference is less than or equal to the preset calibration value, it is considered that the current working state of the electric proportional variable motor 3 meets the demand and there is no need to adjust the control current; when the pressure difference is greater than the calibration value, it indicates that the current electric proportional variable motor 3 may not be able to effectively cope with the load demand. At this time, it is necessary to increase the displacement of the electric proportional variable motor 3 to improve the output capacity. Based on the difference between the calculated pressure difference and the calibration value (i.e., the deviation ΔIm), a PI or PID control unit is integrated in the controller 9, wherein: the PI control unit is a proportional-integral control unit, the PID control unit is a proportional-integral-differential control unit, and the PI or P The ID control unit is one of two feedback control algorithms commonly used in industrial control. It is an existing technology that can be integrated in the controller 9 and is mainly used in data feedback adjustment. In this embodiment, the PI or PID control unit will generate a new control current value, that is, the first negative feedback value. This new current value will be used to adjust the displacement of the electric proportional variable motor 3. During this dynamic adjustment process, the control system continuously monitors the pressure difference and adjusts the control current of the electric proportional variable motor 3 in real time according to the output of the PI or PID control unit until the displacement of the electric proportional variable motor 3 reaches its physical limit (that is, the maximum displacement) or the pressure difference falls below the calibrated value.

[0034] Specifically, the displacement control adjustment of the electric proportional variable motor 3 can be expressed by the following formula: ; ; ; Where: Km: proportional constant of the electric proportional variable motor 3 current corresponding to the displacement; Im 0 : The reference control current of the electric proportional variable motor 3 is proportional to the opening of the control handle 10; Vm 0 : Electric proportional variable motor 3 controls the reference displacement; ΔIm: adjustment current of the electric proportional variable motor 3, which comes from the first feedback value of the PI or PID control unit; ΔVm: The displacement adjustment value corresponding to ΔIm, used to control the automatic displacement adjustment after the system pressure exceeds the calibration value; Vm: actual output displacement of the current electric proportional variable motor 3.

[0035] By real-time monitoring and feedback of the pressure difference, the displacement of the motor can be controlled very accurately, ensuring that the control system can respond quickly to load changes. This adaptive adjustment mechanism helps to optimize the energy efficiency of the control system because it only increases the displacement of the electric proportional variable motor 3 when necessary, avoiding unnecessary energy consumption.

[0036] Specifically, the present invention also provides a protection mechanism for preventing the hydraulic energy conversion unit from causing excessive traction due to abnormal conditions, and specific measures include: The controller 9 compares the pressure difference detected in real time by the pressure sensor 4 with a preset pressure difference safety threshold. If the pressure difference is less than or equal to the pressure difference safety threshold, the control system maintains normal operation; but if the pressure difference exceeds the safety threshold, it indicates that the current traction may be too large and there is a potential safety risk. The control system immediately triggers a series of protection measures: the controller 9 controls the displacement of the electric proportional variable pump 2 to restore to a zero output state, stops supplying oil to the control system, and the brake performs a braking action to put the control system in a safe stop state. At the same time, an alarm is initiated and a warning message is displayed on the display to prompt the operator that the current control system is in a safe stop state. When the control system enters the safe stop state, the safe stop state is released only when the opening of the control handle 10 is restored to the 0 position.

[0037] Through real-time monitoring and rapid response mechanisms, it can ensure that the maximum traction value does not exceed the set value, and can take immediate measures when abnormally high traction is detected, greatly reducing the risk of accidents.

[0038] Specifically, based on the need to prevent the power source 1 from being overloaded, in the present embodiment, the maximum load value allowed by the power source 1 is also calibrated. During traction operation, the controller 9 detects the current load value of the power source 1 in real time through the CAN bus, and dynamically adjusts the displacement of the electric proportional variable pump 2 according to the deviation between the current load value and the preset maximum load value, thereby avoiding the risk of shutdown of the power source 1 due to overload.

[0039] Specifically, if the current load value is less than or equal to the maximum load calibration value, the control system maintains the status quo; if the current load value exceeds the maximum load calibration value, it indicates that the diesel engine is facing an overload risk. At this time, the control system will form a regulating current ΔIp for the displacement of the electric proportional variable pump 2. 1 , which is calculated based on the load deviation by the PI or PID control unit, i.e. the second negative feedback value, using ΔIp 1 To adjust the displacement of the electric proportional variable pump 2, specifically, to reduce the displacement of the electric proportional variable pump 2, thereby reducing the output power of the entire hydraulic energy conversion unit. The purpose of this is to reduce the power output of the power source 1 and return it to a safe working range, avoiding the risk of shutdown or other failures caused by insufficient power.

[0040] Specifically, the displacement control regulation of the electric proportional variable pump 2 can be expressed by the following formula: ; ; Where: Kp: proportional constant of the electric proportional variable pump 2 current corresponding to the displacement; Ip 0 : Electric proportional variable pump 2 reference control current, proportional to the control handle 10 opening; Vp 0 : Electric proportional variable pump 2 controls the reference displacement; ΔIp 1 : The electric proportional variable pump 2 adjusts the current, which comes from the second feedback value calculated by the above-mentioned PI or PID control unit.

[0041] ΔVp 1 : corresponds to ΔIp 1 The displacement adjustment value is used for automatic displacement adjustment after the engine load exceeds the calibrated value.

[0042] By real-time monitoring and timely adjustment of the displacement of the electric proportional variable pump 2, the overload of the power source 1 is effectively prevented, ensuring the safe operation of the equipment. This adaptive adjustment mechanism enables the control system to reduce unnecessary energy consumption as much as possible while ensuring performance, thereby improving overall work efficiency.

[0043] Furthermore, based on the speed limit requirement for safety, in this embodiment, the maximum traction speed is calibrated, referring to Figure 1 As shown, it also includes a speed sensor 5. During traction operation, the controller 9 detects the rotation speed of the electric proportional variable motor 3 driving the actuator in real time through the speed sensor 5, and dynamically adjusts the displacement of the electric proportional variable pump 2 according to the deviation between the detected actual speed and the preset maximum traction speed, thereby avoiding safety risks caused by excessive traction speed.

[0044] Specifically, if the current traction speed is less than or equal to the maximum traction speed calibration value, the control system maintains the status quo; if the current traction speed exceeds the maximum traction speed calibration value, it indicates that there is an overspeed risk. At this time, the control system will form a regulating current ΔIp for the displacement of the electric proportional variable pump 2. 2 The current is calculated based on the speed deviation through the PI or PID control unit, that is, the third negative feedback value, using ΔIp 2 To adjust the displacement of the electric proportional variable pump 2, specifically, to appropriately reduce the displacement of the electric proportional variable pump 2, thereby reducing the pressure oil output flow of the electric proportional variable pump 2, thereby reducing the traction speed of the traction machine actuator, so that the actual traction speed is always within a safe working range, avoiding safety hazards caused by overspeeding.

[0045] Specifically, the displacement control regulation of the electric proportional variable pump 2 can be expressed by the following formula: ; In the formula, ΔIp 2 : The electric proportional variable pump 2 adjusts the current, which comes from the third negative feedback value calculated by the PI or PID control unit; ΔVp 2 : corresponds to ΔIp 2 The displacement adjustment value is used for automatic displacement adjustment after the traction speed exceeds the calibrated value.

[0046] Combining the above two negative feedback adjustments, the total displacement control adjustment amount of the electric proportional variable pump 2 is: Vp=Vp 0 +ΔVp 1 +ΔVp 2 ; Vp: The actual output displacement of the current electric proportional variable pump 2.

[0047] By real-time monitoring and timely adjustment of the displacement of the electric proportional variable pump 2, the occurrence of excessive traction speed is effectively prevented, ensuring the safety of operators and equipment. This adaptive adjustment mechanism enables the control system to accurately maintain a safe speed range while ensuring performance, thereby improving overall control accuracy.

[0048] Reference Figure 1 The control system of this embodiment also includes: a brake 6, which is used to control the braking of the actuator. The opening and closing of the brake 6 are controlled by the controller 9 and are linked to the action of the actuator. When the opening of the control handle 10 is 0, the brake 6 is in a braking state to ensure that the control system is stationary and prevent accidental startup or sliding. When the opening of the control handle 10 is greater than 0, the brake 6 is in an open state, allowing the control system to drive the actuator to rotate.

[0049] Combined with the function of brake 6, the hydraulic oil supply can be completely cut off and braking can be enabled when power transmission is not required, avoiding unnecessary energy consumption and improving overall work efficiency. In addition, when an accident occurs in the control system, brake 6 will respond quickly and brake reliably to ensure the safety of personnel and equipment.

[0050] Reference Figure 1 As shown, the actuator also includes: a reducer 7 connected to the electric proportional variable motor 3, a gear set driven by the reducer 7, and an actuator connected to the gear set, the gear set is used to realize power transmission. In this embodiment, the actuator is a reel 8, and the reel 8 is used to wind and reel in the traction rope. The force applied to the traction rope is the load force borne by the control system.

[0051] In actual engineering projects, the retraction and release of the traction rope is bidirectional. Therefore, in this embodiment, the electric proportional variable pump 2 is set as a bidirectional electric proportional variable pump 2, the electric proportional variable motor 3 is a bidirectional electric proportional variable motor, the control handle 10 is a bidirectional control handle, and the reel 8 as a load-bearing mechanism can rotate in both directions.

[0052] Specifically, the control system of this embodiment also includes: a display for displaying the operating status of the electric proportional variable pump 2, the electric proportional variable motor 3, and the control handle 10, as well as the rotation speed and traction force of the driving actuator of the control system, to achieve complete digital and visual control. Example 2

[0053] On the basis of the above-mentioned embodiment 1, the present invention discloses a hydraulic traction machine control method based on dual variable speed regulation, comprising the following steps: Providing a power source 1, and connecting an electric proportional variable pump 2 to the power source 1; Connecting the electric proportional variable pump 2 to the electric proportional variable motor 3, so that the electric proportional variable motor 3 can receive hydraulic oil from the electric proportional variable pump 2 to drive the actuator; The controller 9 receives a control signal from the control handle 10, and adjusts the working state of the electric proportional variable pump 2 and the electric proportional variable motor 3 according to the control signal; When the opening of the control handle 10 is adjusted to 0, the controller 9 controls the electric proportional variable pump 2 to be in a zero output state, and controls the electric proportional variable motor 3 to be in a maximum displacement; When the opening of the control handle 10 is increased from 0 to the opening ratio reaching the calibration point A%, the controller 9 controls the hydraulic oil displacement of the electric proportional variable pump 2 to increase from 0 along with the opening ratio until the opening of the control handle 10 reaches the calibration point A%, and the hydraulic oil displacement of the electric proportional variable pump 2 reaches the maximum, and at the same time, the controller 9 controls the electric proportional variable motor 3 to maintain the maximum displacement; When the opening of the control handle 10 continues to be adjusted from the opening ratio of the calibration point A% to the maximum opening ratio, the controller 9 controls the electric proportional variable pump 2 to maintain the maximum hydraulic oil displacement. At the same time, the controller 9 controls the displacement of the electric proportional variable motor 3 to gradually decrease with the increase of the opening ratio until it is reduced to the minimum set value.

[0054] The method of this embodiment is implemented by the control system disclosed in the above-mentioned embodiment 1. For the specific implementation process, refer to the description of embodiment 1 in the specification, which will not be repeated here.

[0055] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. A hydraulic traction machine control system based on dual variable speed regulation, characterized in that: include: Power source; The hydraulic energy conversion unit includes: an electric proportional variable pump connected to the power source, converting the mechanical energy input by the power source into hydraulic energy, and the electric proportional variable pump can adjust the hydraulic oil displacement of the variable pump by inputting a proportional current; The actuator comprises: an electric proportional variable motor connected to the electric proportional variable pump, the electric proportional variable motor can receive the hydraulic oil of the electric proportional variable pump, convert the hydraulic energy into mechanical energy, and drive the actuator to rotate; the electric proportional variable motor adjusts the motor displacement by inputting proportional current; The control part includes a controller and a control handle. The controller can control the operating state of the electric proportional variable pump and the electric proportional variable motor. The control handle inputs a control signal to the controller. The control handle is an opening ratio adjustment handle. The opening ratio of the control handle is 0-100%. A control switching calibration point A is set between the opening ratios of 0-100%; When the opening degree of the control handle is 0, the controller controls the electric proportional variable pump to be in a zero output state, and the controller controls the electric proportional variable motor to be in a maximum displacement; When the opening of the control handle is 0-A%, the controller controls the hydraulic oil displacement of the electric proportional variable pump to increase from 0 as the opening ratio increases. When the opening of the control handle reaches the calibration point A%, the hydraulic oil displacement of the electric proportional variable pump reaches the maximum, and the controller controls the electric proportional variable motor to maintain the maximum displacement. When the opening of the control handle is A% to 100%, the controller controls the electric proportional variable pump to maintain the maximum hydraulic oil displacement, and the controller controls the displacement of the electric proportional variable motor to gradually decrease as the opening ratio increases until it decreases to the minimum set value.

2. The hydraulic traction machine control system based on dual variable speed regulation according to claim 1 is characterized in that: The hydraulic energy conversion unit also includes two pressure sensors, which are respectively arranged at two working oil ports connecting the electric proportional variable pump and the electric proportional variable motor. The pressure sensors detect the pressure of the oil ports on both sides of the electric proportional variable motor in real time, and the difference between the pressure sensors is the pressure difference of the electric proportional variable motor. The displacement of the electric proportional variable motor is automatically controlled by using the pressure difference feedback.

3. The hydraulic traction machine control system based on dual variable speed regulation according to claim 2 is characterized in that: The controller compares the pressure difference detected by the pressure sensor in real time with a preset pressure difference safety threshold. When the real-time pressure difference exceeds the pressure difference safety threshold, the displacement of the electric proportional variable pump returns to a zero output state, the control system is in a safe stop state, and an alarm is initiated at the same time until the opening of the control handle is adjusted to return to 0.

4. The hydraulic traction machine control system based on dual variable speed regulation according to claim 1 is characterized in that: The controller detects the real-time load value of the power source through the CAN bus in real time. When the real-time load value of the power source exceeds a preset load safety threshold, the control system dynamically adjusts the displacement of the electric proportional variable pump.

5. The hydraulic traction machine control system based on dual variable speed regulation according to claim 1 is characterized in that: It also includes a speed sensor, and the controller detects the rotation speed of the electric proportional variable motor driving the actuator in real time through the speed sensor. When the rotation speed of the actuator exceeds a preset traction speed safety threshold, the control system will automatically adjust the displacement of the electric proportional variable pump.

6. The hydraulic traction machine control system based on dual variable speed regulation according to claim 1 is characterized in that: Also includes: The brake is used to control the braking of the load. When the opening of the control handle is 0, the brake is in a braking state. When the opening of the control handle is greater than 0, the brake is in an open state.

7. The hydraulic traction machine control system based on dual variable speed regulation according to claim 1 is characterized in that: The execution unit also includes: A reducer, the input end of which is connected to the electric proportional variable motor; A gear set, the output end of which is connected to the reducer to achieve power transmission; The actuator is a drum, which is connected to the gear set and is used for winding and reeling the traction rope.

8. The hydraulic traction machine control system based on dual variable speed regulation according to claim 1 is characterized in that: The electric proportional variable pump is a bidirectional electric proportional variable pump, the electric proportional variable motor is a bidirectional electric proportional variable motor, and the control handle is a bidirectional control handle.

9. The hydraulic traction machine control system based on dual variable speed regulation according to claim 1, characterized in that: Also includes: The display is connected and communicated with the controller via the CAN bus, and is used to centrally display the status and parameters of the control system, including the operating status and parameters of the electric proportional variable pump, the electric proportional variable motor, and the control handle, as well as the rotation speed and traction of the actuator in the control system.

10. A control method for a hydraulic traction machine based on dual variable speed regulation, which is implemented by using the hydraulic traction machine control system based on dual variable speed regulation as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: Providing a power source, and connecting an electric proportional variable pump to the power source; Connecting the electric proportional variable pump to the electric proportional variable motor so that the electric proportional variable motor can receive hydraulic oil from the electric proportional variable pump to drive the actuator; The controller receives a control signal from the control handle, and adjusts the working state of the electric proportional variable pump and the electric proportional variable motor according to the control signal; When the opening of the control handle is adjusted to 0, the controller controls the electric proportional variable pump to be in a zero output state, and controls the electric proportional variable motor to be in a maximum displacement; When the opening of the control handle is adjusted to increase from 0 until the opening ratio reaches the calibration point A%, the controller controls the hydraulic oil displacement of the electric proportional variable pump to increase from 0 along with the opening ratio until the opening of the control handle reaches the calibration point A%, and the hydraulic oil displacement of the electric proportional variable pump reaches the maximum, and at the same time, the controller controls the electric proportional variable motor to maintain the maximum displacement; When the opening of the control handle continues to be adjusted from the opening ratio of the calibration point A% to the opening ratio of 100%, the controller controls the electric proportional variable pump to maintain the maximum hydraulic oil displacement. At the same time, the controller controls the displacement of the electric proportional variable motor to gradually decrease with the increase of the opening ratio until it is reduced to the minimum set value.

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