Large-inertia closed system inertia hydraulic loading self-adjusting control method, device, equipment, medium and product

Abstract

The invention discloses a large-inertia closed system inertia hydraulic loading self-adjustment control method, device and equipment, a medium and a product, and the method comprises the steps: S1, in a test bed simulation starting or braking inertia loading stage, on the basis of an energy conservation principle, starting or braking inertia loading is simulated; according to the output power of a closed pump of the closed system or the kinetic energy during braking of large-inertia equipment, the target rotating speed of a motor of the closed system during starting or braking inertia loading is obtained; s2, the target rotating speed of the closed system motor during starting or braking inertia loading serves as input, the rotating speed n1 of the closed system motor is controlled by controlling the opening degree of a proportional servo valve in a closed-loop mode, meanwhile, n1 serves as feedback, closed-loop control over the rotating speed of the closed system motor during starting or braking inertia loading is completed, and the closed-loop control over the rotating speed of the closed system motor during starting or braking inertia loading is completed. And hydraulic inertia loading self-adjustment of the closed system is realized. The hydraulic inertia loading self-adjustment of the closed system can be realized, and a load curve is not needed, so that the problem of inertia loading after the closed system is optimized is solved.

Description

Technical Field

[0001] The present application relates to the technical field of large-inertia hydraulic closed system performance testing, and in particular, to a large-inertia closed system inertia hydraulic loading self-adjustment control method, device, equipment, medium and product. Background Art

[0002] With the development of society, there are more and more equipment with large inertia loads. Since the hydraulic system has the characteristics of high power density, most large inertia loads are driven by hydraulic closed systems, such as walking machinery, screw conveyors, etc. The quality of the closed system can best reflect the performance of the equipment, so the performance test of the large inertia closed system is also particularly important.

[0003] The load inertia of hydraulic closed systems such as walking machinery and screw conveyors is large. When braking, due to inertia, high pressure is generated on the motor outlet (pump suction port) of the hydraulic closed system. When the pressure reaches a certain level, it will damage the pipelines, pumps, motors and other components of the walking closed system, thereby affecting the reliability and service life of the entire equipment. However, the high pressure at the pump suction port cannot be too low. If it is too low, the equipment braking time will be too long, causing safety hazards. Therefore, it is necessary to reasonably match the closed system motor speed, hydraulic components, component set pressure, etc., so that the pump suction port pressure is neither too high nor too low when the equipment is braked. This matching method requires the test bench to realize the inertial load of the large inertia closed system.

[0004] The existing inertial loading control method, whether it is motor loading or hydraulic motor loading, is generally a torque closed-loop control, which requires the acquisition of torque data of actual working conditions and then re-simulation on the test bench; however, after the tested system is optimized, its performance test under inertial load cannot be achieved with this torque closed-loop control, because the changes in the tested system after optimization will affect the changes in torque under inertial load, which is equivalent to the unknown changes in torque of the optimized tested system. The existing inertial loading control method requires the input of a known torque curve before inertial loading can be performed. Therefore, a control method is needed that can self-adjust and control inertial load. Summary of the invention

[0005] On one hand, the present application provides a self-adjusting control method for inertial hydraulic loading of a large inertia closed system to solve the technical problem that the existing inertial loading control method requires the input of a known torque curve to perform inertial loading and cannot self-adjust and control the inertial load.

[0006] This application is implemented through the following scheme:

[0007] A large inertia closed system inertia hydraulic loading self-adjustment control method is applied to a large inertia closed system hydraulic inertia loading test bench, comprising a large inertia equipment closed system and an inertia loading system, wherein the large inertia equipment closed system comprises a closed pump and a closed system motor, and the inertia loading system comprises a loading motor, a proportional servo valve, and an accumulator, wherein the closed system motor and the loading motor are connected by a coupling drive, and the method comprises the following steps:

[0008] S1. The large inertia closed system hydraulic inertia loading test bench simulates the starting inertia loading or braking inertia loading stage. Based on the principle of energy conservation, the output power of the closed system closed pump or the kinetic energy of the large inertia equipment during braking is used as the inertia energy to obtain the target speed n0 of the closed system motor during starting inertia loading or braking inertia loading respectively;

[0009] S2. The target speed n0 of the closed system motor when starting inertia loading or braking inertia loading is used as input, and the speed n1 of the closed system motor is controlled by closed-loop control of the opening of the proportional servo valve. At the same time, n1 is used as feedback to complete the closed-loop control of the speed of the closed system motor when starting inertia loading or braking inertia loading, thereby realizing self-adjustment of the hydraulic inertia loading of the closed system.

[0010] Furthermore, the step S1 specifically includes the steps of:

[0011] S101, when simulating the startup inertial loading, the output power of the closed pump is calculated by the closed pump pressure difference ΔP1 and the flow Q, wherein the closed pump pressure difference ΔP1 is equal to the closed pump inlet and outlet pressure difference minus the fixed load when the large inertia equipment is started;

[0012] S102, calculating the energy output by the closed system according to the output power of the closed pump and the integral of the correlation coefficient;

[0013] S103, according to the kinetic energy theorem and the energy output by the closed system, a target speed n0 of the closed system motor when starting inertial loading is obtained.

[0014] Furthermore, the step S2 specifically includes the steps of:

[0015] S201. The target speed n0 of the closed system motor when starting the inertial loading is used as input, and the speed n1 of the closed system motor is controlled by closed-loop control of the opening of the proportional servo valve. At the same time, n1 is used as feedback to complete the closed-loop control of the speed of the closed system motor when starting the inertial loading, thereby realizing self-adjustment of the hydraulic inertial loading of the closed system.

[0016] Furthermore, the method further comprises the steps of:

[0017] S3. When simulating the normal loading condition of large inertia equipment, the closed system motor inlet pressure is used as feedback, and a proportional servo valve is used for pressure closed-loop control to complete the normal loading condition simulation of the cotton picker.

[0018] Furthermore, the step S1 specifically includes the steps of:

[0019] S111, when simulating braking inertia loading, the reverse braking torque is calculated by the pressure difference ΔP2 and flow rate Q on both sides of the closed pump, and then the power consumed by the closed system inertia energy is calculated by the speed n1 of the closed system motor and the reverse braking torque;

[0020] S112, calculating the consumed inertia energy of the closed system according to the power integral of the consumed inertia energy;

[0021] S113, comparing the consumed inertia energy of the closed system with the total inertia energy of the large inertia device to calculate the remaining inertia energy of the large inertia device;

[0022] S114. Calculate the target speed n0 of the closed system motor when braking inertia is loaded according to the kinetic energy theorem and the residual inertia energy.

[0023] Furthermore, the step S2 specifically includes the steps of:

[0024] S211. The target speed n0 of the closed system motor during braking inertia loading is taken as input, and the speed n1 of the closed system motor is controlled by closed-loop control of the opening of the proportional servo valve. At the same time, n1 is used as feedback to complete the closed-loop control of the speed of the closed system motor during braking inertia loading, thereby realizing self-adjustment of the hydraulic inertia loading of the closed system.

[0025] On the other hand, the present application also provides a large inertia closed system inertia hydraulic loading self-adjusting control device, which is applied to a large inertia closed system hydraulic inertia loading test bench, including a large inertia equipment closed system and an inertia loading system, wherein the large inertia equipment closed system includes a closed pump and a closed system motor, and the inertia loading system includes a loading motor, a proportional servo valve, and an accumulator, and the closed system motor and the loading motor are driven and connected through a coupling, including:

[0026] The target speed acquisition module is used to simulate the start-up inertia loading or braking inertia loading stage in the large inertia closed system hydraulic inertia loading test bench. Based on the principle of energy conservation, the target speed n0 of the closed system motor during the start-up inertia loading or braking inertia loading is obtained according to the output power of the closed pump of the closed system or the kinetic energy of the large inertia equipment during braking as the inertia energy;

[0027] The self-adjusting speed closed-loop control module is used to take the target speed n0 of the closed system motor when starting inertia loading or braking inertia loading as input, and control the speed n1 of the closed system motor by closed-loop controlling the opening of the proportional servo valve. At the same time, n1 is used as feedback to complete the speed closed-loop control of the closed system motor when starting inertia loading or braking inertia loading, thereby realizing self-adjustment of the hydraulic inertia loading of the closed system.

[0028] On the other hand, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the large-inertia closed system inertial hydraulic loading self-adjustment control method when executing the computer program.

[0029] On the other hand, the present application further provides a storage medium, which includes a stored program. When the program is running, the device where the storage medium is located is controlled to execute the steps of the large-inertia closed system inertia hydraulic loading self-adjustment control method.

[0030] On the other hand, the present application also provides a computer program product, including a computer program or computer executable instructions, which, when executed by a processor, implements the steps of the large-inertia closed system inertia hydraulic loading self-adjustment control method as described.

[0031] This application has the following beneficial effects:

[0032] The present application provides a large inertia closed system inertia hydraulic loading self-adjustment control method, device, equipment, medium and product. The large inertia closed system inertia hydraulic loading self-adjustment control method can move the large inertia equipment closed system to the hydraulic related test bench for normal working conditions and inertia load test, and can realize the closed system hydraulic inertia loading self-adjustment, thereby solving the problem of inertia loading after closed system optimization. When designing new products, there is no need for load curves, and system performance testing can be completed, shortening the R&D cycle, and the experimental cost is low, no special customization of related test benches is required, and the loading method is simple.

[0033] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0035] Figure 1It is a flow chart of a large inertia closed system inertia hydraulic loading self-adjustment control method according to a preferred embodiment of the present application;

[0036] Figure 2 This is a schematic diagram of the principle of starting inertial loading of large inertia equipment on the test bench;

[0037] Figure 3 It is a schematic diagram of the principle of the self-adjusting control method of the inertial hydraulic loading of a large inertia closed system when simulating the startup inertial loading in the preferred embodiment of the present application;

[0038] Figure 4 It is a schematic diagram of the principle of braking inertia loading of large inertia equipment on the test bench;

[0039] Figure 5 It is a schematic diagram of the principle of the large inertia closed system inertia hydraulic loading self-adjustment control method when simulating braking inertia loading in the preferred embodiment of the present application;

[0040] Figure 6 It is a schematic diagram of a module of a large inertia closed system inertia hydraulic loading self-adjusting control device according to a preferred embodiment of the present application;

[0041] Figure 7 is a schematic block diagram of an electronic device entity in a preferred embodiment of the present application;

[0042] Figure 8 It is a diagram of the internal structure of a computer device of a preferred embodiment of the present application. DETAILED DESCRIPTION

[0043] The embodiments of the present application are described in detail below in conjunction with the accompanying drawings, but the present application can be implemented in a variety of different ways defined and covered below.

[0044] like Figure 1 As shown, the preferred embodiment of the present application provides a large inertia closed system inertia hydraulic loading self-adjustment control method, which is applied to a large inertia closed system hydraulic inertia loading test bench, including a large inertia device closed system and an inertia loading system, wherein the large inertia device closed system includes a closed pump and a closed system motor, and the inertia loading system includes a loading motor, a proportional servo valve, and an accumulator, and the closed system motor and the loading motor are connected by a coupling drive, and the steps are as follows:

[0045] S1. The large inertia closed system hydraulic inertia loading test bench simulates the starting inertia loading or braking inertia loading stage. Based on the principle of energy conservation, the output power of the closed system closed pump or the kinetic energy of the large inertia equipment during braking is used as the inertia energy to obtain the target speed n0 of the closed system motor during starting inertia loading or braking inertia loading respectively;

[0046] S2. The target speed n0 of the closed system motor when starting inertia loading or braking inertia loading is used as input, and the speed n1 of the closed system motor is controlled by closed-loop control of the opening of the proportional servo valve. At the same time, n1 is used as feedback to complete the closed-loop control of the speed of the closed system motor when starting inertia loading or braking inertia loading, thereby realizing self-adjustment of the hydraulic inertia loading of the closed system.

[0047] This embodiment provides a large inertia closed system inertia hydraulic loading self-adjustment control method, which is mainly applicable to the inertia load of large inertia equipment when starting and braking, and can move the large inertia equipment closed system to the hydraulic related test bench for normal working conditions and inertia load tests, and solve the problem of inertia loading after the closed system is optimized based on energy conservation, and can realize the closed system hydraulic inertia loading self-adjustment, thereby solving the problem of inertia loading after the closed system is optimized. When designing new products, the system performance test can be completed without the need for load curves, shortening the research and development cycle, and the experimental cost is low, and there is no need to specially customize the relevant test bench, and the loading method is simple.

[0048] In a preferred embodiment of the present application, step S1 specifically includes the following steps:

[0049] S101, when simulating the startup inertial loading, the output power of the closed pump is calculated by the closed pump pressure difference ΔP1 and the flow Q, wherein the closed pump pressure difference ΔP1 is equal to the closed pump inlet and outlet pressure difference minus the fixed load when the large inertia equipment is started;

[0050] S102, calculating the energy output by the closed system according to the output power of the closed pump and the integral of the correlation coefficient;

[0051] S103, according to the kinetic energy theorem and the energy output by the closed system, a target speed n0 of the closed system motor when starting inertial loading is obtained.

[0052] Specifically, the step S2 specifically includes the steps of:

[0053] S201. The target speed n0 of the closed system motor when starting the inertial loading is taken as input, and the speed n1 of the closed system motor is controlled by closed-loop controlling the opening of the proportional servo valve. At the same time, n1 is used as feedback to complete the closed-loop control of the speed of the closed system motor when starting the inertial loading, so as to realize the self-adjustment of the hydraulic inertial loading of the closed system. The closed-loop control can adopt PID control, fuzzy control or adaptive control. The present embodiment adopts PID control.

[0054] This embodiment is a self-adjusting control method for inertial hydraulic loading of a large inertia closed system when simulating starting inertial loading, and its working principle is as follows:

[0055] Start-up conditions

[0056] The principle of starting inertial loading of large inertia equipment on the test bench is as follows Figure 2 As shown in the figure, at the beginning of startup, the proportional servo valve is fully opened, and the closed system motor drives the loading motor to rotate. When simulating the inertial load at startup, the opening of the proportional servo valve is adjusted to provide corresponding back pressure to the loading motor, thereby hindering the rotation of the closed system motor and simulating the inertial load at startup. The loading motor and the closed system motor are rigidly connected through a coupling.

[0057] The specific process of the whole method is as follows Figure 3 As shown, the process is mainly divided into two parts, one is the closed-loop control of the speed, and the other is the calculation of the target speed (input speed) of the system. In the figure, ΔP1 is the pressure difference between the inlet and outlet of the closed pump - the fixed load when the large inertia device starts (P1-P2 - the fixed load when the large inertia device starts), Q is the real-time flow rate at the outlet of the closed pump, n1 is the actual speed of the closed system motor, n0 is the target speed (input speed) of the closed system, and Δn is the difference n1-n0 between the actual speed n1 and the target speed n0.

[0058] The closed-loop control of the speed is performed with n0 as the input. The speed n1 of the closed system motor is controlled by controlling the opening of the proportional servo valve through PID. n1 is used as feedback to complete the closed-loop process of the speed.

[0059] When calculating the target speed of the system, first calculate the output power of the closed pump through the pressure difference and flow rate on both sides of the closed pump of the closed system; then integrate and calculate the energy output of the closed system (output power of the closed pump × correlation coefficient); finally, obtain the target speed n0 of the closed system motor through the closed system output energy calculation (kinetic energy theorem).

[0060] According to the above steps, you only need to know the fixed load when the large inertia equipment is started, so that the test bench can automatically adjust the inertia load required for the closed system startup of the large inertia equipment in real time, and realize the self-adjustment of the hydraulic inertia load when the closed system is started, thereby solving the problem of inertia loading after the closed system is optimized.

[0061] In a preferred embodiment of the present application, the large inertia closed system inertia hydraulic loading self-adjustment control method further comprises the steps of:

[0062] S3. When simulating the normal loading condition of large inertia equipment, the closed system motor inlet pressure is used as feedback, and a proportional servo valve is used for pressure closed-loop control to complete the normal loading condition simulation of the cotton picker.

[0063] In a preferred embodiment of the present application, step S1 specifically includes the following steps:

[0064] S111, when simulating braking inertia loading, the reverse braking torque (torque consuming inertia energy) is calculated by the pressure difference ΔP and flow rate Q on both sides of the closed pump, and then the power of the closed system consuming inertia energy is calculated by the speed n1 of the closed system motor and the reverse braking torque;

[0065] S112, calculating the consumed inertia energy of the closed system according to the power integral of the consumed inertia energy;

[0066] S113, comparing the consumed inertia energy of the closed system with the total inertia energy of the large inertia device to calculate the remaining inertia energy of the large inertia device;

[0067] S114. Calculate the target speed n0 of the closed system motor when braking inertia is loaded according to the kinetic energy theorem and the residual inertia energy.

[0068] Specifically, the step S2 specifically includes the steps of:

[0069] S211. The target speed n0 of the closed system motor during braking inertia loading is taken as input, and the speed n1 of the closed system motor is controlled by closed-loop control of the opening of the proportional servo valve. At the same time, n1 is used as feedback to complete the closed-loop control of the speed of the closed system motor during braking inertia loading, thereby realizing self-adjustment of the hydraulic inertia loading of the closed system.

[0070] This embodiment is a self-adjusting control method for inertial hydraulic loading of a large inertia closed system when simulating starting inertial loading, and its working principle is as follows:

[0071] Braking conditions

[0072] The principle of braking inertia loading of large inertia equipment on the test bench is as follows Figure 4 As shown, during normal operation, the closed system motor drives the loading motor to rotate. The proportional servo valve and accumulator are connected to the oil suction port of the loading motor. When simulating inertial load, the proportional servo valve opens, causing the pressure on the oil suction side of the loading motor to increase, so that the loading motor drives the closed system motor to rotate, and its rotation direction is consistent with the normal rotation direction. The loading motor and the closed system motor are rigidly connected through a coupling.

[0073] The specific process of the whole method is as follows Figure 5As shown, the process is mainly divided into two parts, one is the closed-loop control of the speed, and the other is the calculation of the target speed (input speed) of the system. In the figure, ΔP2 is the inlet and outlet pressure difference of the closed pump motor (P2-P1), V is the real-time displacement of the closed system motor (when the cotton picker is braked, the closed system motor will change from the current displacement to the maximum displacement), n1 is the actual speed of the closed system motor, n0 is the closed system input speed (target speed), Δn is the difference between the actual and target speeds, P is the power consumed by the closed system inertia, Q0 is the total inertia of the large inertia equipment, Q1 is the inertia consumed by the closed system, and ΔQ is the remaining inertia of the large inertia equipment.

[0074] When performing closed-loop control of the speed, the input is n0. The opening of the proportional servo valve is controlled by PID to control the speed n1 of the closed system motor. n1 is used as feedback to complete the closed-loop process of the speed.

[0075] When calculating the target speed of the system, first calculate the reverse braking torque (torque that consumes inertia energy) through the pressure difference and displacement on both sides of the closed system motor, then calculate the power of the closed system consuming inertia energy through the speed and reverse torque of the closed system motor; then integrate and calculate the consumption of inertia energy of the closed system; secondly, compare the consumption of inertia energy with the total inertia energy of the large inertia equipment to calculate the residual inertia energy of the large inertia equipment; finally, obtain the target speed of the closed system motor through the residual inertia energy calculation (kinetic energy theorem).

[0076] According to the above steps, you only need to know the total inertia energy of the large inertia device, so that the test bench can automatically adjust the inertia load required by the closed system of the large inertia device in real time to achieve the hydraulic inertia of the closed system.

[0077] like Figure 6 As shown, another preferred embodiment of the present application further provides a large inertia closed system inertia hydraulic loading self-adjusting control device, which is applied to a large inertia closed system hydraulic inertia loading test bench, including a large inertia device closed system and an inertia loading system, wherein the large inertia device closed system includes a closed pump and a closed system motor, and the inertia loading system includes a loading motor, a proportional servo valve, and an accumulator, and the closed system motor and the loading motor are connected by a coupling drive, including:

[0078] The target speed acquisition module is used to simulate the start-up inertia loading or braking inertia loading stage in the large inertia closed system hydraulic inertia loading test bench. Based on the principle of energy conservation, the target speed n0 of the closed system motor during the start-up inertia loading or braking inertia loading is obtained according to the output power of the closed pump of the closed system or the kinetic energy of the large inertia equipment during braking as the inertia energy;

[0079] The self-adjusting speed closed-loop control module is used to take the target speed n0 of the closed system motor when starting inertia loading or braking inertia loading as input, and control the speed n1 of the closed system motor by closed-loop controlling the opening of the proportional servo valve. At the same time, n1 is used as feedback to complete the speed closed-loop control of the closed system motor when starting inertia loading or braking inertia loading, thereby realizing self-adjustment of the hydraulic inertia loading of the closed system.

[0080] like Figure 7 As shown, a preferred embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the large-inertia closed system inertia hydraulic loading self-adjustment control method in the above-mentioned embodiment when executing the computer program.

[0081] like Figure 8 As shown, the preferred embodiment of the present application also provides a computer device, which can be a terminal or a liveness detection server, and its internal structure diagram can be as shown in Figure 8 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with other external computer devices through a network connection. When the computer program is executed by the processor, the steps of the above-mentioned large inertia closed system inertia hydraulic loading self-adjustment control method are implemented.

[0082] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0083] A preferred embodiment of the present application further provides a storage medium, which includes a stored program. When the program is running, the device where the storage medium is located is controlled to execute the steps of the large-inertia closed system inertia hydraulic loading self-adjustment control method in the above embodiment.

[0084] The preferred embodiment of the present application provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the inertia closed system inertia hydraulic loading self-adjustment control method of the embodiment of the present application, for example, Figure 1 The self-adjusting control method of inertia hydraulic loading of large inertia closed system is shown.

[0085] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0086] If the functions described in the method of this embodiment are implemented in the form of software functional units and sold or used as independent products, they can be stored in one or more computing devices readable storage media. Based on this understanding, the part of the embodiment of the present application that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a computing device (which can be a personal computer, server, mobile computing device or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0087] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0088] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0089] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0090] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0091] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0092] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A large inertia closed system inertia hydraulic loading self-adjustment control method, applied to a large inertia closed system hydraulic inertia loading test bench, comprising a large inertia equipment closed system and an inertia loading system, wherein the large inertia equipment closed system comprises a closed pump and a closed system motor, and the inertia loading system comprises a loading motor, a proportional servo valve, and an accumulator, wherein the closed system motor and the loading motor are connected by a coupling drive, and characterized in that: Includes steps: S1. The large inertia closed system hydraulic inertia loading test bench simulates the starting inertia loading or braking inertia loading stage. Based on the principle of energy conservation, the output power of the closed system closed pump or the kinetic energy of the large inertia equipment during braking is used as the inertia energy to obtain the target speed n0 of the closed system motor during starting inertia loading or braking inertia loading respectively; S2. The target speed n0 of the closed system motor when starting inertia loading or braking inertia loading is used as input, and the speed n1 of the closed system motor is controlled by closed-loop control of the opening of the proportional servo valve. At the same time, n1 is used as feedback to complete the closed-loop control of the speed of the closed system motor when starting inertia loading or braking inertia loading, thereby realizing self-adjustment of the hydraulic inertia loading of the closed system.

2. The large inertia closed system inertia hydraulic loading self-adjustment control method according to claim 1 is characterized in that: The step S1 specifically includes the following steps: S101, when simulating the startup inertial loading, the output power of the closed pump is calculated by the closed pump pressure difference ΔP1 and the flow Q, wherein the closed pump pressure difference ΔP1 is equal to the closed pump inlet and outlet pressure difference minus the fixed load when the large inertia equipment is started; S102, calculating the energy output by the closed system according to the output power of the closed pump and the integral of the correlation coefficient; S103, according to the kinetic energy theorem and the energy output by the closed system, a target speed n0 of the closed system motor when starting inertial loading is obtained.

3. The large inertia closed system inertia hydraulic loading self-adjustment control method according to claim 2 is characterized in that: The step S2 specifically includes the following steps: S201. The target speed n0 of the closed system motor when starting the inertial loading is used as input, and the speed n1 of the closed system motor is controlled by closed-loop control of the opening of the proportional servo valve. At the same time, n1 is used as feedback to complete the closed-loop control of the speed of the closed system motor when starting the inertial loading, thereby realizing self-adjustment of the hydraulic inertial loading of the closed system.

4. The large inertia closed system inertia hydraulic loading self-adjustment control method according to claim 1 is characterized in that: Also includes the steps: S3. When simulating the normal loading condition of large inertia equipment, the closed system motor inlet pressure is used as feedback, and a proportional servo valve is used for pressure closed-loop control to complete the normal loading condition simulation of the cotton picker.

5. The large inertia closed system inertia hydraulic loading self-adjustment control method according to claim 1 is characterized in that: The step S1 specifically includes the following steps: S111, when simulating braking inertia loading, the reverse braking torque is calculated by the pressure difference ΔP2 and flow rate Q on both sides of the closed pump, and then the power consumed by the closed system inertia energy is calculated by the speed n1 of the closed system motor and the reverse braking torque; S112, calculating the consumed inertia energy of the closed system according to the power integral of the consumed inertia energy; S113, comparing the consumed inertia energy of the closed system with the total inertia energy of the large inertia device to calculate the remaining inertia energy of the large inertia device; S114. Calculate the target speed n0 of the closed system motor when braking inertia is loaded according to the kinetic energy theorem and the residual inertia energy.

6. The large inertia closed system inertia hydraulic loading self-adjustment control method according to claim 5 is characterized in that: The step S2 specifically includes the following steps: S211. The target speed n0 of the closed system motor during braking inertia loading is taken as input, and the speed n1 of the closed system motor is controlled by closed-loop control of the opening of the proportional servo valve. At the same time, n1 is used as feedback to complete the closed-loop control of the speed of the closed system motor during braking inertia loading, thereby realizing self-adjustment of the hydraulic inertia loading of the closed system.

7. A large inertia closed system inertia hydraulic loading self-adjusting control device, applied to a large inertia closed system hydraulic inertia loading test bench, comprising a large inertia equipment closed system and an inertia loading system, wherein the large inertia equipment closed system comprises a closed pump and a closed system motor, and the inertia loading system comprises a loading motor, a proportional servo valve, and an accumulator, wherein the closed system motor and the loading motor are connected by a coupling drive, characterized in that: include: The target speed acquisition module is used to simulate the start-up inertia loading or braking inertia loading stage in the large inertia closed system hydraulic inertia loading test bench. Based on the principle of energy conservation, the target speed n0 of the closed system motor during the start-up inertia loading or braking inertia loading is obtained according to the output power of the closed pump of the closed system or the kinetic energy of the large inertia equipment during braking as the inertia energy; The self-adjusting speed closed-loop control module is used to take the target speed n0 of the closed system motor when starting inertia loading or braking inertia loading as input, and control the speed n1 of the closed system motor by closed-loop controlling the opening of the proportional servo valve. At the same time, n1 is used as feedback to complete the speed closed-loop control of the closed system motor when starting inertia loading or braking inertia loading, thereby realizing self-adjustment of the hydraulic inertia loading of the closed system.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the large inertia closed system inertia hydraulic loading self-adjustment control method as claimed in any one of claims 1 to 6 are implemented.

9. A storage medium, comprising a stored program, which controls a device where the storage medium is located to execute the steps of the large inertia closed system inertia hydraulic loading self-adjustment control method as claimed in any one of claims 1 to 6 when the program is executed.

10. A computer program product comprising a computer program or computer executable instructions, characterized in that: When the computer program or computer executable instructions are executed by a processor, the steps of the large inertia closed system inertia hydraulic loading self-adjustment control method as claimed in any one of claims 1 to 6 are implemented.

Images