Control method of full-electric-control pile driver

Abstract

The invention discloses a control method of a full-electric-control pile driver, and belongs to the technical field of engineering machinery. The defects that in the prior art, when a traditional pile driver is used for pile pulling and pile driving, a movable arm and a hammer head need to be combined in a vibration mode, the working efficiency of the pile driver is low, a vibration hammer motor is prone to air suction, the service life of the motor is affected, and then the operation risk of the pile driver and the whole machine failure rate are increased are overcome. The method comprises a pile lifting mode when the movable arm independently acts, a vibration mode when the hammer head independently acts, and a pile pulling and piling mode when the movable arm and the hammer head compositely act. The invention is mainly applied to engineering machinery such as a pile driver.

Description

Technical Field

[0001] The present invention belongs to the technical field of engineering machinery, and in particular, relates to a control method for a fully electric pile driver. Background Art

[0002] Generally speaking, the working conditions of a pile driver are mainly pile pulling and pile driving. When a pile driver is pulling and driving piles, the hammer, boom and dipper need to cooperate with each other to pull the pile out of the ground or drive it into the ground. In existing pile drivers, the vibration modes of the hammer are generally single vibration and double vibration. In the single vibration mode, the hydraulic oil source comes from only a single plunger pump, and the flow rate is relatively low, so the vibration power is low; in the double vibration mode, the hydraulic oil source comes from two plunger pumps, and the flow rate is relatively high, so the vibration power is high. The choice of mode is mainly affected by the resistance of the current pile body. When the resistance is small, the vibration power of the hammer does not need to be very high, and the single vibration mode can meet the operation requirements. When the resistance is large, the vibration power of the hammer needs to be increased, and the double vibration mode needs to be used to meet the operation requirements.

[0003] In the above two vibration modes, when the hammer moves alone and not combined with other actions, the flow provided by the plunger pump is all used for the vibration of the hammer. At this time, the vibration frequency and exciting force of the hammer are normal, but the boom and hammer vibration need to be combined when pulling out and driving piles. At the beginning of the operation, the soil around the pile body has not loosened yet. In this case, operating the boom will cause the boom to be in an overflow state. At this time, the boom will divert part of the hydraulic oil flow, causing the vibration frequency and exciting force of the hammer to drop rapidly, which will affect the operating efficiency of the pile driver at the least. In severe cases, it will cause the vibration hammer motor to be emptied, affecting the service life of the motor and increasing the operating risk of the pile driver and the failure rate of the whole machine. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a control method for a fully electric pile driver.

[0005] In order to achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0006] A control method for a fully electric pile driver includes the following modes:

[0007] Pile lifting mode when the boom moves alone.

[0008] The vibration mode of the hammer head when it acts alone,

[0009] and pile pulling and pile driving modes when the boom and hammer head act in combination.

[0010] Preferably, the control method of the pile hanging mode when the movable arm moves alone is:

[0011] When the boom moves alone, the controller detects the data representing the boom movement from the CAN bus handle and calculates the current output to the boom's first solenoid proportional valve and the boom's second solenoid proportional valve. The boom's first solenoid proportional valve and the boom's second solenoid proportional valve output hydraulic pilot signals to control the displacement of the boom's first valve stem and the boom's second valve stem. When the displacement increases, the oil inlet area of ​​the valve stem also increases. At the same time, the required displacement of the plunger pump one and the plunger pump two is calculated and finally output to the plunger pump one solenoid proportional valve and the plunger pump two solenoid proportional valve in the form of current, which is converted into a hydraulic pilot signal to control the hydraulic oil flow output by the plunger pump one and the plunger pump two. The combination of the above two points determines the movement speed of the boom cylinder.

[0012] Preferably, the control model when the boom moves alone is as follows:

[0013]

[0014]

[0015] I B1 =K B1 *S B +B i1

[0016] I B2 =K B2 *S B +B i2

[0017]

[0018]

[0019] I P1 =K P1 *S B +P i1

[0020] I P2 =K P2 *S B +P i2

[0021] Where: K B1 B is the current-to-boom signal ratio coefficient of the boom-unit electromagnetic proportional valve, i11 B is the first point of the current curve of the electromagnetic proportional valve of the boom. i12 The second point of the current curve of the electromagnetic proportional valve of the boom, SB 11 SB is the first point of the travel curve of the boom lever. 12 is the second point of the travel curve of the boom lever, S B is the boom handle stroke signal, K B2B is the current-to-boom signal ratio coefficient of the boom dual solenoid proportional valve, i21 is the first point of the current curve of the boom dual solenoid proportional valve, B i22 The second point of the current curve of the boom dual electromagnetic proportional valve, SB 21 SB is the first point of the boom double handle travel curve. 22 is the second point of the boom double handle travel curve, I B1 is the current of the electromagnetic proportional valve of the boom, B i1 is a constant, I B2 is the current of the boom double electromagnetic proportional valve, B i2 is a constant, K P1 P is the piston pump-electromagnetic proportional valve current-arm signal proportional coefficient, i11 is the first point of the current curve of the plunger pump and electromagnetic proportional valve, P i12 is the second point of the current curve of the plunger pump and electromagnetic proportional valve, K P2 P is the current-arm signal ratio coefficient of the second electromagnetic proportional valve of the plunger pump, i21 is the first point of the current curve of the second electromagnetic proportional valve of the plunger pump, P i22 is the second point of the current curve of the second electromagnetic proportional valve of the plunger pump, I P1 is the current of the plunger pump and the electromagnetic proportional valve, P i1 is a constant, I P2 is the current of the second electromagnetic proportional valve of the plunger pump, P i2 is a constant;

[0022] The controller detects the boom handle stroke signal of the CAN bus handle, substitutes it into the control model when the above boom moves alone, calculates the current output to the boom's first solenoid proportional valve and the boom's second solenoid proportional valve, and the above current is proportional to the displacement of the boom's first valve stem and the boom's second valve stem and the oil inlet area; at the same time, the current of the plunger pump's first solenoid proportional valve and the plunger pump's second solenoid proportional valve is calculated, and the above current is proportional to the output displacement of the plunger pump's first and second. The above two points are combined to jointly determine the hydraulic oil flow to the boom cylinder and control the movement speed of the boom cylinder.

[0023] Preferably, the control method of the vibration mode when the hammer head acts alone is:

[0024] When the vibration hammer motor acts alone, the controller detects the bus data of the CAN bus handle to obtain the current vibration mode, and at the same time detects the signal of the pedal pressure sensor to calculate the current output to the vibration-linked solenoid proportional valve and the vibration-merging solenoid proportional valve, thereby controlling the displacement of the vibration-linked valve stem and the vibration-merging valve stem, and at the same time calculates the required displacement of the plunger pump 1 and the plunger pump 2, and finally outputs it in the form of current to the plunger pump 1 solenoid proportional valve and the plunger pump 2 solenoid proportional valve, and converts it into a hydraulic pilot signal to control the hydraulic oil flow output by the plunger pump 1 and the plunger pump 2. The above two points are combined to determine the pressure and vibration frequency of the vibration hammer motor.

[0025] Preferably, the control model of the vibration hammer motor when acting alone is as follows:

[0026]

[0027]

[0028] I H1 =K H1 *S H +B h1

[0029] I H2 =K H2 *S H +B h2

[0030]

[0031]

[0032] I P1′ =K P1 *S H +P h1

[0033] I P2′ =K P2 *S H +P h2

[0034] Where: K H1 is the vibration-coupled electromagnetic proportional valve current-vibration pedal signal proportional coefficient, H i11 is the first point of the current curve of the vibration-coupled solenoid proportional valve, H i12 The second point of the vibration-linked electromagnetic proportional valve current curve, SH 11 is the first point of the vibration-coupled pedal pressure curve, SH 12 is the second point of the vibration-coupled pedal pressure curve, S H is the vibration pedal pressure signal, K H2 is the vibration confluence electromagnetic proportional valve current-vibration pedal signal proportional coefficient, Hi21 is the first point of the current curve of the vibration confluence electromagnetic proportional valve, H i22 The second point of the current curve of the vibration confluence electromagnetic proportional valve, SH 21 The first point of the vibration confluence pedal pressure curve, SH 22 is the second point of the vibration confluence pedal pressure curve, I H1 is the vibration-coupled solenoid proportional valve current, B h1 is a constant, I H2 is the vibration confluence electromagnetic proportional valve current, B h2 is a constant, K P1′ K is the proportional coefficient of the piston pump-electromagnetic proportional valve current-vibration pedal pressure signal, P2′ I is the proportional coefficient of the current of the second electromagnetic proportional valve of the piston pump to the vibration pedal pressure signal, P1′ is the current of the plunger pump and the electromagnetic proportional valve, P h1 is a constant, I P2′ is the current of the second electromagnetic proportional valve of the plunger pump, P h2 is a constant;

[0035] By detecting the signal of the pedal pressure sensor and substituting it into the control model when the above vibration hammer motor acts alone, the current output to the vibration-linked electromagnetic proportional valve and the vibration-merging electromagnetic proportional valve is calculated, and the above current is proportional to the displacement of the vibration-linked valve stem and the vibration-merging valve stem and the oil inlet area; at the same time, the target current of the plunger pump one electromagnetic proportional valve and the plunger pump two electromagnetic proportional valve is calculated, and the above current is proportional to the output displacement of the plunger pump one and the plunger pump two. The above two points are combined to control the hydraulic oil flow to the vibration hammer motor and determine the pressure and vibration frequency of the vibration hammer motor.

[0036] Preferably, the control method of the pile pulling and pile driving modes when the boom and hammer head are in combined action is:

[0037] During compound actions, the controller detects the bus data of the CAN bus handle and the signal of the pedal pressure sensor, and substitutes them into the control model to calculate the priority coefficient of the hammer action to the boom action, and calculates the current negative gain signal of the boom's first-link solenoid proportional valve and the boom's second-link solenoid proportional valve according to the priority coefficient, thereby reducing the displacement of the boom's first-link valve stem and the boom's second-link valve stem, and then reducing the oil inlet area of ​​the boom's first-link valve stem and the boom's second-link valve stem, so that the hydraulic oil output by the plunger pump one and the plunger pump two flows to the vibration-link valve stem and the vibration merging valve stem first, thereby ensuring the vibration frequency and vibration pressure of the vibration hammer motor.

[0038] Preferably, the control model of the pile pulling and pile driving modes when the boom and hammer head are in combined action is as follows:

[0039]

[0040]

[0041] I B1 =K B1 *S B *K N1 +B i1

[0042] I B2 =K B2 *S B *K N2 +B i2

[0043]

[0044]

[0045] Where: K N1 K is the negative gain coefficient of the pedal pressure signal on the current of the electromagnetic proportional valve of the boom, N11 K is the first point of the negative gain curve of the pedal pressure signal to the current of the boom solenoid proportional valve. N12 The second point of the negative gain curve of the pedal pressure signal to the current of the boom solenoid proportional valve, SH 11 is the first point of the vibration-coupled pedal pressure curve, SH 12 is the second point of the vibration-coupled pedal pressure curve, S H is the vibration pedal pressure signal, K N2 K is the negative gain coefficient of the pedal pressure signal on the current of the boom dual solenoid proportional valve, N21 K is the first point of the negative gain curve of the pedal pressure signal to the current of the boom dual solenoid proportional valve. N22 The second point of the negative gain curve of the pedal pressure signal to the current of the boom dual solenoid proportional valve, SH 21 The first point of the vibration confluence pedal pressure curve, SH 22 is the second point of the vibration confluence pedal pressure curve, I B1 is the current of the electromagnetic proportional valve of the boom, K B1 B is the current-to-boom signal ratio coefficient of the boom-unit electromagnetic proportional valve, i1 is a constant, I B2 is the current of the boom dual solenoid proportional valve, K B2 B is the current-to-boom signal ratio coefficient of the boom dual solenoid proportional valve, i2 is a constant, S B is the boom handle stroke signal, I PL is the current of the plunger pump solenoid proportional valve, I PR is the current of the second electromagnetic proportional valve of the plunger pump, I P1 The current of the piston pump and electromagnetic proportional valve required for the boom, I P2I is the current of the second electromagnetic proportional valve of the piston pump required by the boom duplex, P1′ is the piston pump-solenoid proportional valve current required by the vibration coupling, I P2′ The current of the second electromagnetic proportional valve of the plunger pump required for the vibration confluence;

[0046] The controller detects the bus data of the CAN bus handle and the signal of the pedal pressure sensor, and substitutes them into the control model of the pile pulling and pile driving modes when the boom and hammer head act in combination to calculate the negative gain signal of the pedal pressure signal to the boom action, and calculates the target current of the boom first-link solenoid proportional valve and the boom second-link solenoid proportional valve according to the negative gain signal, thereby reducing the displacement of the boom first-link valve stem and the boom second-link valve stem, and then reducing the oil inlet area of ​​the boom first-link valve stem and the boom second-link valve stem, and at the same time, the model is used to calculate the target current of the plunger pump first solenoid proportional valve and the plunger pump second solenoid proportional valve during the compound action, and the above two points are combined to make the hydraulic oil output by the plunger pump first and the plunger pump second flow to the vibration valve stem and the vibration confluence valve stem first, so as to ensure the vibration frequency and vibration pressure of the vibration hammer motor.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] 1. Build a control model for the action of the pile driver boom and the vibratory hammer motor to ensure the flow of hydraulic oil to the vibratory hammer motor during compound action, avoid insufficient or excessive flow in the actuator, and distribute the flow reasonably;

[0049] 2. During pile pulling and piling operations, ensure that the hydraulic power is mainly used to loosen the soil, optimize the power ratio of each actuator, and thus improve the operating efficiency of the pile driver;

[0050] 3. Reduce the speed drop of the vibratory hammer motor at the moment of boom intervention during pile pulling and piling, prevent the negative effects caused by motor cavitation, effectively protect the internal structure of the vibratory hammer motor, and extend the service life of the vibratory hammer motor;

[0051] 4. By introducing the data detection of the CAN bus handle and pedal pressure sensor, the movement of the boom and hammer head is more accurate and controllable. The controller can calculate and adjust the current output of the electromagnetic proportional valve according to the real-time data, thereby accurately controlling the hydraulic system to ensure that the boom, vibrating hammer motor and other components work according to the preset mode, further improving the working efficiency of the pile driver;

[0052] 5. When the boom moves alone, the control system can dynamically adjust the required displacement of the plunger pump according to the handle stroke signal, ensuring the best match between the hydraulic oil flow and the boom movement speed, reducing energy loss, and improving the response speed and stability of the system;

[0053] 6. The use of electronic control instead of traditional purely mechanical control simplifies the mechanical design, reduces the failure rate, and enhances the safety and reliability of equipment operation;

[0054] 7. Operators can complete complex tasks through simple handle operations, reducing physical labor intensity; at the same time, precise control logic also reduces the requirements for operating skills, allowing novices to quickly get started, improving the overall user satisfaction;

[0055] In summary, the present invention provides a more intelligent and efficient all-electric pile driver control method, which provides strong technical support for construction and has significant social and economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A system schematic diagram of a fully electric pile driver control method of the present invention;

[0057] Figure 2 It is a current curve diagram of a solenoid proportional valve of a movable arm in the present invention;

[0058] Figure 3 It is a curve diagram of the stroke of the movable arm and the handle of the present invention;

[0059] Figure 4 It is a current curve diagram of the double electromagnetic proportional valve of the movable arm in the present invention;

[0060] Figure 5 It is a curve diagram of the travel of the double-handle movable arm in the present invention;

[0061] Figure 6 It is a current curve diagram of a plunger pump and an electromagnetic proportional valve in the present invention;

[0062] Figure 7 It is a current curve diagram of the second electromagnetic proportional valve of the plunger pump in the present invention;

[0063] Figure 8 It is a current curve diagram of the vibration-coupled electromagnetic proportional valve in the present invention;

[0064] Fig. 9 It is a vibration-coupled pedal pressure curve diagram in the present invention;

[0065] Fig.10 It is a current curve diagram of the vibration confluence electromagnetic proportional valve in the present invention;

[0066] Fig.11 It is a vibration confluence pedal pressure curve diagram in the present invention;

[0067] Fig.12 It is a negative gain curve diagram of the pedal pressure signal to the current of the electromagnetic proportional valve of the boom in the present invention;

[0068] Fig.13 It is a negative gain curve diagram of the pedal pressure signal to the current of the boom double electromagnetic proportional valve in the present invention.

[0069] In the figure: 1. Controller; 2. CAN bus handle; 3. Boom one-link solenoid proportional valve; 4. Boom two-link solenoid proportional valve; 5. Boom one-link valve stem; 6. Boom two-link valve stem; 7. Plunger pump one; 8. Plunger pump two; 9. Plunger pump one solenoid proportional valve; 10. Plunger pump two solenoid proportional valve; 11. Boom cylinder; 12. Pedal pressure sensor; 13. Vibration-linked solenoid proportional valve; 14. Vibration confluence solenoid proportional valve; 15. Vibration-linked valve stem; 16. Vibration confluence valve stem; 17. Vibration hammer motor. DETAILED DESCRIPTION

[0070] The present invention will be further described below through specific embodiments in conjunction with the accompanying drawings.

[0071] Embodiment 1:

[0072] like Figure 1 As shown, the system of the present invention mainly includes a controller 1, a CAN bus handle 2, a boom-one solenoid proportional valve 3, a boom-two solenoid proportional valve 4, a boom-one valve stem 5, a boom-two valve stem 6, a plunger pump 1 7, a plunger pump 2 8, a plunger pump-one solenoid proportional valve 9, a plunger pump-two solenoid proportional valve 10, a boom cylinder 11, a pedal pressure sensor 12, a vibration-connected solenoid proportional valve 13, a vibration-merging solenoid proportional valve 14, a vibration-connected valve stem 15, a vibration-merging valve stem 16 and a vibration hammer motor 17. It adjusts the pilot pressure of the main valve stem and the displacement of the plunger pump by changing the current of the electromagnetic proportional valve, and further controls the oil inlet area of ​​the valve stem and the power ratio of the plunger pump, thereby intelligently distributing the hydraulic oil flowing to each working device; when performing the combined actions of pile pulling and pile driving, without affecting the boom speed, it gives priority to ensuring the hydraulic oil distributed to the vibratory hammer motor 17, maintaining the vibration frequency and exciting force of the hammer head, so that the hydraulic power is mainly used for loosening the soil, thereby improving the operating efficiency of the pile driver and eliminating the negative impact of the vibratory hammer motor 17 sucking air.

[0073] In this embodiment, the functions of each component are as follows: the pedal pressure sensor 12 is used to collect the vibration pedal pressure in real time, convert the pressure signal into a resistance signal and transmit it to the controller 1; the CAN bus handle 2 is used to convert the handle displacement signal and the button status signal into a CAN bus signal and transmit it to the controller 1; the boom single-link electromagnetic proportional valve 3 is connected to the controller 1 and the boom single-link valve stem 5, converts the current output by the controller 1 module into a hydraulic pilot signal, and controls the oil inlet area of ​​the boom single-link valve stem 5; the boom double-link electromagnetic proportional valve 4 is respectively connected to the controller 1 and the boom double-link valve stem 6, converts the current output by the controller 1 into a hydraulic pilot signal, and controls the oil inlet area of ​​the boom double-link valve stem 6 ; The vibration-linked electromagnetic proportional valve 13 is respectively connected to the controller 1 and the vibration-linked valve stem 15, converts the current output by the controller 1 into a hydraulic pilot signal, and controls the oil inlet area of ​​the vibration-linked valve stem 15; the vibration-joining electromagnetic proportional valve 14 is respectively connected to the controller 1 and the vibration-joining valve stem 16, converts the current output by the controller 1 into a hydraulic pilot signal, and controls the oil inlet area of ​​the vibration-joining valve stem 16; the boom-linked valve stem 5 is respectively connected to the boom-linked electromagnetic proportional valve 3, the boom cylinder 11 and the plunger pump 2 8, converts the hydraulic pilot signal output by the boom-linked electromagnetic proportional valve 3 into its own displacement, and changes the oil inlet channel area from the plunger pump 2 8 to the boom cylinder 11; the boom-linked valve stem 6 is respectively connected to the boom-linked electromagnetic proportional valve 3, the boom cylinder 11 and the plunger pump 2 8. The vibration-connected solenoid proportional valve 4, the boom oil cylinder 11 and the plunger pump 7 are connected to convert the hydraulic pilot signal output by the boom two-connected solenoid proportional valve 4 into its own displacement, and change the oil inlet channel area from the plunger pump 7 to the boom oil cylinder 11; the vibration-connected valve stem 15 is respectively connected to the vibration-connected solenoid proportional valve 13, the vibration hammer motor 17 and the plunger pump 7, and converts the hydraulic pilot signal output by the vibration-connected solenoid proportional valve 13 into its own displacement, and changes the oil inlet channel area from the plunger pump 7 to the boom oil cylinder 11; the vibration confluence valve stem 16 is respectively connected to the vibration confluence solenoid proportional valve 14, the vibration hammer motor 17 and the plunger pump 8, and converts the hydraulic pilot signal output by the vibration confluence solenoid proportional valve 14 into its own displacement , changing the oil inlet channel area from the plunger pump 7 to the boom cylinder 11; the plunger pump 1 electromagnetic proportional valve 9 is respectively connected to the controller 1 and the plunger pump 17, converting the current signal output by the controller 1 into a hydraulic pilot signal to control the displacement of the plunger pump 7; the plunger pump 2 electromagnetic proportional valve 10 is respectively connected to the controller 1 and the plunger pump 2 8, converting the current signal output by the controller 1 into a hydraulic pilot signal to control the displacement of the plunger pump 2 8; the plunger pump 17 is respectively connected to the plunger pump 1 electromagnetic proportional valve 9, the boom two-way valve stem 6 and the vibration-linked valve stem 15, converting the hydraulic pilot signal output by the plunger pump 1 electromagnetic proportional valve 9 into the hydraulic oil flow output by itself, flowing to the boom two-way valve stem 6 and the vibration-linked valve stem 15;The plunger pump 2 8 is connected to the plunger pump 2 electromagnetic proportional valve 10, the boom valve stem 5 and the vibration confluence valve stem 16 respectively, and converts the hydraulic pilot signal output by the plunger pump 2 electromagnetic proportional valve 10 into the hydraulic oil flow output by itself, which flows to the boom valve stem 5 and the vibration confluence valve stem 16; the boom cylinder 11 is connected to the boom valve stem 5 and the boom valve stem 6, and the speed is affected by the oil inlet area of ​​the boom valve stem 5 and the boom valve stem 6 and the hydraulic oil flow output by the plunger pump 1 7 and the plunger pump 2 8; the vibration hammer motor 17 is connected to the vibration valve stem 15 and the vibration confluence valve stem 16 respectively The vibration frequency and pressure are affected by the oil inlet area of ​​the vibration connecting valve stem 15, the vibration confluence valve stem 16 and the hydraulic oil flow output by the plunger pump 1 7 and the plunger pump 2 8; the controller 1 is used to detect the resistance signal of the vibration pedal, the bus data of the CAN bus handle 2 and the switch button state, input the collected data into the built-in flow priority distribution model and output the current signal to the boom first electromagnetic proportional valve 3, the boom second electromagnetic proportional valve 4, the vibration connecting electromagnetic proportional valve 13, the vibration confluence electromagnetic proportional valve 14, the plunger pump first electromagnetic proportional valve 9 and the plunger pump second electromagnetic proportional valve 10. ;

[0074] For example Figure 1 As shown, a control method for a fully electric pile driver includes the following modes:

[0075] Pile lifting mode when the boom moves alone.

[0076] The vibration mode of the hammer head when it acts alone,

[0077] and pile pulling and pile driving modes when the boom and hammer head act in combination.

[0078] Embodiment 2:

[0079] A control method for a fully electric pile driver, which is different from the first embodiment in that the control method for the pile hanging mode when the boom moves alone is:

[0080] When the boom moves alone, the controller 1 detects the data representing the boom movement from the CAN bus handle 2 and calculates the current output to the boom's first solenoid proportional valve 3 and the boom's second solenoid proportional valve 4. The boom's first solenoid proportional valve 3 and the boom's second solenoid proportional valve 4 output hydraulic pilot signals to control the displacement of the boom's first valve stem 5 and the boom's second valve stem 6. When the displacement increases, the oil inlet area of ​​the valve stem also increases. At the same time, the required displacement of the plunger pump 1 7 and the plunger pump 2 8 is calculated and finally output to the plunger pump's first solenoid proportional valve 9 and the plunger pump's second solenoid proportional valve 10 in the form of current, which is converted into a hydraulic pilot signal to control the hydraulic oil flow output by the plunger pump 1 7 and the plunger pump 2 8. The above two points are combined to determine the movement speed of the boom cylinder 11.

[0081] The control model when the boom moves alone is as follows:

[0082]

[0083]

[0084] I B1 =K B1 *S1+B i1

[0085] I B2 =K B2 *S B +B i2

[0086]

[0087]

[0088] I P1 =K P1 *S B +P i1

[0089] I P2 =K P2 *S B +P i2

[0090] Where: K B1 B is the current-to-boom signal ratio coefficient of the boom-unit electromagnetic proportional valve 3, i11 The first point of the current curve of the electromagnetic proportional valve 3 of the boom, B i12 It is the second point of the current curve of the electromagnetic proportional valve 3 of the boom, such as Figure 2 As shown, SB 11 SB is the first point of the travel curve of the boom lever. 12 is the second point of the travel curve of the boom handle. Figure 3 As shown, S B is the boom handle stroke signal, K B2 B is the current-to-boom signal ratio coefficient of the boom dual solenoid proportional valve 4, i21 B is the first point of the current curve of the boom dual solenoid proportional valve 4. i22 is the second point of the current curve of the boom dual solenoid proportional valve 4, such as Figure 4 As shown, SB 21 SB is the first point of the boom double handle travel curve. 22 is the second point of the boom double handle travel curve, such as Figure 5 As shown, I B1 B is the current of the electromagnetic proportional valve 3 of the boom, i1 is a constant, I B2 B is the current of the boom double solenoid proportional valve 4,i2 is a constant, K P1 P is the current-arm signal proportional coefficient of the plunger pump-electromagnetic proportional valve 9, i11 is the first point of the current curve of the plunger pump and the electromagnetic proportional valve 9, P i12 is the second point of the current curve of the plunger pump and the electromagnetic proportional valve 9, such as Figure 6 As shown, K P2 P is the current-arm signal proportional coefficient of the second electromagnetic proportional valve 10 of the piston pump, i21 is the first point of the current curve of the second solenoid proportional valve 10 of the piston pump, P i22 is the second point of the current curve of the second solenoid proportional valve 10 of the plunger pump, such as Figure 7 As shown, I P1 is the current of the plunger pump and electromagnetic proportional valve 9, P i1 is a constant, I P2 The current of the second electromagnetic proportional valve of the plunger pump is 10, P i2 is a constant;

[0091] Specifically, the controller 1 detects the boom handle stroke signal of the CAN bus handle 2, substitutes it into the control model when the above boom moves alone, calculates the current output to the boom solenoid proportional valve 3 and the boom solenoid proportional valve 4, and the above current is proportional to the displacement and oil inlet area of ​​the boom valve stem 5 and the boom valve stem 6; at the same time, the current of the plunger pump solenoid proportional valve 9 and the plunger pump two solenoid proportional valve 10 is calculated, and the above current is proportional to the output displacement of the plunger pump one 7 and the plunger pump two 8. Combining the above two points, the hydraulic oil flow to the boom cylinder 11 is jointly determined to control the movement speed of the boom cylinder 11.

[0092] Furthermore, the control method of the vibration mode when the hammer head acts alone is:

[0093] When the vibration hammer motor 17 acts alone, the controller 1 detects the bus data of the CAN bus handle 2 to obtain the current vibration mode, and at the same time detects the signal of the pedal pressure sensor 12 to calculate the current output to the vibration coupling electromagnetic proportional valve 13 and the vibration confluence electromagnetic proportional valve 14, thereby controlling the displacement of the vibration coupling valve stem 15 and the vibration confluence valve stem 16, and at the same time calculates the required displacement of the plunger pump 1 7 and the plunger pump 2 8, and finally outputs it to the plunger pump 1 electromagnetic proportional valve 9 and the plunger pump 2 electromagnetic proportional valve 10 in the form of current, and converts it into a hydraulic pilot signal to control the hydraulic oil flow output by the plunger pump 1 7 and the plunger pump 2 8. The above two points are combined to determine the pressure and vibration frequency of the vibration hammer motor 17.

[0094] The control model when the vibration hammer motor 17 acts alone is as follows:

[0095]

[0096]

[0097] I H1 =K H1 *S H +B h1

[0098] I H2 =K H2 *S H +B h2

[0099]

[0100]

[0101] I P1′ =K P1 *S H +P h1

[0102] I P2′ =K P2 *S H +P h2

[0103] Where: K H1 is the current-vibration pedal signal proportional coefficient of the vibration-linked electromagnetic proportional valve 13, H i11 is the first point of the current curve of the vibration-connected electromagnetic proportional valve 13, H i12 is the second point of the current curve of the vibration-connected electromagnetic proportional valve 13, such as Figure 8 As shown, SH 11 is the first point of the vibration-coupled pedal pressure curve, SH 12 is the second point of the vibration-coupled pedal pressure curve, such as Fig. 9 As shown, S H is the vibration pedal pressure signal, K H2 is the current-vibration pedal signal proportional coefficient of the vibration confluence electromagnetic proportional valve 14, H i21 is the first point of the current curve of the vibration confluence electromagnetic proportional valve 14, H i22 is the second point of the current curve of the vibration confluence electromagnetic proportional valve 14, such as Fig.10 As shown, SH 21 The first point of the vibration confluence pedal pressure curve, SH 22 is the second point of the vibration confluence pedal pressure curve, such as Fig.11 As shown, I H1 is the current of vibration-connected electromagnetic proportional valve 13, B h1 is a constant, I H2 is the current of vibration confluence electromagnetic proportional valve 14, B h2 is a constant, K P1′is the proportional coefficient of the piston pump-electromagnetic proportional valve 9 current-vibration pedal pressure signal, K P2′ is the proportional coefficient of the 10 current of the second electromagnetic proportional valve of the piston pump - the vibration pedal pressure signal, I P1′ is the current of the plunger pump and electromagnetic proportional valve 9, P h1 is a constant, I P2′ The current of the second electromagnetic proportional valve of the plunger pump is 10, P h2 is a constant;

[0104] Specifically, by detecting the signal of the pedal pressure sensor 12 and substituting it into the control model when the vibration hammer motor 17 acts alone, the current output to the vibration coupling electromagnetic proportional valve 13 and the vibration confluence electromagnetic proportional valve 14 is calculated, and the above current is proportional to the displacement and oil inlet area of ​​the vibration coupling valve stem 15 and the vibration confluence valve stem 16; at the same time, the target current of the plunger pump one electromagnetic proportional valve 9 and the plunger pump two electromagnetic proportional valve 10 is calculated, and the above current is proportional to the output displacement of the plunger pump one 7 and the plunger pump two 8. The above two points are combined to control the hydraulic oil flow to the vibration hammer motor 17 and determine the pressure and vibration frequency of the vibration hammer motor 17.

[0105] Furthermore, the control method of the pile pulling and pile driving modes when the boom and hammer head are in combined action is:

[0106] During compound actions, the controller 1 detects the bus data of the CAN bus handle 2 and the signal of the pedal pressure sensor 12, and substitutes them into the control model to calculate the priority coefficient of the hammer action to the boom action, and calculates the current negative gain signal of the boom first-link solenoid proportional valve 3 and the boom second-link solenoid proportional valve 4 according to the priority coefficient, thereby reducing the displacement of the boom first-link valve stem 5 and the boom second-link valve stem 6, and then reducing the oil inlet area of ​​the boom first-link valve stem 5 and the boom second-link valve stem 6, so that the hydraulic oil output by the plunger pump 1 7 and the plunger pump 2 8 flows preferentially to the vibration valve stem 15 and the vibration confluence valve stem 16, thereby ensuring the vibration frequency and vibration pressure of the vibration hammer motor 17.

[0107] The control model of pile pulling and pile driving mode when the boom and hammer head are in combined action is as follows:

[0108]

[0109]

[0110] I B1 =K B1 *S B *K N1 +B i1

[0111] I B2 =K B2 *S B *KN2 +B i2

[0112]

[0113]

[0114] Where: K N1 K is the negative gain coefficient of the pedal pressure signal on the current of the electromagnetic proportional valve 3 of the boom, N11 It is the first point of the negative gain curve of the pedal pressure signal to the current of the electromagnetic proportional valve 3 of the boom, K N12 It is the second point of the negative gain curve of the pedal pressure signal to the current of the electromagnetic proportional valve 3 of the boom, such as Fig.12 As shown, SH 11 is the first point of the vibration-coupled pedal pressure curve, SH 12 is the second point of the vibration-coupled pedal pressure curve, S H is the vibration pedal pressure signal, K N2 K is the negative gain coefficient of the pedal pressure signal on the current of the boom dual solenoid proportional valve 4, N21 It is the first point of the negative gain curve of the pedal pressure signal to the current of the boom dual solenoid proportional valve 4, K N22 It is the second point of the negative gain curve of the pedal pressure signal to the current of the boom dual solenoid proportional valve 4, such as Fig.13 As shown, SH 21 The first point of the vibration confluence pedal pressure curve, SH 22 is the second point of the vibration confluence pedal pressure curve, I B1 is the current of the electromagnetic proportional valve 3 of the boom, K B1 B is the current-to-boom signal ratio coefficient of the boom-unit electromagnetic proportional valve 3, i1 is a constant, I B2 is the current of the boom double solenoid proportional valve 4, K B2 B is the current-to-boom signal ratio coefficient of the boom dual solenoid proportional valve 4, i2 is a constant, S B is the boom handle stroke signal, I PL is the current of the plunger pump and electromagnetic proportional valve 9, I PR is the current of the second solenoid proportional valve of the plunger pump, I P1 The current of the piston pump and electromagnetic proportional valve 9 required for the boom connection, I P2 The current of the second electromagnetic proportional valve of the piston pump 10 required for the boom duplex, I P1′ The current of the piston pump and the electromagnetic proportional valve 9 required for the vibration coupling, I P2′ The current of the second solenoid proportional valve 10 of the piston pump required for the vibration confluence;

[0115] Specifically, the controller 1 detects the bus data of the CAN bus handle 2 and the signal of the pedal pressure sensor 12, and substitutes them into the control model of the pile pulling and pile driving modes during the combined action of the boom and the hammer head to calculate the negative gain signal of the pedal pressure signal to the boom action, and calculates the target current of the boom first solenoid proportional valve 3 and the boom second solenoid proportional valve 4 according to the negative gain signal, thereby reducing the displacement of the boom first valve stem 5 and the boom second valve stem 6, and then reducing the oil inlet area of ​​the boom first valve stem 5 and the boom second valve stem 6, and at the same time, the target current of the plunger pump first solenoid proportional valve 9 and the plunger pump second solenoid proportional valve 10 during the combined action is calculated through the model, and the above two points are combined to make the hydraulic oil output by the plunger pump one 7 and the plunger pump two 8 flow preferentially to the vibration valve stem 15 and the vibration confluence valve stem 16, so as to ensure the vibration frequency and vibration pressure of the vibration hammer motor 17.

[0116] The present invention can reasonably distribute the hydraulic oil flow rate by using this method, ensure the hydraulic oil flow rate to the vibratory hammer motor 17 during compound actions, and avoid the situation where the actuator produces insufficient or excessive flow; when the pile driver is operating, ensure that the hydraulic power is mainly used for loosening the soil, optimize the power proportion of each actuator, thereby improving the operating efficiency of the pile driver; reduce the speed drop of the vibratory hammer motor 17 at the moment of boom intervention during pile pulling and piling, prevent the negative effects caused by motor cavitation, and effectively protect the internal structure of the vibratory hammer motor 17.

Claims

1. A control method for a fully electric pile driver, characterized in that: The following modes are included: Pile lifting mode when the boom moves alone. The vibration mode of the hammer head when it acts alone, and pile pulling and pile driving modes when the boom and hammer head act in combination.

2. The control method of a fully electric pile driver according to claim 1, characterized in that: The control method of the pile hanging mode when the boom moves alone is: When the boom moves alone, the controller (1) detects the data representing the boom movement of the CAN bus handle (2) and calculates the current output to the boom first electromagnetic proportional valve (3) and the boom second electromagnetic proportional valve (4). The boom first electromagnetic proportional valve (3) and the boom second electromagnetic proportional valve (4) output hydraulic pilot signals to control the displacement of the boom first valve stem (5) and the boom second valve stem (6). As the displacement increases, the oil inlet area of ​​the valve stem also increases. At the same time, the required displacement of the plunger pump (7) and the plunger pump (8) is calculated and finally output in the form of current to the plunger pump first electromagnetic proportional valve (9) and the plunger pump second electromagnetic proportional valve (10), which is converted into a hydraulic pilot signal to control the hydraulic oil flow output by the plunger pump (7) and the plunger pump (8). The above two points are combined to determine the movement speed of the boom cylinder (11).

3. The control method of the fully electric pile driver according to claim 2, characterized in that: The control model when the boom moves alone is as follows: I B1 =K B1 *S B +B i1 I B2 =K B2 *S B +B i2 I P1 =K P1 *S B +P i1 I P2 =K P2 *S B +P i2 Where: K B1 B is the current-to-boom signal ratio coefficient of the boom-linked electromagnetic proportional valve (3), i11 is the first point of the current curve of the boom-type solenoid proportional valve (3), B i12 is the second point of the current curve of the boom-type electromagnetic proportional valve (3), SB 11 SB is the first point of the travel curve of the boom lever. 12 is the second point of the travel curve of the boom lever, S B is the boom handle stroke signal, K B2 B is the current-to-boom signal ratio coefficient of the boom dual solenoid proportional valve (4), i21 is the first point of the current curve of the boom dual solenoid proportional valve (4), B i22 is the second point of the current curve of the boom dual solenoid proportional valve (4), SB 21 SB is the first point of the boom double handle travel curve. 22 is the second point of the boom double handle travel curve, I B1 is the current of the boom first-link electromagnetic proportional valve (3), B i1 is a constant, I B2 is the current of the boom dual solenoid proportional valve (4), B i2 is a constant, K P1 is the current-arm signal proportional coefficient of the plunger pump-electromagnetic proportional valve (9), P i11 is the first point of the current curve of the plunger pump-electromagnetic proportional valve (9), P i12 is the second point of the current curve of the plunger pump-electromagnetic proportional valve (9), K P2 is the current-actuator signal proportional coefficient of the second electromagnetic proportional valve (10) of the piston pump, P i21 is the first point of the current curve of the second electromagnetic proportional valve (10) of the piston pump, P i22 is the second point of the current curve of the second electromagnetic proportional valve (10) of the plunger pump, I P1 is the current of the plunger pump-electromagnetic proportional valve (9), P i1 is a constant, I P2 is the current of the second electromagnetic proportional valve (10) of the piston pump, P i2 is a constant.

4. The control method of a fully electric pile driver according to claim 1, characterized in that: The control method of the vibration mode when the hammer head acts alone is: When the vibration hammer motor (17) acts alone, the controller (1) detects the bus data of the CAN bus handle (2) to obtain the current vibration mode, and at the same time detects the signal of the pedal pressure sensor (12) to calculate the current output to the vibration coupling electromagnetic proportional valve (13) and the vibration confluence electromagnetic proportional valve (14), thereby controlling the displacement of the vibration coupling valve stem (15) and the vibration confluence valve stem (16), and at the same time calculates the required displacement of the plunger pump 1 (7) and the plunger pump 2 (8), and finally outputs it to the plunger pump 1 electromagnetic proportional valve (9) and the plunger pump 2 electromagnetic proportional valve (10) in the form of current, and converts it into a hydraulic pilot signal to control the hydraulic oil flow output by the plunger pump 1 (7) and the plunger pump 2 (8). The above two points are combined to determine the pressure and vibration frequency of the vibration hammer motor (17).

5. The control method of a fully electric pile driver according to claim 4, characterized in that: The control model of the vibration hammer motor (17) when acting alone is as follows: I H1 =K H1 *S H +B h1 I H2 =K H2 *S H +B h2 I P1 ,=K P1 *S H +P h1 I P2 ,=K P2 *S H +P h2 Where: K H1 is the current-vibration pedal signal proportional coefficient of the vibration-coupled electromagnetic proportional valve (13), H i11 is the first point of the current curve of the vibration-coupled electromagnetic proportional valve (13), H i12 is the second point of the current curve of the vibration-coupled solenoid proportional valve (13), SH 11 is the first point of the vibration-coupled pedal pressure curve, SH 12 is the second point of the vibration-coupled pedal pressure curve, S H is the vibration pedal pressure signal, K H2 is the current-vibration pedal signal proportional coefficient of the vibration confluence electromagnetic proportional valve (14), H i21 is the first point of the current curve of the vibration confluence electromagnetic proportional valve (14), H i22 is the second point of the current curve of the vibration confluence electromagnetic proportional valve (14), SH 21 The first point of the vibration confluence pedal pressure curve, SH 22 is the second point of the vibration confluence pedal pressure curve, I H1 is the current of the vibration-connected electromagnetic proportional valve (13), B h1 is a constant, I H2 is the current of the vibration confluence electromagnetic proportional valve (14), B h2 is a constant, K P1′ is the proportional coefficient of the current of the plunger pump-electromagnetic proportional valve (9)-vibration pedal pressure signal, K P2′ is the current-vibration pedal pressure signal proportional coefficient of the second electromagnetic proportional valve (10) of the piston pump, I P1′ is the current of the plunger pump-electromagnetic proportional valve (9), P h1 is a constant, I P2′ is the current of the second electromagnetic proportional valve (10) of the piston pump, P h2 is a constant.

6. The control method of a fully electric pile driver according to any one of claims 1 to 5, characterized in that: The control method of the pile pulling and pile driving modes when the boom and hammer head are in combined action is as follows: During compound actions, the controller (1) detects the bus data of the CAN bus handle (2) and the signal of the pedal pressure sensor (12), substitutes them into the control model to calculate the priority coefficient of the hammer action to the boom action, and calculates the current negative gain signal of the boom first-link electromagnetic proportional valve (3) and the boom second-link electromagnetic proportional valve (4) according to the priority coefficient, thereby reducing the displacement of the boom first-link valve stem (5) and the boom second-link valve stem (6), thereby reducing the oil inlet area of ​​the boom first-link valve stem (5) and the boom second-link valve stem (6), so that the hydraulic oil output by the plunger pump (7) and the plunger pump (8) flows preferentially to the vibration valve stem (15) and the vibration confluence valve stem (16), thereby ensuring the vibration frequency and vibration pressure of the vibration hammer motor (17).

7. The control method of a fully electric pile driver according to claim 6, characterized in that: The control model of pile pulling and pile driving mode when the boom and hammer head are in combined action is as follows: I B1 =K B1 *S B *K N1 +B i1 I B2 =K B2 *S B *K N2 +B i2 Where: K N1 K is the negative gain coefficient of the pedal pressure signal on the current of the boom first-link electromagnetic proportional valve (3), N11 K is the first point of the negative gain curve of the pedal pressure signal on the current of the boom first-link electromagnetic proportional valve (3), N12 The second point of the negative gain curve of the pedal pressure signal to the current of the boom first-link electromagnetic proportional valve (3), SH 11 is the first point of the vibration-coupled pedal pressure curve, SH 12 is the second point of the vibration-coupled pedal pressure curve, S H is the vibration pedal pressure signal, K N2 K is the negative gain coefficient of the pedal pressure signal on the current of the boom dual solenoid proportional valve (4), N21 K is the first point of the negative gain curve of the pedal pressure signal on the current of the boom dual solenoid proportional valve (4). N22 The second point of the negative gain curve of the pedal pressure signal to the current of the boom dual solenoid proportional valve (4), SH 21 The first point of the vibration confluence pedal pressure curve, SH 22 is the second point of the vibration confluence pedal pressure curve, I B1 is the current of the boom first-link electromagnetic proportional valve (3), K B1 B is the current-to-boom signal ratio coefficient of the boom-linked electromagnetic proportional valve (3), i1 is a constant, I B2 is the current of the boom dual solenoid proportional valve (4), K B2 B is the current-to-boom signal ratio coefficient of the boom dual solenoid proportional valve (4), i2 is a constant, S B is the boom handle stroke signal, I PL is the current of the plunger pump-electromagnetic proportional valve (9), I PR is the current of the second electromagnetic proportional valve (10) of the piston pump, I P1 The current required by the boom unit for the plunger pump and electromagnetic proportional valve (9), I P2 I is the current of the second electromagnetic proportional valve (10) of the piston pump required by the boom duplex, P1′ is the current of the piston pump-electromagnetic proportional valve (9) required by the vibration coupling, I P2′ The current required for the vibration confluence of the plunger pump and the second electromagnetic proportional valve (10).

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