Valve control double-motor synchronous operation mechanism and cooperative control method thereof

Abstract

The invention discloses a valve-controlled double-motor synchronous operation mechanism and a cooperative control method thereof, and belongs to the technical field of turntable system design and control, and the valve-controlled double-motor synchronous operation mechanism comprises a motor system, a hydraulic system, a fixed support and other parts. The two symmetrically-distributed hydraulic motors and the motor located in the center of the rotary table are adopted to jointly drive the rotary table, various combined loads of a large heavy-load rotary table can be effectively borne, and the bearing capacity of the rotary table is improved; the difference value between the rotating speed and the torque in the operation process of the double hydraulic motors is compensated through the motors, so that the gears driven by the double hydraulic motors synchronously act to jointly drive the rotary table load, and the operation stability performance of the large heavy-load rotary table is improved; the characteristics of high load capacity of a hydraulic system and high precision of mechanical transmission are combined, and the control precision of the large heavy-load rotary table is improved through cooperative control of the hydraulic motor and the motor.

Description

Technical Field

[0001] The present invention relates to the technical field of turntable system design and control, and in particular to a valve-controlled dual-motor synchronous operation mechanism and a coordinated control method thereof. Background Art

[0002] The hydraulic system has the characteristics of high power-to-weight ratio and high load capacity. Large heavy-load turntables are generally driven by hydraulic motors. The hydraulic drive system realizes continuous rotation drive of the radar turntable at different speeds, and realizes functions such as forward and reverse rotation and positioning stop. During the operation of large heavy-load turntables, they are subjected to composite loads such as axial force, radial force, impact force and overturning moment, which puts higher requirements on their structure and precision control.

[0003] At present, large and heavy-load turntables are driven by a single motor or a dual motor. The former uses a relatively high-power motor to drive the turntable, which occupies a large space, has a heavy hydraulic system, has insensitive control accuracy, and cannot work normally under complex loads. The latter drives the turntable through a symmetrically distributed dual motor, which can effectively withstand various complex loads. However, it is difficult for the dual hydraulic motors to achieve synchronous action during work, and the speed and torque are inconsistent. It is easy for one hydraulic motor to act as a power source and the other hydraulic motor to become a load, resulting in an unstable turntable system and low operating accuracy.

[0004] How to overcome the problems of weak ability to bear complex loads, unstable operation, low control accuracy, etc. of existing large-scale heavy-load turntables is an urgent problem to be solved. For this purpose, a valve-controlled dual-motor synchronous operation mechanism is proposed. Summary of the invention

[0005] The technical problem to be solved by the present invention is: how to overcome the problems of weak ability to withstand complex loads, unstable operation, low control accuracy and other problems of existing large-scale heavy-load turntables, and provide a valve-controlled dual-motor synchronous operation mechanism, which has the characteristics of strong ability to withstand complex loads, stable operation, high control accuracy, etc., and is easy to promote and apply.

[0006] The present invention solves the above technical problems through the following technical solutions. The present invention includes a motor system, a hydraulic system and a fixed support;

[0007] The motor system comprises a motor, a clutch and a motor reducer, wherein the clutch is installed between the motor and the motor reducer, and a motor gear is installed on the output shaft of the motor reducer;

[0008] The hydraulic system includes a first hydraulic motor, a second hydraulic motor, a first reducer, a second reducer, a first gear, a second gear, an electro-hydraulic servo valve and a two-position two-way valve. The first hydraulic motor and the second hydraulic motor are symmetrically distributed on both sides of the motor. The first hydraulic motor is connected to the first gear through the first reducer, and the second hydraulic motor is connected to the second gear through the second reducer. The hydraulic oil flows into the first hydraulic motor and the second hydraulic motor through the electro-hydraulic servo valve to drive the two motors to rotate simultaneously. The hydraulic oil then flows back to the oil tank through the electro-hydraulic servo valve. The first hydraulic motor and the second hydraulic motor drive the load to rotate together through the first gear and the second gear respectively. The internal cavities of the first hydraulic motor and the second hydraulic motor are connected through a two-position two-way valve to control the active and follower rotation of the two hydraulic motors.

[0009] The first reducer, the second reducer and the motor reducer are all mounted on the fixed support, and the motor gear is meshed with the first gear and the second gear.

[0010] Furthermore, a first torque and speed sensor is installed on the output shaft of the first reducer, and a second torque and speed sensor is installed on the output shaft of the second reducer.

[0011] Furthermore, the motor reducer output shaft is equipped with a motor torque speed sensor.

[0012] Furthermore, the inlet and outlet oil circuits of the first hydraulic motor are respectively the first pipeline and the second pipeline, and the first pipeline and the second pipeline are correspondingly installed with the first overflow valve and the second overflow valve, and the inlet and outlet oil circuits of the second hydraulic motor are respectively the third pipeline and the fourth pipeline, and the third pipeline and the fourth overflow valve are correspondingly installed with the third overflow valve and the fourth overflow valve.

[0013] The present invention also provides a coordinated control method of the valve-controlled dual-motor synchronous operation mechanism, comprising the following steps:

[0014] S1: According to the maximum required speed and torque of the load, the total rated power of the mechanism is designed, and the rated power of the hydraulic system and the motor system is allocated according to the set ratio k. The rated power of the hydraulic system is greater than the rated power of the motor system. Then, the components in the hydraulic system and the components in the motor system are designed;

[0015] S2: In the operation of the valve-controlled dual-motor synchronous operation mechanism, when only the hydraulic system is required to provide speed and torque for the load, when the torque and speed of the dual hydraulic motors collected by the first torque speed sensor and the second torque speed sensor are inconsistent, the clutch is controlled to be in a working state, and the output speed and torque of the motor are controlled by a closed-loop control method, so as to drive the motor reducer and the motor gear to provide torque for the hydraulic motor with a smaller torque collected in real time, until the torque and speed of the two hydraulic motors collected by the first torque speed sensor and the second torque speed sensor are consistent, and the output speed and torque of the motor are maintained at this time to drive the load together with the two hydraulic motors. When the torque and speed of the two hydraulic motors collected by the first torque speed sensor and the second torque speed sensor at the initial time are consistent, the clutch is controlled to be in a non-working state, and the motor reducer and the motor gear rotate with the dual hydraulic motors;

[0016] S3: When the actual load demand speed and torque are greater than the maximum output speed and torque of the hydraulic system, the speed and torque output by the hydraulic system and the motor system are controlled according to the ratio k to jointly drive the load to rotate. Then, according to the real-time torque and speed difference of the two hydraulic motors, the speed and torque output by the motor system are controlled to make the real-time torque and speed of the two hydraulic motors consistent;

[0017] S4: During stable rotation of the load, when the load speed and torque are lower than the maximum output speed and torque of the motor, the electro-hydraulic servo valve is closed and the two-position two-way valve is opened. The first pipeline, the second pipeline, the third pipeline and the fourth pipeline are connected to control the output speed and torque of the motor. The load is driven to rotate through the clutch, the motor reducer, the motor gear, the first gear and the second gear in sequence, and the two hydraulic motors rotate synchronously.

[0018] Furthermore, the collaborative control method also includes: when the valve-controlled dual-motor synchronous operation mechanism stops rotating, the speed of the two hydraulic motors is controlled to gradually decrease, and at the same time the clutch is in a working state, the output speed of the motor system is controlled to be lower than the speed of the two hydraulic motors, providing a braking torque for the load, and the hydraulic system and the motor system act together on the load to reduce the speed of the mechanism to stop rotating.

[0019] Furthermore, the collaborative control method also includes: when one or two hydraulic motors fail, the electro-hydraulic servo valve is closed, the two-position two-way valve is opened, the first pipeline, the second pipeline, the third pipeline and the fourth pipeline are in a connected state, and at the same time, the motor system is controlled to output the maximum speed and torque, the load rotation speed is reduced, and the valve-controlled dual-motor synchronous operation mechanism works at a reduced speed.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] 1. The present invention adopts two symmetrically distributed hydraulic motors and a motor at the center of the turntable to drive the turntable together, which can effectively bear various composite loads of a large and heavy-load turntable and improve the bearing capacity of the turntable.

[0022] 2. The present invention compensates the difference between the rotation speed and the torque during the operation of the dual hydraulic motors through the motor, so that the gears driven by the dual hydraulic motors move synchronously and jointly drive the turntable load, thereby improving the operational stability of the large and heavy-load turntable.

[0023] 3. The present invention combines the high load capacity of the hydraulic system with the high precision of the mechanical transmission, and improves the control accuracy of large heavy-load turntables through the coordinated control of the hydraulic motor and the electric motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the structure of the valve-controlled dual-motor synchronous operation mechanism in an embodiment of the present invention;

[0025] Figure 2 Schematic diagram of the principle of the valve-controlled dual-motor synchronous operation mechanism in an embodiment of the present invention;

[0026] Figure 3 It is a schematic diagram of the coordinated control flow of the valve-controlled dual-motor synchronous operation mechanism in an embodiment of the present invention.

[0027] In the figure: 1-1, electro-hydraulic servo valve; 1-2, two-position two-way valve; 2-1, first pressure sensor; 2-2, second pressure sensor; 3-1, first overflow valve; 3-2, second overflow valve; 3-3, third overflow valve; 3-4, fourth overflow valve; 4, motor; 5-1, first hydraulic motor; 5-2, second hydraulic motor; 6, clutch; 7-1, first reducer; 7-2, second reducer; 7-3, motor reducer; 8-1, first torque speed sensor; 8-2, second torque speed sensor; 8-3, motor torque speed sensor; 9-1, platform gear; 9-2, first gear; 9-3, motor gear; 9-4, second gear; 10-1, first pipeline; 10-2, second pipeline; 10-3, third pipeline; 10-4, fourth pipeline; 11, fixed support. DETAILED DESCRIPTION

[0028] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0029] like Figure 1 , 2As shown, this embodiment provides a technical solution: a valve-controlled dual-motor synchronous operation mechanism, comprising an electro-hydraulic servo valve (1-1), a two-position two-way valve (1-2), a first pressure sensor (2-1), a second pressure sensor (2-2), a first overflow valve (3-1), a second overflow valve (3-2), a third overflow valve (3-3), a fourth overflow valve (3-4), a motor (4), a first hydraulic motor (5-1), a second hydraulic motor (5-2), a clutch (6), a first reducer (7-1), a second reducer (7-2), a motor reducer (7-3), a first torque speed sensor (8-1), a second torque speed sensor (8-2), a motor torque speed sensor (8-3), a platform gear (9-1), a first gear (9-2), a motor gear (9-3), a second gear (9-4), a first pipeline (10-1), a second pipeline (10-2), a third pipeline (10-3), a fourth pipeline (10-4), and a fixed support (11);

[0030] The first hydraulic motor (5-1) and the second hydraulic motor (5-2) are symmetrically distributed, the hydraulic oil flows into the first hydraulic motor (5-1) and the second hydraulic motor (5-2) through the electro-hydraulic servo valve (1-1) to drive the two motors to rotate simultaneously, and the hydraulic oil flows back to the oil tank through the electro-hydraulic servo valve (1-1), the first gear (9-2) is installed on the output shaft of the first hydraulic motor (5-1), and the second gear (9-4) is installed on the output shaft of the second hydraulic motor (5-2), and the two hydraulic motors drive the load to rotate together through the first gear (9-2) and the second gear (9-4), and the first torque speed sensor (8-1) is installed on the output shaft of the first reducer (7-1), and the second gear (9-4) is installed on the output shaft of the second reducer (7-2). A second torque speed sensor (8-2) is installed on the output shaft, the first reducer (7-1), the second reducer (7-2) and the motor reducer (7-3) are all fixedly installed on the fixed support (11), the first overflow valve (3-1) and the second overflow valve (3-2) are correspondingly installed on the first pipeline (10-1) and the second pipeline (10-2) of the inlet and outlet oil circuits of the first hydraulic motor (5-1), the third overflow valve (3-3) and the fourth overflow valve (3-4) are correspondingly installed on the third pipeline (10-3) and the fourth pipeline (10-4) of the inlet and outlet oil circuits of the second hydraulic motor (5-2), and the two-position two-way valve (1-2) connects the left and right chamber circuits of the dual hydraulic motors to control the active and follower rotation of the dual hydraulic motors;

[0031] A clutch (6) is installed between the motor (4) and the motor reducer (7-3), and the clutch (6) is used to control the connection between the motor (4) and the motor reducer (7-3). A motor gear (9-3) is installed on the output shaft of the motor reducer (7-3), and a motor torque speed sensor (8-3) is installed. The motor gear (9-3) is meshed with a first gear (9-2) and a second gear (9-4).

[0032] like Figure 3 As shown, according to the maximum required speed and torque of the load, the total rated power of the mechanism is designed, and the rated powers of the hydraulic system and the motor system are allocated according to the set ratio k. The rated power of the hydraulic system is greater than the rated power of the motor system. The hydraulic system includes all hydraulic components in the mechanism, and the motor system includes a motor (4), a clutch (6) and a motor reducer (7-3). Then, the components in the hydraulic system and the components in the motor system are designed;

[0033] like Figure 3 As shown, in the operation of the valve-controlled dual-motor synchronous operation mechanism, when only the hydraulic system is required to provide speed and torque for the load, when the torque and speed of the dual hydraulic motors collected by the first torque speed sensor (8-1) and the second torque speed sensor (8-2) are inconsistent, the control system controls the clutch (6) to be in a working state, and uses a closed-loop control method to control the output speed and torque of the motor (4), driving the motor reducer (7-3) and the motor gear (9-3) to provide torque for the motor with a smaller torque collected in real time, until the torque and speed of the dual hydraulic motors collected by the first torque speed sensor (8-1) and the second torque speed sensor (8-2) are consistent, and the output speed and torque of the motor (4) are maintained at this time to drive the load together with the dual hydraulic motors. When the torque and speed of the dual hydraulic motors collected by the first torque speed sensor (8-1) and the second torque speed sensor (8-2) are consistent at the beginning, the control system controls the clutch (6) to be in a non-working state, and the motor reducer (7-3) and the motor gear (9-3) rotate with the dual hydraulic motors;

[0034] like Figure 3 As shown, when the actual load required speed and torque are greater than the maximum output speed and torque of the hydraulic system, the speed and torque output by the hydraulic system and the motor system are controlled respectively according to the ratio k to jointly drive the load to rotate. Then, according to the real-time torque and speed difference of the dual hydraulic motors, the speed and torque output by the motor system are controlled to ensure that the real-time torque and speed of the dual hydraulic motors are consistent.

[0035] like Figure 3 As shown, during the stable rotation of the load, when the load speed and torque are lower than the maximum output speed and torque of the motor (4), the electro-hydraulic servo valve (1-1) is closed, the two-position two-way valve (1-2) is opened, the first pipeline (10-1), the second pipeline (10-2), the third pipeline (10-3) and the fourth pipeline (10-4) are in a connected state, the output speed and torque of the motor (4) are controlled, and the load is driven to rotate through the clutch (6), the motor reducer (7-3), the motor gear (9-3), the first gear (9-2) and the second gear (9-4) in sequence, and the dual hydraulic motors rotate synchronously.

[0036] When the mechanism is started, the hydraulic system and the motor system are controlled to provide low speed and high torque at the same time, and the load is driven by the first gear (9-2), the second gear (9-4) and the motor gear (9-3) to complete the starting action.

[0037] When the mechanism stops rotating, the speed of the dual hydraulic motors is controlled to gradually decrease, and at the same time the clutch (6) is in a working state, and the output speed of the motor system is controlled to be lower than the speed of the hydraulic motor, thereby providing a braking torque for the load. The hydraulic system and the motor system act together on the load, so that the speed of the mechanism is reduced until it stops rotating.

[0038] When one or two hydraulic motors fail, the controller closes the electro-hydraulic servo valve (1-1) and opens the two-position two-way valve (1-2), and the first pipeline (10-1), the second pipeline (10-2), the third pipeline (10-3) and the fourth pipeline (10-4) are in a connected state. At the same time, the motor system is controlled to output the maximum speed and torque, the load rotation speed is reduced, and the mechanism works at a reduced speed.

[0039] To summarize, the valve-controlled dual-motor synchronous operation mechanism of the above-mentioned embodiment adopts two symmetrically distributed hydraulic motors and a motor located in the center of the turntable to jointly drive the turntable, which can effectively withstand various composite loads of a large and heavy-loaded turntable and improve the carrying capacity of the turntable; the motor compensates for the difference in speed and torque during the operation of the dual hydraulic motors, so that the gears driven by the dual hydraulic motors move synchronously and jointly drive the turntable load, thereby improving the operating stability of the large and heavy-loaded turntable; it combines the high load capacity of the hydraulic system with the high precision of the mechanical transmission, and improves the control accuracy of the large and heavy-loaded turntable through the coordinated control of the hydraulic motor and the motor.

[0040] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A valve-controlled dual-motor synchronous operation mechanism, characterized in that: Including motor system, hydraulic system and fixed support; The motor system comprises a motor, a clutch and a motor reducer, wherein the clutch is installed between the motor and the motor reducer, and a motor gear is installed on the output shaft of the motor reducer; The hydraulic system includes a first hydraulic motor, a second hydraulic motor, a first reducer, a second reducer, a first gear, a second gear, an electro-hydraulic servo valve and a two-position two-way valve. The first hydraulic motor and the second hydraulic motor are symmetrically distributed on both sides of the motor. The first hydraulic motor is connected to the first gear through the first reducer, and the second hydraulic motor is connected to the second gear through the second reducer. The hydraulic oil flows into the first hydraulic motor and the second hydraulic motor through the electro-hydraulic servo valve to drive the two motors to rotate simultaneously. The hydraulic oil then flows back to the oil tank through the electro-hydraulic servo valve. The first hydraulic motor and the second hydraulic motor drive the load to rotate together through the first gear and the second gear respectively. The internal cavities of the first hydraulic motor and the second hydraulic motor are connected through a two-position two-way valve to control the active and follower rotation of the two hydraulic motors. The first reducer, the second reducer and the motor reducer are all mounted on the fixed support, and the motor gear is meshed with the first gear and the second gear.

2. A valve-controlled dual-motor synchronous operation mechanism according to claim 1, characterized in that: A first torque and speed sensor is installed on the output shaft of the first reducer, and a second torque and speed sensor is installed on the output shaft of the second reducer.

3. A valve-controlled dual-motor synchronous operation mechanism according to claim 2, characterized in that: The motor reducer output shaft is equipped with a motor torque speed sensor.

4. A valve-controlled dual-motor synchronous operation mechanism according to claim 3, characterized in that: The inlet and outlet oil circuits of the first hydraulic motor are respectively the first pipeline and the second pipeline, and the first pipeline and the second pipeline are correspondingly installed with the first overflow valve and the second overflow valve; the inlet and outlet oil circuits of the second hydraulic motor are respectively the third pipeline and the fourth pipeline, and the third pipeline and the fourth overflow valve are correspondingly installed with the third overflow valve and the fourth overflow valve.

5. A coordinated control method for a valve-controlled dual-motor synchronous operation mechanism as claimed in claim 4, comprising the following steps: S1: According to the maximum required speed and torque of the load, the total rated power of the mechanism is designed, and the rated power of the hydraulic system and the motor system is allocated according to the set ratio k. The rated power of the hydraulic system is greater than the rated power of the motor system. Then, the components in the hydraulic system and the components in the motor system are designed; S2: In the operation of the valve-controlled dual-motor synchronous operation mechanism, when only the hydraulic system is required to provide speed and torque for the load, when the torque and speed of the dual hydraulic motors collected by the first torque speed sensor and the second torque speed sensor are inconsistent, the clutch is controlled to be in a working state, and the output speed and torque of the motor are controlled by a closed-loop control method, so as to drive the motor reducer and the motor gear to provide torque for the hydraulic motor with a smaller torque collected in real time, until the torque and speed of the two hydraulic motors collected by the first torque speed sensor and the second torque speed sensor are consistent, and the output speed and torque of the motor are maintained at this time to drive the load together with the two hydraulic motors. When the torque and speed of the two hydraulic motors collected by the first torque speed sensor and the second torque speed sensor at the initial time are consistent, the clutch is controlled to be in a non-working state, and the motor reducer and the motor gear rotate with the dual hydraulic motors; S3: When the actual load required speed and torque are greater than the maximum output speed and torque of the hydraulic system, the speed and torque output by the hydraulic system and the motor system are controlled according to the ratio k to jointly drive the load to rotate. Then, according to the real-time torque and speed difference of the two hydraulic motors, the speed and torque output by the motor system are controlled to make the real-time torque and speed of the two hydraulic motors consistent; S4: During stable rotation of the load, when the load speed and torque are lower than the maximum output speed and torque of the motor, the electro-hydraulic servo valve is closed and the two-position two-way valve is opened. The first pipeline, the second pipeline, the third pipeline and the fourth pipeline are connected to control the output speed and torque of the motor. The load is driven to rotate through the clutch, the motor reducer, the motor gear, the first gear and the second gear in sequence, and the two hydraulic motors rotate synchronously.

6. The coordinated control method of a valve-controlled dual-motor synchronous operation mechanism according to claim 5, characterized in that: The collaborative control method also includes: when the valve-controlled dual-motor synchronous operation mechanism stops rotating, the rotation speeds of the two hydraulic motors are controlled to gradually decrease, while the clutch is in working state, the output rotation speed of the motor system is controlled to be lower than the rotation speeds of the two hydraulic motors, and a braking torque is provided for the load. The hydraulic system and the motor system act together on the load to reduce the rotation speed of the mechanism to stop rotating.

7. The coordinated control method of a valve-controlled dual-motor synchronous operation mechanism according to claim 6 is characterized in that: The collaborative control method also includes: when one or two hydraulic motors fail, the electro-hydraulic servo valve is closed, the two-position two-way valve is opened, the first pipeline, the second pipeline, the third pipeline and the fourth pipeline are in a connected state, and at the same time, the motor system is controlled to output a maximum speed and torque, the load rotation speed is reduced, and the valve-controlled dual-motor synchronous operation mechanism works at a reduced speed.

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