Distributed hydraulic supporting leg control device and control method

Abstract

The invention discloses a distributed hydraulic supporting leg control device and a control method. The distributed hydraulic supporting leg control device comprises a valve control module, a processing module, a communication module, a signal acquisition module and a power supply module, the signal acquisition module is used for being electrically connected with a sensor assembly on the corresponding distributed hydraulic supporting leg, the communication module is used for being electrically connected with an upper computer through a communication bus, and the valve control module is used for being electrically connected with a servo proportional valve group of the corresponding distributed hydraulic supporting leg; the communication module, the signal acquisition module and the valve control module are electrically connected with the processing module respectively; the power module is electrically connected with the communication module and the processing module. The hydraulic control and safety protection response time can be greatly shortened, and the control precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic leg support control systems, and in particular to a distributed hydraulic leg support control device and a control method. Background Art

[0002] The hydraulic system of the vehicle-mounted platform is mainly composed of the vehicle platform, hydraulic legs and servo hydraulic system. It is often used as a common load for weapons and equipment such as radars, missiles, and artillery. During transportation, the hydraulic legs are retracted to the extreme position and mobile transfer is achieved through the tires. During operation, the hydraulic legs are quickly controlled by the hydraulic servo system to quickly land and support, thereby improving the system stability of the combat equipment. The legs used to support the platform are divided into hydraulic legs and electric legs. Compared with electric legs, hydraulic legs have the characteristics of fast speed, strong load-bearing capacity, and high structural strength, but the defects in control accuracy and safety cannot be ignored.

[0003] Traditional hydraulic leg support relies on the switch quantity sensor of extending and retracting to monitor the position information of the leg movement, and combines the two-axis gyroscope of the whole vehicle to realize the movement of the leg support and the leveling of the vehicle platform. The structure and control logic are simple and the operation is easy. However, the traditional hydraulic leg support lacks effective and precise control devices, and the speed of the hydraulic leg support cannot be accurately controlled. The conventional minimum speed is difficult to be lower than 3mm / s through experience, which is not enough in the case of high-precision platform tilt angle control; moreover, the traditional hydraulic leg support lacks effective monitoring points. Once the gyroscope fails, the hydraulic leg support is easy to enter the open-loop lifting state, which is easy to cause serious problems such as a large tilt of the vehicle platform. Summary of the invention

[0004] In order to solve the technical problems existing in the background technology, the present invention proposes a distributed hydraulic leg support control device and a control method.

[0005] In a first aspect, a distributed hydraulic leg support control device proposed by the present invention is used to be fixed in a preset area of ​​a corresponding distributed hydraulic leg support in a one-to-one correspondence, each distributed hydraulic leg support is connected to a servo proportional valve group, the servo proportional valve groups are connected to a pump station, and each distributed hydraulic leg support is arranged with a sensor assembly, including: a valve control module, a processing module, a communication module, a signal acquisition module and a power supply module;

[0006] The signal acquisition module is used to be electrically connected to the sensor assembly on the corresponding distributed hydraulic support leg, the communication module is used to be electrically connected to the host computer through the communication bus, and the valve control module is used to be electrically connected to the servo proportional valve group of the corresponding distributed hydraulic support leg; the communication module, the signal acquisition module, and the valve control module are electrically connected to the processing module respectively; the power supply module is electrically connected to the communication module and the processing module respectively;

[0007] Among them, the communication module receives the control instructions sent by the host computer;

[0008] The processing module is used to receive the control instructions sent by the host computer through the communication module, and generate valve control instructions according to the control instructions sent by the host computer;

[0009] The valve control module is used to adjust the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg according to the valve control instruction so that the corresponding distributed hydraulic support leg can be retracted, landed, lifted or standby;

[0010] During the retraction, landing or lifting process, the signal acquisition module is used to obtain the sensor signal of the sensor assembly on the corresponding distributed hydraulic support leg;

[0011] The processing module is used to determine whether the corresponding distributed hydraulic support leg has been retracted, landed or lifted according to the sensor signal; if so, the processing module is also used to exchange data with the host computer through the communication module to shut down the pump station. At the same time, the processing module is also used to adjust the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg through the valve control module.

[0012] Preferably, the sensor assembly includes an extension and retraction position switch sensor, a leg unlocking pressure sensor, a weighing sensor and a leg real-time position sensor.

[0013] Preferably, the control instructions include a standby instruction, a retracting instruction, a landing instruction and a lifting instruction;

[0014] When the control instruction is a retract instruction, the processing module interacts with the host computer through the communication module, so that the host computer controls to start the pump station, and at the same time, the processing module generates a first valve control instruction according to the control instruction, and the valve control module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the first target opening according to the first valve control instruction, and the corresponding distributed hydraulic support leg starts to be retracted at a first predetermined speed;

[0015] During the retraction process, the processing module obtains the sensor signal of the retracted position switch sensor in the corresponding sensor assembly through the signal acquisition module, and obtains the retracted position of the distributed hydraulic support leg according to the sensor signal of the retracted position switch sensor;

[0016] When the retracted position of the distributed hydraulic support leg reaches the limit position of the distributed hydraulic support leg, the processing module exchanges data with the host computer module through the communication module and the communication bus, so that the host computer controls to close the pump station. At the same time, the processing module controls the valve control module to adjust the valve opening of the servo proportional valve group to the second target opening;

[0017] When the valve opening of the servo proportional valve group of the corresponding distributed hydraulic leg is adjusted to the second target opening, the processing module compensates the hydraulic leg position sensor in the corresponding sensor assembly so that the value of the hydraulic leg position sensor is 0; when the value of the hydraulic leg position sensor is 0, the processing module outputs the corresponding distributed hydraulic leg as being in a retracted state.

[0018] Preferably, when the control instruction is a landing instruction, the processing module interacts with the host computer through the communication module, so that the host computer controls to start the pump station, and at the same time, the processing module generates a second valve control instruction according to the control instruction, and the valve control module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the third target opening according to the second valve control instruction, so that the corresponding distributed hydraulic support leg is extended at the second preset speed;

[0019] During the landing process, the processing module obtains the sensor signal of the weight sensor in the corresponding sensor assembly through the signal acquisition module, and obtains the real-time weight detected by the weight sensor according to the sensor signal of the weight sensor;

[0020] When the real-time weight reaches the preset weight, the processing module interacts with the host computer so that the host computer controls to shut down the pump station; at the same time, the processing module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the second target opening through the valve control module;

[0021] When the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg is adjusted to the second target opening, the processing module outputs that the corresponding distributed hydraulic support leg is in the landing completion state.

[0022] Preferably, during the landing process, the processing module is further used to obtain the real-time length value of the corresponding distributed hydraulic support leg according to the sensor signal of the weight sensor, and when the real-time length value of the corresponding distributed hydraulic support leg exceeds a preset length threshold, the processing module performs reverse action protection according to a preset reverse action protection strategy;

[0023] When the reverse action protection time exceeds a preset time, the processing module issues an alarm.

[0024] Preferably, when the control instruction is a lifting instruction, the processing module interacts with the host computer through the communication module, so that the host computer controls to start the pump station, and at the same time, the processing module generates a third valve control instruction according to the control instruction, and the valve control module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to a fourth target opening according to the third valve control instruction, so that the corresponding distributed hydraulic support leg is lifted according to the third preset speed;

[0025] During the lifting process, the processing module obtains the sensor signal of the leg real-time position sensor in the corresponding sensor assembly through the signal acquisition module, and obtains the real-time position of the corresponding distributed hydraulic leg according to the sensor signal of the leg real-time position sensor;

[0026] When the real-time position of the corresponding distributed hydraulic support leg reaches within the preset range of the target position, the processing module interacts with the host computer so that the host computer controls to close the pump station, and at the same time, the processing module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the second target opening through the valve control module;

[0027] When the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg is adjusted to the second target opening, the processing module outputs the corresponding distributed hydraulic support leg as a support completion state.

[0028] Preferably, during the retracting process, the landing process or the jacking process, the processing module is further used to obtain the sensor signal of the leg real-time position sensor in the corresponding sensor assembly through the signal acquisition module, and obtain the real-time position of the corresponding distributed hydraulic leg according to the sensor signal of the leg real-time position sensor; and determine whether the corresponding distributed hydraulic leg has a displacement value change in 10 consecutive unit times according to the real-time position of the corresponding distributed hydraulic leg;

[0029] If the corresponding distributed hydraulic support leg has no displacement value change for 10 consecutive unit times, the processing module will issue an alarm.

[0030] Preferably, the signal acquisition module is also used to be electrically connected to the servo proportional valve group of the corresponding distributed hydraulic support leg; the signal acquisition module is also used to obtain the actual opening of the servo proportional valve group of the corresponding distributed hydraulic support leg;

[0031] During the process of retraction, landing, lifting or standby, the processing module is also used to obtain the actual valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg through the signal acquisition module, and compare the actual opening of the servo proportional valve group with the corresponding target opening. When the error between the actual opening and the target opening exceeds the preset error range, the processing module is used to interact with the host computer through the communication module to control the pump station to stop, and at the same time change the valve opening of the servo proportional valve group through the valve control module and issue an alarm.

[0032] Preferably, during the retraction process, the landing process or the jacking process, the processing module is also used to calculate the hydraulic flow required by the corresponding distributed hydraulic support leg according to the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg; calculate the flow required to be generated by the pump station according to the hydraulic flow required by the corresponding distributed hydraulic support leg and the preset coefficient; and transmit the flow required to be generated by the pump station to the host computer through the communication module, so that the host computer can control the motor speed of the pump station in real time according to the flow required to be generated by each pump station.

[0033] Preferably, an anti-interference module is also included, and the anti-interference module is used to be connected between the power module and the AC power supply.

[0034] In a second aspect, the present invention further proposes a distributed hydraulic leg support control method, which is applied to the distributed hydraulic leg support control device as described in any one of the first aspects, comprising:

[0035] The processing module receives the control instructions sent by the host computer through the communication module, and generates valve control instructions according to the control instructions sent by the host computer;

[0036] The valve control module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg according to the valve control instruction so that the corresponding distributed hydraulic support leg can be retracted, landed, lifted or on standby;

[0037] During the retraction, landing or lifting process, the signal acquisition module obtains the sensor signal of the sensor assembly on the corresponding distributed hydraulic support leg;

[0038] The processing module determines whether the corresponding distributed hydraulic legs have been retracted, landed or lifted according to the sensor signal;

[0039] If so, the processing module exchanges data with the host computer through the communication module to close the pump station, and at the same time, the processing module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg through the valve control module.

[0040] In the present invention, the proposed distributed hydraulic support leg control device and control method arranges multiple sub-controllers one-to-one in preset areas of multiple hydraulic supports, thereby realizing the proximity of the sub-controllers and the corresponding hydraulic supports, which is beneficial to significantly shorten the hydraulic control and safety protection response time and improve the control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 The framework of the distributed hydraulic leg support control device in one embodiment of the present invention is Figure 1 .

[0042] Figure 2 The framework of the distributed hydraulic leg support control device in one embodiment of the present invention is Figure 2

[0043] Figure 3 The present invention is a flowchart of a distributed hydraulic leg support control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0045] First, refer to Figure 1 and Figure 2 , the present invention also proposes a distributed hydraulic leg support control device, which is used to be fixed in a preset area of ​​a corresponding distributed hydraulic leg support in a one-to-one correspondence, each distributed hydraulic leg support is connected to a servo proportional valve group, the servo proportional valve groups are connected to a pump station, and each distributed hydraulic leg support is arranged with a sensor assembly, including: a valve control module, a processing module, a communication module, a signal acquisition module and a power supply module;

[0046] The signal acquisition module is used to be electrically connected to the sensor assembly on the corresponding distributed hydraulic support leg, the communication module is used to be electrically connected to the host computer through the communication bus, and the valve control module is used to be electrically connected to the servo proportional valve group of the corresponding distributed hydraulic support leg; the communication module, the signal acquisition module, and the valve control module are electrically connected to the processing module respectively; the power supply module is electrically connected to the communication module and the processing module respectively;

[0047] Among them, the communication module receives the control instructions sent by the host computer;

[0048] The processing module is used to receive the control instructions sent by the host computer through the communication module, and generate valve control instructions according to the control instructions sent by the host computer;

[0049] The valve control module is used to adjust the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg according to the valve control instruction so that the corresponding distributed hydraulic support leg can be retracted, landed, lifted or standby;

[0050] During the retraction, landing or lifting process, the signal acquisition module is used to obtain the sensor signal of the sensor assembly on the corresponding distributed hydraulic support leg;

[0051] The processing module is used to determine whether the corresponding distributed hydraulic support leg has been retracted, landed or lifted according to the sensor signal; if so, the processing module is also used to exchange data with the host computer through the communication module to shut down the pump station. At the same time, the processing module is also used to adjust the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg through the valve control module.

[0052] The distributed hydraulic support leg control device in the present invention is used to be fixed one-to-one in the preset area of ​​the corresponding distributed hydraulic support leg, realizing the nearby arrangement, which is beneficial to greatly shorten the hydraulic control and safety protection response time and improve the control accuracy; moreover, through the cooperation of the valve control module, the processing module, the communication module, and the signal acquisition module, it is possible to quickly realize precise hydraulic control, thereby quickly and accurately completing the retraction, landing or jacking of the corresponding distributed hydraulic support leg.

[0053] Among them, the sensor assembly in this embodiment includes an extension and retraction switch sensor, a leg support unlocking pressure sensor, a weighing sensor and a leg support real-time position sensor.

[0054] This embodiment can effectively improve the adjustment accuracy of the hydraulic leg support through the cooperation of the distributed hydraulic leg support control device and the sensor assembly, ensure the balance of the vehicle-mounted platform during the adjustment process, and avoid the situation of virtual legs caused by the tire suspension of the vehicle-mounted platform.

[0055] The control instructions in this embodiment include a standby instruction, a retracting instruction, a landing instruction and a lifting instruction.

[0056] In order to more quickly and accurately control the distributed hydraulic support leg to achieve retraction, in one embodiment, when the control instruction is a retraction instruction, the processing module interacts with the host computer through the communication module, so that the host computer controls to start the pump station, and at the same time, the processing module generates a first valve control instruction according to the control instruction, and the valve control module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the first target opening according to the first valve control instruction, and the corresponding distributed hydraulic support leg starts to be retracted at a first predetermined speed;

[0057] During the retraction process, the processing module obtains the sensor signal of the retracted position switch sensor in the corresponding sensor assembly through the signal acquisition module, and obtains the retracted position of the distributed hydraulic support leg according to the sensor signal of the retracted position switch sensor;

[0058] When the retracted position of the distributed hydraulic support leg reaches the limit position of the distributed hydraulic support leg, the processing module exchanges data with the host computer module through the communication module and the communication bus, so that the host computer controls to close the pump station. At the same time, the processing module controls the valve control module to adjust the valve opening of the servo proportional valve group to the second target opening;

[0059] When the valve opening of the servo proportional valve group of the corresponding distributed hydraulic leg is adjusted to the second target opening, the processing module compensates the hydraulic leg position sensor in the corresponding sensor assembly so that the value of the hydraulic leg position sensor is 0; when the value of the hydraulic leg position sensor is 0, the processing module outputs the corresponding distributed hydraulic leg as being in a retracted state.

[0060] Specifically, the first target opening is -80% to -100%, the second target opening is 0%, the first predetermined speed is 20 mm / s, and the speed corresponding to the second target opening is zero.

[0061] It should be noted that the time when "the valve opening of the corresponding distributed hydraulic support leg servo proportional valve group is adjusted to the second target opening" can be a predetermined time after the processing module controls the valve control module, or it can be obtained by the feedback signal of the servo proportional valve group obtained by the signal acquisition module.

[0062] It should be understood that the maximum telescopic speed of the distributed hydraulic support legs in this embodiment can reach 20 mm / s, and the telescopic speed control accuracy of the distributed hydraulic support legs can reach 0.1 mm / s±5%.

[0063] In order to more quickly and accurately control the distributed hydraulic legs to land, in one embodiment, when the control instruction is a landing instruction, the processing module interacts with the host computer through the communication module, so that the host computer controls to start the pump station, and at the same time, the processing module generates a second valve control instruction according to the control instruction, and the valve control module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic legs to the third target opening according to the second valve control instruction, so that the corresponding distributed hydraulic legs are extended at the second preset speed;

[0064] During the landing process, the processing module obtains the sensor signal of the weight sensor in the corresponding sensor assembly through the signal acquisition module, and obtains the real-time weight detected by the weight sensor according to the sensor signal of the weight sensor;

[0065] When the real-time weight reaches the preset weight, the processing module interacts with the host computer so that the host computer controls to shut down the pump station; at the same time, the processing module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the second target opening through the valve control module;

[0066] When the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg is adjusted to the second target opening, the processing module outputs that the corresponding distributed hydraulic support leg is in the landing completion state.

[0067] The second preset speed is 5 mm / s.

[0068] Specifically, the preset weight is 200-300Kg.

[0069] In order to further improve safety, during the landing process, the processing module is also used to obtain the real-time length value of the corresponding distributed hydraulic support leg according to the sensor signal of the weight sensor. When the real-time length value of the corresponding distributed hydraulic support leg exceeds the preset length threshold, the processing module performs reverse action protection according to the preset reverse action protection strategy;

[0070] When the reverse action protection time exceeds a preset time, the processing module issues an alarm.

[0071] In order to more quickly and accurately control the distributed hydraulic legs to achieve jacking, in one embodiment, when the control instruction is a jacking instruction, the processing module interacts with the host computer through the communication module, so that the host computer controls to start the pump station, and at the same time, the processing module generates a third valve control instruction according to the control instruction, and the valve control module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic legs to a fourth target opening according to the third valve control instruction, so that the corresponding distributed hydraulic legs are jacked according to the third preset speed;

[0072] During the lifting process, the processing module obtains the sensor signal of the leg real-time position sensor in the corresponding sensor assembly through the signal acquisition module, and obtains the real-time position of the corresponding distributed hydraulic leg according to the sensor signal of the leg real-time position sensor;

[0073] When the real-time position of the corresponding distributed hydraulic support leg reaches within the preset range of the target position, the processing module interacts with the host computer so that the host computer controls to close the pump station, and at the same time, the processing module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the second target opening through the valve control module;

[0074] When the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg is adjusted to the second target opening, the processing module outputs the corresponding distributed hydraulic support leg as a support completion state.

[0075] Specifically, the lifting displacement value is 10 mm, and the setting error precision is 0.1 mm. The third preset speed is less than or equal to 5 mm / s.

[0076] In a further embodiment, during the retracting process, the landing process or the jacking process, the processing module is further used to obtain the sensor signal of the leg real-time position sensor in the corresponding sensor assembly through the signal acquisition module, and obtain the real-time position of the corresponding distributed hydraulic leg according to the sensor signal of the leg real-time position sensor; and determine whether the corresponding distributed hydraulic leg has a displacement value change in 10 consecutive unit times according to the real-time position of the corresponding distributed hydraulic leg;

[0077] If the corresponding distributed hydraulic support leg has no displacement value change for 10 consecutive unit times, the processing module will issue an alarm to respond to abnormal situations more quickly, thereby improving safety in use.

[0078] In this embodiment, the signal acquisition module is also used to be electrically connected to the servo proportional valve group of the corresponding distributed hydraulic support leg; the signal acquisition module is also used to obtain the actual opening of the servo proportional valve group of the corresponding distributed hydraulic support leg;

[0079] During the process of retraction, landing, lifting or standby, the processing module is also used to obtain the actual valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg through the signal acquisition module, and compare the actual opening of the servo proportional valve group with the corresponding target opening. When the error between the actual opening and the target opening exceeds the preset error range, the processing module is used to interact with the host computer through the communication module to control the pump station to stop, and at the same time change the valve opening of the servo proportional valve group through the valve control module and issue an alarm to perform active safety protection, which effectively improves the safety of use.

[0080] In this embodiment, an anti-interference module is also included, and the anti-interference module is used to be connected between the power module and the AC power supply.

[0081] In this embodiment, during the retraction process, the landing process or the jacking process, the processing module is also used to calculate the hydraulic flow required by the corresponding distributed hydraulic leg according to the valve opening of the servo proportional valve group of the corresponding distributed hydraulic leg; calculate the flow required to be generated by the pump station according to the hydraulic flow required by the corresponding distributed hydraulic leg and the preset coefficient K; and transmit the flow required to be generated by the pump station to the host computer through the communication module, so that the host computer can control the motor speed of the pump station in real time according to the flow required to be generated by each pump station, thereby realizing throttling from the source and avoiding excessive flow inflow causing excessive throttling of the servo proportional valve to cause heating and other problems.

[0082] Among them, Q Pump =K×Q Valve , Q Pump is the flow generated by the pump station and power system, Q Valve The flow rate required by the servo proportional valve, K is 1.2.

[0083] In specific implementation, the processing module and the signal acquisition module calculate the speed according to the position value of the hydraulic leg position sensor. The specific process of calculating the speed is as follows:

[0084] First, multiple sampling is performed in each predetermined time period to obtain multiple position values; then the maximum value among the multiple position values ​​in the predetermined time period is removed; finally, the average value of the multiple position values ​​after removing the maximum value in each predetermined time period is calculated, that is, the average position value;

[0085] Then, the average speed of each predetermined time period is calculated according to the average position values ​​in two adjacent predetermined time periods.

[0086] This embodiment can reduce excessive errors caused by sampling singular values ​​and improve control accuracy.

[0087] The calculation formula for average speed is:

[0088]

[0089] In the formula, represents the average speed, It represents n position values ​​in time period i, and max{} means taking the maximum value.

[0090] Specifically, n is 5, the sampling period of each position acquisition is 2 ms, and ΔT is 10 ms.

[0091] Second, as Figure 3 As shown, the present invention further proposes a distributed hydraulic leg support control method, which is applied to the distributed hydraulic leg support control device as described in any one of the first aspects, comprising:

[0092] The processing module receives the control instructions sent by the host computer through the communication module, and generates valve control instructions according to the control instructions sent by the host computer;

[0093] The valve control module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg according to the valve control instruction so that the corresponding distributed hydraulic support leg can be retracted, landed, lifted or on standby;

[0094] During the retraction, landing or lifting process, the signal acquisition module obtains the sensor signal of the sensor assembly on the corresponding distributed hydraulic support leg;

[0095] The processing module determines whether the corresponding distributed hydraulic legs have been retracted, landed or lifted according to the sensor signal;

[0096] If so, the processing module exchanges data with the host computer through the communication module to close the pump station, and at the same time, the processing module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg through the valve control module.

[0097] Among them, the sensor assembly includes an extension and retraction switch sensor, a leg unlocking pressure sensor, a weighing sensor and a leg real-time position sensor.

[0098] The control instructions in this embodiment include a standby instruction, a retracting instruction, a landing instruction and a lifting instruction.

[0099] When the control instruction is a retract instruction, the processing module interacts with the host computer through the communication module, so that the host computer controls to start the pump station, and at the same time, the processing module generates a first valve control instruction according to the control instruction, and the valve control module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the first target opening according to the first valve control instruction, and the corresponding distributed hydraulic support leg starts to be retracted at a first predetermined speed;

[0100] During the retraction process, the processing module obtains the sensor signal of the retracted position switch sensor in the corresponding sensor assembly through the signal acquisition module, and obtains the retracted position of the distributed hydraulic support leg according to the sensor signal of the retracted position switch sensor;

[0101] When the retracted position of the distributed hydraulic support leg reaches the limit position of the distributed hydraulic support leg, the processing module exchanges data with the host computer module through the communication module and the communication bus, so that the host computer controls to close the pump station. At the same time, the processing module controls the valve control module to adjust the valve opening of the servo proportional valve group to the second target opening;

[0102] When the valve opening of the servo proportional valve group of the corresponding distributed hydraulic leg is adjusted to the second target opening, the processing module compensates the hydraulic leg position sensor in the corresponding sensor assembly so that the value of the hydraulic leg position sensor is 0; when the value of the hydraulic leg position sensor is 0, the processing module outputs the corresponding distributed hydraulic leg as being in a retracted state.

[0103] Wherein, when the control instruction is a landing instruction, the processing module interacts with the host computer through the communication module, so that the host computer controls to start the pump station, and at the same time, the processing module generates a second valve control instruction according to the control instruction, and the valve control module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the third target opening according to the second valve control instruction, so that the corresponding distributed hydraulic support leg is extended at the second preset speed;

[0104] During the landing process, the processing module obtains the sensor signal of the weight sensor in the corresponding sensor assembly through the signal acquisition module, and obtains the real-time weight detected by the weight sensor according to the sensor signal of the weight sensor;

[0105] When the real-time weight reaches the preset weight, the processing module interacts with the host computer so that the host computer controls to shut down the pump station; at the same time, the processing module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the second target opening through the valve control module;

[0106] When the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg is adjusted to the second target opening, the processing module outputs that the corresponding distributed hydraulic support leg is in the landing completion state.

[0107] Among them, during the landing process, the processing module is also used to obtain the real-time length value of the corresponding distributed hydraulic support leg according to the sensor signal of the weight sensor. When the real-time length value of the corresponding distributed hydraulic support leg exceeds the preset length threshold, the processing module performs reverse action protection according to the preset reverse action protection strategy;

[0108] When the reverse action protection time exceeds a preset time, the processing module issues an alarm.

[0109] Wherein, when the control instruction is a lifting instruction, the processing module interacts with the host computer through the communication module, so that the host computer controls to start the pump station, and at the same time, the processing module generates a third valve control instruction according to the control instruction, and the valve control module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the fourth target opening according to the third valve control instruction, so that the corresponding distributed hydraulic support leg is lifted according to the third preset speed;

[0110] During the lifting process, the processing module obtains the sensor signal of the leg real-time position sensor in the corresponding sensor assembly through the signal acquisition module, and obtains the real-time position of the corresponding distributed hydraulic leg according to the sensor signal of the leg real-time position sensor;

[0111] When the real-time position of the corresponding distributed hydraulic support leg reaches within the preset range of the target position, the processing module interacts with the host computer so that the host computer controls to close the pump station, and at the same time, the processing module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the second target opening through the valve control module;

[0112] When the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg is adjusted to the second target opening, the processing module outputs the corresponding distributed hydraulic support leg as a support completion state.

[0113] Among them, during the retracting process, the landing process or the jacking process, the processing module is also used to obtain the sensor signal of the leg real-time position sensor in the corresponding sensor assembly through the signal acquisition module, and obtain the real-time position of the corresponding distributed hydraulic leg according to the sensor signal of the leg real-time position sensor; and determine whether the corresponding distributed hydraulic leg has a displacement value change in 10 consecutive unit times according to the real-time position of the corresponding distributed hydraulic leg;

[0114] If the corresponding distributed hydraulic support leg has no displacement value change for 10 consecutive unit times, the processing module will issue an alarm.

[0115] During the process of retraction, landing, lifting or standby, the processing module is also used to obtain the actual valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg through the signal acquisition module, and compare the actual opening of the servo proportional valve group with the corresponding target opening. When the error between the actual opening and the target opening exceeds the preset error range, the processing module is used to interact with the host computer through the communication module to control the pump station to stop, and at the same time change the valve opening of the servo proportional valve group through the valve control module and issue an alarm.

[0116] During the retraction process, landing process or jacking process, the processing module is also used to calculate the hydraulic flow required by the corresponding distributed hydraulic support leg according to the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg; calculate the flow required to be generated by the pump station according to the hydraulic flow required by the corresponding distributed hydraulic support leg and the preset coefficient; and transmit the flow required to be generated by the pump station to the host computer through the communication module.

[0117] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A distributed hydraulic leg support control device, characterized in that: include: Valve control module, processing module, communication module, signal acquisition module and power supply module; The signal acquisition module is used to be electrically connected to the sensor assembly on the corresponding distributed hydraulic support leg, the communication module is used to be electrically connected to the host computer through the communication bus, and the valve control module is used to be electrically connected to the servo proportional valve group of the corresponding distributed hydraulic support leg; the communication module, the signal acquisition module, and the valve control module are electrically connected to the processing module respectively; the power supply module is electrically connected to the communication module and the processing module respectively; Among them, the communication module receives the control instructions sent by the host computer; The processing module is used to receive the control instructions sent by the host computer through the communication module, and generate valve control instructions according to the control instructions sent by the host computer; The valve control module is used to adjust the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg according to the valve control instruction so that the corresponding distributed hydraulic support leg can be retracted, landed, lifted or standby; During the retraction, landing or lifting process, the signal acquisition module is used to obtain the sensor signal of the sensor assembly on the corresponding distributed hydraulic support leg; The processing module is used to determine whether the corresponding distributed hydraulic support leg has been retracted, landed or lifted according to the sensor signal; if so, the processing module is also used to exchange data with the host computer through the communication module to shut down the pump station. At the same time, the processing module is also used to adjust the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg through the valve control module.

2. The distributed hydraulic leg support control device according to claim 1, characterized in that: The sensor assembly includes an extension and retraction position switch sensor, a leg unlocking pressure sensor, a weighing sensor and a leg real-time position sensor.

3. The distributed hydraulic leg support control device according to claim 2, characterized in that: Control commands include standby command, retract command, landing command and lifting command; When the control instruction is a retract instruction, the processing module interacts with the host computer through the communication module, so that the host computer controls to start the pump station, and at the same time, the processing module generates a first valve control instruction according to the control instruction, and the valve control module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the first target opening according to the first valve control instruction, and the corresponding distributed hydraulic support leg starts to be retracted at a first predetermined speed; During the retraction process, the processing module obtains the sensor signal of the retracted position switch sensor in the corresponding sensor assembly through the signal acquisition module, and obtains the retracted position of the distributed hydraulic support leg according to the sensor signal of the retracted position switch sensor; When the retracted position of the distributed hydraulic support leg reaches the limit position of the distributed hydraulic support leg, the processing module exchanges data with the host computer module through the communication module and the communication bus, so that the host computer controls to close the pump station. At the same time, the processing module controls the valve control module to adjust the valve opening of the servo proportional valve group to the second target opening; When the valve opening of the servo proportional valve group of the corresponding distributed hydraulic leg is adjusted to the second target opening, the processing module compensates the hydraulic leg position sensor in the corresponding sensor assembly so that the value of the hydraulic leg position sensor is 0; when the value of the hydraulic leg position sensor is 0, the processing module outputs the corresponding distributed hydraulic leg as being in a retracted state.

4. The distributed hydraulic leg support control device according to claim 3, characterized in that: When the control instruction is a landing instruction, the processing module interacts with the host computer through the communication module, so that the host computer controls to start the pump station, and at the same time, the processing module generates a second valve control instruction according to the control instruction, and the valve control module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the third target opening according to the second valve control instruction, so that the corresponding distributed hydraulic support leg is extended according to the second preset speed; During the landing process, the processing module obtains the sensor signal of the weight sensor in the corresponding sensor assembly through the signal acquisition module, and obtains the real-time weight detected by the weight sensor according to the sensor signal of the weight sensor; When the real-time weight reaches the preset weight, the processing module interacts with the host computer so that the host computer controls to shut down the pump station; at the same time, the processing module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the second target opening through the valve control module; When the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg is adjusted to the second target opening, the processing module outputs that the corresponding distributed hydraulic support leg is in the landing completion state.

5. The distributed hydraulic leg support control device according to claim 4, characterized in that: During the landing process, the processing module is also used to obtain the real-time length value of the corresponding distributed hydraulic support leg according to the sensor signal of the weight sensor. When the real-time length value of the corresponding distributed hydraulic support leg exceeds the preset length threshold, the processing module performs reverse action protection according to the preset reverse action protection strategy; When the reverse action protection time exceeds a preset time, the processing module issues an alarm.

6. The distributed hydraulic leg support control device according to claim 3, characterized in that: When the control instruction is a lifting instruction, the processing module interacts with the host computer through the communication module, so that the host computer controls to start the pump station, and at the same time, the processing module generates a third valve control instruction according to the control instruction, and the valve control module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the fourth target opening according to the third valve control instruction, so that the corresponding distributed hydraulic support leg is lifted according to the third preset speed; During the lifting process, the processing module obtains the sensor signal of the leg real-time position sensor in the corresponding sensor assembly through the signal acquisition module, and obtains the real-time position of the corresponding distributed hydraulic leg according to the sensor signal of the leg real-time position sensor; When the real-time position of the corresponding distributed hydraulic support leg reaches within the preset range of the target position, the processing module interacts with the host computer so that the host computer controls to close the pump station, and at the same time, the processing module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg to the second target opening through the valve control module; When the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg is adjusted to the second target opening, the processing module outputs the corresponding distributed hydraulic support leg as a support completion state.

7. The distributed hydraulic leg support control device according to claim 2, characterized in that: During the retracting process, the landing process or the jacking process, the processing module is also used to obtain the sensor signal of the leg real-time position sensor in the corresponding sensor assembly through the signal acquisition module, and obtain the real-time position of the corresponding distributed hydraulic leg according to the sensor signal of the leg real-time position sensor; and determine whether the corresponding distributed hydraulic leg has a displacement value change in 10 consecutive unit times according to the real-time position of the corresponding distributed hydraulic leg; If the corresponding distributed hydraulic support leg has no displacement value change for 10 consecutive unit times, the processing module will issue an alarm.

8. The distributed hydraulic leg support control device according to claim 1, characterized in that: The signal acquisition module is also used to be electrically connected to the corresponding servo proportional valve group of the distributed hydraulic support leg; the signal acquisition module is also used to obtain the actual opening of the servo proportional valve group of the corresponding distributed hydraulic support leg; During the process of retraction, landing, lifting or standby, the processing module is also used to obtain the actual valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg through the signal acquisition module, and compare the actual opening of the servo proportional valve group with the corresponding target opening. When the error between the actual opening and the target opening exceeds the preset error range, the processing module is used to interact with the host computer through the communication module to control the pump station to stop, and at the same time change the valve opening of the servo proportional valve group through the valve control module and issue an alarm.

9. The distributed hydraulic leg support control device according to claim 2, characterized in that: During the retraction process, landing process or jacking process, the processing module is also used to calculate the hydraulic flow required by the corresponding distributed hydraulic support leg according to the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg; calculate the flow required to be generated by the pump station according to the hydraulic flow required by the corresponding distributed hydraulic support leg and the preset coefficient; and transmit the flow required to be generated by the pump station to the host computer through the communication module.

10. A distributed hydraulic leg support control method, applied to the distributed hydraulic leg support control device according to any one of claims 1 to 9, comprising: The processing module receives the control instructions sent by the host computer through the communication module, and generates valve control instructions according to the control instructions sent by the host computer; The valve control module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg according to the valve control instruction so that the corresponding distributed hydraulic support leg can be retracted, landed, lifted or on standby; During the retraction, landing or lifting process, the signal acquisition module obtains the sensor signal of the sensor assembly on the corresponding distributed hydraulic support leg; The processing module determines whether the corresponding distributed hydraulic legs have been retracted, landed or lifted according to the sensor signal; If so, the processing module exchanges data with the host computer through the communication module to close the pump station, and at the same time, the processing module adjusts the valve opening of the servo proportional valve group of the corresponding distributed hydraulic support leg through the valve control module.

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