Modularized plug-in mounting type load port independent control electro-hydraulic valve

Abstract

The invention discloses a modularized plug-in mounting type load port independent control electro-hydraulic valve, and belongs to a hydraulic multi-way valve for engineering machinery. The electro-hydraulic valve comprises an oil inlet path, an oil return path, a working oil port and four independent control modules. Each control module can be selectively configured to be a throttling control module, a flow control module or a pressure control module, and each control module comprises a main valve structure. The flow control module is additionally provided with a flow sensor and a flow control unit on the basis of the throttling control module, and the pressure control module is provided with a pilot pressure valve. The invention further provides a pilot throttle valve flow closed-loop control method, a main valve flow closed-loop control method and a valve element displacement closed-loop control method, signals are detected through a flow sensor or a displacement sensor, the signals are processed through a corresponding controller, a proportional electromagnet is driven to adjust a valve port, and precise control is achieved. The system has the advantages of high modularization degree, good control precision, high response speed and the like, and is particularly suitable for hydraulic control systems of engineering machinery, injection molding machines and other equipment.

Description

Technical Field

[0001] This invention relates to the field of hydraulic multi-way valve technology for engineering machinery, specifically to a modular cartridge-type load port independent control electro-hydraulic valve. Background Technology

[0002] In hydraulic systems, pressure and flow rate are core control variables that directly affect the execution accuracy, energy efficiency, and reliability of construction machinery. Traditional multi-way valves use a single valve core to control each throttling side, only synchronously adjusting the actuator's inlet and outlet ports. This results in priority control of the pressure or flow rate of a single chamber at any given time, with the other chamber passively following. Under normal operating conditions, this design can maintain operation, but under overload conditions (such as when an excavator is going downhill or a crane is lifting, the actuator is driven by external forces), problems become apparent: the inlet and outlet ports cannot be independently matched, a large amount of energy in the hydraulic oil is converted into heat at the throttling side, system efficiency drops by more than 20%, heat generation intensifies, component wear is accelerated, and the application of the equipment in high-speed, heavy-load scenarios is limited.

[0003] To overcome the aforementioned shortcomings, independent load port control technology has been introduced, which improves control freedom by separately adjusting the pressure and flow of the two chambers of the actuator. Among existing solutions, Caterpillar Inc.'s patent (US20160312807A1) uses four sets of displacement force feedback two-way proportional throttle valves to achieve independent throttling control of the inlet and outlet ports, making progress in energy saving. However, its function is limited, only capable of throttling adjustment, and cannot achieve combined pressure and flow control. Furthermore, the mechanical feedback response is slow, making it unsuitable for precision applications such as lifting or synchronous operations.

[0004] Another solution comes from a patent by Eaton Corporation (US20130297045A1), which uses two three-position three-way valves to integrate temperature, pressure, and displacement sensors. It controls the displacement of the main valve core through an electrical closed loop, theoretically offering high accuracy. However, the reliance on multiple sensors leads to system complexity: high debugging difficulty and manufacturing costs; extremely high precision requirements for valve body machining; weak resistance to contamination; poor maintainability; and it is only suitable for stable operating conditions, making it difficult to promote in harsh environments such as mines and construction sites.

[0005] In summary, existing technologies, due to functional limitations or structural complexity, have failed to effectively address the problems of low control freedom, poor energy efficiency, and narrow applicability of traditional multi-way valves. Therefore, there is an urgent need for a modular, highly integrated, and cost-optimized innovative solution to improve the performance of hydraulic systems under varying operating conditions. Summary of the Invention

[0006] The purpose of this invention is to provide a modular cartridge-type load port independently controlled electro-hydraulic valve to overcome the above-mentioned problems in the prior art and effectively improve the control freedom and energy efficiency of the hydraulic system.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A modular cartridge-type load-port independently controlled electro-hydraulic valve includes an oil inlet P, an oil return T, a working oil port A, and a working oil port B, and further includes a first control module, a second control module, a third control module, and a fourth control module, wherein: The oil port C of the first control module and the oil port C of the third control module are connected to the oil inlet circuit P and are used to receive hydraulic oil. The oil port C of the second control module and the oil port C of the fourth control module are connected to the return oil circuit T for returning hydraulic oil; The oil port D of the first control module and the oil port D of the second control module are connected to the working oil port A and are used to control the actuator A cavity; The oil port D of the third control module and the oil port D of the fourth control module are connected to the working oil port B and are used to control the actuator B cavity; Among them, each of the first, second, third and fourth control modules is a throttling control module, a flow control module or a pressure control module, and each control module includes a main valve; the main valve includes a main valve core, a main valve body and a main valve core spring, and forms the oil port C, oil port D and main valve control chamber X; the main valve core is machined with a feedback throttling groove K and integrated with an internal flow channel L, and the main valve control chamber X is connected to the oil port C or oil port D of the module through the feedback throttling groove K and the internal flow channel L.

[0008] Furthermore, the throttling control module also includes a pilot throttling valve, which includes a first proportional electromagnet, a pilot throttling valve core, a pilot valve body, and a pilot throttling valve spring. The main valve control chamber X is connected to the pilot throttling valve inlet G, and the pilot throttling valve return port H is connected to the port D.

[0009] Furthermore, the flow control module adds a flow sensor and a flow control unit to the throttling control module. The flow control unit includes a flow controller and a proportional amplifier. The flow sensor inlet E is connected to the main valve control chamber X, and the flow sensor outlet F is connected to the pilot throttling valve inlet G.

[0010] Furthermore, the flow sensor is in the form of a slide valve or a cone valve, wherein: When the flow sensor is in the form of a slide valve, it includes a flow sensor valve core, a flow sensor valve sleeve, a flow sensor spring, and a sensor proportional electromagnet, wherein the flow sensor valve core is installed inside the flow sensor valve sleeve, one end of which is connected to the flow sensor spring to form a spring cavity, and the other end of which is connected to the sensor proportional electromagnet to form a springless cavity. When the flow sensor is in the form of a cone valve, it includes a flow sensor valve core, a flow sensor valve sleeve, and a flow sensor spring, wherein the flow sensor valve core is installed inside the flow sensor valve sleeve, and the large end is connected to the flow sensor spring to form a spring cavity.

[0011] Furthermore, the flow sensor is equipped with any of the following flow conversion mechanisms: A displacement sensor is used to obtain a flow signal by detecting the displacement of the valve core of a flow sensor. Alternatively, a pressure sensor group, including a first pressure sensor located at the oil inlet E and a second pressure sensor located at the oil outlet F, is used to obtain a flow signal by detecting the pressure difference across the flow sensor.

[0012] Furthermore, the pilot throttle valve is also equipped with a displacement sensor and a displacement control unit, wherein: The displacement control unit includes a displacement controller for detecting and controlling the position of the pilot throttle valve core in a closed loop. The displacement sensor is mounted on the pilot throttle valve core or the first proportional electromagnet.

[0013] Furthermore, the pressure control module also includes a pilot pressure valve, which includes a pilot pressure valve core, a pilot pressure valve body, a pilot pressure valve spring, and a second proportional electromagnet, and forms a pilot pressure valve control chamber Y, a pilot pressure valve inlet I, a pilot pressure valve outlet J, and a pilot pressure valve springless chamber M, wherein the main valve control chamber X is connected to the pilot pressure valve inlet I, the pilot pressure valve outlet J is connected to the oil port D, and the oil port D is connected to the pilot pressure valve control chamber Y.

[0014] Another objective of this invention is to provide a pilot throttle valve flow closed-loop control method for a modular cartridge-type load-port independently controlled electro-hydraulic valve. The method employs the aforementioned modular cartridge-type load-port independently controlled electro-hydraulic valve and includes the following steps: S1. Flow detection: The flow rate through the pilot throttle valve is detected by the flow sensor to obtain the pilot flow signal; S2. Signal Comparison: The pilot flow signal is compared with the set flow signal to obtain the flow deviation signal; S3. Control Adjustment: The control signal is adjusted by the flow controller according to the flow deviation signal; S4. Execution Output: The adjusted control signal is converted into current by a proportional amplifier, which drives the I proportional electromagnet to adjust the opening of the pilot throttle valve, thereby realizing closed-loop control of the pilot throttle valve flow.

[0015] Another objective of this invention is to provide a closed-loop control method for the main valve flow of a modular cartridge-type independently controlled electro-hydraulic valve with a load port. The method employs the aforementioned modular cartridge-type independently controlled electro-hydraulic valve with a load port and includes the following steps: S1. Flow detection: The flow rate through the pilot throttle valve is detected by the flow sensor to obtain the pilot flow signal; S2. Flow signal conversion: Convert the pilot flow signal into the main valve flow signal according to the flow amplification factor; S3. Signal Comparison: Compare the main valve flow signal with the set flow signal to obtain the flow deviation signal; S4. Control Adjustment: The control signal is adjusted by the flow controller according to the flow deviation signal; S5, Execution Output: The adjusted control signal is converted into current by a proportional amplifier, which drives the I proportional electromagnet to adjust the opening of the pilot throttle valve, thereby realizing closed-loop control of the main valve flow.

[0016] Another objective of this invention is to provide a closed-loop control method for the valve core displacement of a modular cartridge-type independently controlled electro-hydraulic valve with a load port. The method employs the aforementioned modular cartridge-type independently controlled electro-hydraulic valve with a load port and includes the following steps: S1. Displacement detection: The displacement of the pilot throttle valve core is detected by a displacement sensor to obtain the valve core displacement signal; S2. Signal Comparison: The detected valve core displacement signal is compared with the preset target displacement signal to obtain the displacement deviation signal; S3. Control Adjustment: The control signal is adjusted according to the displacement deviation signal by the displacement controller; S4, Execution Output: Converted into current by a proportional amplifier, it drives the I proportional electromagnet to adjust the opening of the pilot throttle valve, thereby realizing closed-loop control of the valve core displacement.

[0017] The modular cartridge-type load-port independently controlled electro-hydraulic valve provided by this invention has the following significant advantages compared with the prior art: First, through modular plug-in design, this invention achieves highly flexible configuration of control functions. Users can freely combine throttling control, flow control or pressure control modules according to different working conditions, effectively solving the problem of insufficient control freedom of traditional multi-way valves, significantly improving the matching accuracy of actuator inlet and outlet ports, and fundamentally improving the system's energy utilization and working condition applicability.

[0018] Secondly, the flow detection function is innovatively integrated into the control module, realizing the integration of flow "control-measurement". Based on the high dynamic and high precision characteristics of the pilot-stage small flow sensor, the pilot-stage flow closed-loop control is first realized. Through a clever internal flow feedback mechanism, the pilot-stage flow information is amplified and processed to realize real-time monitoring and control of the main valve flow. This overcomes the limitations of existing flow sensor technology for online detection of hydraulic system flow, such as high cost, large pressure loss, slow dynamic response, and inconvenience of immersion installation.

[0019] Furthermore, by developing each functional module based on a unified main valve structure, this invention maintains high performance while possessing excellent process compatibility and mass production feasibility. This design not only improves product reliability but also simplifies system debugging and maintenance, providing a high-performance, high-reliability solution for hydraulic systems in engineering machinery, and has promising prospects for widespread application. Attached Figure Description

[0020] Figure 1 A schematic diagram illustrating the structural principle of a modular cartridge-type independently controlled electro-hydraulic valve for load ports provided by this invention; Figure 2 This is a schematic diagram illustrating the structural principle of the throttling control module of the present invention; Figure 3 This is a schematic diagram illustrating the structural principle of the flow control module of the present invention; Figure 4 This is a schematic diagram illustrating the structural principle of the slide valve type flow sensor of the present invention; Figure 5 This is a schematic diagram illustrating the structural principle of the cone valve-type flow sensor of the present invention; Figure 6 This is a schematic diagram illustrating the structural principle of the pressure control module of the present invention; Figure 7 A schematic diagram illustrating the implementation principle of the pilot flow closed loop and valve core displacement closed loop of a modular cartridge-type load port independently controlled electro-hydraulic valve provided by the present invention. Figure 8 A schematic diagram illustrating the principle of a pilot flow closed-loop control method for a modular cartridge-type independently controlled electro-hydraulic valve provided by the present invention. Figure 9 A schematic diagram illustrating the implementation principle of a closed-loop control method for the main valve flow of a modular cartridge-type electro-hydraulic valve with independent load port control provided by the present invention. In the diagram: 1-Control Module I, 2-Control Module II, 3-Control Module III, 4-Control Module IV, 5-Main Valve, 6-Pilot Throttling Valve, 7-Main Valve Core, 8-Main Valve Body, 9-Main Valve Core Spring, 10-Proportional Solenoid I, 11-Pilot Throttling Valve Core, 12-Pilot Throttling Valve Body, 13-Pilot Throttling Valve Spring, 14-Flow Sensor, 15-Flow Sensor Valve Core, 16-Flow Sensor Valve Sleeve, 17-Flow Sensor Spring, 18-Sensor Proportional Solenoid, 19-Sensor Valve core displacement sensor, 20-damping orifice, 21-pilot pressure valve, 22-pilot pressure valve core, 23-pilot pressure valve body, 24-pilot pressure valve spring, 25-second proportional electromagnet, 26-first pressure sensor, 27-second pressure sensor, 28-subtractor, 29-differential pressure flow converter, 30-flow controller, 31-proportional amplifier, 32-displacement flow converter, 33-pilot throttle valve displacement sensor, 34-proportional coefficient, 35-displacement controller, 36-flow amplification coefficient; P - Oil inlet, T - Oil return, A - Working port A, B - Working port B, C - Port C, D - Port D, E - Flow sensor inlet, F - Flow sensor return, G - Pilot throttle valve inlet, H - Pilot throttle valve return, I - Pilot pressure valve inlet, J - Pilot pressure valve outlet, K - Feedback throttle groove, L - Internal flow channel of main valve core, M - Pilot pressure valve springless chamber, X - Main valve control chamber, Y - Pilot pressure valve control chamber. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0022] like Figure 1 As shown, the modular cartridge-type load-port independently controlled electro-hydraulic valve provided by this invention adopts an innovative modular design concept. The entire system includes an inlet oil line P, a return oil line T, a working oil port A, a working oil port B, and four independent control modules (Control Module I, Control Module II, Control Module III, and Control Module IV). Each control module is connected through a standardized cartridge interface to form a complete hydraulic control valve group.

[0023] In terms of specific connections, control module I (port C) and control module III (port C) are connected in parallel to the inlet circuit P, responsible for the input of hydraulic oil; control module II (port C) and control module IV (port C) are connected in parallel to the return circuit T, responsible for the return of hydraulic oil. The working ports are connected in a cross configuration: control module I (port D) and control module II (port D) are both connected to working port A, used to control actuator A chamber; control module III (port D) and control module IV (port D) are both connected to working port B, used to control actuator B chamber. This symmetrical connection architecture provides the basis for independent control of the load ports.

[0024] Each control module includes a standardized main valve 5 as its basic platform. The main valve 5 consists of a main valve core 7, a main valve body 8, and a main valve core spring 9, forming oil ports C and D, as well as the crucial main valve control chamber X. The specific structure of the main valve 5 is as follows: the main valve core 7 is made of high-quality alloy steel, with a pre-compressed main valve core spring 9 providing a restoring force at its upper end, and is precisely fitted into the main valve body 8. The main valve core 7 has a feedback throttling groove K with a specific geometric shape and integrates an internal flow channel L. This flow channel is preferably formed using a drilling process to ensure a smooth flow and low pressure loss. The main valve control chamber X is connected to the oil inlet P through the feedback throttling groove K and the internal flow channel L. Each control module can be independently configured as a throttling control module, a flow control module, or a pressure control module. This flexibility allows the system to adapt to various complex operating conditions.

[0025] The feedback throttling groove K is machined on the cylindrical surface of the main valve core 7, using rectangular, inverted trapezoidal, triangular, or combined cross-section grooves. The groove depth ensures communication with the internal flow channel L, and the groove width is 0.5-1.5mm. The main function of the feedback throttling groove K is to generate a control pressure difference when hydraulic oil flows through it. This pressure difference is proportional to the square of the flow rate, providing a detection signal for control. The internal flow channel L is integrated inside the main valve core 7 and is a drilled flow channel with a diameter of 2-3mm, used to connect the oil inlet P and the main valve control chamber X. The internal flow channel L is machined to ensure minimal pressure loss. The general connection path is: oil inlet P → valve body flow channel → internal flow channel L → feedback throttling groove K → main valve control chamber X. This path is the structural basis for the realization of all control functions.

[0026] In a specific possible embodiment, such as Figure 2As shown, when the control module is configured as a throttling control module, a pilot throttling valve 6 is integrated on the basis of the main valve 5. The core components of the pilot throttling valve 6 include a first proportional electromagnet 10, a pilot throttling valve core 11, a pilot throttling valve body 12, and a pilot throttling valve spring 13. The main valve control chamber X is connected to the pilot throttling valve inlet G, and the pilot throttling valve return port H is connected to the port D. The first proportional electromagnet 10 is preferably a high-frequency response proportional electromagnet with a response time of less than 10 ms, enabling precise current-to-force conversion. The clearance between the pilot throttling valve core 11 and the valve body 12 is controlled at 7-15 μm, ensuring both sealing and flexible movement.

[0027] During operation, hydraulic oil enters through port C and flows through the internal flow channel L and feedback throttling groove K to the main valve control chamber X. By adjusting the control current (typical value 0-2.5A) of the first proportional electromagnet 10, the opening size of the pilot throttling valve core 11 can be precisely controlled, thereby regulating the flow rate through the feedback throttling groove K. In this embodiment, the feedback throttling groove K is rectangular. During operation, the main valve inlet flows through the feedback throttling groove K via the internal flow L, flowing towards the pilot throttling valve G, forming a hydraulic bridge network used to control the opening degree of the main valve core 7. Hydraulic oil path: Module port C → Valve body flow channel → Flow channel L inlet → Internal flow channel L → Throttling groove K → Control chamber X → Pilot throttling valve inlet G → Pilot throttling valve control chamber → Pilot throttling valve return port H → Module port D. By optimizing the geometric parameters of groove K, precise adjustment of the main valve core displacement is achieved, thereby realizing continuous and precise regulation of the main oil circuit flow rate. This module is particularly suitable for working conditions that require high dynamic response, such as the boom movement control of excavators.

[0028] In one specific embodiment, the flow control module integrates a high-precision flow sensor 14 and a flow control unit based on the throttling control module. The flow control unit includes a flow controller 30 and a proportional amplifier 31. The oil inlet E of the flow sensor 14 is connected to the main valve control chamber X through an internal flow channel, and the oil outlet F is connected to the oil inlet G of the pilot throttling valve 6, forming a closed-loop detection path. Figure 3 ).

[0029] The flow control unit is the key innovation of this invention, comprising a flow controller 30 and a proportional amplifier 31. The flow controller 30 employs a high-performance digital signal processor to receive detection signals from the flow sensor 14 and calculates the control quantity in real time using a built-in PID control algorithm. The proportional amplifier 31 amplifies the control signal output from the flow controller 30, converting it into a drive current output to the first proportional electromagnet 10.

[0030] In operation, hydraulic oil flows through flow sensor 14, generating a detection signal, which is transmitted to flow controller 30. Flow controller 30 compares the detection signal with the set value, obtains a deviation signal, and outputs a control signal after processing by the control algorithm. Proportional amplifier 31 linearly converts this control signal into a drive current of 0-2A to 0-2.5A to precisely control the opening of pilot throttle valve 6.

[0031] In some preferred embodiments, the detection signal of the flow sensor 14 can be acquired by different conversion devices. For example, in one embodiment, the differential pressure signal between the inlet and outlet of the flow sensor can be converted into a flow signal by a differential pressure-flow converter 29. In another embodiment, the displacement signal of the flow sensor valve core can be converted into a flow signal by a displacement-flow converter 32.

[0032] Preferably, the flow sensor 14 is a slide valve type flow sensor ( Figure 4 The flow sensor 14 operates based on the principle of force balance. It includes a flow sensor valve core 15, a flow sensor valve sleeve 16, and a flow sensor spring 17. The flow sensor valve core 15 is installed inside the flow sensor valve sleeve 16, with one end connected to the flow sensor spring 17 to form a spring cavity, and the other end connected to the sensor proportional electromagnet 18 to form a springless cavity. The oil inlet E of the flow sensor 14 communicates with the springless cavity, and the oil outlet F communicates with the spring cavity through a damping hole 20. The flow sensor valve core 15 preferably has a diameter of 8-12mm and is installed inside the precision-ground flow sensor valve sleeve 16. The spring cavity and springless cavity of the flow sensor valve core 15 are connected to the oil outlet F and oil inlet E, respectively. At this time, the sensor displacement, the pressure difference between the inlet and outlet, and the flow sensor spring 17 form a force balance system. Further, according to the following flow formula, the correlation conversion between sensor displacement, pressure difference, and flow rate is achieved. The sensor proportional electromagnet 18 provides adjustable electromagnetic force to compensate for interference factors such as spring force and hydraulic force on the flow sensor valve core 15, thereby improving the flow detection accuracy of the sensor.

[0033] Preferably, the flow sensor 14 is a cone valve type flow sensor ( Figure 5 The flow sensor 14 employs the principle of conical throttling. It includes a flow sensor valve core 15, a flow sensor valve sleeve 16, and a flow sensor spring 17. The flow sensor valve core is installed inside the flow sensor valve sleeve 16. The large end of the flow sensor valve core 15 connects to the flow sensor spring 17 to form a spring cavity, and the small end of the flow sensor valve core 15 connects to the flow sensor valve sleeve 16 to form an oil inlet E. The oil outlet F communicates with the flow sensor spring cavity through a damping hole 20. The cone angle of the conical valve core is preferably 30°-45°, forming a precise throttling area with the valve seat. The flow sensor spring 17 provides preload force, which balances the pressure difference generated when the oil flows through the conical valve with the spring force.

[0034] Traffic detection offers two preferred options: The displacement detection method is used to obtain the flow signal by detecting the valve core displacement of the flow sensor 14. Specifically, the valve core displacement z is detected in real time by a high-precision valve core displacement sensor 19 (resolution 0.1μm), or a sensor proportional electromagnet with an integrated displacement sensor is added. The valve core position z of the flow sensor is detected by detecting the displacement and velocity of the armature of the sensor proportional electromagnet. Based on the following displacement-flow conversion relationship, the flow rate through the pilot throttle valve can be accurately detected. : (1) The differential pressure detection method uses a pressure sensor array, including a first pressure sensor 26 located at the oil inlet E and a second pressure sensor 27 located at the oil outlet F, to obtain the flow signal by detecting the pressure difference across the flow sensor 14. Specifically, the first pressure sensor 26 and the second pressure sensor 27 are respectively added to the oil inlet E and outlet F of the flow sensor. Based on the following differential pressure-flow conversion relationship, the flow rate through the pilot throttle valve can be accurately detected by real-time monitoring of the pressure difference across the flow sensor. .

[0035] (2) In the formula: For flow sensors to detect flow rate, For flow coefficient, For the displacement of the flow sensor valve core, This is the pre-compression amount for the displacement of the flow sensor. The flow sensor valve core end face area, For the spring stiffness of the flow sensor, For steady-state hydrodynamic stiffness, The flow-displacement coefficient. The pressure difference between pressure sensor I 26 and pressure sensor II 27.

[0036] In addition, such as Figure 3 and Figure 7 As shown, the pilot throttle valve 6 further incorporates a displacement sensor 33 and a displacement control unit, forming a displacement closed-loop enhanced flow control module. The displacement sensor 33 is a high-precision LVDT displacement sensor, directly mounted on the pilot throttle valve core 11 to detect the core displacement in real time. Alternatively, the displacement sensor 33 can be integrated into the first proportional electromagnet 10, indirectly reflecting the core position by detecting the displacement of the electromagnet armature. The displacement control unit includes a displacement controller 35, employing a feedforward-feedback composite control strategy. The displacement controller 35 receives the detection signal from the displacement sensor 33, compares it with the target displacement signal, and outputs a displacement compensation signal.

[0037] The key to the above improvements lies in the coordinated operation of the flow closed loop and the displacement closed loop: the basic flow closed loop detects the flow through the flow sensor 14 and realizes flow closed loop control through the flow controller 30; the displacement enhancement closed loop directly detects the valve core position through the displacement sensor 33 and realizes precise position positioning through the displacement controller 35; the dual closed loops work together: the displacement closed loop ensures the valve core position accuracy, and the flow closed loop ensures the flow control accuracy, and the two work together to improve system performance.

[0038] In a specific possible embodiment, such as Figure 6 As shown, the pressure control module uses a pilot pressure valve 21 to achieve precise pressure control. The core components of the pilot pressure valve 21 include a pilot pressure valve core 22, a pilot pressure valve body 23, a pilot pressure valve spring 24, and a second proportional electromagnet 25. The large end of the pilot pressure valve core 22 is connected to the pilot pressure valve spring 24 and installed inside the pilot pressure valve body 23, forming the pilot pressure valve control chamber Y, the pilot pressure valve inlet I, the pilot pressure valve outlet J, and the pilot pressure valve springless chamber M. The main valve control chamber X is connected to the pilot pressure valve inlet I, the pilot pressure valve outlet J is connected to port D, and port D is connected to the pilot pressure valve control chamber Y. The second proportional electromagnet 25 adopts a high-pressure resistant design, with a maximum working pressure of 35 MPa, and has excellent current-force linearity characteristics.

[0039] The pilot pressure valve 21 employs a direct pressure detection principle. The second proportional electromagnet 25 acts on the pilot pressure valve spring 24 via a spring seat. The main valve control chamber X is connected to the pilot pressure valve inlet I, the pilot pressure valve outlet J is connected to the module port D, the pilot pressure valve spring chamber M is connected to the oil tank, and the main valve working port D is connected to the pilot pressure valve control chamber Y. The pressure in the pilot pressure valve control chamber Y acts on the lower end face of the pilot pressure valve core, forming a direct pressure detection closed-loop control. The pressure in the main valve control chamber X acts on the lower end face of the pilot pressure valve core 22 via the pilot pressure valve inlet I, and is compared with the electromagnetic force exerted by the second proportional electromagnet 25 through the spring seat. When the system pressure changes, the force balance acting on the valve core is broken, causing the valve core to displace and change the opening of the pilot pressure valve 21, thereby adjusting the pressure in the main valve control chamber and forming a rapid pressure feedback closed loop. The pilot pressure valve control chamber Y is specially optimized to be directly connected to the oil port D, so that the working pressure is directly fed back to the lower end face of the pilot valve core, forming a high-response pressure closed-loop control, avoiding the pressure attenuation and delay problems in traditional pilot control.

[0040] This embodiment provides a pilot throttle valve flow closed-loop control method for a modular cartridge-type load port independently controlled electro-hydraulic valve. The method employs the aforementioned modular cartridge-type load port independently controlled electro-hydraulic valve, wherein at least one of the control modules is the flow control module, and includes the following steps: Flow detection: The flow rate through the pilot throttle valve 6 is detected by the flow sensor 14 to obtain the pilot flow signal; Signal comparison: The pilot flow signal is compared with the set flow signal to obtain the flow deviation signal; Control adjustment: The control signal is adjusted by the flow controller 30 according to the flow deviation signal; Execution output: The adjusted control signal is converted into current by the proportional amplifier 31, which drives the first proportional electromagnet 10 to adjust the opening of the pilot throttle valve 6, thereby realizing closed-loop control of the pilot throttle valve flow.

[0041] like Figure 8 As shown, this embodiment achieves precise closed-loop control of the flow rate of the pilot throttle valve 6 through the following process: 1. Flow detection: The flow rate through the pilot throttle valve 6 is detected using the aforementioned displacement detection method or differential pressure detection method to obtain the pilot flow signal. This embodiment employs a differential pressure detection method, using pressure sensor 26 (I) and pressure sensor 27 (II) to detect the pressure across the pilot throttle valve 6. The two pressure signals are then processed by subtractor 28 to obtain the crucial differential pressure signal. The differential pressure flow converter 29 uses formula (2) to convert the pressure flow into the flow rate. Converted to pilot flow signal .

[0042] 2. Signal Comparison: The converted actual flow signal With the externally given set flow signal Both are input to the flow controller 30. Inside the controller, the two are compared to generate a flow deviation signal.

[0043] 3. Control Adjustment: The flow controller 30 runs its internal control algorithm (such as PID) based on the received flow deviation signal, adjusts and outputs a new control signal.

[0044] 4. Output: The control signal enters the proportional amplifier 31 and is converted into a current signal of a certain intensity. This current drives the first proportional electromagnet 10 to operate, generating a corresponding electromagnetic force. The electromagnetic force acts on the pilot throttle valve core 11, changing its position, thereby adjusting the control pressure or opening of the pilot throttle valve core 11, forming a closed-loop feedback, and ultimately achieving precise flow control.

[0045] The pilot-operated throttle valve flow closed-loop control features fast response, high accuracy, and low pressure loss. Through real-time detection and feedback adjustment, it can effectively overcome the influence of system parameter changes and external interference, making it suitable for applications requiring precise control of pilot stage flow.

[0046] This embodiment provides a closed-loop control method for the main valve flow of a modular cartridge-type independently controlled electro-hydraulic valve with a load port. The method employs the aforementioned modular cartridge-type independently controlled electro-hydraulic valve with a load port, wherein at least one of the control modules is the flow control module, and includes the following steps: Flow detection: The flow rate through the pilot throttle valve 6 is detected by the flow sensor 14 to obtain the pilot flow signal; Flow signal conversion: The pilot flow signal is converted into the main valve flow signal according to the flow amplification factor; Signal comparison: The main valve flow signal is compared with the set flow signal to obtain the flow deviation signal; Control adjustment: The control signal is adjusted by the flow controller 30 according to the flow deviation signal; Execution output: The adjusted control signal is converted into current by the proportional amplifier 31, which drives the first proportional electromagnet 10 to adjust the opening of the pilot throttle valve 6, thereby realizing closed-loop control of the main valve flow.

[0047] like Figure 9 As shown, this embodiment achieves precise control of the main valve flow rate through the following process: 1. Flow detection: The flow rate through the pilot throttle valve 6 is detected using the aforementioned displacement detection method or differential pressure detection method to obtain the pilot flow signal. This embodiment uses a displacement detection method, and obtains the pilot flow signal through the displacement-flow converter 32 using formula (1). .

[0048] 2. The pilot flow signal Based on a flow amplification factor of 36, it is converted into a main valve flow signal. The expression is: (3) in, , These are the main valve flow coefficient and the main valve core feedback groove flow coefficient, respectively. , These are the main valve core area gain and the feedback throttling groove area gain, respectively. 3. Transfer the main valve flow signal With the externally given set flow signal By comparison, the flow deviation signal is obtained; 4. Input the flow deviation signal into the flow controller 30, and calculate, adjust and output a new control signal through the built-in control algorithm (such as PID) of the flow controller 30; 5. The adjusted control signal is input to the proportional amplifier and converted into a drive current. This current drives the first proportional electromagnet 10 to generate electromagnetic force. The electromagnetic force adjusts the position of the pilot throttle valve core 11, changing its opening. The control action of the pilot throttle valve 6 ultimately affects the movement of the main valve core 7, thereby precisely controlling the flow rate of the main oil circuit from port C to D, forming a closed loop.

[0049] The main valve flow closed-loop control achieves precise control of the main oil circuit flow through flow amplification. This method is particularly suitable for high-flow-rate operating conditions, maintaining control accuracy while offering good energy-saving effects.

[0050] This embodiment provides a closed-loop control method for the valve core displacement of a modular cartridge-type independently controlled electro-hydraulic valve with a load port. The method employs the aforementioned modular cartridge-type independently controlled electro-hydraulic valve with a load port. At least one of the control modules is either a flow control module or a throttling control module. The pilot throttling valve 6 is further equipped with a displacement sensor 33 and a displacement control unit. The displacement control unit includes a displacement controller 35 for detecting the position of the pilot throttling valve core 11. The displacement sensor 33 is located on the pilot throttling valve core 11 or the first proportional electromagnet 10. Specifically, the method includes the following steps to achieve precise closed-loop control of the valve core displacement: Displacement detection: The displacement of the pilot throttle valve core 11 is detected by displacement sensor 33 to obtain the valve core displacement signal; Signal comparison: The detected valve core displacement signal is compared with the preset target displacement signal to obtain the displacement deviation signal; Control and adjustment: The control signal is adjusted by the displacement controller 35 according to the displacement deviation signal; Execution output: Converted into current by proportional amplifier 31, it drives the I proportional electromagnet 10 to adjust the opening of the pilot throttle valve, thereby realizing closed-loop control of valve core displacement.

[0051] like Figure 7 As shown, this embodiment achieves precise closed-loop control of the valve core displacement, specifically as follows: 1. Displacement Detection: In this embodiment, a high-precision displacement sensor 33 installed on the pilot throttle valve core 11 directly detects the real-time displacement of the pilot throttle valve core 11 to obtain the valve core displacement signal. The displacement sensor 33 preferably employs an LVDT (linear variable differential transformer) or a magnetostrictive sensor, capable of measuring the valve spool position in real time with high resolution (e.g., ±0.1 μm); 2. Signal Comparison: The valve core displacement signal detected by displacement sensor 33 is compared. With the preset target displacement signal The actual displacement signal is input to the displacement controller 35. Inside the displacement controller 35, the actual displacement signal is... With target displacement signal Real-time comparison is performed to calculate the displacement deviation signal. ; 3. Control and Adjustment: The displacement controller 35 adjusts the displacement based on the received displacement deviation signal. e Advanced control algorithms (such as feedforward-feedback composite control and adaptive PID) are used to adjust the control signal. The controller dynamically calculates and outputs an optimized control signal based on the magnitude and rate of change of the deviation. u This is intended to eliminate displacement deviation; 4. Execution Output: The control signal output by the displacement controller 35 u The signal is transmitted to proportional amplifier 31. Proportional amplifier 31 linearly converts the control signal u into a corresponding drive current I. This drive current I is supplied to the first proportional electromagnet 10, driving its armature to generate an electromagnetic force proportional to the current I. F This electromagnetic force F The system acts on the pilot throttle valve core 11, directly adjusting its axial position, thereby changing the opening of the pilot throttle valve 6. Through this closed loop, the system can correct the actual position of the pilot throttle valve core 11 in real time, enabling it to accurately track the target displacement signal. This ultimately achieves high-precision closed-loop control of the valve core displacement. The proportional electromagnet 10 drives the pilot throttle valve core 11 to generate displacement. This changes the opening degree of the pilot throttle valve 6. This change in opening degree directly determines the real-time flow rate through the pilot throttle valve 6, i.e., the pilot flow signal. .Should The signal is continuously detected by the flow sensor 14 in the system. The signal serves as a key real-time parameter for the system's operating status, used for health diagnosis and fault early warning. Additionally, it is related to the valve core displacement signal. Cross-validation ensures that the displacement-flow relationship meets expected characteristics, improving system reliability.

[0052] Closed-loop control of valve spool displacement further improves the system's control performance. By directly detecting the valve spool displacement, the influence of the electromagnet's nonlinear characteristics is eliminated, resulting in higher control accuracy and stability.

[0053] The three methods described in this invention—pilot throttle valve flow closed-loop control, main valve flow closed-loop control, and valve core displacement closed-loop control—can employ any one or more of the following coordinated control modes according to actual operating conditions: 1. Flow-displacement dual closed-loop control mode When high-precision flow control is required, a dual closed-loop system consisting of pilot-operated throttle valve flow closed-loop control and valve core displacement closed-loop control is adopted. Specifically: The valve core displacement closed loop serves as the inner loop, and the valve core position is directly detected by the displacement sensor 33, enabling rapid coarse adjustment with a short response time.

[0054] The pilot throttle valve uses a flow closed loop as the outer loop, and precise fine-tuning is achieved through flow detection, resulting in high control accuracy.

[0055] The two closed loops work together through the displacement controller 35 and the flow controller 30, with the inner loop ensuring response speed and the outer loop ensuring control accuracy. 2. Master-slave dual closed-loop control mode When precise speed control of the actuator is required, a master-slave dual closed-loop system consisting of main valve flow closed-loop control and pilot throttle valve flow closed-loop control is adopted: The pilot throttle valve flow closed loop acts as a slave loop, precisely controlling the pilot stage flow and eliminating the nonlinear effects of the pilot stage; The main valve flow closed loop serves as the main loop, and the main flow is monitored through the flow amplification factor g to achieve precise speed control of the actuator.

[0056] This mode is particularly suitable for high-flow, high-precision applications, with speed control accuracy reaching ±2%. 3. Adaptive multi-loop control mode: Under varying load conditions, an adaptive switching strategy for three closed-loop controls is adopted: under light load conditions, the valve core displacement closed loop is used first, which has fast response and low energy consumption; under medium load conditions, the pilot throttle valve flow closed loop is used to balance accuracy and response; under heavy load conditions, the main valve flow closed loop is activated to ensure control accuracy under high flow rates; the system automatically switches control modes by real-time detection of load pressure to achieve optimal energy efficiency.

[0057] Embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of one or more computer-usable storage media (including, but not limited to, disk storage, etc.) containing computer-usable program code. CD - ROM It takes the form of a computer program product implemented on (such as optical memory, etc.).

[0058] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0059] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0060] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0061] Contents not described in detail in this specification are prior art known to those skilled in the art. It is hereby indicated that the above description is intended to help those skilled in the art understand this invention, but does not limit the scope of protection of this invention. Any equivalent substitutions, modifications, improvements, or simplifications of the above descriptions that do not depart from the essential content of this invention fall within the scope of protection of this invention.

Claims

1. A modular plug-in load port independent control electro-hydraulic valve comprising an oil inlet path P, an oil return path T, a working oil port A and a working oil port B, characterized in that, Further comprising a first control module (1), a second control module (2), a third control module (3) and a fourth control module (4), wherein: The oil port C of the first control module (1) and the oil port C of the third control module (3) are communicated with the oil inlet path P for receiving hydraulic oil; The oil port C of the second control module (2) and the oil port C of the fourth control module (4) are communicated with the oil return path T for returning hydraulic oil; The oil port D of the first control module (1) and the oil port D of the second control module (2) are communicated with the working oil port A for controlling the actuator A cavity; The oil port D of the third control module (3) and the oil port D of the fourth control module (4) are communicated with the working oil port B for controlling the actuator B cavity; Wherein, in the first control module (1), the second control module (2), the third control module (3) and the fourth control module (4), each control module is one of a throttle control module, a flow control module or a pressure control module, and each control module comprises a main valve (5); the main valve (5) comprises a main valve core (7), a main valve body (8) and a main valve core spring (9), and is formed with the oil port C, the oil port D and a main valve control cavity X; the main valve core (7) is processed with a feedback throttle groove K and integrated with an internal flow channel L, and the main valve control cavity X is communicated with the oil port C or the oil port D of the module through the feedback throttle groove K and the internal flow channel L.

2. A modular plug-in load port independent control electro-hydraulic valve according to claim 1, wherein, The throttle control module further comprises a pilot throttle valve (6), and the pilot throttle valve (6) comprises a first proportional electromagnet (10), a pilot throttle valve core (11), a pilot valve body (12) and a pilot throttle valve spring (13), wherein the main valve control cavity X is communicated with an oil inlet G of the pilot throttle valve (6), and an oil return H of the pilot throttle valve (6) is communicated with the oil port D.

3. A modular plug-in load port independent control electro-hydraulic valve according to claim 2, wherein, The flow control module adds a flow sensor (14) and a flow control unit on the basis of the throttle control module, the flow control unit comprises a flow controller (30) and a proportional amplifier (31), the oil inlet E of the flow sensor (14) is communicated with the main valve control cavity X, and the oil outlet F of the flow sensor (14) is communicated with the oil inlet G of the pilot throttle valve (6).

4. A modular plug-in load port independent control electro-hydraulic valve according to claim 3, wherein, The flow sensor (14) is in the form of a spool valve or a cone valve, wherein: When the flow sensor (14) is in the form of a spool valve, it comprises a flow sensor valve core (15), a flow sensor valve sleeve (16), a flow sensor spring (17) and a sensor proportional electromagnet (18), wherein the flow sensor valve core (15) is installed in the flow sensor valve sleeve (16), one end is connected with the flow sensor spring (17) to form a spring cavity, and the other end is connected with the sensor proportional electromagnet (18) to form a springless cavity; When the flow sensor (14) is in the form of a cone valve, it comprises a flow sensor valve core (15), a flow sensor valve sleeve (16) and a flow sensor spring (17), wherein the flow sensor valve core (15) is installed in the flow sensor valve sleeve (16), and the large end is connected with the flow sensor spring (17) to form a spring cavity.

5. A modular plug-in load port independent control electro-hydraulic valve according to claim 3, wherein, The flow sensor (14) is provided with any one of the following flow conversion mechanisms: a displacement sensor (19) for obtaining a flow signal by detecting the displacement of the spool of the flow sensor (14); or a pressure sensor set including a first pressure sensor (26) arranged at the oil inlet E and a second pressure sensor (27) arranged at the oil outlet F for obtaining a flow signal by detecting the pressure difference between the two ends of the flow sensor (14).

6. A modular plug-in load port independent control electro-hydraulic valve according to claim 2 or 3, wherein, The pilot throttle valve (6) is further provided with a displacement sensor (33) and a displacement control unit, wherein: The displacement control unit includes a displacement controller (35) for detecting and closed-loop controlling the position of the spool (11) of the pilot throttle valve; The displacement sensor (33) is arranged on the spool (11) of the pilot throttle valve or the first proportional solenoid (10).

7. A modular plug-in load port independent control electro-hydraulic valve according to claim 1, wherein, The pressure control module further includes a pilot pressure valve (21) including a pilot pressure valve spool (22), a pilot pressure valve body (23), a pilot pressure valve spring (24) and a second proportional solenoid (25), and is formed with a pilot pressure valve control cavity Y, a pilot pressure valve oil inlet I, a pilot pressure valve oil outlet J and a pilot pressure valve spring-free cavity M, wherein the main valve control cavity X is in communication with the pilot pressure valve oil inlet I, the pilot pressure valve oil outlet J is in communication with the oil port D, and the oil port D is in communication with the pilot pressure valve control cavity Y.

8. A pilot throttling valve flow closed loop control method for a modular plug-in load port independent control electro-hydraulic valve, characterized in that, The method uses a modular plug-in load port independent control electro-hydraulic valve according to any one of claims 3-6, comprising the following steps: S1, flow detection: detecting the flow through the pilot throttle valve (6) by the flow sensor (14) to obtain a pilot flow signal; S2, signal comparison: comparing the pilot flow signal with a set flow signal to obtain a flow deviation signal; S3, control adjustment: adjusting the control signal according to the flow deviation signal by the flow controller (30); S4, execution output: converting the adjusted control signal into current through the proportional amplifier (31) to drive the first proportional solenoid (10) to adjust the opening of the pilot throttle valve (6), realizing closed-loop control of the pilot throttle valve flow.

9. A modular plug-in load port independent control electro-hydraulic valve main valve flow closed loop control method, characterized in that, The method uses a modular plug-in load port independent control electro-hydraulic valve according to any one of claims 3-6, comprising the following steps: S1, flow detection: detecting the flow through the pilot throttle valve (6) by the flow sensor (14) to obtain a pilot flow signal; S2, flow signal conversion: converting the pilot flow signal into a main valve flow signal according to a flow amplification coefficient; S3, signal comparison: comparing the main valve flow signal with a set flow signal to obtain a flow deviation signal; S4, control adjustment: adjusting the control signal according to the flow deviation signal by the flow controller (30); S5, execution output: converting the adjusted control signal into current through the proportional amplifier (31) to drive the first proportional solenoid (10) to adjust the opening of the pilot throttle valve (6), realizing closed-loop control of the main valve flow.

10. A valve core displacement closed-loop control method of a modular plug-in load port independent control electro-hydraulic valve, characterized in that, The method uses a modular plug-in load port independent control electro-hydraulic valve according to claim 6, comprising the following steps: S1, displacement detection: the displacement of the pilot throttle valve spool (11) is detected by a displacement sensor (33) to obtain a spool displacement signal; S2, signal comparison: the detected spool displacement signal is compared with a preset target displacement signal to obtain a displacement deviation signal; S3, control adjustment: the displacement controller (35) adjusts the control signal according to the displacement deviation signal; S4, execution output: converted into a current by a proportional amplifier (31) to drive the first proportional electromagnet (10) to adjust the opening of the pilot throttle valve (6), thereby realizing closed-loop control of the spool displacement.

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