CN108825596B - Speed feedback type accurate positioning anti-swing control device and method for hydraulic slewing mechanism - Google Patents
Speed feedback type accurate positioning anti-swing control device and method for hydraulic slewing mechanism Download PDFInfo
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- CN108825596B CN108825596B CN201810984804.8A CN201810984804A CN108825596B CN 108825596 B CN108825596 B CN 108825596B CN 201810984804 A CN201810984804 A CN 201810984804A CN 108825596 B CN108825596 B CN 108825596B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/625—Accumulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/86—Control during or prevention of abnormal conditions
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- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
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Abstract
The invention provides a speed feedback type accurate positioning anti-swing control device of a hydraulic slewing mechanism, which comprises the following components: the device comprises a pressure oil source, a rotary control valve, a pressurizing piston cylinder, a pressurizing valve, a rotary motor, a rotary mechanism, a speed detection module, a controller module and an energy accumulator; the pressure oil source is connected with the rotary control valve and the energy accumulator, the rotary motor is connected with the rotary mechanism, the rotary control valve and the booster valve, the booster piston cylinder is connected with the booster valve and the energy accumulator, and the speed detection module is connected with the rotary mechanism; the controller module controls the pressure boosting valve to realize the pressure boosting of the first working oil cavity or the second working oil cavity of the rotary motor according to the rotary actual working condition. The technical scheme provided by the invention can realize the accurate positioning of the hydraulic slewing mechanism and effectively prevent the reverse swing phenomenon in the accurate positioning process. Meanwhile, the invention also provides a speed feedback type accurate positioning anti-swing control method of the hydraulic slewing mechanism comprising the speed feedback type accurate positioning anti-swing control device.
Description
Technical Field
The invention relates to the field of hydraulic rotary equipment of engineering machinery, in particular to a speed feedback type accurate positioning anti-swing control device and method of a hydraulic rotary mechanism.
Background
Along with the high-speed development of national economy, the engineering machinery industry develops rapidly, and the good ring of the running performance of the slewing mechanism directly influences the performance and safety of engineering machinery equipment. At present, a great amount of engineering mechanical equipment adopts a hydraulic rotary motor to drive a rotary mechanism to work, namely, the hydraulic rotary motor is driven by the pressure of hydraulic oil to realize various operation activities of the rotary mechanism.
In the prior art, in the positioning braking process of the engineering machinery rotary mechanism, when the rotary hydraulic valve returns to the middle position, an oil return cavity oil way of the hydraulic rotary motor is closed, and the rotary mechanism can continue to rotate clockwise due to inertia, so that the oil pressure of the oil return cavity of the hydraulic rotary motor is increased to generate rotary braking moment to realize positioning braking of the rotary mechanism. That is, the swing mechanism brakes by using the back pressure of the oil return cavity of the hydraulic swing motor, the back pressure is generated by the continuous rotation of the swing mechanism, and the back pressure value is increased from small to large, so that the swing mechanism is positioned inaccurately and braked untimely. Meanwhile, when the rotation speed of the slewing mechanism is braked to zero, the oil pressure difference between the two working oil cavities of the hydraulic slewing motor is still large, so that the slewing mechanism cannot immediately stop moving and reversely rotates. In the positioning and braking process of the engineering machinery slewing mechanism, the reverse rotation swaying phenomenon generally occurs repeatedly, so that the slewing mechanism runs unstably in the slewing positioning and braking process, the performance and the working efficiency of equipment are seriously affected, and great potential safety hazards are brought to the running of the equipment and the engineering construction. Therefore, aiming at the phenomena of inaccurate positioning and untimely braking of the slewing mechanism of the engineering machinery and reverse backswing in the slewing braking process, a technology capable of realizing the rapid positioning and braking of the slewing mechanism and effectively preventing the reverse backswing phenomenon in the rapid positioning and braking process is urgently needed to be found.
Disclosure of Invention
In order to solve the technical problems in the conventional engineering machinery rotary positioning braking process, the invention provides a speed feedback type accurate positioning anti-swing control device and method for a hydraulic rotary mechanism, and aims to realize rapid accurate positioning braking of the rotary mechanism and effectively prevent reverse swing phenomenon in the rapid accurate positioning braking process.
In order to achieve the above purpose, the invention adopts the following technical scheme:
Speed feedback type accurate positioning anti-swing control device and method for hydraulic slewing mechanism of engineering machinery, comprising: the device comprises a pressure oil source, a rotary control valve, a pressurizing piston cylinder, a pressurizing valve, a rotary motor, a rotary mechanism, a speed detection module, a controller module, an energy accumulator and the like; the high-pressure oil provided by the pressure oil source is communicated to a high-pressure oil inlet of the rotary control valve, an oil return port of the rotary control valve is communicated with an oil return path, and 2 working oil ports of the rotary control valve are respectively communicated with 2 working oil cavities of the rotary motor; the high-pressure oil provided by the pressure oil source is also communicated to the energy accumulator, the energy accumulator is communicated with a pressurizing rodless cavity of the pressurizing piston cylinder, a pressurizing rod cavity of the pressurizing piston cylinder is communicated with a pressurizing oil inlet of the pressurizing valve, 2 working oil ports of the pressurizing valve are also respectively communicated with 2 working oil cavities of the rotary motor, the pressurizing valve is used for communicating or cutting off a first working oil cavity or a second working oil cavity of the rotary motor with the pressurizing rod cavity of the pressurizing piston cylinder, and the pressurizing piston cylinder is used for boosting the oil pressure of the energy accumulator; the rotary motor is connected with the rotary mechanism to drive the rotary mechanism to perform various operations, and the speed detection module is used for detecting the rotation speed of the rotary mechanism; the controller module is connected with the rotary control valve, the booster valve and the speed detection module, and can control the first working oil cavity or the second working oil cavity of the rotary motor to be communicated with or cut off from the booster rod cavity of the booster piston cylinder by switching the working state of the booster valve according to rotary braking information of the rotary control valve and rotation speed information of the speed detection module, so that quick and accurate positioning braking of the hydraulic rotary mechanism is realized, and reverse swing phenomenon in a quick and accurate positioning braking process is effectively prevented.
In the above technical solution, preferably, an oil path of the accumulator is provided with a manual pressure relief ball valve and a safety relief valve, the manual pressure relief ball valve is used for manually relieving pressure of the oil path, and the safety relief valve is used for setting safety pressure of the oil path; a one-way valve is arranged between the pressure oil source and the energy accumulator, an inlet of the one-way valve is communicated with the pressure oil source, and an outlet of the one-way valve is communicated with the energy accumulator.
In the above technical solution, preferably, the pressure boost valve is a three-position three-way electromagnetic directional valve, and the first working state of the pressure boost valve communicates the first working oil chamber of the rotary motor with the pressure boost rod chamber of the pressure boost piston cylinder, and the second working oil chamber is cut off from the pressure boost rod chamber of the pressure boost piston cylinder; the second working oil cavity of the rotary motor is communicated with the pressurizing rod cavity of the pressurizing piston cylinder in the second working state of the pressurizing valve, and the first working oil cavity is cut off from the pressurizing rod cavity of the pressurizing piston cylinder; and the middle position state of the pressure boosting valve cuts off the first working oil cavity and the second working oil cavity of the rotary motor from the pressure boosting rod cavity of the pressure boosting piston cylinder.
In the above technical solution, preferably, the rotation control valve is a three-position four-way electromagnetic reversing valve, and the first working state and the second working state of the rotation control valve respectively control the rotation motor to drive the rotation mechanism to rotate clockwise and anticlockwise; and when the rotary control valve is in a neutral state, the rotary motor is controlled to perform positioning braking.
In the above technical solution, preferably, the controller module immediately controls the boost valve to boost the back pressure braking oil cavity of the rotary motor and the boost rod cavity of the boost piston cylinder to the highest oil pressure according to the braking signal of the rotary control valve switched from the first working state or the second working state to the middle state in the positioning braking process of the hydraulic rotary mechanism, so that the braking moment of the rotary motor mechanism is maximized and quick braking is realized; when the rotation speed of the hydraulic rotation mechanism is rapidly positioned and braked to zero and the reverse rotation backswing phenomenon is about to occur, the controller module immediately controls the booster valve to boost the highest oil pressure by the short-time communication between the other working oil cavity of the rotation motor and the booster rod cavity of the booster piston cylinder according to the fact that the rotation speed of the rotation mechanism detected by the speed detection module is reduced to about 0 as a signal, so that the oil pressure difference of the 2 working oil cavities of the rotation motor is instantaneously reduced to be close to zero, and the reverse rotation driving moment of the rotation motor is greatly reduced, thereby realizing rapid and accurate positioning and braking of the hydraulic rotation mechanism and effectively preventing the reverse backswing phenomenon in the rapid and accurate positioning and braking process.
The technical scheme provided by the invention has the remarkable beneficial effects that:
in the process of slewing positioning braking of engineering machinery, when a hydraulic slewing mechanism is switched from an operating state to a starting point for braking, the controller module immediately controls the booster valve to communicate a back pressure braking oil cavity of the slewing motor with a booster rod cavity of the booster piston cylinder in a short time, and the booster piston cylinder is used for boosting the oil pressure of the energy accumulator, so that the oil pressure of the back pressure braking oil cavity of the slewing motor is immediately set to be the highest, the slewing braking moment reaches the maximum, and the rapid positioning braking of the slewing motor mechanism is effectively realized;
When the rotation speed of the hydraulic rotary mechanism is rapidly braked to zero and the reverse rotation backswing phenomenon is about to occur, the speed detection module immediately detects that the rotation speed of the rotary mechanism is reduced to about 0 and transmits the rotation speed to the controller module as a signal, the controller module rapidly controls the booster valve to rapidly communicate the other working oil cavity of the rotary motor with the booster rod cavity of the booster piston cylinder according to the signal, the oil pressure of the other working oil cavity of the rotary motor is also immediately set to be highest, the oil pressure difference of the 2 working oil cavities of the rotary motor is instantaneously reduced to be close to zero, and the reverse rotation driving moment is greatly lost at the starting point of the reverse backswing of the rotary mechanism, so that the rapid and accurate positioning braking of the hydraulic rotary mechanism is realized and the reverse backswing phenomenon in the rapid and accurate positioning braking process is effectively prevented.
Drawings
Fig. 1 is a schematic diagram of a speed feedback type accurate positioning anti-swing control device of a hydraulic swing mechanism.
Fig. 2 is a control block diagram of a speed feedback type accurate positioning anti-swing control device of a hydraulic swing mechanism.
The correspondence between the reference numerals and the component names in the figures is:
1-a source of pressure oil;
2-a rotary control valve, 201-a high-pressure oil inlet, 202-a first working oil port, 203-a second working oil port, 204-an oil return port, 21-a first working state, 22-a second working state and 23-a middle state;
3-pressurizing piston cylinder, 31-pressurizing rodless cavity and 32-pressurizing rod cavity;
4-a pressure increasing valve, 401-a pressure increasing oil inlet, 402-a first working oil port, 403-a second working oil port, 41-a first working state, 42-a second working state and 43-a middle working state;
5-a rotary motor, 51-a first working oil chamber, 52-a second working oil chamber;
6-a slewing mechanism;
7-a speed detection module;
8-a controller module;
9-an accumulator;
10-a manual pressure relief ball valve;
11-a safety relief valve;
12-one-way valve.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced otherwise than as described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
FIG. 1 is a schematic diagram of a speed feedback type accurate positioning anti-swing control device of a hydraulic swing mechanism; fig. 2 is a control block diagram of a speed feedback type accurate positioning anti-swing control device of a hydraulic swing mechanism.
As shown in fig. 1, a speed feedback type accurate positioning anti-swing control device of a hydraulic swing mechanism according to an embodiment of the present invention includes: a pressure oil source 1, a rotary control valve 2, a booster piston cylinder 3, a booster valve 4, a rotary motor 5, a rotary mechanism 6, a speed detection module 7, a controller module 8, an energy accumulator 9 and the like; the high-pressure oil provided by the pressure oil source 1 is communicated to a high-pressure oil inlet 201 of the rotary control valve 2, an oil return port 204 of the rotary control valve 2 is communicated with an oil return passage, a first working oil port 202 of the rotary control valve 2 is communicated with a first working oil cavity 51 of the rotary motor 5, and a second working oil port 203 of the rotary control valve 2 is communicated with a second working oil cavity 52 of the rotary motor 5; the high-pressure oil provided by the pressure oil source 1 is also communicated to the accumulator 9, the accumulator 9 is communicated with the pressurizing rodless cavity 31 of the pressurizing piston cylinder 3, the pressurizing rod cavity 32 of the pressurizing piston cylinder 3 is communicated with the pressurizing oil inlet 401 of the pressurizing valve 4, the first working oil port 402 of the pressurizing valve 4 is communicated with the first working oil cavity 51 of the rotary motor 5, the second working oil port 403 of the pressurizing valve 4 is communicated with the second working oil cavity 52 of the rotary motor 5, the pressurizing valve 4 is used for communicating or cutting off the first working oil cavity 51 or the second working oil cavity 52 of the rotary motor 5 with the pressurizing rod cavity 32 of the pressurizing piston cylinder 3, and the pressurizing piston cylinder 3 is used for boosting the oil pressure of the accumulator 9; the rotary motor 5 is connected with the rotary mechanism 6, drives the rotary mechanism 6 to perform various operations, and the speed detection module 7 is used for detecting the rotation speed of the rotary mechanism 6; the controller module 8 is connected with the rotary control valve 2, the pressure increasing valve 4 and the speed detecting module 7, the rotary control valve 2 transmits rotary braking information of the rotary mechanism 6 to the controller module 8, the speed detecting module 7 transmits rotation speed information of the rotary mechanism 6 to the controller module 8, and the controller module 8 can control the first working oil cavity 51 or the second working oil cavity 52 of the rotary motor 5 to be communicated with or cut off from the pressure increasing rod cavity 32 of the pressure increasing piston cylinder 3 by switching the working state of the pressure increasing valve 4 according to the rotary braking information of the rotary control valve 2 and the rotation speed information of the speed detecting module 7, so that quick and accurate positioning braking of the hydraulic rotary mechanism is finally realized, and reverse swing phenomenon in the quick and accurate positioning braking process is effectively prevented.
In the embodiment, a manual pressure relief ball valve 10 and a safety relief valve 11 are arranged on an oil path of the accumulator 9, the manual pressure relief ball valve 10 is used for manually relieving pressure of the oil path, and the safety relief valve 11 is used for setting the safety pressure (10 MPa in the embodiment) of the oil path; a one-way valve 12 is arranged between the pressure oil source 1 and the accumulator 9, the inlet of the one-way valve 12 is communicated with the pressure oil source 1, and the outlet of the one-way valve 12 is communicated with the accumulator 9.
In the embodiment, the pressure increasing valve 4 is a three-position three-way electromagnetic directional valve with an O-shaped function, the first working state 41 of the pressure increasing valve 4 is used for communicating the first working oil cavity 51 of the rotary motor 5 with the pressure increasing rod cavity 32 of the pressure increasing piston cylinder 3, and the second working oil cavity 52 is used for cutting off the pressure increasing rod cavity 32 of the pressure increasing piston cylinder 3; the second working state 42 of the pressure increasing valve 4 communicates the second working oil chamber 52 of the rotary motor 5 with the pressure increasing rod chamber 32 of the pressure increasing piston cylinder 3, and the first working oil chamber 51 is disconnected from the pressure increasing rod chamber 32 of the pressure increasing piston cylinder 3; the neutral state 43 of the pressure-increasing valve 4 cuts off both the first working oil chamber 51 and the second working oil chamber 52 of the swing motor 5 from the pressure-increasing rod chamber 32 of the pressure-increasing piston cylinder 3.
In this embodiment, the rotary control valve 2 is a three-position four-way electromagnetic directional valve with an O-type function, and when the rotary control valve 2 is in the first working state 21, the high-pressure oil provided by the pressure oil source 1 enters the first working oil cavity 51 of the rotary motor 5 to drive the rotary mechanism 6 to rotate clockwise; when the rotary control valve 2 is in the second working state 22, high-pressure oil provided by the pressure oil source 1 enters the second working oil cavity 52 of the rotary motor 5 to drive the rotary mechanism 6 to rotate anticlockwise; when the swing control valve 2 is in the neutral state 23, the oil passages of the two working oil chambers of the swing motor 5 are closed, and the swing motor 5 drives the swing mechanism 6 to brake.
In the present embodiment, the supercharging piston cylinder 3 is supercharged by utilizing the difference in the action area between the supercharging rodless chamber 31 and the supercharging rodless chamber 32, and the supercharging calculation formula thereof is as follows:
P31×A31=P32×A32
Wherein: p 31 is the pressure value of the pressurized rodless chamber 31; a 31 is the acting area of the pressurized rodless cavity 31; p 32 is the pressure value of the pressurized rod chamber 32; a 32 is the area of action of the pressurized rod chamber 32.
The acting area a 32 of the pressurizing rod cavity 32 is smaller than the acting area a 31 of the pressurizing rodless cavity 31, so that the pressure value P 32 of the pressurizing rod cavity 32 is larger than the pressure value P 31 of the pressurizing rodless cavity 31, and the pressurizing rodless cavity 31 is communicated with the accumulator 9, namely the pressurizing rod cavity 32 of the pressurizing piston cylinder 3 can realize the pressurizing of the oil pressure of the accumulator 8. The actual boost pressure of the boost piston cylinder 3 depends on the ratio a 31/ A32 of the acting areas of the boost rodless chamber 31 and the boost rod chamber 32 (in this embodiment, the boost piston cylinder 3 has a 31/ A32 of 3/1, i.e. the oil pressure of the accumulator 9 can be amplified to 3 times, and since the oil pressure of the accumulator 9 is already set to 10MPa by the relief valve 11, the oil pressure of the boost rod chamber 32 of the boost piston cylinder 3 reaches 30 MPa).
In the present embodiment, when the swing motor 5 drives the swing mechanism 6 to perform positioning braking in a state of rotating in the clockwise direction, the second working oil chamber 52 of the swing motor 5 is a back pressure oil chamber; when the swing motor 5 drives the swing mechanism 6 to perform positioning braking in a state of rotating in the counterclockwise direction, the first working oil chamber 51 of the swing motor 5 is a back pressure oil chamber.
In the present embodiment, the speed feedback type accurate positioning anti-swing control process when the hydraulic swing mechanism performs the swing braking in the clockwise rotation state is only described in detail as an example, but the present invention is not limited thereto, and the present invention can be used for positioning braking anti-swing control when the hydraulic swing mechanism rotates in any direction.
When the rotary control valve 2 is in the first working state 21 and the booster valve 4 is in the middle state 43, high-pressure oil of the pressure oil source 1 enters the first working oil cavity 51 of the rotary motor 5 through the high-pressure oil inlet 201 and the first working oil port 202 of the rotary control valve 2 to drive the rotary mechanism 6 to rotate clockwise, and oil in the second working oil cavity 52 of the rotary motor 5 is returned through the second working oil port 203 and the oil return port 204 of the rotary control valve 2.
When the rotary motor 5 drives the rotary mechanism 6 to perform positioning braking, the rotary control valve 2 is switched from the first working state 21 to the middle state 23, the first working oil port 202 and the second working oil port 203 are cut off, the first working oil chamber 51 and the second working oil chamber 52 of the rotary motor 4 respectively form closed chambers, but the rotary mechanism 6 still continues to rotate clockwise due to inertia, the rotary mechanism 6 performs positioning braking, and braking torque in the reverse direction (anticlockwise direction) is required to be generated first to perform braking, and the magnitude of the braking torque depends on the oil pressure magnitude of the second working oil chamber 52 (namely a back pressure oil chamber) of the rotary motor 5. Therefore, the controller module 8 immediately controls the pressure-increasing valve 4 to switch to the second position operating state 42 for a period of time (about 0.12 seconds in this embodiment) at this time (i.e., the start point of the hydraulic swing mechanism switching from the operating state to the positioning braking), and communicates the second working oil chamber 52 (i.e., the back pressure oil chamber) of the swing motor 5 with the pressure-increasing rod chamber 32 of the pressure-increasing piston cylinder 3 for a short time, and since the pressure-increasing piston cylinder 3 has pressurized the accumulator 9 (about 30MPa after the pressure-increasing rod chamber 32 of the pressure-increasing piston cylinder 3 in this embodiment), the oil pressure of the second working oil chamber 52 (i.e., the back pressure oil chamber) of the swing motor 5 is immediately set to the highest value (about 30MPa in this embodiment), the braking moment of the swing positioning is instantaneously maximized, and the rapid positioning braking of the hydraulic swing mechanism is effectively achieved.
When the rotational speed of the swing mechanism 6 is reduced to zero by the rapid braking, since the oil pressure of the second working oil chamber 52 of the swing motor 5 is high (about 30MPa in this embodiment) and the oil pressure of the first working oil chamber 51 is low at this time, that is, the oil pressure difference between the second working oil chamber 52 and the first working oil chamber 51 of the swing motor 5 is large, the swing mechanism 6 will have a tendency to reverse rotation under the action of the reverse moment generated by the oil pressure difference; at this time, the speed detection module 7 in the present invention rapidly detects that the rotation speed of the swing mechanism 6 is reduced to about 0, and transmits it as a signal to the controller module 8, and the controller module 8 rapidly controls the pressure-increasing valve 4 to switch to the first working state 41 for a period of time (about 0.10 seconds in this embodiment) according to the signal, so that the first working oil chamber 51 of the swing motor 5 is in short-time communication with the pressure-increasing rod chamber 32 of the pressure-increasing piston cylinder 3, the oil pressure of the first working oil chamber 51 of the swing motor 5 is also immediately set to the highest value (about 30MPa in this embodiment), the oil pressure difference between the second working oil chamber 52 of the swing motor 5 and the first working oil chamber 51 is instantaneously reduced to be close to zero (i.e., the reverse moment generated by the oil pressure difference is also instantaneously reduced to be close to zero), so that the swing mechanism 6 will lose the moment of reverse rotation greatly at the start point of the occurrence of reverse swing, and the amplitude of the reverse swing is obviously suppressed; in this process, as shown in fig. 2, the speed feedback type accurate positioning anti-swing control is performed 1 time or more (1 time in this embodiment), so that the hydraulic swing mechanism can realize rapid accurate positioning braking, and can effectively prevent reverse swing phenomenon in the rapid accurate positioning braking process.
The preferred embodiments of the present invention are merely illustrative of and not limiting to the invention, and various modifications and variations may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The speed feedback type accurate positioning anti-swing control method of the hydraulic slewing mechanism is characterized by comprising a pressure oil source (1), a slewing control valve (2), a booster piston cylinder (3), a booster valve (4), a slewing motor (5), a slewing mechanism (6), a speed detection module (7), a controller module (8) and a speed feedback type accurate positioning anti-swing device of an energy accumulator (9); the high-pressure oil provided by the pressure oil source (1) is communicated to a high-pressure oil inlet (201) of the rotary control valve (2), an oil return port (204) of the rotary control valve (2) is communicated with an oil return path, and 2 working oil ports of the rotary control valve (2) are respectively communicated with 2 working oil cavities of the rotary motor (5); the high-pressure oil provided by the pressure oil source (1) is also communicated to the energy accumulator (9), the energy accumulator (9) is communicated with a pressurizing rodless cavity (31) of the pressurizing piston cylinder (3), a pressurizing rod cavity (32) of the pressurizing piston cylinder (3) is communicated with a pressurizing oil inlet (401) of the pressurizing valve (4), and 2 working oil ports of the pressurizing valve (4) are also respectively communicated with 2 working oil cavities of the rotary motor (5); the rotary motor (5) is connected with the rotary mechanism (6) to drive the rotary mechanism (6) to perform various operations, and the speed detection module (7) is used for detecting the rotation speed of the rotary mechanism (6); the controller module (8) is connected with the rotary control valve (2), the booster valve (4) and the speed detection module (7);
The speed feedback type accurate positioning anti-swing control method comprises the following steps:
In the process of positioning braking of a hydraulic slewing mechanism, when the slewing control valve (2) is switched from a first working state (21) or a second working state (22) to a middle state (23), the controller module (8) immediately controls the booster valve (4) to enable a back pressure braking oil cavity of the slewing motor (5) to be in short-time communication with a boosting rod cavity (32) of the boosting piston cylinder (3), and the boosting piston cylinder (3) is used for boosting and boosting the oil pressure of the energy accumulator (9) so that the oil pressure of the back pressure braking oil cavity of the slewing motor (5) is immediately set to be the highest, and the braking moment is the largest, so that quick braking is realized; when the rotation speed of the hydraulic rotary mechanism is rapidly braked to zero and a backswing phenomenon of reverse rotation is about to occur, the speed detection module (7) immediately detects that the rotation speed of the rotary mechanism (6) is reduced to 0 and transmits the rotation speed to the controller module (8) as a signal, and the controller module (8) rapidly controls the booster valve (4) to rapidly communicate the other working oil cavity of the rotary motor (5) with the booster rod cavity (32) of the booster piston cylinder (3) according to the signal, the oil pressure of the other working oil cavity of the rotary motor (5) is also immediately set to be the highest, and the oil pressure difference of the 2 working oil cavities of the rotary motor (5) is instantaneously reduced to be close to zero, so that the moment of reverse rotation is greatly lost when the rotary mechanism (6) is at the starting point of reverse backswing, thereby realizing rapid and accurate positioning braking of the hydraulic rotary mechanism and effectively preventing the backswing phenomenon in the rapid and accurate positioning braking process;
The supercharging valve (4) is a neutral position stop valve, and when the supercharging valve (4) is in a first working position state (41) or a second working position state (42) of the supercharging valve, two working oil cavities of the rotary motor (5) cannot supply oil to the supercharging oil rod cavity (32);
The pressure increasing valve (4) is used for communicating or cutting off a first working oil cavity (51) or a second working oil cavity (52) of the rotary motor (5) and a pressure increasing rod cavity (32) of the pressure increasing piston cylinder (3), and the pressure increasing piston cylinder (3) is used for increasing and increasing the oil pressure of the energy accumulator (9);
The controller module (8) can control the first working oil cavity (51) or the second working oil cavity (52) of the rotary motor (5) to be communicated with or cut off from the pressurizing rod cavity (32) of the pressurizing piston cylinder (3) according to the rotary braking information of the rotary control valve (2) and the rotation speed information of the speed detection module (7) by switching the working state of the pressurizing valve (4), so that the rapid and accurate positioning braking of the hydraulic rotary mechanism is realized, and the reverse swing phenomenon in the rapid and accurate positioning braking process is effectively prevented.
2. The speed feedback type accurate positioning anti-swing control method of the hydraulic slewing mechanism according to claim 1, wherein a manual pressure relief ball valve (10) and a safety overflow valve (11) are arranged on an oil way of the energy accumulator (9); a one-way valve (12) is arranged between the pressure oil source (1) and the energy accumulator (9), an inlet of the one-way valve (12) is communicated with the pressure oil source (1), and an outlet of the one-way valve (12) is communicated with the energy accumulator (9).
3. The speed feedback type accurate positioning anti-swing control method of the hydraulic swing mechanism according to any one of claims 1 to 2, wherein the pressure increasing valve (4) is a three-position three-way electromagnetic directional valve, a first working state (41) of the pressure increasing valve (4) is used for communicating a first working oil cavity (51) of the swing motor (5) with a pressurizing rod cavity (32) of the pressurizing piston cylinder (3), and a second working oil cavity (52) is used for cutting off the pressurizing rod cavity (32) of the pressurizing piston cylinder (3); the second working state (42) of the pressure increasing valve (4) is used for communicating the second working oil cavity (52) of the rotary motor (5) with the pressure increasing rod cavity (32) of the pressure increasing piston cylinder (3), and the first working oil cavity (51) is disconnected with the pressure increasing rod cavity (32) of the pressure increasing piston cylinder (3); the neutral state (43) of the pressure-increasing valve (4) cuts off both the first working oil chamber (51) and the second working oil chamber (52) of the rotary motor (5) from the pressure-increasing rod chamber (32) of the pressure-increasing piston cylinder (3).
4. The speed feedback type accurate positioning anti-swing control method of the hydraulic swing mechanism according to any one of claims 1-2, wherein the swing control valve (2) is a three-position four-way electromagnetic directional valve, and a first working state (21) and a second working state (22) of the swing control valve (2) respectively control the swing motor (5) to drive the swing mechanism (6) to rotate clockwise and anticlockwise; when the rotary control valve (2) is in a neutral state (23), the rotary motor (5) is controlled to perform positioning braking.
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