CN101392774B - Control method and control device for driving hydraulic system of engineering vehicle by single pump and double motors - Google Patents
Control method and control device for driving hydraulic system of engineering vehicle by single pump and double motors Download PDFInfo
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Abstract
The invention discloses a method for controlling an engineering vehicle hydraulic system which is driven by a single pump and two motors. The method comprises the following steps: in a state of natural split flow and/or flow combine, obtaining the rotating speeds of a left hydraulic motor and a right hydraulic motor in real time; judging whether the rotating speed ratio of the left hydraulic motor to the right hydraulic motor exceeds the range of a preset rotating speed ratio; if the rotating speed ratio exceeds the range of the preset rotating speed ratio, controlling the hydraulic system to be in a state of enforced split flow and/or flow combine; in the state of enforced split flow and/or flow combine, obtaining the pressure on an oil path of the left and the right hydraulic motors in real time; judging whether the pressure on the oil path of the left and the right hydraulic motors is smaller than a preset differential pressure threshold value; and if the pressure is smaller than the preset differential pressure threshold value, controlling the hydraulic system to return to the state of natural split flow and/or flow combine. Through controlling the state of the hydraulic system to be switched between the state of natural split flow and/or flow combine and the state of enforced split flow and/or flow combine, the method can avoid the problem of single-side skid of an engineering vehicle and improves the self adaptability and the working efficiency of the engineering vehicle. On the basis, the invention also discloses a control device for the engineering vehicle hydraulic system which is driven by the single pump and the two motors.
Description
Technical field
The present invention relates to hydraulic transmission and control technique field, is controlling method and control gear that a kind of single pump double motor drives hydraulic system of engineering vehicle specifically.
Background technique
Hydraulic transmission is to carry out the kind of drive of energy transfer with liquid as working medium, has the good characteristic of controlling, and has inborn superiority at aspects such as low speed high torque transmission, frequent start-stop commutation, dead slow speed action and crawl operations.At present, along with the development of domestic and international hydraulics, the performance of hydraulic element improves constantly, and price constantly reduces, and hydraulic transmission and control technique have obtained extensive use in engineering machinery.
The power transmission route of fully hydraulic driven engineering vehicle is: motor → coupling → oil hydraulic pump → oil hydraulic motor → deceleration tandem-driving bogie → wheel.Under PLC or nonshared control unit control, engine operation speed and output torque can be adjusted automatically according to the variation of external load, its parameter of rational Match, pursue power character during promptly big the load, economic pursuit when gently (sky) loads, thereby make full use of the power of motor, the maximal efficiency of performance machine.
Usually, the fully hydraulic driven engineering vehicle adopts single pump, double motor system more, the hydraulic oil of oil hydraulic pump output freely is assigned to two oil hydraulic motor place oil circuits, thereby has certain defective, particularly: when on being subjected to the less road surface of unbalance loading operation or adhesion, working, as not taking non-skid feature, be prone to monolateral skidding; This not only has a strong impact on the working life of hydraulic element such as oil hydraulic pump, oil hydraulic motor, also makes the tractive force of complete machine descend simultaneously, and working efficiency reduces.
Summary of the invention
In view of this, the invention provides the controlling method that a kind of single pump double motor drives hydraulic system of engineering vehicle, can prevent that monolateral problem of slip from appearring in engineering vehicle, improve the adaptivity and the working efficiency of engineering vehicle.On this basis, the present invention also provides a kind of single pump double motor to drive the control gear of hydraulic system of engineering vehicle.
For solving above technical problem, single pump double motor provided by the invention drives the controlling method of hydraulic system of engineering vehicle, by a minute combiner valve, switching between shunting and/or afflux state and pressure shunting and/or the afflux state naturally according to the operating mode controlled hydraulic system; Combiner valve had nature shunting and/or afflux state and pressure shunting and/or afflux state in described minute; Wherein:
Naturally the shunting and/or the afflux state under, obtain left and right oil hydraulic motor rotating speed in real time; Judge whether described left and right oil hydraulic motor rotating ratio exceeds preset rotation speed and compare scope; If control described hydraulic system and enter shunting and/or the afflux state forced;
Forcing to obtain described left and right oil hydraulic motor place oil circuit pressure in real time under shunting and/or the afflux state; Judge that whether described left and right oil hydraulic motor place oil circuit pressure reduction is less than default pressure reduction threshold values; If control described hydraulic system return to the nature shunting and/or afflux state.
Preferably, adopt synchronized splitter and/or current collection mode to force shunting and/or afflux.
Be operated in nature shunting and/or afflux state when preferably, controlling described hydraulic system initial launch.
Single pump double motor provided by the invention drives the control gear of hydraulic system of engineering vehicle, comprising:
Divide combiner valve, import connects the oil hydraulic pump outlet, and left side outlet connects left oil hydraulic motor import, and right outlet connects right oil hydraulic motor import; Combiner valve comprised branch combiner valve state converter in described minute, was used to control described minute combiner valve and was switching between shunting and/or afflux state and pressure shunting and/or the afflux state naturally; Left-hand rotation speed sensors, right-hand rotation speed sensors are installed in respectively on described left oil hydraulic motor, the right oil hydraulic motor, are used to detect and export the tach signal of described left oil hydraulic motor, right oil hydraulic motor;
A left side pressure transducer, right pressure transducer are installed in respectively on described minute combiner valve two branch's oil circuit, are used to detect the described minute pressure signal on combiner valve two branch's oil circuits;
Controller is used to receive various sensor signals, and according to expectant control strategy output corresponding control signal;
Solenoid directional control valve, connect described controller output end, be used for according to the described control signal that receives, control combiner valve state converter action in described minute, make described hydraulic system relevant work at shunting and/or afflux state naturally or be operated in pressure and shunt and/or the afflux state;
When this control gear started, described controller was controlled according to following strategy: shunting naturally with or the afflux state, obtain described left oil hydraulic motor, right oil hydraulic motor rotating speed in real time; Judge whether described left oil hydraulic motor, right oil hydraulic motor rotating ratio exceed desired speed than scope, if send and force shunting and/or afflux control signal; Forcing shunting and/or afflux state, obtain described minute combiner valve two branch's oil circuit pressure signals in real time, whether judge described minute combiner valve two branch's oil circuit pressure reduction less than the predetermined pressure difference threshold values, if send nature shunting and/or afflux control signal.
Preferably, described minute combiner valve is synchronous branch combiner valve.
Preferably, the left and right outlet of described synchronous minute combiner valve has Fill valve respectively.
Preferably, described solenoid directional control valve is a normally open solenoid valve.
Preferably, described hydraulic system original state is nature shunting and/or afflux state.
Compared with prior art, the present invention is being switched between shunting and/or afflux state and pressure shunting and/or the afflux state naturally according to the operating mode controlled hydraulic system, can prevent that monolateral problem of slip from appearring in engineering vehicle, improve the adaptivity and the working efficiency of engineering vehicle, particularly:
Naturally shunting and/or the afflux state, detect left and right oil hydraulic motor rotating speed, judge whether to take place monolateral skidding by comparison is left, whether the oil hydraulic motor rotating ratio exceeds preset rotation speed than scope, when monolateral skidding taken place, controlled hydraulic system is forced shunting and/or afflux, thereby regulate left and right oil hydraulic motor flow, a left side, oil hydraulic motor rotating speed are become with consistent, thereby solve monolateral problem of slip; Forcing shunting and/or afflux state, detect to divide combiner valve two branch's oil circuit pressure, when determining left and right oil circuit pressure reduction less than default pressure difference, controlled hydraulic system returns to nature shunting and/or afflux state, make hydraulic system by cruising requirement operation, improve operational efficiency.
The present invention by controlled hydraulic system force shunting and/or afflux state with shunt naturally and/or the afflux state between switch, not only prevent monolateral skidding, also improve the car load adaptive performance, the operational efficiency of raising car load; Thus, realize single pump double motor is driven the automation control of hydraulic system of engineering vehicle, also reduce the hydraulic shock of hydraulic system, help prolonging the working life of hydraulic element.
Description of drawings
Fig. 1 is the controlling method flow chart that the single pump double motor of the present invention drives hydraulic system of engineering vehicle;
Fig. 2 is the structure principle chart of a synchronous diverter valve;
Fig. 3 is the schematic diagram of a synchronous diversity stream valve;
Fig. 4 is the schematic representation that the single pump double motor of the present invention drives the control gear of hydraulic system of engineering vehicle.
Embodiment
Basic design of the present invention is: switching between shunting and/or afflux state and pressure shunting and/or the afflux state naturally according to the operating mode controlled hydraulic system; At shunting and/or afflux state naturally, when determining left and right oil hydraulic motor rotating ratio when exceeding preset rotation speed than scope, controlled hydraulic system is forced shunting and/or afflux; Forcing shunting and/or afflux state, when determining branch combiner valve two branch oil circuit pressure differences, controlled hydraulic system returns to nature shunting and/or afflux state.
Wherein: described shunting naturally and/or afflux state comprise nature branch stream mode, natural afflux two states; Force shunting and/or afflux state to comprise and force shunting, force the afflux two states.For simplicity, adopt the notion of shunting and/or afflux to explain among the present invention, mean three kinds of functions that the present invention has shunting, afflux and shunting and afflux; But this does not also mean that and exists a certain moment not only to shunt but also the state of afflux, please notes differentiation.
Below in conjunction with embodiment and accompanying drawing the present invention is specified.
Please refer to Fig. 1, this figure is the controlling method flow chart that the single pump double motor of the present invention drives hydraulic system of engineering vehicle.Specifically may further comprise the steps:
S101, beginning.
After car load started, hydraulic system was moved with original state.Usually, original state is defaulted as nature shunting and/or afflux state.
S102, hydraulic system are with shunting and/or afflux state work naturally.
Naturally under shunting and/or the afflux state, left and right oil hydraulic motor place oil circuit assignment of traffic is not controlled.Engine operation speed and output torque are adjusted the operation point of motor, oil hydraulic pump, two oil hydraulic motors automatically according to the variation of external load, its parameter of rational Match, pursue power character during promptly big the load, economic pursuit when gently (sky) loads, thereby make full use of the power of motor, the maximal efficiency of performance complete machine.
S103, obtain left and right oil hydraulic motor rotating speed in real time.
Left and right oil hydraulic motor rotating speed is relevant with the left and right sides wheel speed, can be in order to judge whether to take place monolateral skidding.
S104, judge whether left and right oil hydraulic motor rotating ratio exceeds preset rotation speed than scope,
If enter step S105;
If not, return and enter step S102.
When left and right oil hydraulic motor rotating ratio α satisfies: during α 1＜α＜α 2 (α 1, α 2 be setting value), monolateral skidding do not take place in the expression engineering vehicle, and hydraulic system is to shunt naturally and/or the afflux state is worked; α＜=α 1, perhaps α 〉=during α 2, monolateral skidding takes place in the expression engineering vehicle, and hydraulic system should be to force the work of shunting and/or afflux state.
S105, hydraulic system are to force the work of shunting and/or afflux state.
The purpose of forcing shunting and/or afflux is to regulate left and right oil hydraulic motor flow, left and right oil hydraulic motor rotating speed is become with consistent, thereby solve monolateral problem of slip.Can shunt and/or afflux by certain proportion, also can equivalent shunt and/or afflux; Preferably, make the shunting of hydraulic system equivalent and/or afflux, i.e. synchronized splitter and/or afflux.
S106, obtain left and right oil hydraulic motor place oil circuit pressure in real time.
The effect that shunting and/or afflux are forced in oil circuit pressure reduction reflection in left and right oil hydraulic motor place, when both pressure reduction during less than default pressure reduction threshold values, expression reaches expection forces shunting and/or catchment effect, can finish to force to shunt and/or afflux.
S107, whether judge left and right oil hydraulic motor place oil circuit pressure reduction less than default pressure reduction threshold values,
If return step S102;
If not, return step S105.
When left and right oil hydraulic motor place oil circuit pressure differential deltap P satisfies: during Δ P＜P0, hydraulic system should finish to force shunting and/or afflux, and turns back to nature shunting and/or afflux state; And during Δ P 〉=Δ P0 (Δ P0 is a setting value), should continue to force shunting and/or afflux.
According to above-mentioned controlling method, can obtain following technique effect: shunting naturally and/or the afflux state, detect left and right oil hydraulic motor rotating speed, whether exceed the preset ratio threshold values by more left and right oil hydraulic motor rotating ratio and judge whether to take place monolateral skidding, when monolateral skidding taken place, controlled hydraulic system was forced shunting and/or afflux, thereby regulates left and right oil hydraulic motor flow, a left side, oil hydraulic motor rotating speed are become with consistent, thereby solve monolateral problem of slip; Forcing shunting and/or afflux state, detect left and right oil hydraulic motor place oil circuit pressure, when determining left and right oil hydraulic motor place oil circuit pressure reduction less than default pressure reduction threshold values, controlled hydraulic system returns to nature shunting and/or afflux state, make hydraulic system by cruising requirement operation, improve operational efficiency.
Thus, forcing shunting and/or afflux, switching between shunting and/or the afflux state naturally, not only prevent monolateral skidding, also improve the car load adaptive performance, the operational efficiency of raising car load by controlled hydraulic system; Realization is controlled the automation that single pump double motor drives hydraulic system of engineering vehicle, also reduces the hydraulic shock of hydraulic system, helps prolonging the working life of hydraulic element.
According to above-mentioned control principle, can design the control corresponding device, specifically comprise branch combiner valve, speed probe, pressure transducer, controller, parts such as solenoid directional control valve.Wherein, the branch combiner valve is a vitals, for ease of present invention is described, below earlier the working principle of diverter valve, combiner valve, branch combiner valve is carried out brief description.
Please refer to Fig. 2, this figure is the structure principle chart of a synchronous diverter valve.If the import oil liquid pressure is P0, flow is Q0, enters the fixed orifice 1,2 that divides two-way to equate by two areas respectively behind the valve, enters a of grease chamber, b respectively, leads to two executive components by settable orifice 3,4 through outlet then.If the load of two executive components equates, then divide the outlet pressure P3=P4 of combiner valve, because the size of two branch flow passages is symmetrical fully in the valve, so output flow is also symmetrical, Q1=Q2=Q0/2, and P1=P2.When P3 ≠ P4 occurring owing to load is asymmetric, and establish P3〉during P4, spool has little time motion and mediates, because the drag overall on two branch flow passages is identical, must make Q1＜Q2, and then P0-P1＜P0-P2, then makes P1〉P2.This moment, spool moved to left under the effect of pressure reduction, and settable orifice 3 is increased, and restriction 4 reduces, thereby Q1 is increased, and Q2 reduces, and P1 reduces, and P2 increases, and up to Q1 ≈ Q2, till the P1 ≈ P2, spool just settles out on a new equilibrium position.The flow of promptly transporting to two executive components equates that when two executive component sizes were identical, movement velocity will be synchronously.
More than be the principle of diverter valve,, can obtain corresponding combiner valve, branch combiner valve, but product may be had any different slightly according to this basic principle.In fact, the branch combiner valve product that has is also additional diversity stream mode conversion control device, below is an example.
Please refer to Fig. 3, this figure is the schematic diagram of a synchronous diversity stream valve.Branch combiner valve 20 as shown in Figure 3, on minute combiner valve main valve 201, be provided with branch combiner valve state converter (Fig. 3 does not show), so that forcing shunting and/or afflux state and switching between shunting and/or the afflux state naturally, specifically be state switching by the FLOW CONTROL branch combiner valve 20 of controlling X1 mouth hydraulic oil.About this concrete structure that divides combiner valve 20 synchronously, please refer to relevant documents and materials, do not repeat them here.In addition, also on two oil circuits that export of minute combiner valve main valve 201, Fill valve 202 is set, after the repairing branch road is communicated with, can prevents that the hydraulic system suction is empty; Simultaneously, Fill valve 202 also has the function of relief valve, is used for protecting hydraulic system, prevents local compression shock.
On the basis of above-mentioned minute combiner valve 20, control gear of the present invention can realize easily hydraulic system force shunting and/or afflux state with shunt naturally and/or the afflux state between switch, below specify.
Please refer to Fig. 4, this figure is the schematic representation that the single pump double motor of the present invention drives the control gear of hydraulic system of engineering vehicle.This control gear comprises:
Divide combiner valve 20, import P connects oil hydraulic pump 10 outlets, and left side outlet A connects left oil hydraulic motor 60A import, and right outlet B connects right oil hydraulic motor 60B import; Thus, the high pressure oil of oil hydraulic pump 1 output is by entering branch combiner valve 20, and divides two-way to flow into left oil hydraulic motor 60A, right oil hydraulic motor 60B respectively, forms left and right oil circuit.Wherein, described minute combiner valve 20 comprises branch combiner valve state converter (figure does not show), be used for described minute combiner valve 20 shunting and/or afflux state naturally with force to shunt and/or the afflux state switches.Preferably, described minute combiner valve 20 is synchronous branch combiner valve.
Left-hand rotation speed sensors 50A, right-hand rotation speed sensors 50B are installed in respectively on described left oil hydraulic motor 60A, the right oil hydraulic motor 60B, are used to detect and export the tach signal of described left oil hydraulic motor 60A, right oil hydraulic motor 60B.
Left side pressure transducer 40A, right pressure transducer 40B are installed in respectively on two branch's oil circuits of described minute combiner valve 20, are used for detecting and exporting 20 liang of branches of described minute combiner valve oil circuit pressure signal, promptly divide the pressure signal of combiner valve 20 left side outlet A, right outlet B;
Solenoid directional control valve 30, connect described controller 70 output terminals, be used for, control the state converter action of described minute combiner valve 20 according to the described control signal that receives, described hydraulic system relevant work is being shunted and/or the afflux state naturally, perhaps be operated in shunting and/or the afflux state forced; Preferably, described solenoid directional control valve 30 is a normally open solenoid valve, makes branch combiner valve 20 be defaulted as nature shunting and/or afflux state.
When this control gear started, described controller 70 was controlled according to following strategy: shunting naturally and/or the afflux state, obtain described left oil hydraulic motor 60A, right oil hydraulic motor 60B rotating speed in real time; Judge whether described left oil hydraulic motor 60A, right oil hydraulic motor 60B rotating ratio exceed desired speed than scope, if send and force shunting and/or afflux control signal, so that make described hydraulic work system force shunting and/or afflux state; Forcing shunting and/or afflux state, obtain 20 liang of branches of described minute combiner valve oil circuit pressure in real time, judge that whether 20 liang of branches of described minute combiner valve oil circuit pressure reduction is less than the predetermined pressure difference threshold values, if, send nature shunting and or the afflux control signal so that described hydraulic work system is being shunted and/or the afflux state naturally.
Particularly, when hydraulic system of engineering vehicle starts, often drive solenoid directional control valve 30 and be in off-position, branch combiner valve 20 is in nature shunting and/or afflux state synchronously, left-hand rotation speed sensors 50A, right-hand rotation speed sensors 50B feed back to controller 70 with velocity information, analyze, calculate by 70 pairs of these information of controller, and the output corresponding control signal.Wherein, satisfy as left oil hydraulic motor 60A, right oil hydraulic motor 60B rotating ratio α:
When α 1＜α＜α 2, promptly monolateral skidding do not take place in engineering vehicle, and solenoid directional control valve 30 must not still maintain the original state by electricity, and branch combiner valve 20 is in nature shunting and/or afflux state;
As α＜=α 1, perhaps α 〉=during α 2, shunting and/or afflux control signals are forced in controller 70 outputs, solenoid directional control valve 30 electric, 201 actions of branchs combiner valve main valve also switch to be forced to shunt and/or the afflux state; Thus, utilize to divide the pressure shunting and/or the afflux function of combiner valve 20, in the hydraulic system that realizes travelling left oil hydraulic motor 60A, right oil hydraulic motor 60B synchronously or the certainty ratio performance.
Forcing shunting and/or afflux state, divide 20 liang of outlets of combiner valve can produce certain pressure differential deltap P, by left pressure transducer 40A, right pressure transducer 40B, 20 liang of branches of branch combiner valve oil circuit pressure information is fed back to controller 70, carry out analytical calculation by controller 70, and the output corresponding control signal:
When Δ P 〉=Δ P0, solenoid directional control valve 30 always electric, branch combiner valve 20 is in always forces shunting and/or afflux state, makes hydraulic system remain on and forces shunting and/or afflux state;
When Δ P＜Δ P0, controller 70 output natures shuntings and or the afflux control signal, solenoid directional control valve 30 outage actions, branchs combiner valve 20 is return nature shunting and/or afflux state, makes whole hydraulic system switch to nature and shunts and/or the afflux state.
In this control gear, branch combiner valve 20 is preferably synchronous minute combiner valve, tells two oil circuits, the influence of other factorses such as the assignment of traffic precision within definite accuracy (as being set in 10%), is not stressed all the time, unbalance loading through synchronous branch combiner valve 20; Divide synchronously combiner valve 20 to be realized forcing shunting and/or afflux and to be shunted naturally and/or the switching of afflux state by the control oil of X1 mouth, control procedure is very convenient, fast.
Especially, branch combiner valve 20 has Fill valve 202 synchronously, and Fill valve 202 is connected with the repairing branch road, can prevent that the hydraulic system suction is empty; Simultaneously, Fill valve 202 also has the function of relief valve, can be used to protect hydraulic system, prevents local compression shock.
The above only is a preferred implementation of the present invention, should be pointed out that above-mentioned preferred implementation should not be considered as limitation of the present invention, and protection scope of the present invention should be as the criterion with claim institute restricted portion.For those skilled in the art, without departing from the spirit and scope of the present invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (8)
1. the controlling method of a single pump double motor driving hydraulic system of engineering vehicle is characterized in that, by a minute combiner valve, is switching between shunting and/or afflux state and pressure shunting and/or the afflux state naturally according to the operating mode controlled hydraulic system; Combiner valve had nature shunting and/or afflux state and pressure shunting and/or afflux state in described minute; Wherein:
Naturally the shunting and/or the afflux state under, obtain left and right oil hydraulic motor rotating speed in real time; Judge whether described left and right oil hydraulic motor rotating ratio exceeds preset rotation speed and compare scope; If control described hydraulic system and enter shunting and/or the afflux state forced;
Forcing to obtain described left and right oil hydraulic motor place oil circuit pressure in real time under shunting and/or the afflux state; Judge that whether described left and right oil hydraulic motor place oil circuit pressure reduction is less than default pressure reduction threshold values; If control described hydraulic system return to the nature shunting and/or afflux state.
2. single pump double motor as claimed in claim 1 drives the controlling method of hydraulic system of engineering vehicle, it is characterized in that, adopts synchronized splitter and/or current collection mode to force shunting and/or afflux.
3. single pump double motor as claimed in claim 1 or 2 drives the controlling method of hydraulic system of engineering vehicle, it is characterized in that, is operated in nature shunting and/or afflux state when controlling described hydraulic system initial launch.
4. the control gear of a single pump double motor driving hydraulic system of engineering vehicle is characterized in that, comprising:
Divide combiner valve, import connects the oil hydraulic pump outlet, and left side outlet connects left oil hydraulic motor import, and right outlet connects right oil hydraulic motor import; Combiner valve comprised branch combiner valve state converter in described minute, was used to control described minute combiner valve and was switching between shunting and/or afflux state and pressure shunting and/or the afflux state naturally; Left-hand rotation speed sensors, right-hand rotation speed sensors are installed in respectively on described left oil hydraulic motor, the right oil hydraulic motor, are used to detect and export the tach signal of described left oil hydraulic motor, right oil hydraulic motor;
A left side pressure transducer, right pressure transducer are installed in respectively on described minute combiner valve two branch's oil circuit, are used to detect the described minute pressure signal on combiner valve two branch's oil circuits;
Controller is used to receive various sensor signals, and according to expectant control strategy output corresponding control signal;
Solenoid directional control valve, connect described controller output end, be used for according to the described control signal that receives, control combiner valve state converter action in described minute, make described hydraulic system relevant work at shunting and/or afflux state naturally or be operated in pressure and shunt and/or the afflux state;
When this control gear started, described controller was controlled according to following strategy: shunting naturally with or the afflux state, obtain described left oil hydraulic motor, right oil hydraulic motor rotating speed in real time; Judge whether described left oil hydraulic motor, right oil hydraulic motor rotating ratio exceed desired speed than scope, if send and force shunting and/or afflux control signal; Forcing shunting and/or afflux state, obtain described minute combiner valve two branch's oil circuit pressure signals in real time, whether judge described minute combiner valve two branch's oil circuit pressure reduction less than the predetermined pressure difference threshold values, if send nature shunting and/or afflux control signal.
5. single pump double motor as claimed in claim 4 drives the control gear of hydraulic system of engineering vehicle, it is characterized in that, described minute combiner valve is synchronous branch combiner valve.
6. single pump double motor as claimed in claim 5 drives the control gear of hydraulic system of engineering vehicle, it is characterized in that the left and right outlet of described synchronous minute combiner valve has Fill valve respectively.
7. single pump double motor as claimed in claim 4 drives the control gear of hydraulic system of engineering vehicle, it is characterized in that described solenoid directional control valve is a normally open solenoid valve.
8. drive the control gear of hydraulic system of engineering vehicle as each described single pump double motor of claim 4-7, it is characterized in that described hydraulic system original state is nature shunting and/or afflux state.
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| CN103085866B (en) * | 2013-01-29 | 2015-08-12 | 三一重工股份有限公司 | A kind of anti-skid control method of full hydraulic drive vehicle |
| CN103133441B (en) * | 2013-03-19 | 2017-12-19 | 中联重科股份有限公司 | Double-hydraulic device and speed control method, equipment and system thereof |
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2008
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| CN2858744Y (en) * | 2005-12-27 | 2007-01-17 | 三一重工股份有限公司 | Poleless speed regulation driving device for whole course of milling machine |
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|---|---|
| CN101392774A (en) | 2009-03-25 |
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