CN113775591A - Pressure redundancy compensation flow control system behind short-circuiting valve - Google Patents
Pressure redundancy compensation flow control system behind short-circuiting valve Download PDFInfo
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- CN113775591A CN113775591A CN202111331773.4A CN202111331773A CN113775591A CN 113775591 A CN113775591 A CN 113775591A CN 202111331773 A CN202111331773 A CN 202111331773A CN 113775591 A CN113775591 A CN 113775591A
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- 239000002131 composite material Substances 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
-
- 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
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
- F15B2013/0448—Actuation by solenoid and permanent magnet
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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
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
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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
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
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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
- F15B2211/875—Control measures for coping with failures
- F15B2211/8757—Control measures for coping with failures using redundant components or assemblies
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
Abstract
本发明公开了一种可短路阀后压力冗余补偿流量控制系统，包括第Ⅰ执行器液压系统，第Ⅰ执行器液压系统包括泵体、电动机、油箱、第Ⅰ电液比例阀、第Ⅰ压力补偿阀、第Ⅰ二位三通电磁阀、第Ⅰ液压缸、梭阀、二位二通电磁阀、第Ⅰ压力传感器、第Ⅱ压力传感器、第Ⅰ位移传感器和控制器。相比于现有技术，本发明既能够实现流量的机械补偿，又能够实现流量的数字补偿，并在液压缸工作时降低压力损失。
The invention discloses a pressure redundancy compensation flow control system after a short-circuitable valve, which includes a first actuator hydraulic system, and the first actuator hydraulic system includes a pump body, a motor, an oil tank, a first electro-hydraulic proportional valve, and a first pressure valve. Compensation valve, the first two-position three-way solenoid valve, the first hydraulic cylinder, the shuttle valve, the two-position two-way solenoid valve, the first pressure sensor, the second pressure sensor, the first displacement sensor and the controller. Compared with the prior art, the present invention can realize both the mechanical compensation of the flow and the digital compensation of the flow, and reduce the pressure loss when the hydraulic cylinder is working.
Description
Technical Field
The invention relates to the technical field of flow control, in particular to a pressure redundancy compensation flow control system capable of achieving short circuit of a valve.
Background
In order to restrain disturbance of load change to flow, a traditional electro-hydraulic proportional flow valve mostly adopts a pressure compensation valve. However, this adds additional pressure loss, while detecting a delay in the line delivery pressure signal causes the system response to lag, poor stability, and the pressure compensating valve is deactivated when the flow is saturated, and the system flow is mismatched. In addition, a multi-actuator system using pressure compensation valves, such as the existing load-sensitive valve system, is composed of a load-sensitive pump, a load-compensation multi-way valve and respective actuating mechanisms, and a post-valve compensation mode is adopted, so that the differential pressure acting on the throttling ports of all the multi-way valves is kept constant, but is influenced by factors such as load fluctuation and the like, and the pressure compensation valve of a loop where the highest load pressure is located still can perform throttling action, thereby causing energy waste.
In order to solve the problems, the prior art adopts a flow control method for calculating flow feedback, pressure before and after a flow valve and valve core displacement are detected by a pressure sensor and a displacement sensor and then input into a controller, the controller calculates the flow passing through the valve according to a set algorithm and compares the flow with the given flow, a closed control loop is formed by adopting a regulator, and a valve core displacement control signal is adjusted in real time to compensate the influence of the differential pressure change of the flow valve on the output flow. However, when the pressure sensor or the associated measurement amplifier fails, the flow valve may fail to perform pressure compensation, and lose stable control of the flow rate, and particularly when the flow valve is applied to a multi-actuator composite operation, the flow valve may cause flow rate mismatch, which may easily cause accidents such as equipment operation runaway.
Disclosure of Invention
The invention aims to provide a pressure redundancy compensation flow control system capable of short-circuiting a valve, which can realize mechanical compensation of flow, can realize digital compensation of flow and can reduce pressure loss when a hydraulic cylinder works.
In order to achieve the purpose, the invention provides the following scheme:
the invention discloses a pressure redundancy compensation flow control system behind a short-circuit valve, which comprises an I actuator hydraulic system, wherein the I actuator hydraulic system comprises a pump body, a motor, an oil tank, an I electro-hydraulic proportional valve, an I pressure compensation valve, an I two-position three-way electromagnetic valve, an I hydraulic cylinder, a shuttle valve, a two-position two-way electromagnetic valve, an I pressure sensor, an II pressure sensor, an I displacement sensor and a controller; the motor drives the pump body, and an outlet of the pump body and the II pressure sensor are simultaneously connected with a port P of the I electro-hydraulic proportional valve; the port A of the first electro-hydraulic proportional valve is simultaneously connected with the first pressure sensor, the oil inlet of the first pressure compensation valve and the left control cavity; a valve core of the first electro-hydraulic proportional valve is connected with the first displacement sensor; an oil outlet of the first pressure compensation valve is simultaneously connected with an oil chamber of the first hydraulic cylinder and a port P1 of the shuttle valve, and the other oil chamber of the first hydraulic cylinder is connected with the oil tank; a port P of the first two-position three-way electromagnetic valve is connected with a right control cavity of the first pressure compensation valve, a port T of the first two-position three-way electromagnetic valve is connected with the oil tank, and a port A of the first two-position three-way electromagnetic valve and a port A of the shuttle valve are simultaneously connected with an inlet of the two-position two-way electromagnetic valve; the outlet of the two-position two-way electromagnetic valve is connected with the control port of the pump body; the controller is simultaneously electrically connected with the pump body, the first electro-hydraulic proportional valve, the first two-position three-way electromagnetic valve, the second two-position two-way electromagnetic valve, the first pressure sensor, the second pressure sensor and the first displacement sensor.
Preferably, the device further comprises a safety valve, and an inlet of the safety valve is connected with the port P of the I electro-hydraulic proportional valve.
Preferably, the hydraulic system of the second actuator comprises a second electro-hydraulic proportional valve, a second pressure compensation valve, a second two-position three-way electromagnetic valve, a second hydraulic cylinder, a third pressure sensor and a second displacement sensor; the outlet of the pump body and the second pressure sensor are simultaneously connected with a port P of the second electro-hydraulic proportional valve; the port A of the second electro-hydraulic proportional valve is simultaneously connected with the third pressure sensor, the oil inlet of the second pressure compensation valve and the left control cavity; a valve core of the second electro-hydraulic proportional valve is connected with the second displacement sensor; an oil outlet of the second pressure compensation valve is simultaneously connected with an oil chamber of the second hydraulic cylinder and a port P2 of the shuttle valve, and the other oil chamber of the second hydraulic cylinder is connected with the oil tank; a port P of the second two-position three-way electromagnetic valve is connected with a right control cavity of the second pressure compensation valve, a port T of the second two-position three-way electromagnetic valve is connected with the oil tank, and a port A of the second two-position three-way electromagnetic valve is connected with an inlet of the two-position two-way electromagnetic valve; and the controller is simultaneously electrically connected with the II electro-hydraulic proportional valve, the II two-position three-way electromagnetic valve, the III pressure sensor and the II displacement sensor.
Compared with the prior art, the invention has the following technical effects: the invention can realize two compensation modes of mechanical compensation and digital compensation. When carrying out digital compensation, the I two-position three way solenoid valve work of the I is on the left, makes I pressure compensating valve open entirely, and I pressure compensating valve does not intervene work. The controller collects signals of the first pressure sensor, the second pressure sensor and the first displacement sensor and calculates the signals, and the opening degree of a valve port of the first electro-hydraulic proportional valve is controlled to realize flow compensation. When at least one of the first pressure sensor, the second pressure sensor and the first displacement sensor breaks down, the second I two-position three-way electromagnetic valve works at the right position, so that the first pressure compensation valve intervenes to work, and mechanical compensation is realized. In addition, when the first hydraulic cylinder acts, the first two-position three-way electromagnetic valve works in the left position, so that the first pressure compensation valve is fully opened and is not influenced by load change, and the pressure loss is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a pressure redundancy compensation flow control system after a short-circuiting valve according to the present embodiment;
description of reference numerals: 1-a pump body; 2-an electric motor; 3-a safety valve; 4-the I pressure compensating valve; 5-the second pressure compensating valve; 6-the second two-position three-way electromagnetic valve; 7-the second two-position three-way electromagnetic valve; 8-the first electro-hydraulic proportional valve; 9-the second electro-hydraulic proportional valve; 10-the first hydraulic cylinder; 11-the second hydraulic cylinder; 12-the I pressure sensor; 13-a third pressure sensor; 14-a second pressure sensor; 15-oil tank; 16-a shuttle valve; 17-an i displacement sensor; 18-the second displacement sensor; 19-a controller; 20-two-position two-way solenoid valve.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a pressure redundancy compensation flow control system capable of short-circuiting a valve, which can realize mechanical compensation of flow, can realize digital compensation of flow and can reduce pressure loss when a hydraulic cylinder works.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in FIG. 1, the present embodiment provides a shortcircuit post-valve pressure redundancy compensation flow control system including an I-th actuator hydraulic system. The first actuator hydraulic system comprises a pump body 1, a motor 2, an oil tank 15, a first electro-hydraulic proportional valve 8, a first pressure compensation valve 4, a first two-position three-way electromagnetic valve 6, a first hydraulic cylinder 10, a shuttle valve 16, a two-position two-way electromagnetic valve 20, a first pressure sensor 12, a second pressure sensor 14, a first displacement sensor 17 and a controller 19. The motor 2 drives the pump body 1, and an outlet of the pump body 1 and the II pressure sensor 14 are simultaneously connected with a P port of the I electro-hydraulic proportional valve 8. The port A of the I electro-hydraulic proportional valve 8 is simultaneously connected with the I pressure sensor 12, the oil inlet of the I pressure compensation valve 4 and the left control cavity. And a valve core of the I electro-hydraulic proportional valve 8 is connected with the I displacement sensor 17 to monitor the opening degree of a valve port of the I electro-hydraulic proportional valve 8. The oil outlet of the I pressure compensation valve 4 is simultaneously connected with one oil chamber of the I hydraulic cylinder 10 and the port P1 of the shuttle valve 16, and the other oil chamber of the I hydraulic cylinder 10 is connected with the oil tank 15. The P port of the first two-position three-way electromagnetic valve 6 is connected with the right control cavity of the first pressure compensation valve 4, the T port of the first two-position three-way electromagnetic valve 6 is connected with the oil tank 15, and the A port of the first two-position three-way electromagnetic valve 6 and the A port of the shuttle valve 16 are simultaneously connected with the inlet of the two-position two-way electromagnetic valve 20. The outlet of the two-position two-way electromagnetic valve 20 is connected with the control port of the pump body 1. The controller 19 is simultaneously electrically connected with the pump body 1, the first electro-hydraulic proportional valve 8, the first two-position three-way electromagnetic valve 6, the second two-position two-way electromagnetic valve 20, the first pressure sensor 12, the second pressure sensor 14 and the first displacement sensor 17.
The working principle of the short-circuiting valve back pressure redundancy compensation flow control system is as follows: the embodiment can realize two compensation modes of mechanical compensation and digital compensation. When carrying out digital compensation, the I two-position three-way solenoid valve 6 work is on the left position, makes I pressure compensating valve 4 open entirely, and I pressure compensating valve 4 does not intervene the work. The controller 19 collects signals of the I pressure sensor 12, the II pressure sensor 14 and the I displacement sensor 17 and calculates the signals, and controls the opening degree of a valve port of the I electro-hydraulic proportional valve 8 to realize flow compensation. When at least one of the first pressure sensor 12, the second pressure sensor 14 and the first displacement sensor 17 has a fault, the second I two-position three-way electromagnetic valve 6 works at the right position, so that the first pressure compensation valve 4 is involved to work, and mechanical compensation is realized. In addition, when the first hydraulic cylinder 10 acts, the first two-position three-way electromagnetic valve 6 works at the left position, so that the first pressure compensation valve 4 is fully opened (short circuit is realized), the influence of load change is avoided, and the pressure loss is reduced.
In order to improve the safety of the hydraulic system, the embodiment further comprises a safety valve 3, and an inlet of the safety valve 3 is connected with a port P of the I electro-hydraulic proportional valve 8. When the pressure at the P port of the first electro-hydraulic proportional valve 8 is overlarge, oil flows back to the oil tank 15 through the safety valve 3, and the pressure relief effect is achieved.
It should be noted that the actuator hydraulic system may be one or a plurality of hydraulic systems, as long as two compensation modes, i.e., mechanical compensation and digital compensation, can be realized.
In this embodiment, the short-circuit valve capable rear pressure redundancy compensation flow control system further includes a second actuator hydraulic system. The hydraulic system of the second actuator comprises a second electro-hydraulic proportional valve 9, a second pressure compensating valve 5, a second two-position three-way electromagnetic valve 7, a second hydraulic cylinder 11, a third pressure sensor 13 and a second displacement sensor 18. The outlet of the pump body 1 and the II pressure sensor 14 are simultaneously connected with the P port of the II electro-hydraulic proportional valve 9. And the port A of the II electro-hydraulic proportional valve 9 is simultaneously connected with the III pressure sensor 13, the oil inlet of the II pressure compensation valve 5 and the left control cavity. And a valve core of the II electro-hydraulic proportional valve 9 is connected with the II displacement sensor 18 to monitor the opening degree of a valve port of the II electro-hydraulic proportional valve 9. The oil outlet of the II pressure compensation valve 5 is simultaneously connected with one oil chamber of the II hydraulic cylinder 11 and the port P2 of the shuttle valve 16, and the other oil chamber of the II hydraulic cylinder 11 is connected with the oil tank 15. The P port of the second two-position three-way electromagnetic valve 7 is connected with the right control cavity of the second pressure compensation valve 5, the T port of the first two-position three-way electromagnetic valve 6 is connected with the oil tank 15, and the A port of the second two-position three-way electromagnetic valve 7 is connected with the inlet of the two-position two-way electromagnetic valve 20. And the controller 19 is simultaneously electrically connected with the II electro-hydraulic proportional valve 9, the II two-position three-way electromagnetic valve 7, the III pressure sensor 13 and the II displacement sensor 18.
When carrying out digital compensation, the I two-position three-way solenoid valve 6 and the II two-position three-way solenoid valve 7 all work in the left position, make I pressure compensating valve 4 and II pressure compensating valve 5 open completely, do not intervene work, gather I pressure sensor 12 through controller 19, II pressure sensor 14, III pressure sensor 13, I displacement sensor 17 and II displacement sensor 18's signal, calculate, control the valve port aperture of I electro-hydraulic proportional valve 8 and II electro-hydraulic proportional valve 9 and realize flow compensation. When at least one of the I pressure sensor 12, the II pressure sensor 14, the III pressure sensor 13, the I displacement sensor 17 and the II displacement sensor 18 has a fault, the I two-position three-way electromagnetic valve 6 and the II two-position three-way electromagnetic valve 7 work at the right position, so that the I pressure compensation valve 4 and the II pressure compensation valve 5 are involved to work, and mechanical compensation is realized. In addition, when one of the first hydraulic cylinder 10 and the second hydraulic cylinder 11 is actuated, the two-position three-way electromagnetic valve in the actuator hydraulic system corresponding to the first hydraulic cylinder operates at the left position, so that the corresponding pressure compensation valve is fully opened, and the pressure loss is reduced. When the multiple actuators act, the highest load loop two-position three-way electromagnetic valve works at the left position, so that the pressure compensation valve is fully opened (short circuit is realized), the influence of load change is avoided, and the pressure loss is reduced.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111331773.4A CN113775591B (en) | 2021-11-11 | 2021-11-11 | Pressure Redundant Compensation Flow Control System After Shortable Valve |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111331773.4A CN113775591B (en) | 2021-11-11 | 2021-11-11 | Pressure Redundant Compensation Flow Control System After Shortable Valve |
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| CN113775591A true CN113775591A (en) | 2021-12-10 |
| CN113775591B CN113775591B (en) | 2022-01-04 |
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| WO2008131990A1 (en) * | 2007-04-26 | 2008-11-06 | Robert Bosch Gmbh | Control arrangement and method for actuating at least two consumer loads |
| CN103328829A (en) * | 2010-12-17 | 2013-09-25 | 卡特彼勒公司 | Independent metering valve with flow limiter |
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2021
- 2021-11-11 CN CN202111331773.4A patent/CN113775591B/en active Active
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| CN1306606A (en) * | 1999-05-28 | 2001-08-01 | 日立建机株式会社 | Pump capacity control device and valve device |
| WO2008131990A1 (en) * | 2007-04-26 | 2008-11-06 | Robert Bosch Gmbh | Control arrangement and method for actuating at least two consumer loads |
| CN103328829A (en) * | 2010-12-17 | 2013-09-25 | 卡特彼勒公司 | Independent metering valve with flow limiter |
| CN105221506A (en) * | 2015-09-18 | 2016-01-06 | 徐州工业职业技术学院 | A kind of load-sensitive valve and load-sensitive hydraulic system |
| CN110030220A (en) * | 2018-01-12 | 2019-07-19 | 伊顿智能动力有限公司 | Hydraulic valve with pressure restrictor function |
| US20200209898A1 (en) * | 2018-12-26 | 2020-07-02 | Long Quan | Load-sensing multi-way valve with variable differential pressure |
| CN111577680A (en) * | 2020-05-22 | 2020-08-25 | 中国矿业大学 | A load-sensing shunt valve, variable-speed synchronous drive system and working method |
| CN112064714A (en) * | 2020-08-26 | 2020-12-11 | 合肥工业大学 | Novel hydraulic excavator flow control system |
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| CN113775591B (en) | 2022-01-04 |
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