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| Experiment research on individual metering systems of mobile machinery based on coordinate control of pump and valves |
| XU Bing,DING Ru-qi,ZHANG Jun-hui |
| State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China |
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Abstract A pump/valve coordinate control strategy of energy-saving individual metering system was proposed aiming at the high energy consumption and low energy efficiency of the hydraulic system for mobile machinery. In the system, the inlet (meter-in) and outlet (meter-out) orifices of each actuator are independently controlled by two proportional directional valves. An electronic controlled variable displacement pump supplies flow to multiple actuators at a time. In comparison to the current researches, the control of valves and the pump were simultaneously considered. A two-level controller was proposed to control the actuator movements together with saving energy. The upper level controller chooses the corresponding mode according to the current load and reference speed. The lower level controller utilizes the calculated flow rate feedback and pressure feedback to simultaneously control the speed and pressure of actuator. A displacement control with variable pressure margin strategy was employed as electronic load sense control. The experiment was implemented for the boom and arm motion control of a mini-excavator in order to verify the performance of the proposed controller. Experiment results show that both the boom and arm can choose the proper mode according to different operating conditions, which meet the requirements of motion control and reduce the energy consumption. The pressure margin can be regulated based on the reference speed in order to reduce the energy consumption caused by the excessive preset pressure margin in traditional load sensing system.
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Published: 06 June 2018
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基于泵阀联合控制的负载口独立系统试验研究
为了解决工程机械液压系统能耗高、效率低的问题,提出负载口独立节能系统的泵阀联合控制策略.系统每个执行器由2个比例方向阀分别控制进出口,多个执行器共用一个电比例变量泵.同时考虑变量泵与比例方向阀,设计2层结构的控制器实现该系统的运动控制及节能控制.上层控制器通过负载与指令速度选择合适的工作模式；下层控制器根据选择的工作模式,采用计算流量反馈的速度控制和压力反馈的背腔压力控制调节进出口比例阀阀口开度,利用变压力裕度的电液负载敏感方法控制变量泵的排量.为了验证提出的控制器的有效性,在2 t小型挖掘机上,针对挖掘机动臂和斗杆的运动进行试验.试验结果表明,根据不同的工况,动臂和斗杆执行器可以选用相应的工作模式,在满足控制要求的情况下尽可能降低系统能耗；变压力裕度的排量控制器可以根据指令速度改变系统压力裕度,降低传统负载敏感系统压力裕度过大导致的能耗.
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