阅读说明：本技术 一种提梁机 (Beam lifting machine ) 是由 王金祥 王大江 张宇 刘进伟 冯扶民 李建辉 于 2019-02-18 设计创作，主要内容包括：本申请提供一种提梁机行走的同步控制系统,前动力舱控制器的输出端和后动力舱控制器的输出端分别连接主控制器的输入端,主控制器的输出端分别连接前动力舱行走比例阀的输入端和后动力舱行走比例阀的输入端,前动力舱行走比例阀的输出端连接前驱动马达,后动力舱行走比例阀的输出端连接后驱动马达,前驱动压力传感器位于前驱动马达以检测前驱动马达的压力,前驱动压力传感器的输出端连接前动力舱控制器,后驱动压力传感器位于后驱动马达以检测后驱动马达的压力,后驱动压力传感器的输出端连接后动力舱控制器。同步控制系统可以对输出到驱动马达上的电流进行实时的动态调整,使得前后马达通过压力平衡而同步转速运行,使得设备平稳前进后退。(The application provides a synchronous control system of walking of bale lifting machine, the input of main control unit is connected respectively to the output of preceding power compartment controller and the output of back power compartment controller, the input of preceding power compartment walking proportional valve and the input of back power compartment walking proportional valve are connected respectively to the output of main control unit, preceding driving motor is connected to the output of preceding power compartment walking proportional valve, back driving motor is connected to the output of back power compartment walking proportional valve, preceding pressure sensor is located the pressure of preceding driving motor in order to detect preceding driving motor, preceding power compartment controller is connected to the output of preceding pressure sensor, back driving pressure sensor is located the pressure of back driving motor in order to detect back driving motor, back power compartment controller is connected to the output of back driving pressure sensor. The synchronous control system can dynamically adjust the current output to the driving motor in real time, so that the front motor and the rear motor run synchronously at rotating speeds through pressure balance, and the equipment stably moves forwards and backwards.)

1. The utility model provides a synchronous control system of walking of bale lifter which characterized in that includes: a front power compartment controller, a rear power compartment controller, a main controller, a front power compartment walking proportional valve, a rear power compartment walking proportional valve, a front driving motor, a rear driving motor, a front driving pressure sensor and a rear driving pressure sensor,

the output end of the front power compartment controller and the output end of the rear power compartment controller are respectively connected with the input end of the main controller;

the output end of the main controller is respectively connected with the input end of the front power cabin walking proportional valve and the input end of the rear power cabin walking proportional valve;

the output end of the front power cabin walking proportional valve is connected with the front driving motor;

the output end of the rear power cabin walking proportional valve is connected with the rear driving motor;

the front driving pressure sensor is positioned on the front driving motor to detect the pressure of the front driving motor, and the output end of the front driving pressure sensor is connected with the front power cabin controller;

the rear driving pressure sensor is positioned on the rear driving motor to detect the pressure of the rear driving motor, and the output end of the rear driving pressure sensor is connected with the rear power compartment controller.

2. The control system of claim 1, wherein the master controller is a proportional-integral-derivative (PID) controller that calculates the output u (t) using the equation:

wherein err (t) is a difference between an input value of the front power compartment controller and an input value of the front driving pressure sensor or a difference between an input value of the rear power compartment controller and an input value of the rear driving pressure sensor, k_pIs a proportionality coefficient, T_ITo integrate the time constant, T_DIs the differential time constant.

3. The control system of claim 1, wherein the front pod travel proportional valve and the rear pod travel proportional valve output currents between a first current value and a second current value, wherein the first current value is less than the second current value and corresponds to a minimum opening value of the front pod travel proportional valve and the rear pod travel proportional valve and the second current value corresponds to a maximum opening value of the front pod travel proportional valve and the rear pod travel proportional valve.

4. The control system of claim 3, wherein the first current value is 200 milliamps and the second current value is 800 milliamps.

5. The control system of any of claims 1-4 wherein the rear drive motor current value is the front drive motor current value plus an adjustment of plus or minus a predetermined amount.

6. The control system of claim 5, wherein the predetermined amount is 10, 20, 30, 40, or 50.

7. The control system according to any one of claims 1 to 4, wherein the main controller is configured to continuously decrease the output of the adjusting side drive pump so as to synchronize the speed of the adjusting side with the speed of the reference side when the adjusting side pressure is greater than the predetermined value on the reference side with reference to the pressure on the front or rear side of the traveling vehicle when the traveling vehicle of the girder machine travels forward or backward by 90 degrees.

8. The control system according to any one of claims 1 to 4, wherein the front power pod walking proportional valve and the rear power pod walking proportional valve are proportional output solenoid valves.