AU2019465349B2 - Hydraulic excavator control system and method - Google Patents
Hydraulic excavator control system and method Download PDFInfo
- Publication number
- AU2019465349B2 AU2019465349B2 AU2019465349A AU2019465349A AU2019465349B2 AU 2019465349 B2 AU2019465349 B2 AU 2019465349B2 AU 2019465349 A AU2019465349 A AU 2019465349A AU 2019465349 A AU2019465349 A AU 2019465349A AU 2019465349 B2 AU2019465349 B2 AU 2019465349B2
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- AU
- Australia
- Prior art keywords
- main pump
- hydraulic excavator
- pump power
- engine
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000000446 fuel Substances 0.000 claims abstract description 23
- 238000002347 injection Methods 0.000 claims abstract description 22
- 239000007924 injection Substances 0.000 claims abstract description 22
- 230000009471 action Effects 0.000 claims description 11
- 239000000779 smoke Substances 0.000 abstract description 8
- 230000004044 response Effects 0.000 abstract description 5
- 239000003921 oil Substances 0.000 description 26
- 238000010586 diagram Methods 0.000 description 7
- 239000000295 fuel oil Substances 0.000 description 4
- 238000002485 combustion reaction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000009877 rendering Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2282—Systems using center bypass type changeover valves
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
Disclosed are a control system and method for a hydraulic excavator. The method comprises: a controller collecting a fuel path pressure signal of a hydraulic excavator, and calculating the desired main pump power according to the fuel path pressure signal; the controller sending the desired main pump power to an ECM; and the ECM firstly adjusting the engine fuel-injection quantity according to the desired main pump power, and the controller then adjusting the main pump power according to the desired main pump power. According to the present invention, the loading response time of the engine is greatly shortened, the overall working efficiency is improved, and the problem of the emission of black smoke when at an idle speed is solved, thereby further reducing the idling speed of the engine in order to reduce the fuel consumption.
Description
Technical Field
The present invention relates to a hydraulic excavator control system and method, and
belongs to the technical field of hydraulic excavators.
Background
Working conditions for the hydraulic excavator are extremely complicated, and loads are
greatly changed. When the load of a hydraulic pump is increased, an engine increases an oil
injection quantity, and an output torque is increased; due to mechanical transmission, the engine
would have a relatively long hysteresis quality. The following working states would frequently
occur to the engine: one is that when the engine is suddenly loaded in a low load state, the
loading time would be excessively long, rendering reduction of the working efficiency; the
second one is that when the engine is suddenly loaded in an idle state, a problem of black smoke
would occur. Most manufacturers would reduce the loading time of the engine by changing a
mixture ratio of oil to gas in a combustion chamber of the engine; however, at the same time,
the problems of inadequate combustion and black smoke of the engine would occur; when the
problem of the black smoke occurs when in the idle speed, most manufacturers would improve
the idle rotation speed of the complete machine, rendering energy consumption and wastes.
Summary
According to a first aspect, there is provided a hydraulic excavator control method,
comprising the following steps:
collecting, by a controller, an oil path pressure signal of a hydraulic excavator, and
calculating a required main pump power according to the oil path pressure signal;
sending, by the controller, the required main pump power to an engine ECM; and
first adjusting, by the engine ECM, an engine fuel injection quantity according to the
required main pump power, and then adjusting, by the controller, a main pump power according
to the required main pump power,
wherein the time for the engine ECM to start to adjust the engine fuel injection amount is ahead of the time for the controller to start to adjust the main pump power.
In one form, the oil path pressure signal comprises a main oil path pressure value of
the hydraulic excavator and each pilot pressure value corresponding to a current action of
the hydraulic excavator.
In one form, the time for the engine ECM to start to adjust the engine fuel injection
quantity is ahead of the time for the controller to start to adjust the main pump power by
0.05-0.6 seconds.
According to a second aspect, there is provided a hydraulic excavator control system
including a controller, an engine ECM, and an oil path pressure collection unit, where the
engine ECM and the oil path pressure collection unit are respectively communicationally
connected to the controller;
the controller is adapted to calculate, according to an oil path pressure signal of a
hydraulic excavator collected by the oil path pressure collection unit, a required main pump
power of the hydraulic excavator, and is configured to send the required main pump power
to the engine ECM; and
the engine ECM is configured to first adjust an engine fuel injection quantity according
to the required main pump power, and then the controller adjusts a main pump power
according to the required main pump power.
In one form, the controller is communicationally connected to the engine ECM using
a CAN bus.
In one form, the oil path pressure collection unit includes a first pressure sensor
configured to collect a main oil path pressure value of the hydraulic excavator and a second
pressure sensor configured to collect each pilot pressure value corresponding to a current
action of the hydraulic excavator.
As compared with the prior art, the beneficial effects achieved by the present invention
are the time for the engine ECM to start to adjust the engine fuel injection quantity is earlier
than the time for adjusting the main pump to the required main pump power, so as to greatly
reduce a loading response time of the engine, improve a working efficiency of the whole machine, avoid the problem of black smoke from idle loading, and may further reduce an idle rotation speed of the engine and reduce fuel oil consumption. In addition, the control method further has advantages of simple implementations, low costs, and high reliability.
Brief Description of the Drawings
FIG. 1 is a flowchart of a hydraulic excavator control method according to an embodiment of the present invention.
FIG. 2 is a hydraulic principle diagram of a hydraulic excavator control system according to an embodiment of the present invention.
FIG. 3 is a relation diagram between an engine fuel injection quantity of a hydraulic excavator and time in the prior art.
FIG. 4 is a relation diagram between an engine fuel injection quantity of a hydraulic excavator and time according to an embodiment of the present invention.
10-engine; 11-main pump; 12-pilot pump; 13-electromagnetic proportional valve; 14-main value; 15-hydraulic pilot handle; 16-controller; 17-traveling valve core; 18-rotation value core; 19-moving arm valve core; 20-scraper pan valve core; 21-pan rod valve core; and 22 electromagnetic valve.
Detailed Description
The following further describes the hydraulic excavator control system and method provided in the present invention in detail with reference to the accompanying drawings and specific embodiments. It should be explained that the accompanying drawings all adopt a quite simplified mode, all use imprecise proportions, and only conveniently and clearly assist the explanation of the purposes of the embodiments of the present invention. Same or similar reference numerals in the accompanying drawings represent same or similar members.
Embodiment I
FIG. 1 is a flowchart of a hydraulic excavator control method according to an embodiment of the present invention. The method mainly includes the following steps:
collecting a main oil path pressure value of the hydraulic excavator and each pilot pressure value corresponding to a current action of the hydraulic excavator; obtaining, by the controller, a required main pump power according to the main oil path pressure value and each pilot pressure value corresponding to the current action of the hydraulic excavator, and sending the required main pump power to an engine ECM; the controller being capable of adjusting the main pump power according to the required main pump power; the engine ECM being capable of adjusting an engine fuel injection quantity according to the required main pump power, and the time for the engine ECM to start to adjust the engine fuel injection being earlier than the time for the controller to start to adjust the main pump power.
The time for the engine ECM to start to adjust the engine fuel injection being earlier than the time for the controller to start to adjust the main pump power can greatly reduce a loading response time of the engine, improve a working efficiency of the whole machine, avoid the problem of black smoke from idle loading, and may further reduce an idle rotation speed of the engine and reduce fuel oil consumption. In addition, the control method further has advantages of simple implementations, low costs, and high reliability.
More specifically, the time for the engine ECM to start to adjust the engine fuel injection quantity is ahead of the time for the controller to start to adjust the main pump power by 0.05-0.6 second, which matches and is consistent with the hydraulic system requirements, and improves the working efficiency of the entire machine by 1-5%.
Embodiment II
FIG. 2 is a hydraulic principle diagram of a hydraulic excavator control system according to an embodiment of the present invention. The system includes an engine 10, a main pump 11, a pilot pump 12, an electromagnetic proportional valve 13, a main value 14, a hydraulic pilot handle 15, a controller 16, a first pressure collection unit, and a second pressure collection unit.
The engine 10 is connected to the main pump 11 and the pilot pump 12 for providing power for the main pump 11 and the pilot pump 12.
The main valve 14 includes a traveling valve core 17, a rotation value core 18, a moving arm valve core 19, a scraper pan valve core 20, and a pan rod valve core 21. After an outlet of the main pump 11 is connected to an inlet of the main valve 14 through a pipeline, it is sequentially connected to the traveling valve core 17, the rotation value core 18, the moving arm valve core 19, the scraper pan valve core 20, and the pan rod valve core 21 for providing oil for each action valve core and constituting a main oil path; an oil return port of the main valve 14 is connected to an oil tank after passing through an electromagnetic valve 22.
The pilot pump 12 is connected to an inlet of the electromagnetic proportional valve 13; a
path of an outlet of the electromagnetic proportional valve 13 is connected to a tilting plate
adjuster control port of the main pump 11.
The hydraulic pilot handle 15 is separately connected to a pilot control oil port of each
action valve core for controlling connection and disconnection of each action valve core.
The first pressure collection unit and the second pressure collection unit are respectively in
communicative connection to the controller 16. The first pressure collection unit is used for
collecting the main oil path pressure value of the hydraulic excavator; the second pressure
collection unit is used for collecting the pilot control oil path pressure value of each action valve
core; the controller 16 can obtain the required main pump power according to the main oil path
pressure value and the pilot control oil path pressure value of each action valve core and adjust
the power of the main pump 11 of the hydraulic excavator according to the required main pump
power.
The controller 16 is communicationally connected to the engine ECM for delivering the
required main pump power to the engine ECM of the hydraulic excavator.
The time for the engine ECM to start to adjust the engine fuel injection quantity is ahead
of the time for the controller to start to adjust the main pump power; the time difference is
generally 0.05-0.6 second, which can match and be consistent with the hydraulic system
requirements, and improve the working efficiency of the entire machine by 1-5%. FIG. 3 is a
relation diagram between an engine fuel injection quantity of a hydraulic excavator and time in
the prior art. FIG. 4 is a relation diagram between an engine fuel injection quantity of a hydraulic
excavator and time according to an embodiment of the present invention. The relation diagram is obtained when the difference between the time for the engine ECM to start to adjust the engine fuel injection and the time for the controller to start to adjust the main pump power is 0.1 second; as can be seen from comparison and analysis that as compared with the hydraulic excavator in the prior art, a hydraulic excavator provided in embodiment II of the present invention can greatly reduce a loading response time of the engine 10, so as to improve a working efficiency of the whole machine, and avoid the problem of black smoke from idle loading, and may further reduce an idle rotation speed of the engine 10 and reduce fuel oil consumption. In addition, it further has advantages of simple implementations, low costs, and high reliability.
The first pressure collection unit, the second pressure collection unit, and the engine ECM can be connected to the controller 16 through the CAN bus.
The first pressure collection unit and the second pressure collection unit are pressure sensors; as shown in FIG. 2, a pressure sensor is separately disposed on the pilot control oil path of the rotation value core 18, the moving arm valve core 19, the scraper pan valve core 20, and the pan rod valve core 21.
In conclusion, the hydraulic excavator control system and method provided by the embodiment of the present invention includes: collecting a main oil path pressure value of the hydraulic excavator; obtaining, by a controller, a required main pump power according to the oil path pressure value; the controller being used for adjusting, according to the required main pump power, the power of the main pump and delivering the required main pump power to an engine ECM; the time for the engine ECM to start to adjust the engine fuel injection being earlier than the time for the controller to start to adjust the main pump power so as to greatly reduce a loading response time of the engine, improve a working efficiency of the whole machine, avoid the problem of black smoke from idle loading, and further reduce an idle rotation speed of the engine and reduce fuel oil consumption. In addition, the control method further has advantages of simple implementations, low costs, and high reliability.
It should be explained that each embodiment in this specification is described in a progressive manner; each embodiment mainly illustrates the difference from other embodiments; same and similar parts among the embodiments can refer to one another. For the control method disclosed in the embodiments, since the adopted control device partially corresponds to the device disclosed by the embodiments, the description of the control device involved therein is relatively simple and the relevance can refer to the explanation of the device part.
The descriptions above are only used for describing the preferable embodiments of the present invention, rather than any limitation to the range of the present invention; any change and modification made by a person having ordinary skilled in the art of the present invention according to the contents disclosed above is within the scopes of protection of the claims.
Throughout the specification and the claims that follow, unless the context requires otherwise, the words "comprise" and "include" and variations such as "comprising" and "including" will be understood to imply the inclusion of a stated integer or group of integers, but not the exclusion of any other integer or group of integers.
The reference to any prior art in this specification is not, and should not be taken as, an acknowledgement of any form of suggestion that such prior art forms part of the common general knowledge.
In some cases, a single embodiment may, for succinctness and/or to assist in understanding the scope of the disclosure, combine multiple features. It is to be understood that in such a case, these multiple features may be provided separately (in separate embodiments), or in any other suitable combination. Alternatively, where separate features are described in separate embodiments, these separate features may be combined into a single embodiment unless otherwise stated or implied. This also applies to the claims which can be recombined in any combination. That is a claim may be amended to include a feature defined in any other claim. Further a phrase referring to "at least one of' a list of items refers to any combination of those items, including single members. As an example, "at least one of: a, b, or c" is intended to cover: a, b, c, a-b, a-c, b-c, and a-b-c.
It will be appreciated by those skilled in the art that the invention is not restricted in its use to the particular application described. Neither is the present invention restricted in its preferred embodiment with regard to the particular elements and/or features described or depicted herein. It will be appreciated that the invention is not limited to the embodiment or embodiments disclosed, but is capable of numerous rearrangements, modifications and substitutions without departing from the scope of the invention as set forth and defined by the following claims.
Claims (6)
1. A hydraulic excavator control method, comprising the following steps:
collecting, by a controller, an oil path pressure signal of a hydraulic excavator, and
calculating a required main pump power according to the oil path pressure signal;
sending, by the controller, the required main pump power to an engine ECM; and
first adjusting, by the engine ECM, an engine fuel injection quantity according to the
required main pump power, and then adjusting, by the controller, a main pump power according
to the required main pump power,
wherein the time for the engine ECM to start to adjust the engine fuel injection amount is
ahead of the time for the controller to start to adjust the main pump power.
2. The hydraulic excavator control method according to claim 1, wherein the oil path
pressure signal comprises a main oil path pressure value of the hydraulic excavator and each
pilot pressure value corresponding to a current action of the hydraulic excavator.
3. The hydraulic excavator control method according to claim 1, wherein the time for the
engine ECM to start to adjust the engine fuel injection quantity is ahead of the time for the
controller to start to adjust the main pump power by 0.05-0.6 seconds.
4. A hydraulic excavator control system comprising a controller, an engine ECM, and an
oil path pressure collection unit, wherein the engine ECM and the oil path pressure collection
unit are respectively communicationally connected to the controller;
the controller is adapted to calculate, according to an oil path pressure signal of a hydraulic
excavator collected by the oil path pressure collection unit, a required main pump power of the
hydraulic excavator, and is configured to send the required main pump power to the engine
ECM; and
the engine ECM is configured to first adjust an engine fuel injection quantity according to
the required main pump power, and then the controller adjusts a main pump power according
to the required main pump power.
5. The hydraulic excavator control system according to claim 4, wherein the controller is communicationally connected to the engine ECM using a CAN bus.
6. The hydraulic excavator control system according to claim 4, wherein the oil path
pressure collection unit comprises a first pressure sensor configured to collect a main oil
path pressure value of the hydraulic excavator and a second pressure sensor configured to
collect each pilot pressure value corresponding to a current action of the hydraulic
excavator.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/105276 WO2021046736A1 (en) | 2019-09-11 | 2019-09-11 | Hydraulic excavator control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| AU2019465349A1 AU2019465349A1 (en) | 2022-03-24 |
| AU2019465349B2 true AU2019465349B2 (en) | 2023-07-27 |
Family
ID=74866816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2019465349A Active AU2019465349B2 (en) | 2019-09-11 | 2019-09-11 | Hydraulic excavator control system and method |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP4030003A4 (en) |
| AU (1) | AU2019465349B2 (en) |
| CA (1) | CA3150007A1 (en) |
| WO (1) | WO2021046736A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114045897B (en) * | 2021-11-17 | 2023-06-02 | 江苏徐工工程机械研究院有限公司 | Load abrupt change speed-drop control method and system for positive flow system and excavator |
| CN114687876B (en) * | 2022-04-12 | 2023-01-06 | 潍柴动力股份有限公司 | Vehicle idle speed response control method and vehicle |
| CN115324149B (en) * | 2022-06-30 | 2023-10-27 | 三一重机有限公司 | Hydraulic pump control method and device and working machine |
| CN115110596B (en) * | 2022-07-26 | 2023-12-19 | 山河智能装备股份有限公司 | Hydraulic control system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6161522A (en) * | 1997-01-20 | 2000-12-19 | Komatsu, Ltd. | Controller of engine and variable capacity pump |
| CN104074225A (en) * | 2014-07-08 | 2014-10-01 | 湖南机电职业技术学院 | Hydraulic excavator power adaptive control system and method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH101978A (en) * | 1996-06-13 | 1998-01-06 | Yutani Heavy Ind Ltd | Battery-driven working machine |
| US7797934B2 (en) * | 2007-04-30 | 2010-09-21 | Caterpillar Inc | Anti-stall system utilizing implement pilot relief |
| CN104405002A (en) * | 2014-10-10 | 2015-03-11 | 龙工（上海）挖掘机制造有限公司 | Control device and method for improving working efficiency of hydraulic excavator |
| CN106869222A (en) * | 2015-12-13 | 2017-06-20 | 姚秋丽 | A kind of hydraulic digger operating device multiple mode power automatic control system |
| CN107044147B (en) * | 2016-02-05 | 2023-02-14 | 贵州詹阳动力重工有限公司 | Running control system and method for wheel type hydraulic excavator of electronic fuel injection engine |
-
2019
- 2019-09-11 WO PCT/CN2019/105276 patent/WO2021046736A1/en unknown
- 2019-09-11 AU AU2019465349A patent/AU2019465349B2/en active Active
- 2019-09-11 EP EP19944808.5A patent/EP4030003A4/en active Pending
- 2019-09-11 CA CA3150007A patent/CA3150007A1/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6161522A (en) * | 1997-01-20 | 2000-12-19 | Komatsu, Ltd. | Controller of engine and variable capacity pump |
| CN104074225A (en) * | 2014-07-08 | 2014-10-01 | 湖南机电职业技术学院 | Hydraulic excavator power adaptive control system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CA3150007A1 (en) | 2021-03-18 |
| EP4030003A1 (en) | 2022-07-20 |
| EP4030003A4 (en) | 2022-10-12 |
| WO2021046736A1 (en) | 2021-03-18 |
| AU2019465349A1 (en) | 2022-03-24 |
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