CN101016864A - Control method for engine speed of digger machine - Google Patents
Control method for engine speed of digger machine Download PDFInfo
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- CN101016864A CN101016864A CN 200710020110 CN200710020110A CN101016864A CN 101016864 A CN101016864 A CN 101016864A CN 200710020110 CN200710020110 CN 200710020110 CN 200710020110 A CN200710020110 A CN 200710020110A CN 101016864 A CN101016864 A CN 101016864A
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Abstract
The invention discloses a method for controlling the rotation speed of digger engine, which uses engine rotation speed sensation system, according to the target speed relative to the shift of throttle to control the speed of engine. The invention is characterized in that based on the power curvature, designing at least one alarm speed point, online checking the real speed of engine, when the real speed is over the minimum alarm speed point, controlling the throttle signal, adjusting the throttle and reducing the target speed of engine. The invention limits the engine speed away from idle maximum speed to reduce the noise level and oil consumption, without affecting the function of engine, to improve service life and reliability of engine.
Description
Technical field
The present invention relates to the method for controlling number of revolution of a kind of engineering machinery, be specifically related to a kind of method for controlling number of revolution of digger engine, especially the method that the unloaded maximum speed of motor is controlled with motor.
Background technique
Mini-excavator is widely used in the foundation dredging of building construction and the occasions such as cleaning, urban duct layings, construction of water conservancy works after the completion, has the maneuverability of constructing, advantage that efficient is high.
In the excavator working procedure, need control the engine speed of excavator.Traditional digger engine rotating speed control mode is: set the engine target rotating speed corresponding to the throttle gear, motor reaches optimum (for example output power maximum or fuel consumption rate are minimum) under certain condition in service behaviour under this rotating speed of target.When extraneous load variations, actual engine speed can depart from this rotating speed of target, this moment is by regulating the oil hydraulic pump be connected with motor or the absorbed power of other power conversion components, can realize that actual engine speed fluctuates in a small range near rotating speed of target, Here it is is used to control and regulate the engine speed induction system (ESS) of engine output.Under the situation of load big ups and downs outside, ESS can make the motor output speed keep within the specific limits (such as ± 200rpm), thereby guarantee that engine output is stable, the essence of this rotating speed control mode is the fluctuation within a narrow range that fluctuating widely of outer load is mapped as engine speed, can either guarantee that engine speed is stable substantially, the rapid change that can adapt to outer load again is through facts have proved it is to the effective controlling method of digger engine.
Yet for excavator, shown in accompanying drawing 1, operating load often suddenlys change between than heavy load and less load.When engine operation was near rated power point, the unexpected reduction of outer load can cause engine speed to approach away from idle maximum.Such as, excavator whole Joysticks under band year working state are got back to meta, engine load sharply reduced and approached unloaded state this moment, engine speed can be near away from idle maximum, because the fluctuation of speed scope of ESS control has contained most of even whole rotating speed of engine governed speed section, so ESS is to the trend strength of adjustment deficiency of motor near away from idle maximum, effect is undesirable.When motor moved near the idle running maximum speed, specific fuel consumption was big and noise is higher, should avoid as possible.
Therefore, how on the basis of above-mentioned engine speed induction system (ESS), increase the inhibition of motor near away from idle maximum trend, operating noise and oil consumption for reducing excavator have positive meaning.
Summary of the invention
The object of the invention provides a kind of appearance of avoiding the digger engine away from idle maximum, thereby improves the method for controlling number of revolution of the working state of motor, with effective reduction oil consumption and noise, improves the energy saving and the feature of environmental protection of digger engine.
For achieving the above object, the technical solution used in the present invention is: a kind of control method for engine speed of digger machine, setting is corresponding to the engine target rotating speed of throttle gear, adopt the rotating speed of engine speed induction system control motor, according at least one warning rotating speed point of engine power curve setting, actual speed to motor is carried out online detection, when actual speed surpasses minimum warning rotating speed point, to the control of going beyond one's commission of engine oil gate signal, regulate accelerator open degree, reduce the rotating speed of target of motor.
In the technique scheme, described engine speed induction system (ESS) is a prior art, normally is provided with the control software of the above-mentioned ESS of application system in the master controller of excavator; The present invention can be provided with the maximum speed control module in the master controller of above-mentioned excavator when practical application, by software control mode limiting engine away from idle maximum.The fixing warning rotating speed of at least one numerical value is set, when actual engine speed surpasses this warning rotating speed, according to certain algorithm the engine target rotating speed is adjusted, throttle gear and engine output that different rotating speed of target is corresponding different, and then realize the reduction with actual engine speed of following of the external load of engine output, reach the purpose of limiting engine away from idle maximum.Promptly, engine speed is except conventional controls such as participation ESS, also as the input quantity of maximum speed control module, the control signal of the accelerator open degree that the maximum speed control module provides, has the preference that is higher than ESS, can be to the engine speed control of going beyond one's commission, thus remedy the deficiency of traditional engine speed induction control.
Wherein, carrying out Calculation Method for engine target rotating speed adjusting range can have multiplely, comprising:
Calculate the difference that detected actual speed surpasses the warning rotating speed, control the rotating speed of target of motor with negative feedback mode, and determine the regulated value of accelerator open degree according to rotating speed of target according to described difference.
Adopt two-dimensional fuzzy controller to realize rotating speed control, to exceed the degree of guarding against rotating speed and change in rotational speed trend input quantity as fuzzy controller, provide the adjusted value of rotating speed of target by the mode of fuzzy control, and determine the regulated value of accelerator open degree according to rotating speed of target.
Detect main pump pressure, main pump discharge capacity and throttle position parameter in real time, the variation tendency according to actual speed and above-mentioned parameter calculating actual speed to determine the adjusted value of rotating speed of target, provides the adjustment control signal of throttle position and main pump discharge capacity in view of the above.
Because the technique scheme utilization, the present invention compared with prior art has following advantage:
1. the present invention is provided with warning rotating speed point, when the actual speed of motor surpasses warning rotating speed point, promptly rotating speed of target is adjusted, limit engine speed and approached away from idle maximum, thereby the noise level and the oil consumption level of motor have been reduced, do not influence the power character and the speed of response of motor again, improved the running state of motor, improved working life and reliability;
2. the present invention controls engine speed by software mode, have good speed of response and control flexibility, simultaneously, only needing to add the maximum speed control module in the digger engine control gear of existing employing ESS control can realize, is convenient to the technical innovation of existing product;
3. the present invention can introduce two-dimentional FUZZY ALGORITHMS FOR CONTROL, further improves the effect of control.
Description of drawings
Accompanying drawing 1 is excavator load change curves figure;
Accompanying drawing 2 is the engine throttle of the embodiment of the invention one controlling party block diagrams of going beyond one's commission;
Accompanying drawing 3 is digger engine powers among the embodiment one.
Embodiment
Below in conjunction with drawings and Examples the present invention is further described:
Embodiment one: a kind of control method for engine speed of digger machine, setting is corresponding to the engine target rotating speed of throttle gear, adopt the rotating speed of engine speed induction system control motor, according at least one warning rotating speed point of engine power curve setting, actual speed to motor is carried out online detection, when actual speed surpasses minimum warning rotating speed point, to the control of going beyond one's commission of engine oil gate signal, regulate accelerator open degree, reduce the rotating speed of target of motor.
During enforcement, shown in accompanying drawing 2, in the master controller of digger engine, be provided with ESS control module and away from idle maximum control module, when actual engine speed surpasses the warning rotating speed, the control signal of the accelerator open degree that the away from idle maximum control module provides, have the preference that is higher than the ESS control module, can be to the engine speed control of going beyond one's commission.
Referring to the engine power curve of accompanying drawing 3, when rotating speed surpasses the 2220rpm left and right sides, enter the speed governing district.Too much for preventing that motor from going deep into the speed governing district, it is 2250rpm that a warning rotating speed can be set, and when actual engine speed is no more than this warning rotating speed, carries out engine speed induction control in a conventional manner; When actual engine speed surpasses the warning rotating speed, rotating speed of target with motor on the basis of former rotating speed induction control reduces a value, this value can be an actual speed and the function of the difference of warning rotating speed, makes the maximum speed restriction system have punitive reverse feedback to hypervelocity with this.
For example: when actual engine speed surpassed the warning rotating speed, the rotating speed of target with motor on the basis of former rotating speed induction control reduced f (n):
f(n)＝kn＝k(ns-nj)
Wherein: ns is an actual engine speed
Nj is a motor warning rotating speed
N is that motor surpasses the value of guarding against rotating speed
K is a penalty coefficient
In order to ensure rapidity and the stability that engine speed is adjusted, need rationally choose penalty coefficient, for different motors, choosing of penalty coefficient can produce different influences to the performance of motor, thereby, can choose the penalty coefficient that is fit to employed motor by experiment.
After obtaining the new rotating speed of target of motor, can calculate adjusted value according to the relation of engine speed and accelerator open degree to accelerator open degree.
Embodiment two: a kind of control method for engine speed of digger machine, setting is corresponding to the engine target rotating speed of throttle gear, adopt the rotating speed of engine speed induction system control motor, according at least one warning rotating speed point of engine power curve setting, actual speed to motor is carried out online detection, when actual speed surpasses minimum warning rotating speed point, to the control of going beyond one's commission of engine oil gate signal, regulate accelerator open degree, reduce the rotating speed of target of motor.
In the present embodiment, adopt two-dimensional fuzzy controller to realize rotating speed control, to exceed the degree of guarding against rotating speed and change in rotational speed trend, provide the adjusted value of rotating speed of target by the mode of fuzzy control, and determine the regulated value of accelerator open degree according to rotating speed of target as the input quantity of fuzzy controller.
Embodiment three: a kind of control method for engine speed of digger machine, setting is corresponding to the engine target rotating speed of throttle gear, adopt the rotating speed of engine speed induction system control motor, according at least one warning rotating speed point of engine power curve setting, the actual speed of online detection of engine, main pump pressure, main pump discharge capacity and throttle position parameter, when actual speed surpasses minimum warning rotating speed point, variation tendency according to actual speed and above-mentioned parameter calculating actual speed, to determine the adjusted value of rotating speed of target, provide the adjustment control signal of throttle position and main pump discharge capacity in view of the above, regulate accelerator open degree and main pump discharge capacity, reduce the rotating speed of target of motor.
Claims (4)
1. control method for engine speed of digger machine, setting is corresponding to the engine target rotating speed of throttle gear, adopt the rotating speed of engine speed induction system control motor, it is characterized in that: according at least one warning rotating speed point of engine power curve setting, actual speed to motor is carried out online detection, when actual speed surpasses minimum warning rotating speed point, to the control of going beyond one's commission of engine oil gate signal, regulate accelerator open degree, reduce the rotating speed of target of motor.
2. control method for engine speed of digger machine according to claim 1, it is characterized in that: calculate the difference that detected actual speed surpasses the warning rotating speed, control the rotating speed of target of motor according to described difference with negative feedback mode, and determine the regulated value of accelerator open degree according to rotating speed of target.
3. control method for engine speed of digger machine according to claim 1, it is characterized in that: adopt two-dimensional fuzzy controller to realize rotating speed control, to exceed the degree of guarding against rotating speed and change in rotational speed trend input quantity as fuzzy controller, provide the adjusted value of rotating speed of target by the mode of fuzzy control, and determine the regulated value of accelerator open degree according to rotating speed of target.
4. control method for engine speed of digger machine according to claim 1, it is characterized in that: detect main pump pressure, main pump discharge capacity and throttle position parameter in real time, variation tendency according to actual speed and above-mentioned parameter calculating actual speed, to determine the adjusted value of rotating speed of target, provide the adjustment control signal of throttle position and main pump discharge capacity in view of the above.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNB2007100201104A CN100460649C (en) | 2007-02-13 | 2007-02-13 | Control method for engine speed of digger machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100201104A CN100460649C (en) | 2007-02-13 | 2007-02-13 | Control method for engine speed of digger machine |
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| CN101016864A true CN101016864A (en) | 2007-08-15 |
| CN100460649C CN100460649C (en) | 2009-02-11 |
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| CNB2007100201104A Expired - Fee Related CN100460649C (en) | 2007-02-13 | 2007-02-13 | Control method for engine speed of digger machine |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101225668B (en) * | 2008-01-14 | 2010-12-15 | 浙江大学 | Control method of multiple system hybrid-power hydraulic shovel |
| CN102042098A (en) * | 2009-10-14 | 2011-05-04 | 北汽福田汽车股份有限公司 | Method and system for controlling engine gears of excavator |
| CN102644251A (en) * | 2012-04-28 | 2012-08-22 | 中联重科股份有限公司 | Control method, device and system for scrubbing and sweeping car subsidiary motors |
| CN102677714A (en) * | 2012-06-11 | 2012-09-19 | 上海三一重机有限公司 | Rotational speed control device and method for excavator and excavator with rotational speed control device |
| CN103061907A (en) * | 2012-12-20 | 2013-04-24 | 中联重科股份有限公司 | Engine control device and method for fixed displacement pump hydraulic system |
| CN103270277A (en) * | 2010-12-21 | 2013-08-28 | 斗山英维高株式会社 | Method for controlling auto idle state of heavy construction equipment |
| CN103541825A (en) * | 2013-11-01 | 2014-01-29 | 上海三一重机有限公司 | Method for controlling revolving speed of engineering mechanical engines |
| CN104033260A (en) * | 2014-06-06 | 2014-09-10 | 上海中联重科桩工机械有限公司 | Engine rotating speed control method, engine rotating speed control equipment, engine rotating speed control system and engineering machinery |
| CN104847510A (en) * | 2015-03-23 | 2015-08-19 | 柳州柳工挖掘机有限公司 | Automatic engineering mechanical engine rotation speed drift compensation method |
| CN104033260B (en) * | 2014-06-06 | 2016-11-30 | 上海中联重科桩工机械有限公司 | Control method for engine speed, equipment, system and engineering machinery |
| CN106460370A (en) * | 2014-05-06 | 2017-02-22 | 伊顿公司 | Low noise control algorithm for hydraulic systems |
| CN107983525A (en) * | 2017-12-04 | 2018-05-04 | 徐工集团工程机械有限公司 | Control method, dynamical system and the jaw crusher of dynamical system |
| CN108386287A (en) * | 2018-03-21 | 2018-08-10 | 潍柴动力股份有限公司 | A kind of engine self-adaptive system and method |
| CN109764128A (en) * | 2017-11-09 | 2019-05-17 | 华晨汽车集团控股有限公司 | A kind of shift prompting control device and method reducing oil consumption |
| CN112796365A (en) * | 2020-12-23 | 2021-05-14 | 中联重科土方机械有限公司 | Preloading method and device of excavator and excavator |
| CN114908837A (en) * | 2022-06-29 | 2022-08-16 | 徐州徐工矿业机械有限公司 | Control method of hydraulic excavator rotating speed control system based on multiple parameters |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR910009257B1 (en) * | 1985-09-07 | 1991-11-07 | 히다찌 겡끼 가부시기가이샤 | Control system for hydraulically operated construction machinery |
| GB2378428B (en) * | 1999-08-30 | 2003-06-04 | Caterpillar Inc | Electronic engine speed controller |
| JP3748759B2 (en) * | 2000-05-16 | 2006-02-22 | 日立建機株式会社 | Pump drive engine speed control device |
| JP2003028074A (en) * | 2001-07-12 | 2003-01-29 | Sumitomo Heavy Industries Construction Crane Co Ltd | Control device for engine and pump of construction machine |
| JP4084148B2 (en) * | 2002-09-13 | 2008-04-30 | 日立建機株式会社 | Pump torque control device for hydraulic construction machinery |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101225668B (en) * | 2008-01-14 | 2010-12-15 | 浙江大学 | Control method of multiple system hybrid-power hydraulic shovel |
| CN102042098A (en) * | 2009-10-14 | 2011-05-04 | 北汽福田汽车股份有限公司 | Method and system for controlling engine gears of excavator |
| CN103270277A (en) * | 2010-12-21 | 2013-08-28 | 斗山英维高株式会社 | Method for controlling auto idle state of heavy construction equipment |
| CN103270277B (en) * | 2010-12-21 | 2016-08-24 | 斗山英维高株式会社 | The automatic slip control method of heavy engineering equipment |
| CN102644251A (en) * | 2012-04-28 | 2012-08-22 | 中联重科股份有限公司 | Control method, device and system for scrubbing and sweeping car subsidiary motors |
| CN102644251B (en) * | 2012-04-28 | 2015-03-18 | 中联重科股份有限公司 | Control method, device and system for scrubbing and sweeping car subsidiary motors |
| CN102677714A (en) * | 2012-06-11 | 2012-09-19 | 上海三一重机有限公司 | Rotational speed control device and method for excavator and excavator with rotational speed control device |
| CN103061907B (en) * | 2012-12-20 | 2015-09-30 | 中联重科股份有限公司 | The engine controlling unit of hydraulic system with constant displacement pump and method |
| CN103061907A (en) * | 2012-12-20 | 2013-04-24 | 中联重科股份有限公司 | Engine control device and method for fixed displacement pump hydraulic system |
| CN103541825A (en) * | 2013-11-01 | 2014-01-29 | 上海三一重机有限公司 | Method for controlling revolving speed of engineering mechanical engines |
| CN103541825B (en) * | 2013-11-01 | 2016-03-02 | 上海三一重机有限公司 | A kind of method for controlling number of revolution of engineering machinery engine |
| CN106460370A (en) * | 2014-05-06 | 2017-02-22 | 伊顿公司 | Low noise control algorithm for hydraulic systems |
| CN104033260A (en) * | 2014-06-06 | 2014-09-10 | 上海中联重科桩工机械有限公司 | Engine rotating speed control method, engine rotating speed control equipment, engine rotating speed control system and engineering machinery |
| CN104033260B (en) * | 2014-06-06 | 2016-11-30 | 上海中联重科桩工机械有限公司 | Control method for engine speed, equipment, system and engineering machinery |
| CN104847510B (en) * | 2015-03-23 | 2017-11-24 | 柳州柳工挖掘机有限公司 | Engineering machinery engine rotating speed drift automatic compensating method |
| CN104847510A (en) * | 2015-03-23 | 2015-08-19 | 柳州柳工挖掘机有限公司 | Automatic engineering mechanical engine rotation speed drift compensation method |
| CN109764128A (en) * | 2017-11-09 | 2019-05-17 | 华晨汽车集团控股有限公司 | A kind of shift prompting control device and method reducing oil consumption |
| CN107983525A (en) * | 2017-12-04 | 2018-05-04 | 徐工集团工程机械有限公司 | Control method, dynamical system and the jaw crusher of dynamical system |
| CN108386287A (en) * | 2018-03-21 | 2018-08-10 | 潍柴动力股份有限公司 | A kind of engine self-adaptive system and method |
| CN108386287B (en) * | 2018-03-21 | 2019-12-10 | 潍柴动力股份有限公司 | Engine self-adaptive system and method |
| CN112796365A (en) * | 2020-12-23 | 2021-05-14 | 中联重科土方机械有限公司 | Preloading method and device of excavator and excavator |
| CN112796365B (en) * | 2020-12-23 | 2022-03-04 | 中联重科土方机械有限公司 | Preloading method and device of excavator and excavator |
| CN114908837A (en) * | 2022-06-29 | 2022-08-16 | 徐州徐工矿业机械有限公司 | Control method of hydraulic excavator rotating speed control system based on multiple parameters |
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