CN102182724A - Method and system for controlling power matching of mobile working machine - Google Patents
Method and system for controlling power matching of mobile working machine Download PDFInfo
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- CN102182724A CN102182724A CN2011100757094A CN201110075709A CN102182724A CN 102182724 A CN102182724 A CN 102182724A CN 2011100757094 A CN2011100757094 A CN 2011100757094A CN 201110075709 A CN201110075709 A CN 201110075709A CN 102182724 A CN102182724 A CN 102182724A
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Abstract
The invention relates a method and a system for controlling power matching of a mobile working machine. The system comprises a travelling hydraulic system, a working hydraulic system, an engine system, a sensor, a pressure sensor, a rotation speed sensor, a controller and a control unit, wherein the travelling hydraulic system and the working hydraulic system are driven by the engine system; the sensor is used for acquiring the flow quantity of the working hydraulic system and the travelling hydraulic system; the pressure sensor is used for measuring the pressure of the working hydraulic system and the travelling hydraulic system; the rotation speed sensor is used for measuring the rotation speed of an engine; the controller is used for receiving signals of all sensors; and the control unit is used for controlling the two hydraulic systems. The controller calculates the power of the two hydraulic systems and the maximum theoretical output power of the engine at a current rotation speed and reasonably allocates power to the engine according to an actual working condition when the sum of the power of the two hydraulic systems reaches the maximum theoretical output power of the engine. By the system for controlling power matching, reasonable power allocation of the two hydraulic systems is ensured, and the engine is prevented from flameout due to overload.
Description
Technical field
This invention relates to a kind of mobile operating mechanical control method and system, the power match controlling method and the system of particularly a kind of hydraulic system of working of mobile operating machinery and vibration hydraulic system.
Background technique
Traditional mobile operating machinery comprises hydraulic system of working and two important systems of vibration hydraulic system, and these two systems pass through engine-driving.The power of hydraulic system equals the pressure of this system and the flow product of this system's hydraulic oil, and the pressure of hydraulic system is determined by load, the flow of hydraulic oil equals the product of hydraulic pressure pump delivery and rotating speed, so controlled hydraulic system mainly is the control to hydraulic pressure pump delivery and rotating speed.The output power of motor equals the product of rotating speed and moment of torsion, motor rotating speed when certain accelerator open degree is fixed, but the moment of torsion of output is determined by load, therefore the power of the output of motor is determined by load, but the output power of this moment can not surpass the theoretical maximum output power of motor when this accelerator open degree.
During the mobile operating mechanical work, because the emphasis of the operating mode distinct device power division of operation is also different.Therefore when the power sum of hydraulic system of working and vibration hydraulic system reached motor theoretical maximum output power, the power division of two systems can be redistributed according to the difference of operating mode, if unreasonable distribution causes motor that flame-out phenomenon takes place easily.
For the energy-conservation target that always is that engineering equipment enterprise is pursued of engineering equipment, the power loss of engineering equipment is the loss of hydraulic system greatly.Traditional hydraulic system adopts metering pump to give each hydraulic element fuel feeding, difference for operating mode, the hydraulic fluid flow rate that needs is also different thereupon, and common way is to allow unnecessary hydraulic oil flow back to hydraulic oil container by relief valve, causes unnecessary hydraulic pressure to have lost in the process of overflow.
Summary of the invention
Goal of the invention: the power match controlling method that the purpose of this invention is to provide a kind of hydraulic system of working and vibration hydraulic system of mobile operating machinery; Another object of the present invention provides a kind of control system of using the power match controlling method of described mobile operating machinery, adopt this system and method and to prevent the flame-out utilization efficiency that improves engine power of motor, and produce energy-saving effect preferably according to the power of two systems of different reasonable distribution of equipment working condition.
Technological scheme: the inventive method may further comprise the steps: a kind of power division controlling method of mobile operating machinery, be used for the distribution control of mobile operating machine-walking hydraulic system and hydraulic system of working to engine system power,
The first step, at first obtain the motor theoretical maximum output power of vibration hydraulic system power, hydraulic system of working power, current throttle aperture;
Second step, vibration hydraulic system power and hydraulic system of working power sum and motor theoretical maximum output power are compared, described motor theoretical maximum output power is the i.e. power of two hydraulic systems acquisitions of the actual part that can export of motor theoretical power (horse-power);
If the power sum of vibration hydraulic system and hydraulic system of working is during less than engine system theoretical maximum power, two hydraulic systems are distributed the output power of engine system, two hydraulic system mutual noninterferences according to operating mode separately; When if the power sum of vibration hydraulic system and hydraulic system of working equals engine system theoretical maximum power, according to the different adjustment vibration hydraulic system of the actual conditions of mobile operating machinery and the power division ratio of hydraulic system of working, the operating mode allocation proportion that changes also changes thereupon.For example: the loader power that hydraulic system of working is got when the shovel dress is bigger, and the power that vibration hydraulic system is got during transportation is bigger.
Match control method by above-mentioned power had not only carried out reasonable distribution according to the difference of operating mode but also had prevented motor because overload is stopped working engine output, had improved the utilization efficiency of engine power.
The present invention further realizes energy-conservation effect, can adopt the method for full power load-sensitive control for hydraulic system of working and vibration hydraulic system, according to the needs of load to each hydraulic element fuel feeding.
Technological scheme: the present invention adopts the system of the power match controlling method of above-mentioned mobile operating machinery: the power division control system of mobile operating machinery comprises vibration hydraulic system, hydraulic system of working and engine system; Vibration hydraulic system comprises walking pump; Hydraulic system of working comprises working pump; Described walking pump is connected with engine system with working pump.This control system also comprises pressure first pressure transducer of surveying work hydraulic system, second pressure transducer of measuring vibration hydraulic system pressure, the speed probe of measuring engine speed, the first sensor that obtains the hydraulic system of working flow, second sensor that obtains the vibration hydraulic system flow, the controller that receives described each sensor signal, the walking pump control unit of control walking pump and the working pump control unit of Control work pump; The walking pump control unit is connected with controller with the working pump control unit.
Detect the pressure of hydraulic system of working by first pressure transducer; Detect the pressure of vibration hydraulic system by second pressure transducer; Detect the flow of hydraulic system of working by first sensor; Go out the flow of vibration hydraulic system by second sensor; Controller goes out the power of hydraulic system of working and vibration hydraulic system according to flow that is obtained and calculation of pressure; Detect engine speed by speed probe, controller goes out the theoretical maximum output power of motor at current rotating speed according to the calculation of parameter such as efficiency factor of predefined engine power characteristic and motor.
The power sum of controller evaluation work hydraulic system and vibration hydraulic system draws the real output of engine system; When the engine system real output reaches when starting the theoretical maximum output power, controller is judged the operating mode of this mobile operating machinery at present according to the power of hydraulic system of working and vibration hydraulic system, illustrate that then this equipment is in mode of operation when for example the power of hydraulic system of working is greater than the power of vibration hydraulic system, otherwise illustrate that then this equipment is in walking mode.Controller passes to walking pump control unit and working pump control unit respectively with the power division ratio signal of predefined various work patterns.By above-mentioned two control units working pump and walking pump delivery are regulated.When the operation pattern changes, control to think highly of and newly send the power division that control signal readjusts two hydraulic systems, matching control system by above-mentioned power had not only carried out reasonable distribution according to the difference of operating mode but also had prevented motor because overload is stopped working engine output, had improved the utilization efficiency of engine power.
If the power sum of vibration hydraulic system and hydraulic system of working is during less than engine system theoretical maximum output power, two hydraulic systems are distributed the output power of motor according to operating mode separately.
If load was also increasing when the power sum of two hydraulic systems reached engine system theoretical maximum output power, then two hydraulic systems reduce pump delivery to satisfy the power division ratio simultaneously according to controlling the power division ratio of setting.
In order to realize energy-saving effect, the working pump of described hydraulic system of working adopts variable displacement pump, described hydraulic system of working is by the aperture of load-sensitive valve according to executive component load Control work pump, described load-sensitive valve can be regulated the fuel delivery of working pump to hydraulic element automatically according to the variation of load, realizes the fuel feeding of hydraulic element is carried out supply as required.
Description of drawings
Fig. 1 is the first embodiment of the invention schematic diagram; Fig. 2 is the second embodiment of the invention schematic diagram.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
Embodiment 1: as shown in Figure 1, the power division control system of mobile operating machinery, comprise vibration hydraulic system 1, hydraulic system of working 2 and engine system 3, vibration hydraulic system 1 comprises walking pump 11, hydraulic system of working 2 comprises working pump 21, described walking pump 11 is connected with engine system 3 with working pump 21, and therefore, walking pump 11 and working pump 21 keep interlock with engine system 3.Described power division control system also comprises the pressure transducer 5,12 of surveying work hydraulic system 2 and vibration hydraulic system 1 pressure, measure the speed probe 7 of engine speed, the displacement transducer 23,14 of testing hydraulic system 2 working pumps 21 and vibration hydraulic system 1 walking pump 11 discharge capacities receives the controller 4 of described displacement transducer 23,14 and pressure transducer 5,12 and speed probe 7 signals and the working pump control unit 9 and the walking pump control unit 8 of Control work pump 21 and walking pump 11 discharge capacities.Described working pump control unit 9 is made up of working pump controller and working pump control oil cylinder, walking pump control unit 8 is made up of walking pump controller and walking pump control oil cylinder, and described displacement transducer 23,14 calculates pump delivery by the swash plate aperture of measuring pump or the extending amount of controlling oil cylinder.
Detect the pressure of hydraulic system of working 2 and vibration hydraulic system 1 respectively by pressure transducer 5,12, detect the discharge capacity of working pump 21 and walking pump 11 respectively by displacement transducer 23,14, detect engine speed by speed probe 7, controller 4 calculates the power of hydraulic system of working 2 and vibration hydraulic system 1 respectively according to measured displacement value, force value and tachometer value; Controller 4 goes out the theoretical maximum output power of motor at current rotating speed according to the calculation of parameter such as efficiency factor of predefined engine power characteristic and motor.
Hydraulic system of working 2 is engine system 3 real outputs with the power sum of vibration hydraulic system 1; When engine system 3 real outputs reach the theoretical maximum output power of engine system 3, controller 4 is judged the operating mode of this mobile operating machinery at present according to the power of hydraulic system of working 2 and vibration hydraulic system 1, illustrate that then this equipment is in mode of operation when for example the power of hydraulic system of working 2 is greater than the power of vibration hydraulic system 1, otherwise illustrate that then this equipment is in walking mode.Controller 4 passes to walking pump control unit 8 and working pump control unit 9 respectively with the power division ratio signal of predefined various work patterns.By above-mentioned two control units the discharge capacity of working pump 21 and walking pump 11 is regulated.Controller 4 sends the power division that control signal readjusts two hydraulic systems again when the operation pattern changes, matching control system by above-mentioned power had not only carried out reasonable distribution according to the difference of operating mode but also had prevented motor because overload is stopped working engine output, had improved the utilization efficiency of engine power.
When engine system 3 real outputs did not reach motor theoretical maximum output power, hydraulic system of working 2 and vibration hydraulic system 1 distributed the real output of engine system (3) according to operating mode separately.
In order to realize energy-saving effect, the working pump 21 of described hydraulic system of working 2 adopts variable displacement pump, described hydraulic system of working 2 is by the aperture of load-sensitive valve 22 according to executive component 23 load Control work pumps 21, described load-sensitive valve 22 can be regulated the fuel delivery of 21 pairs of hydraulic element of working pump automatically according to the variation of load, realizes the fuel feeding of hydraulic element is carried out supply as required.
Embodiment 2: as shown in Figure 2, the power division control system of mobile operating machinery, comprise vibration hydraulic system 1, hydraulic system of working 2 and engine system 3, vibration hydraulic system 1 comprises walking pump 11, hydraulic system of working 2 comprises working pump 21, described walking pump 11 is connected with engine system 3 with working pump 21, and therefore, walking pump 11 and working pump 21 keep interlock with engine system 3.Described power division control system also comprises the flow transducer 6,13 of surveying work hydraulic system 2 and vibration hydraulic system 1 flow, the pressure transducer 5,12 of surveying work hydraulic system 2 and vibration hydraulic system 1 pressure, measure the speed probe 7 of engine speed, receive the controller 4 of described flow transducer 6,13 and pressure transducer 5,12 and speed probe 7 signals and the working pump control unit 9 and the walking pump control unit 8 of Control work pump 21 and walking pump 11 discharge capacities.
Detect the flow and the pressure of hydraulic system of working 2 respectively by flow transducer 6 and pressure transducer 5, controller 4 goes out the power of hydraulic system of working 2 according to detected flow and calculation of pressure; Detect the pressure and the flow of vibration hydraulic system 1 respectively by pressure transducer 12 and flow transducer 13, controller 4 is according to the power of detected pressure and flow rate calculation vibration hydraulic system 1; Detect engine system 3 rotating speeds and feed back to controller 4 by speed probe 7, controller 4 goes out the theoretical maximum output power of motor at current rotating speed according to the calculation of parameter such as efficiency factor of predefined engine power characteristic and motor.
Hydraulic system of working 2 power and vibration hydraulic system 1 power sum are engine system 3 real outputs; When engine system 3 real outputs reached motor theoretical maximum output power, controller 4 was judged the operating mode of this mobile operating machinery at present according to the power of hydraulic system of working 2 and vibration hydraulic system 1.Controller 4 passes to walking pump control unit 8 and working pump control unit 9 respectively with the power division ratio signal of predefined various work patterns.By above-mentioned two control units the discharge capacity of working pump 21 and walking pump 11 is regulated.Controller 4 sends the power division that control signal readjusts two hydraulic systems again when the operation pattern changes, matching control system by above-mentioned power had not only carried out reasonable distribution according to the difference of operating mode but also had prevented motor because overload is stopped working engine output, had improved the utilization efficiency of engine power.
When engine system 3 real outputs did not reach motor theoretical maximum output power, hydraulic system of working 2 and vibration hydraulic system 1 distributed the realization output power of engine system (3) according to operating mode separately.
In order to realize energy-saving effect, the working pump 21 of described hydraulic system of working 2 adopts variable displacement pump, described hydraulic system of working 2 is by the aperture of load-sensitive valve 22 according to executive component 23 load Control work pumps 21, described load-sensitive valve 22 can be regulated the fuel delivery of 21 pairs of hydraulic element of working pump automatically according to the variation of load, realizes the fuel feeding of hydraulic element is carried out supply as required.
Claims (12)
1. the power match controlling method of a mobile operating machinery is used for the distribution control to engine system (3) power of mobile operating machine-walking hydraulic system (1) and hydraulic system of working (2), it is characterized in that this controlling method may further comprise the steps:
A, obtain the motor theoretical maximum output power of vibration hydraulic system (1) power, hydraulic system of working (2) power, current throttle aperture;
B, vibration hydraulic system (1) power and hydraulic system of working (2) power sum and motor theoretical maximum output power are compared;
If the power sum of vibration hydraulic system (1) and hydraulic system of working (2) is during less than engine system (3) theoretical maximum output power, two hydraulic systems are distributed the output power of engine system (3) according to operating mode separately;
When if the power sum of vibration hydraulic system (1) and hydraulic system of working (2) equals engine system (3) theoretical maximum output power, the theoretical maximum output power of the power of hydraulic system of working (2) and vibration hydraulic system (1) pro-rata engine system (3).
2. the power match controlling method of mobile operating machinery according to claim 1, it is characterized in that the obtaining step of described hydraulic system of working (2) power is to detect the pressure and the flow of hydraulic system of working (2) respectively and feed back to the power that controller (4) calculates hydraulic system of working (2) by first pressure transducer (5) and first flow sensor (6).
3. the power match controlling method of mobile operating machinery according to claim 1, it is characterized in that the obtaining step of described hydraulic system of working (2) power is to detect the pressure of hydraulic system of working (2) and feed back to controller (4) by first pressure transducer (5); Obtain the discharge capacity of hydraulic system of working (2) working pump (21); Obtain the rotating speed of described working pump (21); Controller (4) calculates the power of hydraulic system of working (2) according to force value, displacement value and tachometer value.
4. the power match controlling method of mobile operating machinery according to claim 1, it is characterized in that the obtaining step of vibration hydraulic system (1) power is to detect the pressure and the flow of vibration hydraulic system (1) respectively and feed back to the power that controller (4) calculates vibration hydraulic system (2) by second pressure transducer (12) and second flow transducer (13).
5. the power match controlling method of mobile operating machinery according to claim 1 is characterized in that, the obtaining step of vibration hydraulic system (1) power is the discharge capacity of the walking pump (11) that obtains vibration hydraulic system (1); Detect the pressure of the rotating speed of engine system (3) and vibration hydraulic system (1) respectively and feed back to controller (4) by speed probe (7) and second pressure transducer (12); Controller (4) calculates the power of vibration hydraulic system (1) according to above-mentioned displacement value, tachometer value and force value.
6. the power match controlling method of mobile operating machinery according to claim 1, it is characterized in that, the obtaining step of the motor output theoretical maximum power of current throttle aperture is to detect the rotating speed of motor and feed back to controller (4) by speed probe (7), and controller (4) calculates motor and goes out the theoretical maximum output power.
7. the power match controlling method of mobile operating machinery according to claim 1, it is characterized in that described controller (4) is according to the power division ratio of the different adjustment vibration hydraulic system (1) and the hydraulic system of working (2) of the actual conditions of mobile operating machinery.
8. according to the power match controlling method of each described mobile operating machinery among the claim 1-7, it is characterized in that, comprising: by the discharge capacity of load-sensitive valve (22) Control work hydraulic work system pump (21).
9. use the control system of the power match controlling method of mobile operating machinery as claimed in claim 1, comprise vibration hydraulic system (1), hydraulic system of working (2) and engine system (3); Vibration hydraulic system (1) comprises walking pump (11); Hydraulic system of working (2) comprises working pump (21); Described walking pump (11) is connected with engine system (3) with working pump (21), it is characterized in that: this control system also comprises pressure first pressure transducer (5) of surveying work hydraulic system (2), measure second pressure transducer (13) of vibration hydraulic system (1) pressure, measure the speed probe (7) of engine speed, obtain the first sensor of hydraulic system of working (2) flow, obtain second sensor of vibration hydraulic system (1) flow, receive the controller (4) of described each sensor signal, the walking pump control unit (8) of control walking pump (11) and the working pump control unit (9) of Control work pump (21); Walking pump control unit (8) is connected with controller (4) with working pump control unit (9).
10. the power match control system of mobile operating machinery according to claim 9, it is characterized in that: described first sensor is the first flow sensor (6) of testing hydraulic system (2) flow, and described second sensor is for detecting second flow transducer (13) of vibration hydraulic system (1) flow.
11. the power match control system of mobile operating machinery according to claim 9, it is characterized in that: described first sensor is for obtaining first displacement transducer (23) of hydraulic system of working (2) working pump (21) discharge capacity, and described second sensor is for obtaining second displacement transducer (14) of vibration hydraulic system (1) walking pump (11) discharge capacity.
12. the power match control system according to claim 9 or 10 or 11 described mobile operating machineries is characterized in that: the working pump (21) of described hydraulic system of working (2) is a variable displacement pump; Described hydraulic system of working (2) also comprises the load-sensitive valve (22) according to load Control work pump (21).
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Cited By (12)
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| CN102416948A (en) * | 2011-10-11 | 2012-04-18 | 中国人民解放军总后勤部建筑工程研究所 | Hydrostatic control system for multifunctional off-road forklift |
| CN102493656A (en) * | 2011-12-26 | 2012-06-13 | 三一重工股份有限公司 | Flow distribution system, device and method for multi-section arm support, and engineering machine equipment |
| CN102927087A (en) * | 2012-11-16 | 2013-02-13 | 无锡汇虹机械制造有限公司 | Control technology for hydraulic pump system self-adaptive to loading pressure |
| CN103321977A (en) * | 2013-07-09 | 2013-09-25 | 无锡市钻通工程机械有限公司 | Non-excavation pipelaying drilling machine power protection distribution system |
| CN103470485A (en) * | 2013-09-17 | 2013-12-25 | 中联重科股份有限公司 | Variable pump power control method, equipment, system and concrete pumping device |
| CN103671336A (en) * | 2013-12-12 | 2014-03-26 | 中联重科股份有限公司 | Load-sensitive hydraulic system and power matching control method, device and system |
| CN105443488A (en) * | 2016-01-05 | 2016-03-30 | 廖冲雷 | Feedback controller for hydraulic system |
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| CN110905672A (en) * | 2019-11-28 | 2020-03-24 | 徐州徐工基础工程机械有限公司 | Real-time power matching method of hydraulic system adapting to different rotating speeds of engine |
| CN112594240A (en) * | 2020-12-24 | 2021-04-02 | 山推工程机械股份有限公司 | Working device hydraulic system, control method and electric loader |
| CN114718143A (en) * | 2022-04-14 | 2022-07-08 | 山东临工工程机械有限公司 | Load power control method of hydrostatic loader and hydrostatic loader |
| CN115075329A (en) * | 2022-07-07 | 2022-09-20 | 山河智能装备股份有限公司 | Electro-hydraulic traveling system of skid steer loader and control method |
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| CN102416948A (en) * | 2011-10-11 | 2012-04-18 | 中国人民解放军总后勤部建筑工程研究所 | Hydrostatic control system for multifunctional off-road forklift |
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| CN103321977A (en) * | 2013-07-09 | 2013-09-25 | 无锡市钻通工程机械有限公司 | Non-excavation pipelaying drilling machine power protection distribution system |
| CN103321977B (en) * | 2013-07-09 | 2015-06-10 | 无锡市钻通工程机械有限公司 | Non-excavation pipelaying drilling machine power protection distribution system |
| CN103470485A (en) * | 2013-09-17 | 2013-12-25 | 中联重科股份有限公司 | Variable pump power control method, equipment, system and concrete pumping device |
| CN103671336A (en) * | 2013-12-12 | 2014-03-26 | 中联重科股份有限公司 | Load-sensitive hydraulic system and power matching control method, device and system |
| CN103671336B (en) * | 2013-12-12 | 2016-03-30 | 中联重科股份有限公司 | Load-sensitive hydraulic system and power matching control method, device and system |
| CN105443488A (en) * | 2016-01-05 | 2016-03-30 | 廖冲雷 | Feedback controller for hydraulic system |
| CN105443488B (en) * | 2016-01-05 | 2017-05-10 | 廖冲雷 | Feedback controller for hydraulic system |
| CN108153343A (en) * | 2017-12-22 | 2018-06-12 | 深圳东风汽车有限公司 | Disjunctor compression dustbin and its control system and control method |
| CN108153343B (en) * | 2017-12-22 | 2021-05-25 | 深圳东风汽车有限公司 | Conjoined compression dustbin and control system and control method thereof |
| CN110905672A (en) * | 2019-11-28 | 2020-03-24 | 徐州徐工基础工程机械有限公司 | Real-time power matching method of hydraulic system adapting to different rotating speeds of engine |
| CN110905672B (en) * | 2019-11-28 | 2022-04-01 | 徐州徐工基础工程机械有限公司 | Real-time power matching method of hydraulic system adapting to different rotating speeds of engine |
| CN112594240A (en) * | 2020-12-24 | 2021-04-02 | 山推工程机械股份有限公司 | Working device hydraulic system, control method and electric loader |
| CN112594240B (en) * | 2020-12-24 | 2023-02-03 | 山推工程机械股份有限公司 | Hydraulic system of working device, control method and electric loader |
| CN114718143A (en) * | 2022-04-14 | 2022-07-08 | 山东临工工程机械有限公司 | Load power control method of hydrostatic loader and hydrostatic loader |
| CN115075329A (en) * | 2022-07-07 | 2022-09-20 | 山河智能装备股份有限公司 | Electro-hydraulic traveling system of skid steer loader and control method |
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Application publication date: 20110914 |