CN102493953A - Energy-saving control system, truck crane and energy-saving control method - Google Patents
Energy-saving control system, truck crane and energy-saving control method Download PDFInfo
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- CN102493953A CN102493953A CN2012100024134A CN201210002413A CN102493953A CN 102493953 A CN102493953 A CN 102493953A CN 2012100024134 A CN2012100024134 A CN 2012100024134A CN 201210002413 A CN201210002413 A CN 201210002413A CN 102493953 A CN102493953 A CN 102493953A
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Abstract
The invention provides an energy-saving control system. The energy-saving control system comprises an operating device, a pressure sensor, a frequency converter, a controller and a variable displacement pump, wherein the operating device is used for transmitting the flow required by the variable displacement pump to the controller; the pressure sensor senses a load pressure signal of an actuating mechanism and transmits the load pressure signal to the controller; the frequency converter feeds back a current rotating speed signal and a current torque signal of a motor to the controller so as to adjust the rotating speed and the torque of the motor according to a first adjusting command; the controller is connected to the frequency converter, the variable displacement pump and the pressure sensor, calculates an initial rotating speed value and an initial torque value of the motor and a displacement value of the variable displacement pump according to the required flow, the current rotating speed signal, the current torque signal and the load pressure signal, generates the first adjusting command and sends the first adjusting command to the frequency converter, and generates a second adjusting command and sends the second adjusting command to the variable displacement pump; and the variable displacement pump adjusts the displacement according to the second adjusting command. The high-efficiency combined control over the rotating speed and the torque of the motor and the displacement of the variable displacement pump starting from a required variable, namely the single variable of the variable displacement pump is realized.
Description
Technical field
The present invention relates to a kind of energy-saving control system, in particular to energy-saving control system, truck crane and energy-saving control method.
Background technique
At present, in the system by the motoring oil hydraulic pump, mainly be the rotating speed of adjusting motor through frequency adjustment pedal, energy-saving efficiency is not very high, the while can not be guaranteed that moment of torsion is enough and well hydraulic system protected; And in the system by the diesel engine drives oil hydraulic pump; Mainly be rotating speed and the hydraulic pressure pump delivery of adjusting motor through controller; Rotating speed adjustment precision is not high, and the mode that the while rotating speed is chosen is complicated, and the oil consumption of motor also will change with its accumulated operating time.
In the correlation technique, energy-saving control system as shown in Figure 1, it adjusts the rotating speed and the hydraulic pressure pump delivery of motor through controller; Adopt this power save mode; The speed adjustment precision of motor is not high, and moment of torsion is uncontrollable, possibly cause causing engine misses because of the moment of torsion deficiency; Speed is chosen the mode complicacy; The oil consumption meeting of motor is with the fluctuation of motor Cumulative Elapsed Time, and the optimum oil consumption point can't be proofreaied and correct.
Summary of the invention
Consider the above-mentioned background technology; A technical problem to be solved by this invention provides a kind of energy-saving control system; Another technical problem to be solved by this invention provides a kind of truck crane with this energy-saving control system; Another technical problem to be solved by this invention provides a kind of energy-saving control method, can realize the jointly controlling of rotating speed, moment of torsion and variable displacement pump discharge capacity of motor.
According to an aspect of the present invention; A kind of energy-saving control system is provided; Comprise motor and variable displacement pump, said motor is in order to drive said variable displacement pump, and said energy-saving control system also comprises controller, operation equipment, pressure transducer, frequency variator; Wherein, said operation equipment is connected to said controller and is sent to said controller in order to the required flow with variable displacement pump; The load pressure signal of pressure sensor senses actuator also is sent to said controller with said load pressure signal; Frequency variator is between said motor and said controller; In order to current tach signal and current torque signal feed back to said controller with said motor; And when first regulating command that receives from said controller; Regulate the rotating speed and the moment of torsion of said motor, to mate initial speed value and the initial torque value that calculates by said controller; Said controller; Be connected to said frequency variator, said variable displacement pump and said pressure transducer; Calculate the displacement value of the said initial speed value of said motor, said initial torque value and said variable displacement pump according to said required flow, said current tach signal, said current torque signal and said load pressure signal; Generate said first regulating command and be sent to said frequency variator according to said initial speed value and said initial torque value, generate second regulating command and be sent to said variable displacement pump according to the displacement value of said variable displacement pump; Said variable displacement pump is connected to said motor and said controller, when receiving said second regulating command, regulates its discharge capacity, to satisfy the said displacement value that said controller calculates.
In technique scheme; Preferably; Said controller can also comprise energy-conservation algoritic module; Wherein said energy-conservation algoritic module specifically comprises: first computing unit; Calculate the initial speed value scope of said motor based on acceleration formula according to response time of the acceleration of the current tach signal of motor, said motor and said motor,, calculate said variable pump delivery scope according to variable displacement pump formula for displacement calculation, said initial speed value scope and said required flow; Second computing unit calculates the torque value scope of said motor according to said variable pump delivery scope and said load pressure signal based on the torque arithmetic formula; The 3rd calculating unit; Loss of torque model according to said initial speed value scope and said variable displacement pump; Confirm in the initial speed value of loss of machine of torque amount said motor hour and the corresponding displacement value of said variable displacement pump; Calculate in loss of machine of torque amount said initial torque value hour according to said corresponding displacement value, said load pressure signal and said torque arithmetic formula; Wherein, said loss of torque model is the discrete data set of the loss of machine of torque amount under various rotating speeds, various discharge capacity, set up according to the actual tests test data of variable displacement pump.
In technique scheme; Preferably; Whether said controller can also comprise judging unit, is used to judge whether the initial torque value of being calculated by said the 3rd calculating unit belongs in the torque value scope that said second computing unit calculates, correct with this result of calculation of confirming said second computing unit; And when result of calculation is correct; Judge whether the corresponding current torque value of said current torque signal meets the initial torque value that calculates, if judged result is then regulated the output torque of said motor for not.
In technique scheme, preferably, said variable displacement pump formula for displacement calculation is Q
Flow=Q
Discharge capacity* n, said Q
FlowThe required flow of said variable displacement pump, said Q
Discharge capacitySaid variable pump delivery, said n are the rotating speed of said motor.
In technique scheme, preferably, said torque arithmetic formula does
Said T is the moment of torsion of said motor, and said Δ P is institute's load pressure signal, said Q
Discharge capacityBe said variable pump delivery, said η
MhBe mechanical-hydraulic efficient.
In technique scheme, preferably, said controller obtains the current tach signal and the current torque signal of said motor through the CAN bus.
According to technological scheme of the present invention; Through the direct corresponding flow of operation equipment; Rotating speed, moment of torsion and variable pump delivery to motor jointly control, and have realized that the control by multiple variable is converted into the control of unitary variant, makes control mode more effective; Realize the maximum energy-saving target, improved energy-saving efficiency to a great extent.Continuous regular time at interval in, through controller the rotating speed of motor and moment of torsion and variable pump delivery are optimized.
Also, reduce the impact of motor, make electrical network (energy storage device) and element can both receive protection system through reasonably limiting the acceleration of motor.In addition, come for hydraulic system provides working flow, reduced the off-load flow of hydraulic system, and then reduced the idle work of hydraulic system, also protected the pipeline and the solenoid valve of hydraulic system simultaneously, prolonged the working life of parts according to demand volume.
According to a further aspect in the invention, a kind of truck crane is provided also, has comprised the energy-saving control system described in above arbitrary technological scheme.
According to a further aspect of the invention; A kind of energy-saving control method also is provided; Be used for through the motoring variable displacement pump; May further comprise the steps: step 202, obtain the required flow of variable displacement pump through operation equipment, obtain the current tach signal and the current torque signal of motor through the load pressure signal of pressure sensor senses actuator and through frequency variator; Step 204 calculates the displacement value of initial speed value, initial torque value and the variable displacement pump of said motor according to said required flow, said current tach signal, said current torque signal and said load pressure signal; Step 206; Regulate the rotating speed of said electric motor car through said frequency variator; The said initial speed value of calculating with coupling; Regulate the input torque of said electric motor car through said frequency variator, said initial torque value of calculating with coupling and the displacement value of regulating said variable displacement pump, the displacement value of the said variable displacement pump that calculates with coupling.
In technique scheme; Preferably; Said step 204 can also comprise: the initial speed value scope that calculates said motor based on acceleration formula according to response time of the acceleration of the current tach signal of motor, said motor and said motor; According to variable displacement pump formula for displacement calculation, said initial speed value scope and said required flow, calculate said variable pump delivery scope; Calculate the torque value scope of said motor according to said variable pump delivery scope and said load pressure signal based on the torque arithmetic formula; Loss of torque model according to said initial speed value scope and said variable displacement pump; Confirm in the initial speed value of loss of machine of torque amount said motor hour and the corresponding displacement value of said variable displacement pump; Calculate in loss of machine of torque amount said initial torque value hour according to said corresponding displacement value, said load pressure signal and said torque arithmetic formula; Wherein, said loss of torque model is the discrete data set of the loss of machine of torque amount under various rotating speeds, various discharge capacity, set up according to the actual tests test data of variable displacement pump.
In technique scheme; Preferably, said step 204 can also comprise: judge that whether the initial torque value of calculating belongs in the torque value scope that calculates, and confirms with this whether result of calculation is correct; And when result of calculation is correct; Judge whether the current torque value corresponding with said current torque signal meets the initial torque value that calculates, if judged result is then regulated the output torque of said motor for not.
In technique scheme, preferably, said variable displacement pump formula for displacement calculation is Q
Flow=Q
Discharge capacity* n, said Q
FlowThe required flow of said variable displacement pump, said Q
Discharge capacitySaid variable pump delivery, said n are the rotating speed of said motor.
In technique scheme, preferably, said torque arithmetic formula does
Said T is the moment of torsion of said motor, and said Δ P is said load pressure signal corresponding load force value, said Q
Discharge capacityBe said variable pump delivery, said η
MhBe mechanical-hydraulic efficient.
In technique scheme, preferably, said operation equipment comprises operating grip, provides the required flow of said variable displacement pump through said operating grip.
According to technological scheme of the present invention; Through the direct corresponding flow of operation equipment; Rotating speed, moment of torsion and variable pump delivery to motor jointly control, and have realized that the control by multiple variable is converted into the control of unitary variant, makes control mode more effective; Realize the maximum energy-saving target, improved energy-saving efficiency to a great extent.Continuous regular time at interval in, through controller the rotating speed of motor and moment of torsion and variable pump delivery are optimized.
Also, reduce the impact of motor, make electrical network (energy storage device) and element can both receive protection system through reasonably limiting the acceleration of motor.In addition, come for hydraulic system provides working flow, reduced the off-load flow of hydraulic system, and then reduced the idle work of hydraulic system, also protected the pipeline and the solenoid valve of hydraulic system simultaneously, prolonged the working life of parts according to demand volume.
Description of drawings
Fig. 1 is the schematic representation of the energy-saving control system in the correlation technique;
Fig. 2 shows the schematic representation of energy-saving control system according to an embodiment of the invention;
Fig. 3 shows the block diagram of controller according to an embodiment of the invention; And
Fig. 4 shows the flow chart of energy-saving control method according to an embodiment of the invention.
Embodiment
In order more to be expressly understood above-mentioned purpose of the present invention, feature and advantage, the present invention is further described in detail below in conjunction with accompanying drawing and embodiment.
Set forth a lot of details in the following description so that make much of the present invention, still, the present invention can also adopt other to be different from other modes described here and implement, and therefore, the present invention is not limited to the restriction of following disclosed specific embodiment.
For those skilled in the art are understood according to technological scheme of the present invention better, will describe according to an example of energy-saving control system of the present invention below.
Fig. 2 shows the schematic representation of energy-saving control system according to an embodiment of the invention.
As shown in Figure 2; Energy-saving control system comprises motor 104 and variable displacement pump 114 according to an embodiment of the invention; Said motor 104 is in order to drive said variable displacement pump 114; Said energy-saving control system also comprises operation equipment 116, pressure transducer, frequency variator 110, controller 112 and actuator 102, wherein:
Operation equipment 116 can comprise operating grip, and it is connected to controller 112, is sent to controller 112 in order to the required flow with variable displacement pump 114;
Pressure transducer also is sent to controller 112 with this load pressure signal in order to the load pressure signal of sensing (hydraulic system) actuator 102;
Frequency variator 110 is between motor 104 and controller 112; In order to current tach signal and current torque signal feed back to controller 112 with motor 104; And when first regulating command that receives self-controller 112; Regulate the rotating speed and the moment of torsion of motor 104, to mate initial speed value and the initial torque value that calculates by controller 112;
Controller 112; Be connected to frequency variator 110, variable displacement pump 114 and pressure transducer; Calculate the displacement value of initial speed value, initial torque value and the variable displacement pump of motor 104 according to required flow, current tach signal, current torque signal and load pressure signal; Generate first regulating command and be sent to frequency variator 110 according to initial speed value and initial torque value, generate second regulating command and be sent to variable displacement pump 114 according to the displacement value of variable displacement pump 114;
Variable displacement pump 114 is connected to motor 104 and controller 112, when receiving second regulating command, regulates its discharge capacity, to satisfy the displacement value that controller 112 calculates.
Like this; The required flow of the variable displacement pump that provides through operation equipment just can be adjusted the rotating speed and the moment of torsion of motor; Simultaneously the variable pump delivery is adjusted, realized that the control by multiple variable (like the rotating speed of motor and moment of torsion, variable pump delivery) is converted into the control of unitary variant (like the required flow of variable displacement pump).
Wherein, preferably as shown in Figure 3, controller 112 can comprise energy-conservation algoritic module 118, and energy-conservation algoritic module 118 specifically can comprise:
First computing unit 120; Calculate the initial speed value scope of motor 104 according to response time of the acceleration of the current tach signal of motor 104, motor 104 and motor 104 based on acceleration formula; According to variable displacement pump formula for displacement calculation, initial speed value scope and required flow, calculate the discharge capacity scope of variable displacement pump 114;
Second computing unit 122, the torque value scope that calculates motor 104 according to the discharge capacity scope and the load pressure signal of variable displacement pump 114 based on the torque arithmetic formula;
The 3rd calculating unit 124; Loss of torque model according to initial speed value scope and variable displacement pump 114; Confirm in the initial speed value of loss of machine of torque amount motor 104 hour and the corresponding displacement value of variable displacement pump 114; Calculate in loss of machine of torque amount initial torque value hour according to corresponding displacement value, load pressure signal and torque arithmetic formula; Wherein, the loss of torque model is the discrete data set of the loss of machine of torque amount under various rotating speeds, various discharge capacity, set up according to the actual tests test data of variable displacement pump 114.
Can know from the aforementioned calculation process; Technological scheme of the present invention need not to consider the oil consumption fluctuation; Adopt the motoring oil hydraulic pump; And the tachometer value of motor and torque value, variable pump delivery are directly calculated through controller, utilize frequency variator can accurately control the rotating speed and the moment of torsion of motor, with coupling result of calculation.
At this; It should be appreciated by those skilled in the art that the loss of torque model provides the corresponding points of a series of rotating speed, discharge capacity and loss of machine of torque amount, therefore based on the initial speed value scope of calculating; Can find out in this scope; The point that the loss of machine of torque amount is minimum has then been confirmed corresponding discharge capacity and the initial speed value of this point, follows the displacement value of correspondence and induced pressure value substitution torque arithmetic formula just can be calculated in the loss of machine of torque amount initial torque value of hour motor.
Therefore; Can consider the acceleration of motor, the response time and the induced pressure of motor; Calculate the rotating speed and moment of torsion and the variable pump delivery that meet the motor under this operating mode, and can make the loss of machine of torque amount of motor minimum, realize energy-efficient.
What need explanation is that variable displacement pump 114 is arranged in hydraulic system with actuator 102.
In addition; Controller 112 can also comprise judging unit 126; Be used to judge whether the initial torque value of being calculated by the 3rd calculating unit 124 belongs in the torque value scope that second computing unit 122 calculates; Whether correct with this result of calculation of confirming second computing unit 122, if incorrect, the current external information (the current rotating speed of motor and moment of torsion, induced pressure) of system of then gathering again recalculates suitable torque value); And when result of calculation is correct; Can also judge further whether the corresponding current torque value of current torque signal meets the initial torque value that calculates, if judged result then need be regulated the output torque of motor 104 for not.
Wherein, the variable displacement pump formula for displacement calculation is Q
Flow=Q
Discharge capacity* n, Q
FlowThe required flow of variable displacement pump, Q
Discharge capacityThe discharge capacity of variable displacement pump 114, n is the rotating speed of motor 104.The torque arithmetic formula does
T is the moment of torsion of motor 104, and Δ P is a load pressure signal corresponding load force value, Q
Discharge capacityBe the discharge capacity of variable displacement pump 114, η
MhBe mechanical-hydraulic efficient.
What need explanation is that controller 112 can obtain the current tach signal and the current torque signal of motor 104 through the CAN bus.
Operation equipment 116 can comprise operating grip, by the aperture determining positions of operating grip the required flow of variable displacement pump, promptly provide the required flow of variable displacement pump through operating grip.
Therefore, energy-saving control system according to the present invention provides the required flow of variable displacement pump and passes through the induced pressure that pressure transducer detects actuator through operating grip; Obtain current speed of motor and moment of torsion through the CAN bus; Utilize the energy-conservation algoritic module of controller to calculate motor optimized rotating speed, optimum moment of torsion and variable displacement pump discharge capacity; Regulate the rotating speed and the moment of torsion of motor, the motor optimized rotating speed, the optimum moment of torsion that come out with the coupling aforementioned calculation, and Moderator Variable pump delivery simultaneously make it to mate the variable displacement pump discharge capacity of calculating.
Can be applied to truck crane according to energy-saving control system of the present invention, should be appreciated that, can also be applied to the engineering machinery that other use the motoring hydraulic system.
Fig. 4 shows the flow chart of energy-saving control method according to an embodiment of the invention.
As shown in Figure 4; Energy-saving control method comprises according to an embodiment of the invention; Be used for through the motoring variable displacement pump; Following steps: step 202, obtain the required flow of variable displacement pump through operation equipment, obtain the current tach signal and the current torque signal of motor through the load pressure signal of pressure sensor senses actuator and through frequency variator; Step 204 calculates the displacement value of initial speed value, initial torque value and the variable displacement pump of motor according to required flow, current tach signal, current torque signal and load pressure signal; Step 206; Through the rotating speed of frequency variator adjusting electric motor car,, regulate the input torque of electric motor car through frequency variator with the said initial speed value that coupling is calculated; Initial torque value and the Moderator Variable pump delivery value calculated with coupling, the displacement value of the variable displacement pump that calculates with coupling.
In technique scheme; Preferably; Step 204 can also comprise: the initial speed value scope that calculates motor based on acceleration formula according to response time of the acceleration of the current tach signal of motor, motor and motor; According to variable displacement pump formula for displacement calculation, initial speed value scope and required flow, calculate variable pump delivery scope; Calculate the torque value scope of motor according to variable pump delivery scope and load pressure signal based on the torque arithmetic formula; Loss of torque model according to initial speed value scope and variable displacement pump; Confirm in the initial speed value of loss of machine of torque amount motor hour and the corresponding displacement value of variable displacement pump; Calculate in loss of machine of torque amount initial torque value hour according to corresponding displacement value, load pressure signal and torque arithmetic formula; Wherein, the loss of torque model is the discrete data set of the loss of machine of torque amount under various rotating speeds, various discharge capacity, set up according to the actual tests test data of variable displacement pump.
Because the acceleration magnitude of motor has determined the impact to electric wiring; Reasonably accekeration, system allow response time (response time of motor) and the current rotating speed of motor can determine the scope of motor speed; For example suppose that the current rotating speed of motor is 600rpm; Suppose that acceleration is 100 commentaries on classics/s, system response time (or response time of motor) is 2s, and the initial speed value that then can calculate motor according to acceleration formula is 400～800rpm.
In technique scheme; Preferably, step 204 can also comprise: judge that whether the initial torque value of calculating belongs in the torque value scope that calculates, and confirms with this whether result of calculation is correct; And when result of calculation is correct; Judge whether the current torque value corresponding with the current torque signal meets the initial torque value that calculates, if judged result is then regulated the output torque of motor for not.
At this; Should be appreciated that; Initial torque value and initial speed value, the variable pump delivery of the motor that the load pressure signal that flow needs signal that provides according to operation equipment and pressure transducer are confirmed can go out aforementioned calculation are revised; Promptly can be in continuously fixing system response time, rotating speed, moment of torsion and the variable pump delivery of motor is optimized.
Wherein, the variable displacement pump formula for displacement calculation is Q
Flow=Q
Discharge capacity* n, Q
FlowThe required flow of variable displacement pump, Q
Discharge capacityVariable pump delivery, n are the rotating speed of motor.
Wherein, the torque arithmetic formula does
T is the moment of torsion of motor, and Δ P is a load pressure signal corresponding load force value, Q
Discharge capacityBe variable pump delivery, η
MhBe mechanical-hydraulic efficient.
Operation equipment 116 to be comprising operating grip, by the aperture determining positions of operating grip the required flow of variable displacement pump, promptly provide the required flow of variable displacement pump through operating grip.
What need explanation is that controller 112 can obtain the current tach signal and the current torque signal of motor 104 through the CAN bus.
According to technological scheme of the present invention; Through the direct corresponding flow of operation equipment; Rotating speed, moment of torsion and variable pump delivery to motor jointly control, and have realized that the control by multiple variable is converted into the control of unitary variant, makes control mode more effective; Realize the maximum energy-saving target, improved energy-saving efficiency to a great extent.Continuous regular time at interval in, through controller the rotating speed of motor and moment of torsion and variable pump delivery are optimized.
Also, reduce the impact of motor, make electrical network (energy storage device) and element can both receive protection system through reasonably limiting the acceleration of motor.In addition, come for hydraulic system provides working flow, reduced the off-load flow of hydraulic system, and then reduced the idle work of hydraulic system, also protected the pipeline and the solenoid valve of hydraulic system simultaneously, prolonged the working life of parts according to demand volume.
More than be merely the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (14)
1. an energy-saving control system comprises motor (104) and variable displacement pump (114), and said motor is characterized in that in order to drive said variable displacement pump said energy-saving control system also comprises:
Controller (112), operation equipment (116), pressure transducer, frequency variator (110), wherein,
Said operation equipment (116) is connected to said controller (112), is sent to said controller (112) in order to the required flow with said variable displacement pump (114);
Said pressure transducer is sent to said controller (112) in order to the load pressure signal of sensing actuator (102) and with said load pressure signal;
Said frequency variator (110) is positioned between said motor (104) and the said controller (112); In order to current tach signal and current torque signal feed back to said controller (112) with said motor (104); And when first regulating command that receives from said controller (112); Regulate the rotating speed and the moment of torsion of said motor (104), to mate initial speed value and the initial torque value that calculates by said controller (112);
Said controller (112) is connected to said frequency variator (110), said variable displacement pump (114) and said pressure transducer; Calculate the displacement value of the said initial speed value of said motor (104), said initial torque value and said variable displacement pump (114) according to said required flow, said current tach signal, said current torque signal and said load pressure signal; Generate said first regulating command and be sent to said frequency variator (110) according to said initial speed value and said initial torque value, generate second regulating command and be sent to said variable displacement pump (114) according to the displacement value of said variable displacement pump (114);
Said variable displacement pump (114) is connected to said motor (104) and said controller (112), when receiving said second regulating command, regulates its discharge capacity, to satisfy the said displacement value that said controller (112) calculates.
2. energy-saving control system according to claim 1 is characterized in that, said controller (112) comprises energy-conservation algoritic module (118), and wherein said energy-conservation algoritic module (118) specifically comprises:
First computing unit (120); Calculate the initial speed value scope of said motor (104) according to response time of the acceleration of the current tach signal of motor (104), said motor (104) and said motor (104) based on acceleration formula; According to variable displacement pump (114) formula for displacement calculation, said initial speed value scope and said required flow, calculate the discharge capacity scope of said variable displacement pump (114);
Second computing unit (122), the torque value scope that calculates said motor (104) according to the discharge capacity scope and the said load pressure signal of said variable displacement pump (114) based on the torque arithmetic formula;
The 3rd calculating unit (124); Loss of torque model according to said initial speed value scope and said variable displacement pump (114); Confirm in the initial speed value of loss of machine of torque amount said motor (104) hour and the corresponding displacement value of said variable displacement pump (114); Calculate in loss of machine of torque amount said initial torque value hour according to said corresponding displacement value, said load pressure signal and said torque arithmetic formula; Wherein, said loss of torque model is the discrete data set of the loss of machine of torque amount under various rotating speeds, various discharge capacity, set up according to the actual tests test data of variable displacement pump (114).
3. energy-saving control system according to claim 2 is characterized in that, said controller (112) also comprises:
Judging unit (126); Be used to judge whether the initial torque value of being calculated by said the 3rd calculating unit belongs in the torque value scope that said second computing unit calculates; Whether correct with this result of calculation of confirming said second computing unit, and when result of calculation is correct, judge whether the corresponding current torque value of said current torque signal meets the initial torque value that calculates; If judged result is then regulated the output torque of said motor (104) for not.
4. energy-saving control system according to claim 2 is characterized in that, said variable displacement pump formula for displacement calculation is Q
Flow=Q
Discharge capacity* n, said Q
FlowThe required flow of said variable displacement pump (114), said Q
Discharge capacityThe discharge capacity of said variable displacement pump (114), said n is the rotating speed of said motor (104).
5. energy-saving control system according to claim 2 is characterized in that, said torque arithmetic formula does
Said T is the moment of torsion of said motor (104), and said Δ P is institute's load pressure signal, said Q
Discharge capacityBe the discharge capacity of said variable displacement pump (114), said η
MhBe mechanical-hydraulic efficient.
6. according to each described energy-saving control system in the claim 1 to 5, it is characterized in that said controller (112) obtains the current tach signal and the current torque signal of said motor (104) through the CAN bus.
7. according to each described energy-saving control system in the claim 1 to 5, it is characterized in that said operation equipment (116) comprises operating grip, provide the required flow of said variable displacement pump through said operating grip.
8. a truck crane is characterized in that, comprises like each described energy-saving control system in the claim 1 to 7.
9. an energy-saving control method is used for it is characterized in that through the motoring variable displacement pump, may further comprise the steps:
Step 202 is obtained the required flow of variable displacement pump through operation equipment, obtains the current tach signal and the current torque signal of motor through the load pressure signal of pressure sensor senses actuator and through frequency variator;
Step 204 calculates the displacement value of initial speed value, initial torque value and the variable displacement pump of said motor according to said required flow, said current tach signal, said current torque signal and said load pressure signal;
Step 206; Regulate the rotating speed of said electric motor car through said frequency variator; The said initial speed value of calculating with coupling; Regulate the input torque of said electric motor car through said frequency variator, said initial torque value of calculating with coupling and the displacement value of regulating said variable displacement pump, the displacement value of the said variable displacement pump that calculates with coupling.
10. energy-saving control method according to claim 9 is characterized in that, said step 204 also comprises:
Calculate the initial speed value scope of said motor according to response time of the acceleration of the current tach signal of motor, said motor and said motor based on acceleration formula; According to variable displacement pump formula for displacement calculation, said initial speed value scope and said required flow, calculate said variable pump delivery scope;
Calculate the torque value scope of said motor according to said variable pump delivery scope and said load pressure signal based on the torque arithmetic formula;
Loss of torque model according to said initial speed value scope and said variable displacement pump; Confirm in the initial speed value of loss of machine of torque amount said motor hour and the corresponding displacement value of said variable displacement pump; Calculate in loss of machine of torque amount said initial torque value hour according to said corresponding displacement value, said load pressure signal and said torque arithmetic formula; Wherein, said loss of torque model is the discrete data set of the loss of machine of torque amount under various rotating speeds, various discharge capacity, set up according to the actual tests test data of variable displacement pump.
11. energy-saving control method according to claim 10 is characterized in that, said step 204 also comprises:
Judge whether the initial torque value of calculating belongs in the torque value scope that calculates; Confirm with this whether result of calculation is correct; And when result of calculation is correct; Judge whether the current torque value corresponding with said current torque signal meets the initial torque value that calculates, if judged result is then regulated the output torque of said motor for not.
12. energy-saving control method according to claim 10 is characterized in that, said variable displacement pump formula for displacement calculation is Q
Flow=Q
Discharge capacity* n, said Q
FlowThe required flow of said variable displacement pump, said Q
Discharge capacitySaid variable pump delivery, said n are the rotating speed of said motor.
13. energy-saving control method according to claim 10 is characterized in that, said torque arithmetic formula does
Said T is the moment of torsion of said motor, and said Δ P is said load pressure signal corresponding load force value, said Q
Discharge capacityBe said variable pump delivery, said η
MhBe mechanical-hydraulic efficient.
14. according to each described energy-saving control method in the claim 9 to 13, it is characterized in that said operation equipment comprises operating grip, provide the required flow of said variable displacement pump through said operating grip.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103047121A (en) * | 2012-12-26 | 2013-04-17 | 三一重工股份有限公司 | Electric concrete pump and construction control method thereof |
| CN103062027A (en) * | 2012-12-24 | 2013-04-24 | 北汽福田汽车股份有限公司 | Control method used for concrete pumping machinery and controller |
| CN103823404A (en) * | 2014-02-21 | 2014-05-28 | 中联重科股份有限公司 | Handle signal processing method, device and system |
| CN103912481A (en) * | 2014-04-08 | 2014-07-09 | 广东格莱斯陶瓷有限公司 | Plunger pump energy saving system |
| CN104100508A (en) * | 2013-04-05 | 2014-10-15 | 罗伯特·博世有限公司 | Use of a motor-driven speed-variable hydraulic pump as a hydrostatic transmission |
| CN106499614A (en) * | 2016-10-28 | 2017-03-15 | 合肥工业大学 | Hydraulic energy-saving system and control method that variable speed electric motors, particularly is mated with variable displacement with constant power pump |
| CN107294332A (en) * | 2017-08-14 | 2017-10-24 | 江苏环球特种电机有限公司 | A kind of blower-pump load saves pole-changing multi-speed 3-phase asynchronous motor |
| CN113107917A (en) * | 2021-04-09 | 2021-07-13 | 三一重机有限公司 | Electro-hydraulic control method and device and working machine |
| CN114645842A (en) * | 2022-04-19 | 2022-06-21 | 无锡市钻通工程机械有限公司 | Efficient matching control method for variable speed motor and high-power variable pump |
| WO2022193998A1 (en) * | 2021-03-19 | 2022-09-22 | 博世力士乐（北京）液压有限公司 | Motor pump, hydraulic system, and mechanical device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103062027A (en) * | 2012-12-24 | 2013-04-24 | 北汽福田汽车股份有限公司 | Control method used for concrete pumping machinery and controller |
| CN103062027B (en) * | 2012-12-24 | 2013-12-25 | 北汽福田汽车股份有限公司 | Control method used for concrete pumping machinery and controller |
| CN103047121A (en) * | 2012-12-26 | 2013-04-17 | 三一重工股份有限公司 | Electric concrete pump and construction control method thereof |
| CN104100508A (en) * | 2013-04-05 | 2014-10-15 | 罗伯特·博世有限公司 | Use of a motor-driven speed-variable hydraulic pump as a hydrostatic transmission |
| CN104100508B (en) * | 2013-04-05 | 2019-07-23 | 罗伯特·博世有限公司 | Using hydraulic pump driven by motor, variable speed as the application of the transmission device of hydrostatic |
| CN103823404B (en) * | 2014-02-21 | 2017-01-18 | 中联重科股份有限公司 | Handle signal processing method, device and system |
| CN103823404A (en) * | 2014-02-21 | 2014-05-28 | 中联重科股份有限公司 | Handle signal processing method, device and system |
| CN103912481A (en) * | 2014-04-08 | 2014-07-09 | 广东格莱斯陶瓷有限公司 | Plunger pump energy saving system |
| CN106499614A (en) * | 2016-10-28 | 2017-03-15 | 合肥工业大学 | Hydraulic energy-saving system and control method that variable speed electric motors, particularly is mated with variable displacement with constant power pump |
| CN106499614B (en) * | 2016-10-28 | 2017-11-07 | 合肥工业大学 | Hydraulic energy-saving system and control method that variable speed electric motors, particularly is matched with variable displacement with constant power pump |
| CN107294332A (en) * | 2017-08-14 | 2017-10-24 | 江苏环球特种电机有限公司 | A kind of blower-pump load saves pole-changing multi-speed 3-phase asynchronous motor |
| WO2022193998A1 (en) * | 2021-03-19 | 2022-09-22 | 博世力士乐（北京）液压有限公司 | Motor pump, hydraulic system, and mechanical device |
| CN113107917A (en) * | 2021-04-09 | 2021-07-13 | 三一重机有限公司 | Electro-hydraulic control method and device and working machine |
| CN114645842A (en) * | 2022-04-19 | 2022-06-21 | 无锡市钻通工程机械有限公司 | Efficient matching control method for variable speed motor and high-power variable pump |
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