CN102518059B - Cleaning car with single engine and accelerator control system and method thereof - Google Patents
Cleaning car with single engine and accelerator control system and method thereof Download PDFInfo
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- CN102518059B CN102518059B CN 201110403572 CN201110403572A CN102518059B CN 102518059 B CN102518059 B CN 102518059B CN 201110403572 CN201110403572 CN 201110403572 CN 201110403572 A CN201110403572 A CN 201110403572A CN 102518059 B CN102518059 B CN 102518059B
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Abstract
The invention discloses a cleaning car with a single engine and an accelerator control system and a method thereof. The system comprises a first controller for enabling a chassis ECU (Engine Control Unit) when the cleaning car is in a running conveying state and for stopping enabling the chassis ECU and enabling the accelerator controller when the cleaning car is in an operating working state; a speed adjusting gear changing device for providing optional operation working condition gears for a user and for acquiring the operation working condition gear information chosen by the user; an engine rotary speed sensor for detecting the current real rotary speed signal of the engine; an accelerator controller for outputting a speed control signal to the chassis ECU according to the operation working condition gear information if the accelerator controller receives the enabling signal from the first controller; and a chassis ECU for controlling the rotary speed of the engine under the control of the enabling signal from the first controller or for adjusting the rotary speed of the engine according to the speed control signal if the chassis ECU receives the speed control signal from the accelerator controller.
Description
Technical field
The present invention relates to the single-engine sweeping vehicle technical field, refer to especially a kind of single-engine sweeping vehicle and throttle control system thereof and method.
Background technology
The monomotor sanitation cart has become a kind of development tendency now; it is utilize engine in situ for vehicle to run and wash and sweep assembly power is provided; fuel oil consumption when so not only having reduced work, saved use cost; and reduced exhaust emissions; reduce working-noise, effectively protected environment.
The single-shot sanitation cart is to provide power by a driving engine for all parts, in the single-shot sanitation cart, accelerator mode control commonly used is by pulling throttle (mechanical type) mode at present, this mode randomness by pulling throttle is larger, and can to pull throttle excessive because of operating personal on cleaner road surface, waste energy.This monomotor sanitation cart also can't limit line speed before the chassis, more easily make suction nozzle suck rubbish, so working effect significantly descends.
And along with vehicle working condition or operation road condition change, the load that driving engine bears also changes thereupon, and for different working conditions, its corresponding load may increase suddenly or reduce more.Like this, select under a certain concrete working condition pattern at vehicle, engine speed may fall suddenly speed or acceleration, easily causes the sweeper operation quality to descend, and oil consumption increases.
Summary of the invention
The invention provides a kind of single-engine sweeping vehicle and throttle control system thereof and method, driving engine is realized automatic speed control.
A kind of single-engine sweeping vehicle throttle control system that the embodiment of the present invention provides, this system comprises: the first controller, speed governing gearshift, engine speed sensor, accel control and chassis ECU, wherein,
The first controller is used for being placed in when travelling travelling position at described sweeper, enables chassis ECU control engine; When described sweeper is placed in the work operations state, stops enabling chassis ECU control engine, and enable accel control and carry out Throttle Opening Control;
The speed governing gearshift is used for providing selectable working condition gear to the user, and obtains the working condition gear information that the user selects;
Engine speed sensor is for detection of the current actual speed signal of driving engine;
Accel control, if be used for receiving the enable signal of the first controller, according to described working condition gear information to chassis ECU output speed control signal;
Chassis ECU is used under the control of the enable signal that the first controller sends the control engine rotating speed; Perhaps, if receive the speed control signal of accel control output, regulate engine speed according to described speed control signal.
A kind of sweeper that the embodiment of the present invention provides comprises described single-engine sweeping vehicle throttle control system.
A kind of single-engine sweeping vehicle accelerator control method that the embodiment of the present invention provides, be applied to comprise: in the throttle control system of the first controller, speed governing gearshift, engine speed sensor, accel control and chassis ECU, the method comprises the following steps:
When described sweeper is in when travelling travelling position, the first control unit enables chassis ECU driving engine is controlled;
When described sweeper is placed in mode of operation, when the first control unit is placed in the work operations state at described sweeper, stops enabling chassis ECU control engine, and enable accel control and carry out Throttle Opening Control;
To chassis ECU output speed control signal, described speed control signal is used for offering chassis ECU and carries out speed control accel control according to described working condition gear.
In embodiments of the present invention, when accel control control engine rotating speed, according to described working condition gear information to chassis ECU output speed control signal, thereby engine speed is realized automatically, is effectively controlled.
Description of drawings
Fig. 1 is the structural representation of embodiment of the present invention system;
Fig. 2 is the structural representation of embodiment of the present invention device;
Fig. 3 is the idiographic flow schematic diagram of the inventive method;
Fig. 4 is the schematic diagram that concerns of output voltage and engine speed.
The specific embodiment
Shown in Figure 1, the system of the embodiment of the present invention comprises: the first controller 11, speed governing gearshift 12, engine speed sensor 13, accel control 14 and chassis ECU 15.
The first controller 11 is used for being placed in when travelling travelling position at described sweeper, enables chassis ECU control engine; When described sweeper is placed in the work operations state, stops enabling chassis ECU control engine, and enable accel control and carry out Throttle Opening Control.
Speed governing gearshift 12 is used for providing selectable working condition gear to the user, and obtains the working condition gear information that the user selects.Concrete, described speed governing gearshift can comprise speed governing gearshift potentiometer, or the gearshift select switch.
Engine speed sensor 13 is for detection of the current actual speed signal of driving engine.
Chassis ECU 15 is used under the control of the enable signal that the first controller sends the control engine rotating speed; Perhaps, if receive the speed control signal of accel control output, regulate engine speed according to described speed control signal.
Here, the first controller enables respectively chassis ECU and accel control under travel travelling position and work operations state, make it under different states, controls chassis ECU and accel control work.Accel control, is realized automatically controlling to the rotating speed of driving engine to chassis ECU output speed control signal according to described working condition gear information.
As a kind of embodiment, described accel control 14 can be used for according to the operating mode class information of preserving, and determines the affiliated operating mode grade of working condition gear that described user selects; And definite engine target rotating speed corresponding to this operating mode grade, if the difference of described actual engine speed and described engine target rotating speed is greater than setting value, according to described actual engine speed and described engine target rotating speed, to chassis ECU output speed control signal.
if described speed control signal is voltage signal, and be further used for storing the corresponding relation of engine speed and voltage in described accel control 14, described accel control 14 can be in the difference of described actual engine speed and described engine target rotating speed during greater than setting value, obtain corresponding Voltage-output variable quantity, and described Voltage-output variable quantity is the difference between the actual engine speed voltage corresponding with the engine target rotating speed, obtain target output voltage according to described Voltage-output variable quantity, and after described target output voltage is regulated through PI, obtain each output voltage variable quantity of reconciling through PI, export to described chassis ECU.
Set in order to make driving engine progressively reach gear the rotating speed that requires, described accel control 14 can carry out described target output voltage PI to be regulated, and obtains the output voltage variable quantity of at every turn reconciling through PI:
UK＝KP*
ΔEK+KI*(
ΔEK-
ΔE(K-1))，
Wherein, UK is target output voltage,
ΔEK represents the K time rotating speed corresponding Voltage-output variable quantity when changing to rotating speed of target,
ΔE (K-1) is the K-1 time rotating speed corresponding output voltage variable quantity when changing to rotating speed of target, and KP and KI are the setting coefficient less than 1.
The embodiment of the present invention also provides a kind of sweeper, comprises the single-engine sweeping vehicle throttle control system described in above-mentioned any embodiment.
Shown in Figure 2, the method for the embodiment of the present invention comprises the following steps:
Step 201: when described sweeper is in when travelling travelling position, the first control unit enables chassis ECU driving engine is controlled.
Step 202: when described sweeper is placed in mode of operation, when the first control unit is placed in the work operations state at described sweeper, stop enabling chassis ECU control engine, and enable accel control and carry out Throttle Opening Control.
Step 203: to chassis ECU output speed control signal, described speed control signal is used for offering chassis ECU and carries out speed control accel control according to described working condition gear.
Further, engine speed sensor can detect the current actual speed signal of driving engine; Described accel control, according to described working condition gear information and the current actual speed signal of described driving engine to chassis ECU output speed control signal.Accel control is according to described working condition gear information and the current actual speed signal of described driving engine, to the rotating speed achieve effective control of driving engine.
Concrete, in step 203, accel control can be realized to chassis ECU output speed control signal like this according to described working condition gear and the current actual speed signal of described driving engine:
According to the operating mode class information of preserving, determine the affiliated operating mode grade of working condition gear that described user selects; And definite engine target rotating speed corresponding to this operating mode grade;
If the difference of described actual engine speed and described engine target rotating speed is greater than setting value, according to described actual engine speed and described engine target rotating speed, to chassis ECU output speed control signal.
Concrete, described speed control signal can be voltage signal, if the corresponding relation of pre-stored engine speed and voltage, in such scheme, according to described actual engine speed and described engine target rotating speed, can realize like this to chassis ECU output speed control signal:
Obtain corresponding Voltage-output variable quantity, described Voltage-output variable quantity is the difference between the actual engine speed voltage corresponding with the engine target rotating speed;
Obtain target output voltage according to described Voltage-output variable quantity, and export to described chassis ECU after described target output voltage is regulated through PI.
Below in conjunction with Fig. 3, the present invention program is further described.
Shown in Figure 3, the system of the present embodiment comprises: the first controller 11, speed governing gearshift potentiometer 12a, engine speed sensor 13, accel control 14 and chassis ECU 15.Wherein, speed governing gearshift potentiometer 12a is equivalent to the speed governing gearshift 12 in Fig. 1, the first controller 11 comprises and enables power supply (VCC) 111, the first switch (SB-1) 112 and second switch (SB-2) 113, wherein, the described power supply 111 that enables connects the first switch 112 and second switch 113, the first switch 112 connects the interface that enables of described accel control 14, and second switch 113 connects the interface that enables of described chassis ECU 15.
When single-engine sweeping vehicle is in the travelling position that travels, SB-2 is closed, and VCC provides enable signal to the chassis, and ECU controls driving engine by the chassis; When Operation Van was placed in mode of operation, SB-2 cut off, and SB-1 is closed, for accel control provides enable signal; When SB-1 disconnected, accel control initialization V0 (V0 represents that accel control is to the output voltage of proposing dish ECU transmission) directly forced output voltage V 0=0.5V, driving engine to keep idling 600rpm/min work; When SB-1 is closed, be accel control connection enable signal, accel control 14 is from speed governing gearshift potentiometer 12a reading out data VI.
In the present embodiment, in conjunction with the sweeper work characteristics, consider the assurance cleaning effect, reduce oil consumption again, for different road conditions, the working condition gear can be divided into some operating mode grades.The engine target rotating speed that each operating mode grade is corresponding certain.Such as: be divided into five grades, when 0≤VI＜1V, be one grade; 1≤VI＜2 are 2 grades; 2≤VI＜3 are 3 grades; 3≤VI＜4 are 4 grades; 4≤VI＜5 are 5 grades.Minimum rank is that the engine target rotating speed of 1 grade (idling shelves) is 600rpm/min, uses as maintenance, maintenance equipment; The engine target rotating speed 1600rpm/min of 2 grades (shelves of keeping a public place clean); The engine target rotating speed position 1700rpm/min of 3 grades (standard files); The engine target rotating speed position 1800rpm/min of 4 grades (sweeping by force shelves); The engine target rotating speed position 1900rpm/min of 5 grades (superpower washing swept shelves) is defined as;
When the SB-1 closure, speed governing gearshift potentiometer 12a has been rotated to certain position, and accel control obtains the VI value, can confirm sweeper work at present gear by mentioned above principle, can obtain corresponding engine target rotating speed.
Engine speed sensor 13, driving engine 10 actual speed signal (N=60f/P detected, f is the frequency of operation of sensor sensing signal after engine rotation, the P driving engine detects the tooth number of poles), as feedback signal, and PI is in the output of accel control 14 regulates, make driving engine progressively reach gear and set the rotating speed that requires.
Concrete, when accel control 14 obtains the VI value, (voltage of speed governing gearshift potentiometer 12a output), determine the work gear, and the corresponding engine target rotating speed of this work gear; In the difference of actual engine speed and engine target rotating speed during greater than setting value, when namely the engine target rotating speed differs larger apart from actual speed, obtain corresponding Voltage-output variable quantity (voltage that the engine target rotating speed is corresponding with actual speed poor), obtain target output voltage according to described Voltage-output variable quantity, and after described target output voltage is regulated through PI, obtain each output voltage variable quantity of reconciling through PI, export to described chassis ECU.Output voltage after regulating through PI is a voltage that gradually changes to target output voltage, adjusts suddenly to prevent voltage, causes engine speed to fall suddenly the problem of speed or speedup.In addition, can be shown in Figure 4, learnt by motor characteristic curve, the input voltage of the corresponding corresponding driving engine of engine target rotating speed, engine target rotating speed output be not total and input voltage linear, the low voltage input phase, rotation speed change is slower, high voltage stage changes very fast, and therefore minute gear control ratio is more reasonable.
Utilize following formula that described target output voltage is regulated through PI, obtain the output voltage variable quantity of at every turn reconciling through PI:
UK＝KP*
ΔEK+KI*(
ΔEK-
ΔE(K-1))，
Wherein, UK is target output voltage,
ΔEK represents the K time rotating speed corresponding Voltage-output variable quantity when changing to rotating speed of target,
ΔE (K-1) is the K-1 time rotating speed corresponding output voltage variable quantity when changing to rotating speed of target, and KP and KI are the setting coefficient less than 1.
Wherein, KP and KI are the setting coefficient less than 1, but concrete value can be different according to the operation gear, select different values.KP=TP/T, T are the sampling period, and TP is that PI adjusts the time, and TP is less or T is larger, and KP more minor adjustment is slower, on the contrary faster KI=TI/T, TI is integration time, the less precision of TI is higher, on the contrary precision is lower; From the engine operation characteristic, different operating is interval, the KP that chooses, and the KI combination should be different, could both guarantee regulated efficiency, can guarantee to adjust again precision; As UK＜0.5V, rotating speed is slow with change of voltage, and KP, KI get higher value (for the sweeper characteristics, suggestion KP=0.8, KI=0.5); Suggestion KP=0.5 when 0.5V≤UK＜1V, KI=0.35; Suggestion KP=0.25, KI=0.25 when 1V≤UK＜4V); Suggestion KP=0.2 when 4V≤UK＜4.5V, KI=0.2; Above-mentioned value is classical trials value (different driving engines or chassis, this classical value may all have change).
Obviously, those skilled in the art can carry out various changes and modification and not break away from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of claim of the present invention and equivalent technologies thereof, the present invention also is intended to comprise these changes and modification interior.
Claims (13)
1. a single-engine sweeping vehicle throttle control system, is characterized in that, comprising: the first controller, speed governing gearshift, accel control and chassis ECU, wherein,
The first controller is used for being placed in when travelling travelling position at described sweeper, enables chassis ECU control engine; When described sweeper is placed in the work operations state, stops enabling chassis ECU control engine, and enable accel control and carry out Throttle Opening Control;
The speed governing gearshift is used for providing selectable working condition gear to the user, and obtains the working condition gear information that the user selects;
Accel control, if be used for receiving the enable signal of the first controller, according to described working condition gear information to chassis ECU output speed control signal;
Chassis ECU is used under the control of the enable signal that the first controller sends the control engine rotating speed; Perhaps, if receive the speed control signal of accel control output, regulate engine speed according to described speed control signal.
2. system according to claim 1, is characterized in that, further comprises:
Engine speed sensor is for detection of the current actual speed signal of driving engine;
Described accel control, according to described working condition gear information and the current actual speed signal of described driving engine to chassis ECU output speed control signal.
3. system according to claim 2, is characterized in that, described accel control is used for according to the operating mode class information of preserving, and determines the affiliated operating mode grade of working condition gear that described user selects; And definite engine target rotating speed corresponding to this operating mode grade, if the difference of described actual engine speed and described engine target rotating speed is greater than setting value, according to described actual engine speed and described engine target rotating speed, to chassis ECU output speed control signal.
4. system according to claim 3, is characterized in that, described speed control signal is voltage signal, and described accel control, is further used for storing the corresponding relation of engine speed and voltage,
Described accel control, when being used for difference when described actual engine speed and described engine target rotating speed greater than setting value, obtain corresponding Voltage-output variable quantity, and described Voltage-output variable quantity is the difference between the actual engine speed voltage corresponding with the engine target rotating speed, obtain target output voltage according to described Voltage-output variable quantity, and with after described target output voltage process proportion integral control, obtain each output voltage variable quantity of reconciling through PI, export to described chassis ECU.
5. system according to claim 4, is characterized in that, described accel control is used for that described target output voltage is carried out PI and regulates, and obtains the output voltage variable quantity of at every turn reconciling through PI:
UK＝KP*
ΔEK+KI*(
ΔEK-
ΔE(K-1))，
Wherein, UK is target output voltage,
ΔEK represents the K time rotating speed corresponding Voltage-output variable quantity when changing to rotating speed of target,
Δ E(K-1) be the K-1 time rotating speed corresponding output voltage variable quantity when changing to rotating speed of target, KP and KI are the setting coefficient less than 1.
6. system according to claim 1, is characterized in that, described speed governing gearshift comprises speed governing gearshift potentiometer, or the gearshift select switch.
7. system according to claim 1, it is characterized in that, described the first controller comprises and enables power supply, the first switch and second switch, wherein, the described power supply that enables connects the first switch and second switch, the first switch connects the interface that enables of described accel control, and second switch connects the interface that enables of described chassis ECU.
8. a sweeper, is characterized in that, comprises the described single-engine sweeping vehicle throttle control system of any one in claim 1～7.
9. single-engine sweeping vehicle accelerator control method, be applied to comprise: in the throttle control system of the first controller, speed governing gearshift, accel control and chassis ECU, it is characterized in that, the method comprises the following steps:
When described sweeper is in when travelling travelling position, the first control unit enables chassis ECU driving engine is controlled;
When described sweeper is placed in mode of operation, when the first control unit is placed in the work operations state at described sweeper, stops enabling chassis ECU control engine, and enable accel control and carry out Throttle Opening Control;
To chassis ECU output speed control signal, described speed control signal is used for offering chassis ECU and carries out speed control accel control according to described working condition gear.
10. method according to claim 9, is characterized in that, the method further comprises:
Detect the current actual speed signal of driving engine;
Accel control, comprising to chassis ECU output speed control signal according to described working condition gear:
Described accel control according to described working condition gear and the current actual speed signal of described driving engine to chassis ECU output speed control signal.
11. method according to claim 10 is characterized in that, described accel control, comprising to chassis ECU output speed control signal according to described working condition gear and the current actual speed signal of described driving engine:
According to the operating mode class information of preserving, determine the affiliated operating mode grade of working condition gear that described user selects, and determine engine target rotating speed corresponding to this operating mode grade;
If the difference of described actual engine speed and described engine target rotating speed is greater than setting value, according to described actual engine speed and described engine target rotating speed, to chassis ECU output speed control signal.
12. method according to claim 10, it is characterized in that, described speed control signal is voltage signal, and the corresponding relation of further pre-stored engine speed and voltage, according to described actual engine speed and described engine target rotating speed, to chassis ECU output speed control signal, comprising:
Obtain corresponding Voltage-output variable quantity, described Voltage-output variable quantity is the difference between the actual engine speed voltage corresponding with the engine target rotating speed;
Obtain target output voltage according to described Voltage-output variable quantity, and export to described chassis ECU after described target output voltage is regulated through PI.
13. method according to claim 12 is characterized in that, utilizes following formula that described target output voltage is regulated through PI, obtains the output voltage variable quantity of reconciling through proportional integral (PI) PI at every turn:
UK＝KP*
ΔEK+KI*(
ΔEK-
ΔE(K-1))，
Wherein, UK is target output voltage,
ΔEK represents the K time rotating speed corresponding Voltage-output variable quantity when changing to rotating speed of target,
ΔE (K-1) is the K-1 time rotating speed corresponding output voltage variable quantity when changing to rotating speed of target, and KP and KI are the setting coefficient less than 1.
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| CN 201110403572 CN102518059B (en) | 2011-12-07 | 2011-12-07 | Cleaning car with single engine and accelerator control system and method thereof |
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| CN 201110403572 CN102518059B (en) | 2011-12-07 | 2011-12-07 | Cleaning car with single engine and accelerator control system and method thereof |
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Families Citing this family (6)
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| CN102798530B (en) * | 2012-08-27 | 2015-07-15 | 中联重科股份有限公司渭南分公司 | Engine throttle calibration method and equipment and engineering machinery |
| CN103074862B (en) * | 2013-02-06 | 2015-03-18 | 中联重科股份有限公司 | Sprinkler flushing control device, system and method and sprinkler |
| CN103174534B (en) * | 2013-03-26 | 2015-10-14 | 中联重科股份有限公司 | A kind of method, apparatus and system that the rotating speed of motor is controlled |
| CN105544449A (en) * | 2016-01-13 | 2016-05-04 | 烟台海德专用汽车有限公司 | Washing and sweeping vehicle provided with single motor drive mechanism |
| CN109403254A (en) * | 2018-09-07 | 2019-03-01 | 天嘉智能装备制造江苏股份有限公司 | The sweeper intelligent water sprinkling control system of monomotor driving |
| CN112412639B (en) * | 2020-11-03 | 2023-05-23 | 潍柴动力股份有限公司 | Land leveler throttle control method, land leveler throttle control device and land leveler |
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| JP2003314305A (en) * | 2002-04-24 | 2003-11-06 | Mitsubishi Heavy Ind Ltd | Gas turbine control device, gas turbine system, and gas turbine control method |
| CN201214409Y (en) * | 2008-05-22 | 2009-04-01 | 李润东 | Mechanical gearshift case automatic gear shift control system |
| CN101392689B (en) * | 2008-11-05 | 2010-09-08 | 北京航空航天大学 | Control device of microminiature turbojet and starting control method thereof |
| CN201646404U (en) * | 2010-04-10 | 2010-11-24 | 简现政 | Throttle controller of automobile |
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Effective date of registration: 20170627 Address after: 410000 Hunan province Changsha hi tech Development Zone, Lin Yulu No. 288 Patentee after: Changsha ZOOMLION Environmental Industry Co., Ltd. Address before: 410013 Yuelu District, Hunan, silver basin Road, No. 361, No. Patentee before: Zoomlion Heavy Industry Science & Technology Development Co., Ltd. |
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