CN102635140B - Control method and control system of working device, and engineering machinery for traction work - Google Patents
Control method and control system of working device, and engineering machinery for traction work Download PDFInfo
- Publication number
- CN102635140B CN102635140B CN201210132431.4A CN201210132431A CN102635140B CN 102635140 B CN102635140 B CN 102635140B CN 201210132431 A CN201210132431 A CN 201210132431A CN 102635140 B CN102635140 B CN 102635140B
- Authority
- CN
- China
- Prior art keywords
- torque
- torque ratio
- ratio
- equipment
- torsion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The invention discloses a control method and a control system for a working device and engineering machinery for traction work. The control method for the working device comprises the steps: obtaining a turbine torsion and an engine torsion; calculating to acquire a torque ratio; if the torque ratio is within a preset torque ratio scope, maintaining the position of the current working device; when the torque ratio is more than the maximal torque ratio within the preset torque ratio scope, lifting the working device until obtaining a torque ratio which is not more than the maximal torque ratio; and when the torque ratio is less than the minimal torque ratio within the preset torque ratio scope, descending the working device until obtaining a torque ratio which is not less than the minimal torque ratio. According to the control method for the working device, the current operation condition of the working device is determined by the ratio of the turbine torsion to the engine torsion so as to control the lifting of the working device, improve the working efficiency and operation quality of the engineering machinery and reduce labor intensity of drivers.
Description
Technical field
The present invention relates to technical field of engineering machinery, more particularly, relate to a kind of control method, system and engineering machinery for the work of drawing of equipment.
Background technology
The current engineering machinery for the work of drawing, taking bulldozer as example, its condition of work and operating environment are extremely severe, in the native operation process of shovel, do action is frequent, working resistance excursion is large, need driver to carry out continually the lifting of equipment-perching knife, this kind of main drag size that relies on human pilot to be subject to according to perching knife of operation judges, and manual operation controller is controlled perching knife lifting.Particularly under the various environment of soil property, rock matter, orographic condition, construct, operating personnel need operate perching knife lifting continually, not only have relatively high expectations for driver's operant level, but also inevitably there is larger slowness and inaccuracy, cause the problems such as inefficiency, operation quality is poor, personnel labor intensity is large.
Equally, other except bulldozer equally also have the problems referred to above for the engineering machinery of the work of drawing.
Therefore, how realizing the automatic lifting control of equipment, improve operating efficiency and the operation quality of the engineering machinery for drawing work, alleviate driver's labour intensity, is those skilled in the art's problem demanding prompt solutions.
Summary of the invention
In view of this, the invention provides a kind of control method, system and engineering machinery for the work of drawing of equipment, to realize the automatic lifting control for the equipment of the engineering machinery of the work of drawing.
For achieving the above object, the existing scheme proposing is as follows:
A control method for equipment, comprising:
Obtain turbine moment of torsion and engine torque;
Calculate torque ratio, described torque ratio is the ratio of described turbine moment of torsion and engine torque;
If described torque ratio than scope, keeps the position of work at present device in predetermined torque;
When described torque ratio be greater than described predetermined torque than the peak torque in scope than time, promote described equipment, until the torque ratio again obtaining is not more than described peak torque ratio;
When described torque ratio be less than described predetermined torque than the minimal torque in scope than time, the described equipment that declines, until the torque ratio again obtaining is not less than described minimal torque ratio.
Preferably, also comprise:
Judge work at present device control model, if described work at present device control model is manual control model, the elevating control of described equipment is realized by manual operation joystick; If described work at present device control model is automatic control mode, obtain turbine moment of torsion and engine torque.
Preferably, also comprise:
Obtain the state of a control of described equipment, itself and described work at present device control model are compared;
When meeting when pre-conditioned, change the control model of described equipment to the control model identical with the state of a control of described equipment, described pre-conditioned be that the state of a control of described equipment is not identical with described work at present device control model.
Preferably, described pre-conditionedly also comprise: the state of a control that postpones the equipment that Preset Time obtains is still not identical with described work at present device control model.
Preferably,
Promote in described equipment process, when the torque ratio again obtaining near described peak torque than time, also comprise: the hoisting velocity that reduces described equipment;
Decline in described equipment process, when the torque ratio again obtaining near described minimal torque than time, also comprise: the decrease speed that reduces described equipment.
Preferably, when described torque ratio be greater than described predetermined torque than the peak torque in scope than after also comprise:
Continuously the interval Preset Time between preset times and adjacent twice obtains turbine moment of torsion and engine torque;
Calculate the ratio that at every turn acquires turbine moment of torsion and engine torque, obtain torque ratio;
When judging that the torque ratio that described continuous preset times obtains is all greater than described peak torque ratio, promotes described equipment.
Preferably, when described torque ratio be less than described predetermined torque than the minimal torque in scope than after also comprise:
Continuously the interval Preset Time between preset times and adjacent twice obtains turbine moment of torsion and engine torque;
Calculate the ratio that at every turn acquires turbine moment of torsion and engine torque, obtain torque ratio;
When judging that the torque ratio that described continuous preset times obtains is all less than described minimal torque ratio, reduces described equipment.
A kind of actuating device control system, comprising:
Turbine torque sensor, for gathering turbine moment of torsion;
Engine torque sensor, for gathering engine torque;
Electronic control unit, for obtaining turbine moment of torsion and engine torque, calculates torque ratio, and described torque ratio is the ratio of described turbine moment of torsion and engine torque; If described torque ratio than scope, keeps the position of work at present device in predetermined torque; When described torque ratio be greater than described predetermined torque than the peak torque in scope than time, promote described equipment, until the torque ratio again obtaining is not more than described peak torque ratio; When described torque ratio be less than described predetermined torque than the minimal torque in scope than time, the described equipment that declines, until the torque ratio again obtaining is not less than described minimal torque ratio.
Preferably, also comprise: the control model selector switch that switches manual control model and automatic control mode, described electronic control unit is also for judging work at present device control model, if described work at present device control model is manual control model, described control model selector switch switches to manual mode; If described work at present device control model is automatic mode, described control model selector switch switches to automatic mode.
Preferably, also comprise the temperature pick up that gathers engine water temperature value; The engine water temperature value that described electronic control unit also gathers for obtaining described temperature pick up, in the time judging described engine water temperature value higher than preset temperature peak, carries out temperature alarming.
For an engineering machinery for the work of drawing, comprise above-mentioned system.
Preferably, described engineering machinery is bulldozer, buck raker, land leveller or loader.
Can find out from above-mentioned technical scheme, the control method of equipment disclosed by the invention, determine the current working condition running into of equipment by the ratio of turbine moment of torsion and engine torque, and then carry out the control of equipment lifting, concrete, if described torque ratio than scope, keeps the position of work at present device in predetermined torque; When described torque ratio be greater than described predetermined torque than the peak torque in scope than time, promote described equipment, until the torque ratio again obtaining is not more than described peak torque ratio; In the time that described torque ratio is less than described predetermined torque and compares than the minimal torque in scope, described equipment declines, until the torque ratio again obtaining is not less than described minimal torque ratio, realize the automatic lifting control of equipment, improve operating efficiency and operation quality for the engineering machinery of the work of drawing, alleviated driver's labour intensity.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the flow chart of the control method of the disclosed a kind of equipment of the embodiment of the present invention;
Fig. 2 is the flow chart of the control method of the disclosed a kind of equipment of another embodiment of the present invention;
Fig. 3 is the structure chart of the control system of the disclosed a kind of equipment of another embodiment of the present invention;
Fig. 4 is the structure chart of the control system of the disclosed a kind of equipment of another embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
The embodiment of the invention discloses a kind of control method, system and the engineering machinery for the work of drawing of equipment, to realize the automatic lifting control for the equipment of the engineering machinery of the work of drawing.
The control method of the disclosed a kind of equipment of the present embodiment, as shown in Figure 1, comprises step:
S101, obtain turbine moment of torsion and engine torque;
S102, calculate torque ratio K, described torque ratio K is the ratio of described turbine moment of torsion and engine torque;
S103, compare described torque ratio K and predetermined torque than scope (K
1, K
2);
As described torque ratio K in predetermined torque than scope (K
1, K
2), i.e. K
1≤ K≤K
2, the position that perform step S104, keeps work at present device;
When described torque ratio K is greater than described predetermined torque scope (K
1, K
2) in peak torque compare K
2, i.e. K > K
2, perform step S105, promote described equipment, until being not more than described peak torque, the torque ratio again obtaining compares K
2;
When described torque ratio K is less than described predetermined torque scope (K
1, K
2) in minimal torque compare K
1, i.e. K < K
1, perform step S106, the described equipment that declines, until being not less than described minimal torque, the torque ratio again obtaining compares K
1.
In the control method of the disclosed equipment of the present embodiment, determine the current working condition running into of equipment by the ratio of turbine moment of torsion and engine torque, and then carry out the control of equipment lifting, realize the automatic lifting control of equipment, improve operating efficiency and operation quality for the engineering machinery of the work of drawing, alleviated driver's labour intensity.
For improving the adaptive capacity of engineering truck to severe operating environment and operating mode, in traditional engineering machinery transmission, increase fluid torque-converter and carry out hydraulic machine transmission.By liquid transfer power, can reduce dynamic loading and the vibration of transmission system, extend the application life of transmission system, improve the output torque of engineering machinery, greatly increase the ability to work of engineering machinery.
In engineering machine in working process, severe working condition causes the resistance of engineering machinery sharply to change, the turbine output torque that directly causes engineering machinery thereupon acute variation to adapt to complex working condition.Under normal circumstances, the relation between turbine moment of torsion and the working resistance of engineering machinery is certain, and, under certain working condition, along with the increase of working resistance, turbine moment of torsion also increases; Otherwise working resistance reduces, turbine moment of torsion declines thereupon.Therefore turbine output torque be reflection engineering machinery operating loading the most directly, the most accurate key factor.
Application number is 201110169591.1 application for a patent for invention, a kind of hydraulic type bulldozer perching knife automatic control system and autocontrol method are disclosed, in the method, by judging that secondary speed determines the current working condition running into, realize the automatic lifting control of perching knife.Due to, the principle of determining the current working condition running into based on secondary speed is: between secondary speed and turbine moment of torsion, have fixed relationship, turbine moment of torsion can reflect working condition, has fixed relationship secondary speed also just indirectly to reflect working condition with turbine moment of torsion.
But while determining the current working condition running into by secondary speed, error can appear in sensor itself, the secondary speed that its detection obtains also can have error; And, due to the restriction of conversion accuracy, in secondary speed and turbine moment of torsion transfer process, also will certainly there is error, under the induction of multiple error, secondary speed can not reflect load working condition and the drag size of engineering machinery more realistically, like this, adopt and judge that secondary speed determines the current working condition running into, the method that realizes the automatic lifting control of perching knife can not meet the requirement of accuracy.
And, adopt torque ratio as the decision condition of controlling equipment lifting, essence is by turbine moment of torsion and the two-parameter control of engine torque, can overcome the following defect that single parameter-turbine moment of torsion produces as the decision condition of controlling equipment lifting: can not take into account traction working condition and operating efficiency completely, produce certain loss in efficiency, concrete, under little accelerator open degree, operating efficiency is lower, and the moment of torsion between turbine and motor and rotating speed difference are very large, and transmission system is had to larger impact.Therefore can draw: the control method of the disclosed equipment of the embodiment of the present invention adopts torque ratio control meeting to make all can take into account under each accelerator open degree transmission efficiency and power economy performance, resultant effect is better, can realize better accurate, the efficient and low consumption work of engineering machinery.
In the above-described embodiments, when judging that torque ratio K is greater than peak torque and compares K
2time, promote equipment, in the lifting process of equipment, constantly again obtain turbine moment of torsion and engine torque, calculate torque ratio, torque ratio and peak torque are compared to K
2compare, compare K when recalculating the torque ratio obtaining described in judgement near described peak torque
2time, in order to prevent overshoot phenomenon, need to reduce the hoisting velocity of equipment, generally the hoisting velocity of equipment is reduced to half.Concrete, general provision is not more than K when recalculating the torque ratio obtaining
2, illustrate that the turbine moment of torsion again obtaining compares K near described peak torque at+0.1 o'clock
2, certainly can also be according to predetermined other values of actual conditions as judging that torque ratio compares K near described peak torque
2foundation.
Equally, when judging that torque ratio K is less than minimal torque and compares K
1time, decline equipment, in the decline process of equipment, constantly obtains turbine moment of torsion and engine torque again, and itself and minimal torque are compared to K
1compare, when the torque ratio again obtaining described in judgement compares K near described minimal torque
1time, in order to prevent overshoot phenomenon, need to reduce the decrease speed of equipment, generally the decrease speed of equipment is reduced to half.Concrete, general provision ought again obtain torque ratio and be not less than K
1, illustrate that the torque ratio again obtaining compares K near described minimal torque at-0.1 o'clock
1, can certainly be according to predetermined other values of actual conditions as judging that torque ratio compares K near described minimal torque
1foundation.
Another embodiment of the present invention also discloses a kind of control method of equipment, comprises step:
S201, obtain work at present device control model information;
S202, judge according to described work at present device control model information whether work at present device control model is automatic control mode, in the time that judgement is not automatic control mode, illustrate that described work at present device control model is manual control model, perform step S203, lifting by equipment described in the control of manual operation joystick.
When being judged as automatic control mode, perform step S204, obtain turbine moment of torsion and engine torque;
S205, calculate torque ratio K, described torque ratio K is the ratio of described turbine moment of torsion and engine torque;
S206, compare described torque ratio K and predetermined torque than scope (K
1, K
2);
As described torque ratio K in predetermined torque than scope (K
1, K
2), i.e. K
1≤ K≤K
2, the position that perform step S207, keeps work at present device;
When described torque ratio K is greater than described predetermined torque scope (K
1, K
2) in peak torque compare K
2, i.e. K > K
2, perform step S208, promote described equipment, until being not more than described peak torque, the torque ratio again obtaining compares K
2;
When described torque ratio K is less than described predetermined torque scope (K
1, K
2) in minimal torque compare K
1, i.e. K < K
1, perform step S209, the described equipment that declines, until being not less than described minimal torque, the torque ratio again obtaining compares K
1.
In the above-described embodiments, in obtaining work at present device control model information, can also obtain the state of a control of this equipment, determine the control model of work at present device according to described work at present device control model information, compare state of a control and the work at present device control model of described equipment, when meeting when pre-conditioned, change the control model of described equipment to the control model identical with the state of a control of described equipment, now pre-conditioned is that the state of a control of described equipment is not identical with described work at present device control model.
In order to make the step of the control model of changing equipment more accurate opportunity, above-mentioned pre-conditioned can also comprising: the state of a control that postpones the equipment that obtains of a period of time is still not identical with described work at present device control model, concrete, be taken as 0.5s time delay to time constant arbitrarily between 1s.
In two above-mentioned embodiments of the method, in order to determine comparatively accurately the change opportunity of equipment position, when judging that described torque ratio K is greater than described peak torque and compares K
2after also comprise:
Continuously the interval Preset Time between preset times and adjacent twice obtains turbine moment of torsion and engine torque;
Calculate the ratio that at every turn acquires turbine moment of torsion and engine torque, obtain torque ratio;
When judging that torque ratio that described continuous preset times obtains is all greater than described peak torque and compares K
2, promote described equipment.
And, compare K when described torque ratio K is less than described minimal torque
1after also comprise:
Continuously the interval Preset Time between preset times and adjacent twice obtains turbine moment of torsion and engine torque;
Calculate the ratio that at every turn acquires turbine moment of torsion and engine torque, obtain torque ratio;
When judging that torque ratio that described continuous preset times obtains is all less than described minimal torque and compares K
1, reduce described equipment.
Concrete, obtain turbine moment of torsion interval time scope can but be not defined as 0.5-1s, the number of times obtaining can but be not defined as 3-5.
In two above-mentioned embodiment, described predetermined torque is than scope (K
1, K
2) can be one, and can but do not limit select the turbine moment of torsion of maximum throttle state and the ratio of engine torque as predetermined torque than scope (K
1, K
2); Certainly, described predetermined torque is than scope (K
1, K
2) can also be multiple, and corresponding one by one from different throttles, now, when obtaining described turbine moment of torsion and engine torque, also need to obtain throttle signal.
Because the predetermined torque under each throttle is more not identical than scope, in the time that throttle is higher, predetermined torque is higher than all than peak torque ratio and minimal torque in scope, and in the time that throttle is lower, predetermined torque is lower than all than peak torque ratio and minimal torque in scope.Therefore,, in order accurately to control the lifting opportunity of equipment, the signal of throttle is necessary, and throttle signal is also corresponding one by one than scope with the predetermined torque under this throttle.
Concrete, in above-mentioned two embodiment, the ratio of getting near different accelerator open degrees are corresponding fluid torque-converter best efficiency point η max ± 5% turbine moment of torsion and engine torque as predetermined torque under different throttles than the peak torque ratio in scope; The ratio of getting fluid torque-converter efficiency and be near different accelerator open degrees are corresponding η 75% ± 5% turbine moment of torsion and engine torque as predetermined torque under different throttles than the minimal torque ratio in scope.Certainly, maximum, minimal torque ratio can be set as other value according to the actual working condition of engineering machinery.
The disclosed a kind of actuating device control system of another embodiment of the present invention, as shown in Figure 3, comprising:
Turbine torque sensor 101, for gathering turbine moment of torsion;
Engine torque sensor 102, for gathering engine torque;
Electronic control unit 103, for obtaining turbine moment of torsion and engine torque, calculates torque ratio, and described torque ratio is the ratio of described turbine moment of torsion and engine torque; If described torque ratio than scope, keeps the position of work at present device in predetermined torque; When described torque ratio be greater than described predetermined torque than the peak torque in scope than time, promote described equipment, until the torque ratio again obtaining is not more than described peak torque ratio; When described torque ratio be less than described predetermined torque than the minimal torque in scope than time, the described equipment that declines, until the torque ratio again obtaining is not less than described minimal torque ratio.
The disclosed a kind of actuating device control system of another embodiment of the present invention, as shown in Figure 4, comprising:
Throttle signal sensor 201, for gathering throttle signal;
Turbine torque sensor 202, for gathering turbine moment of torsion;
Engine torque sensor 203, for gathering engine torque;
Electronic control unit 204, for obtaining turbine moment of torsion and the engine torque under current throttle state, calculates torque ratio, and described torque ratio is the ratio of described turbine moment of torsion and engine torque; If described torque ratio than scope, keeps the position of work at present device in predetermined torque; When described torque ratio be greater than described predetermined torque than the peak torque in scope than time, promote described equipment, until the torque ratio again obtaining is not more than described peak torque ratio; When described torque ratio be less than described predetermined torque than the minimal torque in scope than time, the described equipment that declines, until the torque ratio again obtaining is not less than described minimal torque ratio.
Concrete, electronic control unit 204 comprises:
Memory module, stores the mapping table of throttle signal and torque ratio scope;
Acquisition module for obtaining throttle signal, turbine moment of torsion and engine torque, is determined the torque ratio scope under current throttle state from the mapping table of described throttle signal and torque ratio scope according to throttle signal;
Computing module, for calculating turbine moment of torsion that described acquisition module obtains and the ratio of engine torque, as torque ratio;
Judge module, for comparing the torque ratio scope under torque ratio and the current throttle state under current throttle state;
Control signal generation module, for be greater than when described torque ratio the peak torque of described torque ratio scope than time, generate and promote the signal of equipment; When described torque ratio be less than minimal torque in described torque ratio scope than time, generate the signal of decline equipment.
The throttle signal that throttle signal sensor 201 gathers, the turbine moment of torsion that turbine torque sensor 202 gathers, the engine torque that engine torque sensor 203 gathers, all inputs to electronic control unit 204 by the communication interface of electronic control unit 204; The acquisition module of electronic control unit 204 obtains throttle signal, turbine moment of torsion and engine torque, and torque ratio scope under definite current throttle state, and transmits it to described judge module; Computing module calculates the torque ratio under current throttle state, also transmits it to described judge module; Torque ratio under described judge module comparison current throttle state and the torque ratio scope under current throttle state, in the time that described torque ratio is greater than peak torque in described torque ratio scope and compares, described control signal generation module generates the signal that promotes equipment, when described torque ratio be less than minimal torque in described torque ratio scope than time, described control signal generation module generates the signal of decline equipment; The signal that described control signal generation module generates all acts on the electrofluidic control device of equipment, to promote or to reduce equipment.
Equally as shown in Figure 4, the disclosed actuating device control system of the present embodiment can also comprise: the control model selector switch 205 that switches manual control model and automatic control mode, now, the judging unit of electronic control unit 204 is also for judging work at present device control model, if described work at present device control model is manual control model, described control model selector switch switches to manual mode; If described work at present device control model is automatic mode, described control model selector switch switches to automatic mode.
And described actuating device control system can also comprise the temperature pick up 206 and the alarm unit 207 that gather engine water temperature value; Now, the engine water temperature value that the acquisition module of electronic control unit 204 also gathers for obtaining described temperature pick up, in the time that the judge module of electronic control unit 204 judges described engine water temperature value higher than preset temperature peak, alarm unit 207 carries out temperature alarming.
Equally, more accurate in order to make alarm unit 207 carry out opportunity of temperature alarming, after the judge module of electronic control unit 204 judges that described engine water temperature value is higher than preset temperature peak, postpone after Preset Time, the acquisition module of electronic control unit 204 obtains engine water temperature value again, in the time that the judge module of electronic control unit 204 judges the transmitter water temperature value of again obtaining still higher than preset temperature peak, carry out temperature alarming.
Concrete, be taken as 0.5s above-mentioned time delay to the time constant between 1s, can also be set as other values according to actual service condition.
Another embodiment of the present invention also discloses a kind of engineering machinery for the work of drawing, and this project machinery comprises the disclosed actuating device control system of above-described embodiment.
No longer actuating device control system is carried out to detailed discussion herein, refer to the disclosed content of above-described embodiment.
Concrete, the disclosed engineering machinery of the present embodiment is specifically as follows bulldozer, buck raker, land leveller or loader, certainly, can also be other engineering machinery for the work of drawing.
Taking bulldozer as example, above-mentioned equipment refers to perching knife or ridge buster, obtains turbine moment of torsion and engine torque under current throttle state, calculates torque ratio, if described moment of torsion, in predetermined torque scope, keeps the position of perching knife;
When described torque ratio be greater than described predetermined torque than the peak torque in scope than time, promote perching knife or ridge buster, until the torque ratio again obtaining is not more than described peak torque ratio;
When described torque ratio be less than described predetermined torque than the minimal torque in scope than time, decline perching knife or ridge buster, until the torque ratio again obtaining is not less than described minimal torque ratio.
In this manual, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is and the difference of other embodiment, between each embodiment identical similar part mutually referring to.
To the above-mentioned explanation of the disclosed embodiments, make professional and technical personnel in the field can realize or use the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiment, General Principle as defined herein can, in the situation that not departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (12)
1. a control method for equipment, is characterized in that, comprising:
Directly obtain turbine moment of torsion and the engine torque of fluid torque-converter;
Calculate torque ratio, described torque ratio is the ratio of described turbine moment of torsion and engine torque;
If described torque ratio than scope, keeps the position of work at present device in predetermined torque;
When described torque ratio be greater than described predetermined torque than the peak torque in scope than time, promote described equipment, until the torque ratio again obtaining is not more than described peak torque ratio;
When described torque ratio be less than described predetermined torque than the minimal torque in scope than time, the described equipment that declines, until the torque ratio again obtaining is not less than described minimal torque ratio.
2. method according to claim 1, is characterized in that, also comprises:
Judge work at present device control model, if described work at present device control model is manual control model, the elevating control of described equipment is realized by manual operation joystick; If described work at present device control model is automatic control mode, obtain turbine moment of torsion and engine torque.
3. method according to claim 2, is characterized in that, also comprises:
Obtain the state of a control of described equipment, itself and described work at present device control model are compared;
When meeting when pre-conditioned, change the control model of described equipment to the control model identical with the state of a control of described equipment, described pre-conditioned be that the state of a control of described equipment is not identical with described work at present device control model.
4. method according to claim 3, is characterized in that, described pre-conditionedly also comprise: the state of a control that postpones the equipment that Preset Time obtains is still not identical with described work at present device control model.
5. according to the method described in any one in claim 1-4, it is characterized in that,
Promote in described equipment process, when the torque ratio again obtaining near described peak torque than time, also comprise: the hoisting velocity that reduces described equipment;
Decline in described equipment process, when the torque ratio again obtaining near described minimal torque than time, also comprise: the decrease speed that reduces described equipment.
6. according to the method described in any one in claim 1-4, it is characterized in that, when described torque ratio be greater than described predetermined torque than the peak torque in scope than after also comprise:
Continuously the interval Preset Time between preset times and adjacent twice obtains turbine moment of torsion and engine torque;
Calculate the ratio that at every turn acquires turbine moment of torsion and engine torque, obtain torque ratio;
When judging that the torque ratio that described continuous preset times obtains is all greater than described peak torque ratio, promotes described equipment.
7. according to the method described in any one in claim 1-4, it is characterized in that, when described torque ratio be less than described predetermined torque than the minimal torque in scope than after also comprise:
Continuously the interval Preset Time between preset times and adjacent twice obtains turbine moment of torsion and engine torque;
Calculate the ratio that at every turn acquires turbine moment of torsion and engine torque, obtain torque ratio;
When judging that the torque ratio that described continuous preset times obtains is all less than described minimal torque ratio, reduces described equipment.
8. an actuating device control system, is characterized in that, comprising:
Turbine torque sensor, for gathering the turbine moment of torsion of fluid torque-converter;
Engine torque sensor, for gathering engine torque;
Electronic control unit, for obtaining turbine moment of torsion and engine torque, calculates torque ratio, and described torque ratio is the ratio of described turbine moment of torsion and engine torque; If described torque ratio than scope, keeps the position of work at present device in predetermined torque; When described torque ratio be greater than described predetermined torque than the peak torque in scope than time, promote described equipment, until the torque ratio again obtaining is not more than described peak torque ratio; When described torque ratio be less than described predetermined torque than the minimal torque in scope than time, the described equipment that declines, until the torque ratio again obtaining is not less than described minimal torque ratio.
9. system according to claim 8, it is characterized in that, also comprise: the control model selector switch that switches manual control model and automatic control mode, described electronic control unit is also for judging work at present device control model, if described work at present device control model is manual control model, described control model selector switch switches to manual mode; If described work at present device control model is automatic mode, described control model selector switch switches to automatic mode.
10. system according to claim 8, is characterized in that, also comprises the temperature pick up that gathers engine water temperature value; The engine water temperature value that described electronic control unit also gathers for obtaining described temperature pick up, in the time judging described engine water temperature value higher than preset temperature peak, carries out temperature alarming.
11. 1 kinds of engineering machinery for the work of drawing, is characterized in that, comprise the system as described in claim 8-10 any one.
12. engineering machinery according to claim 11, is characterized in that, described engineering machinery is bulldozer, buck raker, land leveller or loader.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210132431.4A CN102635140B (en) | 2012-04-28 | 2012-04-28 | Control method and control system of working device, and engineering machinery for traction work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210132431.4A CN102635140B (en) | 2012-04-28 | 2012-04-28 | Control method and control system of working device, and engineering machinery for traction work |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102635140A CN102635140A (en) | 2012-08-15 |
| CN102635140B true CN102635140B (en) | 2014-12-17 |
Family
ID=46619706
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210132431.4A Active CN102635140B (en) | 2012-04-28 | 2012-04-28 | Control method and control system of working device, and engineering machinery for traction work |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102635140B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103967640B (en) * | 2014-05-21 | 2017-01-04 | 山推工程机械股份有限公司 | A kind of hydraulic type engineering machinery and torque control method, torque control device |
| CN104196070A (en) * | 2014-09-23 | 2014-12-10 | 山推工程机械股份有限公司 | Bulldozer working device automatic control method and system |
| CN106032673B (en) * | 2015-03-20 | 2018-10-16 | 徐工集团工程机械股份有限公司 | A kind of perching knife load control system, land leveller and method |
| CN113846715B (en) * | 2021-09-30 | 2022-09-06 | 湖南三一华源机械有限公司 | Land leveler control method and device and land leveler |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5555942A (en) * | 1993-06-16 | 1996-09-17 | Kabushiki Kaisha Komatsu Seisakusho | Blade control system for use in a bulldozer |
| CN2782778Y (en) * | 2005-04-05 | 2006-05-24 | 吴骏 | Automatic levelling system for earth levelling machine |
| CN102330442B (en) * | 2011-06-22 | 2013-06-12 | 山推工程机械股份有限公司 | Automatic control system and automatic control method for scraper knife of hydraulic bulldozer |
-
2012
- 2012-04-28 CN CN201210132431.4A patent/CN102635140B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN102635140A (en) | 2012-08-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102330442B (en) | Automatic control system and automatic control method for scraper knife of hydraulic bulldozer | |
| CN102635140B (en) | Control method and control system of working device, and engineering machinery for traction work | |
| CN200997815Y (en) | Wireless supervisory equipment of the water-saving irrigation of the green space in city | |
| US20070251740A1 (en) | Method for controlling an electric drive machine | |
| CN103306330B (en) | Eng ine Idling Control method and apparatus, excavator, loader | |
| CN102677714A (en) | Rotational speed control device and method for excavator and excavator with rotational speed control device | |
| CN105297821A (en) | Control method and control system of excavator | |
| CN103422527A (en) | Self-adaptive control method and device | |
| CN113062397A (en) | Excavator power matching method based on power matching rule base | |
| CN103486071A (en) | Intelligent fan speed regulating method and device based on equipment temperature feedback | |
| CN102383454A (en) | Device and method for controlling throttle of electronic fuel injection diesel engine for excavator | |
| CN102635139A (en) | Control method and system for working device and engineering machine for traction operations | |
| CN101806079B (en) | System for automatically identifying load of excavator | |
| CN104420495A (en) | Hydraulic energy-saving fuzzy control system for excavators | |
| CN104895136B (en) | A kind of method and device of automatic recognition of load and Optimized Matching | |
| CN113236431B (en) | Engineering machinery energy-saving control method and device and engineering machinery | |
| CN106468166B (en) | Energy-saving method and system for rotary drilling rig and rotary drilling rig | |
| CN202627059U (en) | Novel device for preventing engine of hydraulic excavator from being instantly decelerated | |
| CN201778355U (en) | Rotation speed control system of excavator | |
| CN101493049B (en) | Electronic throttle controller of engine | |
| CN201649154U (en) | Load automatic identification system for digging machine | |
| CN201363198Y (en) | Electronic throttle controller of engine | |
| CN202023738U (en) | Rotating speed intelligent control system for oil-immersed screw pump | |
| CN102635141A (en) | Control method and system for working device and engineering machinery used for traction work | |
| CN203338050U (en) | Variable frequency intelligent control system for oil pumping machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |