CN103062026B - Method and device for controlling pump output of concrete pumping machinery - Google Patents
Method and device for controlling pump output of concrete pumping machinery Download PDFInfo
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- CN103062026B CN103062026B CN2012105680873A CN201210568087A CN103062026B CN 103062026 B CN103062026 B CN 103062026B CN 2012105680873 A CN2012105680873 A CN 2012105680873A CN 201210568087 A CN201210568087 A CN 201210568087A CN 103062026 B CN103062026 B CN 103062026B
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Abstract
Provided are a method and a device for controlling pump output of concrete pumping machinery. The method includes determining target output of a hydraulic pump (40) under current rotating speed of an engine (10) and adjusting the output of the hydraulic pump (40) to achieve the target output. The step of adjusting the target output of the hydraulic pump (40) includes setting required output of the hydraulic pump (40) under current rotating speed of the engine (10), determining largest limit output of the hydraulic pump (40) under current rotating speed of the engine (10), comparing the required output and the largest limit output of the hydraulic pump (40) of the hydraulic pump (40) and enabling the smaller one of the required output of the hydraulic pump (40) and the largest limit output to serve as the target output of the hydraulic pump (40).
Description
Technical field
The present invention relates to the concrete pumping field, particularly, relate to a kind of controlling method of pump displacement for concrete pumping machinery and control apparatus.
Background technique
At present, the control mode of traditional concrete pumping machinery (for example, concrete mixer, Vehicle loaded pump, holder pump etc.) mainly contains following several.The first is that engine speed is constant, the hydraulic pump discharge that the default settings gear is corresponding, and namely hydraulic pump discharge corresponding to each gear, no longer adjust in work.The second is engine speed corresponding to default settings gear and hydraulic pump discharge, and namely the corresponding certain engine speed of each gear and hydraulic pump discharge, no longer carry out any adjustment in work.The conventional concrete pumping machine adopts constant power valve to carry out Power Limitation usually.Use constant power valve to carry out Power Limitation, in case set, complete, just can not regulate again in work.If setting value is excessive, permanent power does not have effect, easily causes engine misses.If setting value is too small, engine load rate is on the low side, does not utilize and gives full play to motor usefulness, and oil consumption is also relatively higher.
Summary of the invention
The purpose of this invention is to provide a kind of concrete pumping machinery and pump displacement controlling method and control apparatus, it can limit oil hydraulic pump power, guarantees that motor can not stop working because of overload.
To achieve these goals, according to an aspect of the present invention, provide a kind of controlling method of pump displacement for concrete pumping machinery, the method comprises: the target output discharge capacity of determining oil hydraulic pump; Regulate the output discharge capacity of described oil hydraulic pump, make the output discharge capacity of oil hydraulic pump reach target output discharge capacity; Wherein, the target output discharge capacity of determining oil hydraulic pump comprises: the required output discharge capacity of setting described oil hydraulic pump; The maximum of determining described oil hydraulic pump limits the output discharge capacity; And the required output discharge capacity of described oil hydraulic pump and the described maximum output discharge capacity that limits are compared, and with the required output discharge capacity of described oil hydraulic pump and the described maximum target output discharge capacity of the less one of output discharge capacity as described oil hydraulic pump that limit.
According to another aspect of the present invention, provide a kind of control apparatus of pump displacement for concrete pumping machinery, this control apparatus comprises: determine device, be used for determining the target output discharge capacity of oil hydraulic pump; Controlling device, be used for the output discharge capacity of regulating described oil hydraulic pump, makes the output discharge capacity of oil hydraulic pump reach target output discharge capacity; Wherein, described definite device comprises: setup unit, for the required output discharge capacity of setting described oil hydraulic pump; Determining unit, be used for determining that the maximum of described oil hydraulic pump limits the output discharge capacity; And comparing unit, be used for the required output discharge capacity of described oil hydraulic pump and the described maximum output discharge capacity that limits are compared, and with the required output discharge capacity of described oil hydraulic pump and the described maximum target output discharge capacity of the less one of output discharge capacity as described oil hydraulic pump that limit.
By technique scheme, can realize automated power control, facilitate engine power to regulate and can play the identical power protective action of use hydraulic constant-power valve simultaneously.
Other features and advantages of the present invention will partly be described in detail in embodiment subsequently.
Description of drawings
Accompanying drawing is to be used to provide a further understanding of the present invention, and forms the part of specification, is used from explanation the present invention with following embodiment one, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 shows typical concrete pumping machinery power transmission schematic diagram;
Fig. 2 is the block diagram of the control system of concrete pumping machinery; And
Fig. 3 is the flow chart of the pump displacement controlling method that is used for concrete pumping machinery according to the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, embodiment described herein only is used for description and interpretation the present invention, is not limited to the present invention.
In this application, the term of mentioning " concrete pumping " refers to utilize oil hydraulic pump output high pressure liquid force feed, drives the oil hydraulic cylinder to-and-fro motion, through concrete-conveying through tubes.The term of mentioning " Rate of load condensate " is the ratio of peak output under the output power of mean engine real work and current rotating speed, the perhaps ratio of external characteristics moment of torsion under the actual output torque of motor and current rotating speed.The term of mentioning " external characteristics " is the Maximum Torque under the current rotating speed of mean engine.
Fig. 1 shows typical concrete pumping machinery power transmission schematic diagram.As shown in Figure 1, pumping system generally can comprise motor 10, oil hydraulic pump 40, oil hydraulic cylinder 50, load 60, gearbox 20, transfer case 30 etc.Motor 10 drives oil hydraulic pump 40 by gearbox 20 and transfer case 30 and rotates, and oil hydraulic pump 40 output hydraulic pressure oil drive oil hydraulic cylinder 50 pistons and move reciprocatingly, and promote concrete piston delivering concrete.
Fig. 2 shows typical concrete pumping machine control system block diagram.As shown in Figure 2, the electronic control unit of motor 10 (ECU) 70 feeds back to control apparatus 80 by the inner sensing device of motor 10 with the rotating speed of motor 10 and Rate of load condensate.Control apparatus 10 is controlled electric current (for example PWM electric current) by transmission and is carried out regulator solution press pump 40 discharge capacities by regulating swash plate angle (or claiming aperture).Control apparatus 80 can also be regulated via the signal that ECU70 sends the control engine rotating speed rotating speed of motor 10.Exception, pressure transducer (not shown) can also detect the pressure of negative 60 years (for example hydraulic oil) and this pressure is fed back to control apparatus 80 in the mode of signal.Although in Fig. 2, control apparatus 80 and ECU are depicted as independent device, it will be understood by those skilled in the art that control apparatus 80 and ECU can be integrated into a device.
The relation of the output power of motor 10 and motor 10 output torques and motor 10 rotating speeds is seen formula (1):
Wherein, P represents the output power of motor 10, and T represents the output torque of motor 10, and n represents the rotating speed (r/min of unit) of motor 10.Can find out from formula (1), the Rate of load condensate that affects motor 10 is exactly moment of torsion and rotating speed.Can first not consider mechanical efficiency and the volumetric efficiency of oil hydraulic pump 40, the relation of the output power of motor 10 and oil hydraulic pump 40 front end input powers as shown in Equation (2):
Wherein, Q represents oil hydraulic pump 40 output flows (unit is ml/s for example), k represents that scaling factor (for example, the gearing factor of transfer case 30), and be known constant, V represents the output discharge capacity of oil hydraulic pump 40, and p represents the outlet pressure (pressure of oil hydraulic pump 40 output hydraulic pressure oil) of oil hydraulic pump 40.The rotation speed n of dividing out in formula (2) has:
Can find out from formula (3), the pressure of the output torque of motor 10 and the output hydraulic pressure oil of oil hydraulic pump 40 is relevant with the output discharge capacity of oil hydraulic pump 40.Because load in the uninterrupted pumping process is relatively stable, pressure maximum is approximate stable, and therefore the output torque of motor 10 being changed what have a direct impact is mainly the output discharge capacity of oil hydraulic pump 40.
In the concrete pumping machinery working procedure, the given output discharge capacity of oil hydraulic pump 40 for example can be according to the different gears of concrete pumping machinery (for example, the default output discharge capacity of oil hydraulic pump 40 that different gears is corresponding different) set or according to operating mode, set, if this setting value is excessive, can find out from formula (3), in the situation that the rotating speed of motor 10 is certain, this can cause motor 10 output torques very large, thereby causes motor 10 output powers very large.If motor 10 output powers excessive (for example surpassing rated maximum power), likely cause motor 10 to be shut down.Therefore, need to carry out the Power Limitation protection to motor 10.
Because the output discharge capacity (under constant rotational speed) of output torque with the oil hydraulic pump 40 of motor 10 is relevant, so motor 10 Power Limitation protections can realize by the constraint conditio of given increase to oil hydraulic pump 40 output discharge capacities.Particularly, can determine a comparatively reasonably maximum output discharge capacity that limits of oil hydraulic pump 40, if given output discharge capacity (setting value) surpasses the maximum output discharge capacity that limits of this oil hydraulic pump 40, use the maximum output discharge capacity that limits of this oil hydraulic pump 40 as the desired value of exporting the discharge capacity adjustment, if given output discharge capacity, less than the maximum output discharge capacity that limits of this oil hydraulic pump 40, is used given output discharge capacity as desired value.
Reasonably the maximum restriction output of oil hydraulic pump 40 discharge capacity can not be too little, if too small, motor 10 Rate of load condensate are on the low side, can not give full play to motor 10 usefulness; The maximum restriction output of oil hydraulic pump 40 discharge capacity can not be too large, if excessive, motor 10 can face the risk of the too high shutdown of power.Therefore, the maximum restriction output of rational oil hydraulic pump 40 discharge capacities determines it is one of key of the present invention.
Below introduce the maximum output row method for determination of amount that limits of several oil hydraulic pumps 40.
Method 1
Can, according to motor 10 external characteristicss (Maximum Torque under the current rotating speed of motor 10), choose the torque value T under the current rotating speed of motor 10
m, the selection of this torque value can consider when motor 10 moves under this torque value, the output power of motor 10 can not surpass maximum power limitation.Therefore, can select this torque value based on the external characteristics torque value under current rotating speed.For example, the torque value of this selection can be a percentage of external characteristics torque value under current rotating speed, for example 85%.And the selection of this torque value it is also conceivable that the Rate of load condensate of motor 10 is comparatively reasonable when motor 10 moves under this torque value.The force value of oil hydraulic pump 40 output hydraulic pressure oil can for example be obtained, with selected torque value T by oil hydraulic pump 40 pressure transducers
mForce value substitution formula (3) with hydraulic oil
Can determine the maximum output discharge capacity V that limits of oil hydraulic pump 40.
In addition, consider that motor 10 output powers also are used for other loads except being used for oil hydraulic pump 40, therefore, the maximum output discharge capacity that limits of above-mentioned oil hydraulic pump 40 be multiply by modifying factor S to revise, and can be with the revised maximum output discharge capacity that limits as the maximum output discharge capacity that limits of the final oil hydraulic pump of determining 40.The span of modifying factor is 0＜S＜1, and it is fixed that concrete value is come according to actual conditions.
Given output discharge capacity and this maximum are limited the output discharge capacity compare, getting this minimum one between both is the final goal output discharge capacity of oil hydraulic pump 40.
Method 2
Can obtain the torque T under the current rotating speed of motor 10
1For example, control apparatus 80 can read motor 10 Rate of load condensate that ECU70 sends by bus, to obtain motor 10 torque T under current rotating speed
1Perhaps control apparatus 80 can directly read torque T under the current rotating speed of motor 10 that ECU70 sends by bus
1
Can obtain the pressure of oil hydraulic pump 40 output hydraulic pressure oil.For example, control apparatus 80 can read the force value for detection of the pressure transducer transmission of oil hydraulic pump 40 output hydraulic pressure oil pressures.
Obtain current oil hydraulic pump 40 output discharge capacities.The output discharge capacity (or swash plate aperture) of the corresponding oil hydraulic pump 40 of current value of demarcating due to oil hydraulic pump 40, control apparatus 80 is given according to discharge capacity (for example, gear is given or set according to operating mode) export corresponding current value, therefore, the output discharge capacity of current oil hydraulic pump 40 can be known.
Force value and the output discharge capacity obtained are updated to formula (3)
Can determine the required torque T of current oil hydraulic pump 40
2
T
1-T
2=T
3The moment of torsion that consumes for the load beyond oil hydraulic pump 40;
Choose the torque value T under the current rotating speed of motor 10
m, this torque value T
mChoice criteria as mentioned above, repeat no more here.T
m-T
3For the maximum moment of torsion that limits of oil hydraulic pump 40, the pressure p of oil hydraulic pump 40 output hydraulic pressure oil is known, can be according to formula (3)
Determine the maximum output discharge capacity V that limits of oil hydraulic pump 40.
Given output discharge capacity and this maximum are limited the output discharge capacity compare, getting this minimum one between both is the final goal output discharge capacity of oil hydraulic pump 40.
The maximum of determining in method 2 limits the output discharge capacity and can revise.
Torque value T
mCan be dynamically to determine.After motor 10 rotating speeds change, can for example determine torque value T based on external characteristics torque value under current rotating speed as mentioned above
mReplacedly, can pre-determine the torque value T that selects under different motor 10 rotating speeds
m, and for example it can be stored in control apparatus 80 or in External memory equipment associated therewith, call while for definite oil hydraulic pump 40 is maximum, limiting the output discharge capacity.
The maximum output discharge capacity that limits of described oil hydraulic pump 40 can be dynamically to determine.Limit the dynamic deterministic processes of output discharge capacity oil hydraulic pump 40 is maximum, for example the control apparatus 80 torque value T under motor 10 rotating speeds that obtain of basis, moment of torsion, induced pressure and definite these motor 10 rotating speeds in real time
mCalculate the maximum output discharge capacity that limits according to example method 1 described above or 2.
Can find out from said method 1 and 2, all need to select torque value T in determining that oil hydraulic pump 40 is maximum to limit the process of exporting discharge capacity
m, and this torque T
mSelection can be based on motor 10 external characteristicss, i.e. Maximum Torque under the current rotating speed of motor 10.Different Maximum Torque corresponding to motor 10 rotating speeds.That is to say, rotating speed is different, the maximum also difference of output discharge capacity that limits of determined oil hydraulic pump 40.
Although only disclose two kinds of maximum methods that limit the output discharge capacities of definite oil hydraulic pump 40 in the application, those skilled in the art also should be considered as scope disclosed by the invention according to the additive method that the application's design can expect.
It will be understood by those skilled in the art that above-mentioned oil hydraulic pump 40 maximum limit the output discharge capacities determine it is the constant or approximately constant of supposition load pressure maximum in the concrete pumping process.If the load pressure maximum changes, the Consideration in the time of the load pressure maximum can also being changed as definite maximum limit fixed displacement.In this case, can determine as mentioned above under different motor 10 rotating speeds, the maximum output discharge capacities that limit of the oil hydraulic pump under the different loads pressure maximum 40.
More than described inventive concept of the present invention, embodiments of the present invention are based on this design.
As shown in Figure 3,, according to an embodiment of the invention, provide a kind of 40 displacement controls of oil hydraulic pump for concrete pumping machinery, the method can comprise:
Determine the target output discharge capacity of oil hydraulic pump 40 under the current rotating speed of motor 10;
Regulate the output discharge capacity of described oil hydraulic pump 40, make the output discharge capacity of oil hydraulic pump 40 reach target output discharge capacity;
Wherein, the target output discharge capacity of determining oil hydraulic pump 40 comprises:
Set the required output discharge capacity of described oil hydraulic pump 40 under the current rotating speed of motor 10;
The maximum of determining described oil hydraulic pump 40 under the current rotating speed of motor 10 limits the output discharge capacity; And
The required output discharge capacity of described oil hydraulic pump 40 and the described maximum output discharge capacity that limits are compared, and with the required output discharge capacity of described oil hydraulic pump 40 and the described maximum target output discharge capacity of the less one of output discharge capacity as described oil hydraulic pump 40 that limit.
In an embodiment of the invention, the maximum of determining described oil hydraulic pump 40 limits the output discharge capacity and can comprise:
Select the torque value under the current rotating speed of motor 10, the torque value of this selection is less than the maximum torque under the current rotating speed of motor 10;
Obtain the force value of described oil hydraulic pump 40 output hydraulic pressure oil; And
With torque value and the described force value substitution formula of selecting
Limit the output discharge capacity with the maximum of determining described oil hydraulic pump 40, wherein, T represents motor 10 moments of torsion, and p represents the pressure of described oil hydraulic pump 40 output hydraulic pressure oil, and k represents scaling factor, and V represents the output discharge capacity of oil hydraulic pump 40.
In an embodiment of the invention, the maximum of determining described oil hydraulic pump 40 limits the output discharge capacity and can also comprise:
The maximum of definite described oil hydraulic pump 40 is limited the output discharge capacity with modifying factor, multiply by mutually this maximum restriction output discharge capacity is revised, wherein, this modifying factor is taken from the value between 0-1.
In an embodiment of the invention, the maximum of determining described oil hydraulic pump 40 limits the output discharge capacity and can comprise:
Obtain the torque value of motor 10 under current rotating speed;
Obtain the force value of described oil hydraulic pump 40 output hydraulic pressure oil and the output discharge capacity of described oil hydraulic pump 40;
Output discharge capacity substitution formula with described force value and described oil hydraulic pump 40
To determine the required torque value of current described oil hydraulic pump 40, wherein, T represents motor 10 moments of torsion, and p represents the pressure of described oil hydraulic pump 40 output hydraulic pressure oil, and k represents scaling factor, and V represents the output discharge capacity of oil hydraulic pump 40;
The torque value of motor 10 under current rotating speed is deducted the required torque value of current described oil hydraulic pump 40 to obtain described oil hydraulic pump 40 torque value that load was consumed in addition;
Select the torque value under the current rotating speed of motor 10, the torque value of this selection is less than the maximum torque under the current rotating speed of motor 10;
The torque value of the selection under the current rotating speed of described motor 10 is deducted the torque value that the load beyond described oil hydraulic pump 40 consumes to obtain the required maximum of described oil hydraulic pump 40, limit torque value;
With described maximum torque value, the described formula of described force value substitution of limiting
Limit the output discharge capacity with the maximum of determining described oil hydraulic pump 40.
In an embodiment of the invention, described scaling factor can be the gearing factor of transfer case 30.
According to an embodiment of the invention, a kind of control apparatus of pump displacement for concrete pumping machinery 80 is provided, this control apparatus 80 can comprise:
Determine device, be used for determining the target output discharge capacity of oil hydraulic pump 40 under the current rotating speed of motor 10;
Controlling device, be used for the output discharge capacity of regulating described oil hydraulic pump 40, makes the output discharge capacity of oil hydraulic pump 40 reach target output discharge capacity;
Wherein, described definite device comprises:
Setup unit, for the required output discharge capacity of setting described oil hydraulic pump 40 under the current rotating speed of motor 10;
Determining unit, be used for determining that the maximum of described oil hydraulic pump 40 under the current rotating speed of motor 10 limits the output discharge capacity; And
Comparing unit, be used for the required output discharge capacity of described oil hydraulic pump 40 and the described maximum output discharge capacity that limits are compared, and with the required output discharge capacity of described oil hydraulic pump 40 and the described maximum target output discharge capacity of the less one of output discharge capacity as described oil hydraulic pump 40 that limit.
In an embodiment of the invention, the maximum of determining described oil hydraulic pump 40 limits the output discharge capacity and can comprise:
Select the torque value under the current rotating speed of motor 10, the torque value of this selection is less than the maximum torque under the current rotating speed of motor 10;
Obtain the force value of described oil hydraulic pump 40 output hydraulic pressure oil; And
With torque value and the described force value substitution formula of selecting
Limit the output discharge capacity with the maximum of determining described oil hydraulic pump 40, wherein, T represents motor 10 moments of torsion, and p represents the pressure of described oil hydraulic pump 40 output hydraulic pressure oil, and k represents scaling factor, and V represents the output discharge capacity of oil hydraulic pump 40.
In an embodiment of the invention, the maximum of determining described oil hydraulic pump 40 limits the output discharge capacity and can also comprise:
The maximum of definite described oil hydraulic pump 40 is limited the output discharge capacity with modifying factor, multiply by mutually this maximum restriction output discharge capacity is revised, wherein, this modifying factor is taken from the value between 0-1.
In an embodiment of the invention, the maximum of determining described oil hydraulic pump 40 limits the output discharge capacity and can comprise:
Obtain the torque value of motor 10 under current rotating speed;
Obtain the force value of described oil hydraulic pump 40 output hydraulic pressure oil and the output discharge capacity of described oil hydraulic pump 40;
Output discharge capacity substitution formula with described force value and described oil hydraulic pump 40
To determine the required torque value of current described oil hydraulic pump 40, wherein, T represents motor 10 moments of torsion, and p represents the pressure of described oil hydraulic pump 40 output hydraulic pressure oil, and k represents scaling factor, and V represents the output discharge capacity of oil hydraulic pump 40;
The torque value of motor 10 under current rotating speed is deducted the required torque value of current described oil hydraulic pump 40 to obtain described oil hydraulic pump 40 torque value that load was consumed in addition;
Select the torque value under the current rotating speed of motor 10, the torque value of this selection is less than the maximum torque under the current rotating speed of motor 10;
The torque value of the selection under the current rotating speed of described motor 10 is deducted the torque value that the load beyond described oil hydraulic pump 40 consumes to obtain the required maximum of described oil hydraulic pump 40, limit torque value;
With described maximum torque value, the described formula of described force value substitution of limiting
Limit the output discharge capacity with the maximum of determining described oil hydraulic pump 40.
In an embodiment of the invention, described scaling factor can be the gearing factor of transfer case 30.
According to an embodiment of the invention, a kind of pumping system for concrete pumping machinery is provided, this pumping system comprises the electronic control unit ECU70 of motor 10, oil hydraulic pump 40, motor 10, and wherein, this pumping system can also comprise above-mentioned control apparatus 80.
In an embodiment of the invention, described ECU70 can obtain rotating speed and the Rate of load condensate of described motor 10, and this rotating speed and Rate of load condensate are broadcasted on bus, and control apparatus 80 can receive this rotating speed and Rate of load condensate by bus.
In an embodiment of the invention, this pumping system can also comprise pressure transducer, for detection of the pressure of the output hydraulic pressure oil of described oil hydraulic pump 40, and this pressure is sent to described control apparatus 80.
According to an embodiment of the invention, a kind of concrete pumping machinery is provided, wherein, this concrete pumping machinery can comprise above-mentioned pumping system.
Mode of execution provided by the invention can reach following at least one effect:
1), in the situation that do not use constant power valve to realize engine power protection, can play the power protective action identical with using constant power valve;
2) for the power protection of motor different rotating speeds, setting can be more flexible and changeable, is convenient to realize the Energy Saving Control of motor.
3), owing to having cancelled constant power valve, be beneficial to reduce and make and user cost.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned mode of execution; in technical conceive scope of the present invention; can carry out multiple simple variant to technological scheme of the present invention, these simple variant all belong to protection scope of the present invention.
Need to prove that in addition each the concrete technical characteristics described in above-mentioned embodiment in reconcilable situation, can make up by any suitable mode.For fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible compound modes.
In addition, also can carry out combination in any between various mode of execution of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (10)
1. pump displacement controlling method that is used for concrete pumping machinery, the method comprises:
Determine the target output discharge capacity of oil hydraulic pump (40) under the current rotating speed of motor (10);
Regulate the output discharge capacity of described oil hydraulic pump (40), make the output discharge capacity of oil hydraulic pump (40) reach target output discharge capacity;
Wherein, the target output discharge capacity of determining oil hydraulic pump (40) comprises:
Set the required output discharge capacity of described oil hydraulic pump (40) under the current rotating speed of motor (10);
The maximum of determining described oil hydraulic pump (40) under the current rotating speed of motor (10) limits the output discharge capacity; And
The required output discharge capacity of described oil hydraulic pump (40) and the described maximum output discharge capacity that limits are compared, and with the required output discharge capacity of described oil hydraulic pump (40) and the described maximum target output discharge capacity of the less one of output discharge capacity as described oil hydraulic pump (40) that limit.
2. controlling method according to claim 1, wherein, the maximum of determining described oil hydraulic pump (40) limits the output discharge capacity and comprises:
Select the torque value under the current rotating speed of motor (10), selected torque value is less than the maximum torque under the current rotating speed of motor (10);
Obtain the force value of described oil hydraulic pump (40) output hydraulic pressure oil; And
With torque value and the described force value substitution formula of selecting
Limit the output discharge capacity with the maximum of determining described oil hydraulic pump (40), wherein, T represents motor (10) moment of torsion, and p represents the pressure of described oil hydraulic pump (40) output hydraulic pressure oil, and k represents scaling factor, and V represents the output discharge capacity of oil hydraulic pump (40).
3. controlling method according to claim 2, wherein, the maximum of determining described oil hydraulic pump (40) limits the output discharge capacity and also comprises:
The maximum of definite described oil hydraulic pump (40) is limited the output discharge capacity with modifying factor, multiply by mutually this maximum restriction output discharge capacity is revised, wherein, this modifying factor is taken from the value between 0-1.
4. controlling method according to claim 1, wherein, the maximum of determining described oil hydraulic pump (40) limits the output discharge capacity and comprises:
Obtain the torque value of motor under current rotating speed (10);
Obtain the force value of described oil hydraulic pump (40) output hydraulic pressure oil and the output discharge capacity of described oil hydraulic pump (40);
Output discharge capacity substitution formula with described force value and described oil hydraulic pump (40)
To determine the required torque value of current described oil hydraulic pump (40), wherein, T represents motor (10) moment of torsion, and p represents the pressure of described oil hydraulic pump (40) output hydraulic pressure oil, and k represents scaling factor, and V represents the output discharge capacity of oil hydraulic pump (40);
The torque value of motor (10) under current rotating speed is deducted the required torque value of current described oil hydraulic pump (40) to obtain described oil hydraulic pump (40) torque value that load was consumed in addition;
Select the torque value under the current rotating speed of motor (10), the torque value of this selection is less than the maximum torque under the current rotating speed of motor (10);
The torque value of the selection under the current rotating speed of described motor (10) is deducted the torque value that described oil hydraulic pump (40) load in addition consumes to obtain the required maximum of described oil hydraulic pump (40), limit torque value;
With described maximum torque value, the described formula of described force value substitution of limiting
Limit the output discharge capacity with the maximum of determining described oil hydraulic pump (40).
5. according to claim 2 or 4 described controlling methods, wherein, described scaling factor is the gearing factor of transfer case (30).
6. a pump displacement control apparatus (80) that is used for concrete pumping machinery, is characterized in that, this control apparatus (80) comprising:
Determine device, be used for determining the target output discharge capacity of oil hydraulic pump (40) under the current rotating speed of motor (10);
Controlling device, be used for the output discharge capacity of regulating described oil hydraulic pump (40), makes the output discharge capacity of oil hydraulic pump (40) reach target output discharge capacity;
Wherein, described definite device comprises:
Setup unit, for the required output discharge capacity of setting described oil hydraulic pump (40) under the current rotating speed of motor (10);
Determining unit, be used for determining that the maximum of described oil hydraulic pump (40) under the current rotating speed of motor (10) limits the output discharge capacity; And
Comparing unit, be used for the required output discharge capacity of described oil hydraulic pump (40) and the described maximum output discharge capacity that limits are compared, and with the required output discharge capacity of described oil hydraulic pump (40) and the described maximum target output discharge capacity of the less one of output discharge capacity as described oil hydraulic pump (40) that limit.
7. control apparatus according to claim 6 (80), wherein, the maximum of determining described oil hydraulic pump (40) limits the output discharge capacity and comprises:
Select the torque value under the current rotating speed of motor (10), selected torque value is less than the maximum torque under the current rotating speed of motor (10);
Obtain the force value of described oil hydraulic pump (40) output hydraulic pressure oil; And
With torque value and the described force value substitution formula of selecting
Limit the output discharge capacity with the maximum of determining described oil hydraulic pump (40), wherein, T represents motor (10) moment of torsion, and p represents the pressure of described oil hydraulic pump (40) output hydraulic pressure oil, and k represents scaling factor, and V represents the output discharge capacity of oil hydraulic pump (40).
8. control apparatus according to claim 7 (80), wherein, the maximum of determining described oil hydraulic pump (40) limits the output discharge capacity and also comprises:
The maximum of definite described oil hydraulic pump (40) is limited the output discharge capacity with modifying factor, multiply by mutually this maximum restriction output discharge capacity is revised, wherein, this modifying factor is taken from the value between 0-1.
9. control apparatus according to claim 6 (80), wherein, the maximum of determining described oil hydraulic pump (40) limits the output discharge capacity and comprises:
Obtain the torque value of motor under current rotating speed (10);
Obtain the force value of described oil hydraulic pump (40) output hydraulic pressure oil and the output discharge capacity of described oil hydraulic pump (40);
Output discharge capacity substitution formula with described force value and described oil hydraulic pump (40)
To determine the required torque value of current described oil hydraulic pump (40), wherein, T represents motor (10) moment of torsion, and p represents the pressure of described oil hydraulic pump (40) output hydraulic pressure oil, and k represents scaling factor, and V represents the output discharge capacity of oil hydraulic pump (40);
The torque value of motor (10) under current rotating speed is deducted the required torque value of current described oil hydraulic pump (40) to obtain described oil hydraulic pump (40) torque value that load was consumed in addition;
Select the torque value under the current rotating speed of motor (10), the torque value of this selection is less than the maximum torque under the current rotating speed of motor (10);
The torque value of the selection under the current rotating speed of described motor (10) is deducted the torque value that described oil hydraulic pump (40) load in addition consumes to obtain the required maximum of described oil hydraulic pump (40), limit torque value;
With described maximum torque value, the described formula of described force value substitution of limiting
Limit the output discharge capacity with the maximum of determining described oil hydraulic pump (40).
10. according to claim 7 or 9 described control apparatuss (80), wherein, described scaling factor is the gearing factor of transfer case (30).
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| CN103412529B (en) * | 2013-07-25 | 2016-02-10 | 北汽福田汽车股份有限公司 | Concrete pumping machinery oil consumption control method, equipment, system |
| CN103470485A (en) * | 2013-09-17 | 2013-12-25 | 中联重科股份有限公司 | Variable pump power control method, equipment and system and concrete pumping device |
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| KR100631071B1 (en) * | 2005-04-20 | 2006-10-02 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | Apparatus for controlling pump flow of construction equipment and method thereof |
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