CN103223871A - Elastic rubber band accumulator type loading machine braking energy regeneration control method - Google Patents
Elastic rubber band accumulator type loading machine braking energy regeneration control method Download PDFInfo
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- CN103223871A CN103223871A CN2013101671687A CN201310167168A CN103223871A CN 103223871 A CN103223871 A CN 103223871A CN 2013101671687 A CN2013101671687 A CN 2013101671687A CN 201310167168 A CN201310167168 A CN 201310167168A CN 103223871 A CN103223871 A CN 103223871A
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Abstract
The invention provides an elastic rubber band accumulator type loading machine braking energy regeneration control method. According to the invention, elastic rubber band accumulator type loading machine equipment comprises an elastic rubber band accumulator, a gear transmission box, a brake, a clutch, an electrical control unit, a accelerator pedal switch, a brake pedal switch, a reverse gear switch, a neutral position switch, a vehicle speed sensor, a roller shaft corner initial position sensor and a roller shaft corner termination position sensor. The method can realize automatic identification of driving state of the loading machine to perform control for braking energy recovery during advancement and reversing of the loading machine, and to perform control for braking energy release and keeping during advancement and reversing, so as to achieve the purpose of reducing loading machine fuel consumption and emission.
Description
Technical field
The present invention relates to load mechanism energy regeneration techniques field, more particularly say, relate to a kind of elastic rubber band energy storage type load mechanism energy method for controlling reproduction.
Background technology
Along with energy demand increases and the oil resources aggravation of deficient contradiction day by day fast, energy-saving and emission-reduction more and more receive global concern.Loader is a kind of important engineering machinery of engineering construction operation, its topmost characteristics are for cyclical loadings is lacked, advances duty cycle, reversing, braking, driveaway operation are frequent, loader is in frequent braking procedure, kinetic energy and the potential energy all friction force by drg and tire and ground-surface friction force are converted into heat energy and slattern, not only reduce the service life of drg and tire, and increased oil consumption.
Present existing braking energy recovery and regeneration system and control method mainly contain by the mode branch of energy storage: electric energy storage type, hydraulic accumulation energy type and fly wheel energy storage type.The electricity energy storage type is converted into electrical power storage by electrical generator in storage battery or super capacitor with the kinetic energy of vehicle, deficiency such as exist the cost height, the braking energy recovery utilization rate is low and energy conversion efficiency is low; Hydraulic accumulation energy type is by secondary components such as Hydraulic Pumps the kinetic energy of vehicle to be converted into hydraulic pressure can be stored in the energy storage, and it is low to exist energy density, deficiencies such as weight is big, complex structure; Fly wheel energy storage type is the kinetic energy that the kinetic energy of vehicle is converted into high speed flywheel, and this energy storage mode exists deficiencies such as cost height, technical risk is big, technology is immature.
Summary of the invention
The purpose of this invention is to provide and a kind ofly can overcome above-mentioned defective, give full play to that the rubber tape accumulator is simple in structure, in light weight, the energy transformation ratio advantages of higher, operation intention and the loader that can judge chaufeur automatically advances, reversing, braking, starting state, realizes the elastic rubber band energy storage type load mechanism energy method for controlling reproduction that braking energy reclaimed control, braking energy discharged control when braking energy discharged control, reversing when advancing when braking energy reclaimed control, reversing when loader advanced.
Its technical scheme is: a kind of elastic rubber band energy storage type load mechanism energy method for controlling reproduction, described loader is equipped with the first elastic rubber band energy storage, the second elastic rubber band energy storage, gear, first drg, second drg, first clutch, second clutch, the acceleration pedal switch, the brake pedal switch, reverse gear switch, neutral switch, car speed sensor, the first drum shaft corner detects end plate, the second tin roller Shaft angle detects end plate, ECU (Electrical Control Unit), hydraulic control module, the first drum shaft corner home sensor, second tin roller Shaft angle home sensor, the first drum shaft corner final position sensor, second tin roller Shaft angle final position sensor, when connecting ignition lock, elastic rubber band energy storage type load mechanism energy method for controlling reproduction carries out according to following steps.
Step 1, detection acceleration pedal on-off signal, brake pedal on-off signal, reverse gear switch signal, neutral switch signal, car speed sensor signal, the first drum shaft corner home sensor signal, second tin roller Shaft angle home sensor signal, the first drum shaft corner final position sensor signal and second tin roller Shaft angle final position sensor signal.
Step 2, judge whether to be in neutral state: when ECU (Electrical Control Unit) detects neutral switch when closed, be judged as neutral state, carry out step 18; Otherwise, be judged as non-neutral state, carry out step 3.
Step 3, judge whether to be in the reverse gear state: when ECU (Electrical Control Unit) detects reverse gear switch when closed, be judged as the reverse gear state, carry out step 11; Otherwise, be judged as the D Drive state, carry out step 4.
Step 4, judge whether the loader speed of a motor vehicle equals zero: when the speed of a motor vehicle of measuring when car speed sensor equals zero, be judged as loader and be in halted state, carry out step 8; Otherwise, be judged as loader and be in the motoring condition that advances, carry out step 5.
Step 5, judge whether brake pedal is depressed: when ECU (Electrical Control Unit) detects the brake pedal switch closure, be judged as brake pedal and depressed, carry out step 6; Otherwise, be judged as brake pedal and do not depressed, carry out step 18.
Step 6, judge the first elastic rubber band energy storage whether energy storage end: when ECU (Electrical Control Unit) did not obtain the first drum shaft corner final position sensor signal, being judged as the first elastic rubber band energy storage was not that energy storage ends, and carry out step 7; Otherwise being judged as the first elastic rubber band energy storage is that energy storage ends, and carry out step 18.
Step 7, the loader braking energy that advances reclaims control: when loader advances travelling brake, ECU (Electrical Control Unit) controls the first solenoid directional control valve magnet coil and the 4th solenoid directional control valve magnet coil is switched on simultaneously, make first drg be in non-braking mode, first clutch is in engagement state, thereby realize that the loader braking energy that advances reclaims control.
Step 8, judge whether acceleration pedal is depressed: when ECU (Electrical Control Unit) detects the acceleration pedal switch closure, be judged as acceleration pedal and depressed, carry out step 9; Otherwise, be judged as acceleration pedal and do not depressed, carry out step 18.
Step 9, judge whether the second elastic rubber band energy storage energy stored discharges end of a period: when ECU (Electrical Control Unit) does not obtain second tin roller Shaft angle home sensor signal, being judged as the second elastic rubber band energy storage energy stored is not to discharge to end, and carry out step 10; Otherwise being judged as the second elastic rubber band energy storage energy stored is to discharge to end, and carry out step 18.
Step 10, the loader starting braking energy that advances discharges control: ECU (Electrical Control Unit) controls the second solenoid directional control valve magnet coil and the 3rd solenoid directional control valve magnet coil is switched on simultaneously, make second drg be in non-braking mode, second clutch is in engagement state, thereby realize that the loader braking energy that advances discharges control.
Step 11, judge whether the loader speed of a motor vehicle equals zero: when the speed of a motor vehicle of measuring when car speed sensor equals zero, be judged as loader and be in halted state, carry out step 15; Otherwise, be judged as loader and be in the reverse travel state, carry out step 12.
Step 12, judge whether brake pedal is depressed: when ECU (Electrical Control Unit) detects the brake pedal switch closure, be judged as brake pedal and depressed, carry out step 13; Otherwise, be judged as brake pedal and do not depressed, carry out step 18.
Step 13, judge the second elastic rubber band energy storage whether energy storage end: when ECU (Electrical Control Unit) did not obtain second tin roller Shaft angle final position sensor signal, being judged as the second elastic rubber band energy storage was not that energy storage ends, and carry out step 14; Otherwise, judge that the second elastic rubber band energy storage is that energy storage ends, and carry out step 18.
Step 14, loader reversing braking energy reclaim control: when loader reverse travel glancing impact, ECU (Electrical Control Unit) controls the second solenoid directional control valve magnet coil and the 3rd solenoid directional control valve magnet coil is switched on simultaneously, make second drg be in non-braking mode, second clutch is in engagement state, thereby realize that the loader braking energy that advances reclaims control.
Step 15, judge whether acceleration pedal is depressed: when ECU (Electrical Control Unit) detects the acceleration pedal switch closure, be judged as acceleration pedal and depressed, carry out step 16; Otherwise, be judged as acceleration pedal and do not depressed, carry out step 18.
Step 16, judge whether the first elastic rubber band energy storage energy stored discharges end of a period: when ECU (Electrical Control Unit) does not obtain the first drum shaft corner home sensor signal, being judged as the first elastic rubber band energy storage is not to discharge to end, and carry out step 17; Otherwise, judge that the first elastic rubber band energy storage energy stored is to discharge to end, and carry out step 18.
Step 17, loader reversing braking energy discharge control: when loader reversing starting, ECU (Electrical Control Unit) controls the first solenoid directional control valve magnet coil and the 4th solenoid directional control valve magnet coil is switched on simultaneously, make first drg be in non-braking mode, first clutch is in engagement state, thereby realize that loader reversing braking energy discharges control.
Step 18, the retentive control of load mechanism energy: when loader is in the braking energy hold mode, ECU (Electrical Control Unit) is controlled the first solenoid directional control valve magnet coil, the second solenoid directional control valve magnet coil, the 3rd solenoid directional control valve magnet coil and the 4th solenoid directional control valve magnet coil and is cut off the power supply simultaneously, make first drg and second drg be in braking mode, first clutch and second clutch are in released state, thereby realize the retentive control of load mechanism energy.
For realizing above-mentioned elastic rubber band energy storage type load mechanism energy method for controlling reproduction, comprise the first elastic rubber band energy storage in the control system that is adopted, the second elastic rubber band energy storage, gear, first drg, second drg, first clutch, second clutch, the acceleration pedal switch, the brake pedal switch, reverse gear switch, neutral switch, car speed sensor, the first drum shaft corner detects end plate, the second tin roller Shaft angle detects end plate, ECU (Electrical Control Unit), hydraulic control module, the first drum shaft corner home sensor, second tin roller Shaft angle home sensor, the first drum shaft corner final position sensor, second tin roller Shaft angle final position sensor.
Wherein: the first elastic rubber band energy storage is used for advance energy storage and reversing of loader and discharges braking energy and drive loader and realize braking energy regeneration.
The second elastic rubber band energy storage is used for loader reversing energy storage and advances discharging braking energy driving loader realization braking energy regeneration.
Gear is used to realize with second universal drive shaft of the first elastic rubber band energy storage, the second elastic rubber band energy storage and loader, the power transmission of the 3rd universal drive shaft.
First drg is used to realize the control of braking of the first elastic rubber band energy storage.
Second drg is used to realize the control of braking of the second elastic rubber band energy storage.
First clutch is used to realize the power Engagement Control of the first elastic rubber band energy storage.
Second clutch is used to realize the power Engagement Control of the second elastic rubber band energy storage.
Whether to put one's foot down the acceleration pedal switch is used to detect chaufeur.
The brake pedal switch is used to detect chaufeur and whether depresses brake pedal.
Reverse gear switch is used to detect loader and whether is in backing car gear.
Neutral switch is used to detect loader and whether is in the neutral gear gear.
Car speed sensor is used to measure the loader moving velocity.
The first drum shaft corner detects end plate, is used to the angle that shows that first cylinder turns over.
The second tin roller Shaft angle detects end plate, is used to the angle that shows that second tin roller turns over.
The first drum shaft corner home sensor is used to detect first energy storage and whether has discharged stored energy.
Second tin roller Shaft angle home sensor is used to detect second energy storage and whether has discharged stored energy.
The first drum shaft corner final position sensor is used to detect first energy storage and whether stores full energy.
Second tin roller Shaft angle final position sensor is used to detect second energy storage and whether stores full energy.
ECU (Electrical Control Unit), adopt micro controller system, its input end connects the acceleration pedal switch, the brake pedal switch, reverse gear switch, neutral switch, car speed sensor, the first drum shaft corner home sensor, second tin roller Shaft angle home sensor, the first drum shaft corner final position sensor, second tin roller Shaft angle final position sensor, be used to discern the motoring condition that advances of loader, the reverse travel state, the starting state advances, the speed of operation of reversing starting state and judgement loader and the starting of chaufeur and braking intention, and the state of judging the elastic potential energy that stores in the first elastic rubber band energy storage and the second elastic rubber band energy storage; Its mouth connects the first solenoid directional control valve magnet coil, the second solenoid directional control valve magnet coil, the 3rd solenoid directional control valve magnet coil and the 4th solenoid directional control valve magnet coil of hydraulic control module, and braking energy reclaims control when being used to carry out loader braking energy reclaiming control, reversing when advancing, braking energy discharged control and braking energy retentive control when braking energy discharged control, reversing when advancing.
Hydraulic control module comprises first solenoid directional control valve, second solenoid directional control valve, the 3rd solenoid directional control valve, the 4th solenoid directional control valve, check valve, by pass valve, Hydraulic Pump, oil filter, fuel tank.
Wherein, the A hydraulic fluid port of first solenoid directional control valve connects the oil inlet of first clutch, the A hydraulic fluid port of second solenoid directional control valve connects the oil inlet of second clutch, the A hydraulic fluid port of the 3rd solenoid directional control valve connects the oil inlet of second drg, the A hydraulic fluid port of the 4th solenoid directional control valve connects the oil inlet of first drg, the oil inlet of fuel tank connects the T hydraulic fluid port of first solenoid directional control valve simultaneously, the T hydraulic fluid port of second solenoid directional control valve, the T hydraulic fluid port of the 3rd solenoid directional control valve, the T hydraulic fluid port of the 4th solenoid directional control valve and the oil outlet of by pass valve, the oil outlet of check valve connects the first solenoid directional control valve P hydraulic fluid port simultaneously, the second solenoid directional control valve P hydraulic fluid port, the P hydraulic fluid port of the 3rd solenoid directional control valve P hydraulic fluid port and the 4th solenoid directional control valve, the oil inlet of check valve and the oil inlet of by pass valve connect the oil outlet of Hydraulic Pump simultaneously, the oil inlet of Hydraulic Pump connects the oil outlet of oil filter, the oil outlet of the oil inlet connected tank of oil filter.
The present invention compared with prior art has following advantage:
(1) elastic rubber band energy storage type load mechanism energy method for controlling reproduction of the present invention, automatically identification of driver advance, move backward, brake, quicken intention, detect the state of the elastic potential energy that stores in loader speed, the first elastic rubber band energy storage and the second elastic rubber band energy storage;
(2) elastic rubber band energy storage type load mechanism energy method for controlling reproduction of the present invention, braking energy reclaimed control when braking energy reclaimed control, reversing in the time of can realizing that loader advances, braking energy discharged control and braking energy retentive control when braking energy discharged control, reversing when advancing, thereby reached the purpose of energy-saving and emission-reduction;
(3) elastic rubber band energy storage type load mechanism energy method for controlling reproduction of the present invention can reduce the drg abrasion, prolongs drg service life, improves the brake efficiency of loader.
Description of drawings
Fig. 1 is the system architecture scheme drawing of the embodiment of the invention.
Fig. 2 is that the first drum shaft corner in the embodiment of the invention detects the end plate structural representation.
Fig. 3 is that the second tin roller Shaft angle in the embodiment of the invention detects the end plate structural representation.
Fig. 4 is the control method diagram of circuit in the embodiment of the invention.
Among the figure: 1, propons main reduction gear 2, the 3rd universal drive shaft 3, rear-end gear reduction 4, first universal drive shaft 5, second universal drive shaft 100, gear 101, first drg 102, first clutch 103, second drg 104, second clutch 200, change-speed box 201, reverse gear switch 202, neutral switch 203, car speed sensor 300, the first elastic rubber band energy storage 301, the first drum shaft corner home sensor 302, the first drum shaft corner detects end plate 302a, the first drum shaft corner detects projection 303, the first drum shaft corner final position sensor 400, the second elastic rubber band energy storage 401, second tin roller Shaft angle home sensor 402, the second tin roller Shaft angle detects end plate 402a, second tin roller Shaft angle test side projection 403, second tin roller Shaft angle final position sensor 500, ECU (Electrical Control Unit) 501, acceleration pedal switch 502, brake pedal switch 503, ignition lock 600, hydraulic efficiency pressure system module 601, the first solenoid directional control valve 601a, the first solenoid directional control valve magnet coil 602, the second solenoid directional control valve 602a, the second solenoid directional control valve magnet coil 603, the 3rd solenoid directional control valve 603a, the 3rd solenoid directional control valve magnet coil 604, the 4th solenoid directional control valve 604a, the 4th solenoid directional control valve magnet coil 605, check valve 606, by pass valve 607, Hydraulic Pump 608, oil filter 609, fuel tank
The specific embodiment
Describe the present invention below in conjunction with drawings and Examples.
The first elastic rubber band energy storage 300, being used for advance energy storage and reversing of loader discharges braking energy and drives loader and realize braking energy regeneration, when loader advances the braking energy recovery, the first elastic rubber band energy storage 300 carries out energy storage, when loader was moveed backward braking energy release, the first elastic rubber band energy storage 300 carried out energy and discharges.
The second elastic rubber band energy storage 400, be used for loader reversing energy storage and advance discharging braking energy driving loader realization braking energy regeneration, when loader reversing braking energy reclaims, the second elastic rubber band energy storage 400 carries out energy storage, when loader advanced braking energy release, the second elastic rubber band energy storage 400 carried out energy and discharges.
Gear 100 is used to realize with the first elastic rubber band energy storage 300, the second elastic rubber band energy storage 400 and second universal drive shaft 5 of loader, the power transmission of the 3rd universal drive shaft 2.
First drg 101 is used to realize the control of braking of the first elastic rubber band energy storage 300; When the first elastic rubber band energy storage 300 carries out the braking energy retentive control, 101 brakings of first drg, when the first elastic rubber band energy storage 300 carried out braking energy recovery or braking energy release, first drg 101 was not braked.
Second drg 103 is used to realize the control of braking of the second elastic rubber band energy storage 400; When the second elastic rubber band energy storage 400 carries out the braking energy retentive control, 103 brakings of second drg, when the second elastic rubber band energy storage 400 carried out braking energy recovery control or braking energy release control, second drg 103 was not braked.
First clutch 102 is used to realize the power Engagement Control of the first elastic rubber band energy storage 300; When the first elastic rubber band energy storage 300 carried out the braking energy retentive control, first clutch 102 separated, when the first elastic rubber band energy storage 300 carries out braking energy recovery control or braking energy release control, and first clutch 102 combinations.
Second clutch 104 is used to realize the power Engagement Control of the second elastic rubber band energy storage 400; When the second elastic rubber band energy storage 400 carried out the braking energy retentive control, second clutch 104 separated, when the second elastic rubber band energy storage 400 carries out braking energy recovery control or braking energy release control, and second clutch 104 combinations.
Whether to put one's foot down acceleration pedal switch 501 is used to detect chaufeur, when acceleration pedal is depressed, and acceleration pedal switch 501 closures, when acceleration pedal was not depressed, acceleration pedal switch 501 disconnected.
Brake pedal switch 502 is used to detect chaufeur and whether depresses brake pedal, when brake pedal is depressed, and brake pedal switch 502 closures, when brake pedal was not depressed, brake pedal switch 502 disconnected.
Reverse gear switch 201 is used to detect loader and whether is in backing car gear, when chaufeur is hung on reverse gear with loader, and reverse gear switch 201 closures, when chaufeur was not hung on reverse gear with loader, reverse gear switch 201 disconnected.
Neutral switch 202 is used to detect loader and whether is in the neutral gear gear, when chaufeur is hung on neutral gear with loader, and neutral switch 202 closures, when chaufeur was not hung on neutral gear with loader, neutral switch 201 disconnected.
Car speed sensor 203 is used to measure the loader moving velocity.
The first drum shaft corner detects end plate 302, is used to the angle that shows that first cylinder turns over.
The first drum shaft corner home sensor 301 is used to detect the first elastic rubber band energy storage 300 and whether has discharged stored energy.
The first drum shaft corner final position sensor 303 is used to detect the first elastic rubber band energy storage 300 and whether stores full energy.
The first drum shaft corner detects the end on end plate 302 is fixedly attached to the first elastic rubber band energy storage 300 by key the tube axle, when the first elastic rubber band energy storage 300 is in initial position, the first drum shaft corner detects projection 302a and just in time aims at the first drum shaft corner home sensor 301, this initial position is that the elastic potential energy of the first elastic rubber band energy storage, 300 storages discharges the ultimate position, at this moment, the first drum shaft corner home sensor 301 can detect the cylinder initial position signal; When detecting end plate 302, the first drum shaft corner under drum shaft drives, turns over certain angle, when first drum shaft corner detection projection 302a aims at the first drum shaft corner final position sensor 303, this final position is the elastic potential energy process accumulation of energy ultimate position of the first elastic rubber band energy storage, 300 storages, at this moment, the first drum shaft corner final position sensor 303 can detect cylinder final position signal.
The second tin roller Shaft angle detects end plate 402, is used to the angle that shows that second tin roller turns over.
Second tin roller Shaft angle home sensor 401 is used to detect the second elastic rubber band energy storage 400 and whether has discharged stored energy.
Second tin roller Shaft angle final position sensor 403 is used to detect the second elastic rubber band energy storage 400 and whether stores full energy.
The second tin roller Shaft angle detects the end on end plate 402 is fixedly attached to the second elastic rubber band energy storage 400 by key the tube axle, when the second elastic rubber band energy storage 400 is in initial position, the second tin roller Shaft angle detects projection 402a and just in time aims at second tin roller Shaft angle home sensor 401, this initial position is that the elastic potential energy of the second elastic rubber band energy storage, 400 storages discharges the ultimate position, at this moment, second tin roller Shaft angle home sensor 401 can detect the cylinder initial position signal; When detecting end plate 302, the first drum shaft corner under drum shaft drives, turns over certain angle, when the second tin roller Shaft angle detects projection 402a aligning second tin roller Shaft angle final position sensor 403, this final position is the elastic potential energy process accumulation of energy ultimate position of the second elastic rubber band energy storage, 400 storages, at this moment, second tin roller Shaft angle final position sensor 403 can detect cylinder final position signal.
ECU (Electrical Control Unit) 500, adopt micro controller system, its input end connects acceleration pedal switch 501, brake pedal switch 502, reverse gear switch 201, neutral switch 202, car speed sensor 203, the first drum shaft corner home sensor 301, second tin roller Shaft angle home sensor 401, the first drum shaft corner final position sensor 303, second tin roller Shaft angle final position sensor 403, be used to discern the motoring condition that advances of loader, the reverse travel state, the starting state advances, the speed of operation of reversing starting state and judgement loader and the starting of chaufeur and braking intention, and the state of judging the elastic potential energy that stores in the first elastic rubber band energy storage 300 and the second elastic rubber band energy storage 400; The mouth of ECU (Electrical Control Unit) 500 connects the first solenoid directional control valve magnet coil 601a, the second solenoid directional control valve magnet coil 602a, the 3rd solenoid directional control valve magnet coil 603a and the 4th solenoid directional control valve magnet coil 604a of hydraulic control module 600, and braking energy reclaims control when being used to carry out loader braking energy reclaiming control, reversing when advancing, braking energy discharged control and braking energy retentive control when braking energy discharged control, reversing when advancing.
Hydraulic control module comprises first solenoid directional control valve 601, second solenoid directional control valve 602, the 3rd solenoid directional control valve 603, the 4th solenoid directional control valve 604, check valve 605, by pass valve 606, Hydraulic Pump 607, oil filter 608, fuel tank 609.
The A hydraulic fluid port of first solenoid directional control valve 601 connects the oil inlet of the control oil cylinder of first clutch 102, the A hydraulic fluid port of second solenoid directional control valve 602 connects the oil inlet of the control oil cylinder of second clutch 104, the A hydraulic fluid port of the 3rd solenoid directional control valve 603 connect second drg 103 the control oil cylinder oil inlet, the A hydraulic fluid port of the 4th solenoid directional control valve 604 connects the oil inlet of the control oil cylinder of first drg 101, the oil return pipe of fuel tank 609 connects the T hydraulic fluid port of first solenoid directional control valve 601 simultaneously, the T hydraulic fluid port of second solenoid directional control valve 602, the T hydraulic fluid port of the 3rd solenoid directional control valve 603, the T hydraulic fluid port of the 4th solenoid directional control valve 604 and the oil outlet of by pass valve 606, the oil outlet of check valve 605 connects the P hydraulic fluid port of first solenoid directional control valve 601 simultaneously, the P hydraulic fluid port of second solenoid directional control valve 602, the P hydraulic fluid port of the P hydraulic fluid port of the 3rd solenoid directional control valve 603 and the 4th solenoid directional control valve 604, the oil inlet of the oil inlet of check valve 605 and by pass valve 606 connects the oil outlet of Hydraulic Pump 607 simultaneously, the oil inlet of Hydraulic Pump 607 connects the oil outlet of oil filter 608, the oil outlet of the oil inlet connected tank 609 of oil filter 608.
The working process that control system is carried out load mechanism energy recovery control, braking energy release control and braking energy retentive control is.
In loader advances travelling brake energy recovery process, ECU (Electrical Control Unit) 500 makes the first solenoid directional control valve magnet coil 601a and the 4th solenoid directional control valve magnet coil 604a energising, the control position of conversion first solenoid directional control valve 601 and the 4th solenoid directional control valve 604, the high-pressure oil passage that leads to first drg 101 is blocked, the oil return line that the high-pressure oil passage of first drg 101 leads to fuel tank is switched on, the working piston of first drg 101 resets under the effect of pull back spring, hydraulic oil in the plunger shaft flows back to fuel tank 609 through oil return line, first drg 101 is in non-braking mode, simultaneously, the high-pressure oil passage that leads to first clutch 102 is switched on, the oil return line that first clutch 102 leads to fuel tank 609 is blocked, and first clutch 102 is in engagement state; The advance kinetic energy of glancing impact of loader is stored in the first elastic rubber band energy storage 300 by the elastic potential energy that propons main reduction gear 1, the 3rd universal drive shaft 2, rear-end gear reduction 3, first universal drive shaft 4, second universal drive shaft 5, change-speed box 200, gear 100, first clutch 102 convert elastic rubber band to by wheel.
Carry out in the reverse travel braking energy removal process at loader, ECU (Electrical Control Unit) 500 makes the second solenoid directional control valve magnet coil 602a and the 3rd solenoid directional control valve magnet coil 603a energising, the control position of conversion second solenoid directional control valve 602 and the 3rd solenoid directional control valve 603, the high-pressure oil passage that leads to second drg 103 is blocked, the oil return line that second drg 103 leads to fuel tank is switched on, the working piston of second drg 103 resets under the effect of pull back spring, hydraulic oil in the plunger shaft flows back to fuel tank 609 through oil return line, second drg 103 is in non-braking mode, simultaneously, the high-pressure oil passage that leads to second clutch 104 is switched on, the oil return line that second clutch 104 leads to fuel tank 609 is blocked, and second clutch 104 is in engagement state; The kinetic energy of loader reversing glancing impact is stored in the second elastic rubber band energy storage 400 by the elastic potential energy that propons main reduction gear 1, the 3rd universal drive shaft 2, rear-end gear reduction 3, first universal drive shaft 4, second universal drive shaft 5, change-speed box 200, gear 100, second clutch 104 convert elastic rubber band to by wheel.
In loader advances travelling brake energy dispose procedure, ECU (Electrical Control Unit) 500 makes the second solenoid directional control valve magnet coil 602a and the 3rd solenoid directional control valve magnet coil 603a energising, the control position of conversion second solenoid directional control valve 602 and the 3rd solenoid directional control valve 603, the high-pressure oil passage that leads to second drg 103 is blocked, the oil return line that second drg 103 leads to fuel tank is switched on, the working piston of second drg 103 resets under the effect of pull back spring, hydraulic oil in the plunger shaft flows back to fuel tank 609 through oil return line, second drg 103 is in non-braking mode, simultaneously, the high-pressure oil passage that leads to second clutch 104 is switched on, the oil return line that second clutch 104 leads to fuel tank 609 is blocked, and second clutch 104 is in engagement state; The elastic potential energy that stores in the second elastic rubber band energy storage 400 converts the kinetic energy of loader drive wheel to by second clutch 104, gear 100, the 3rd universal drive shaft 2, propons main reduction gear 1, change-speed box 200, first universal drive shaft 4, second universal drive shaft 5, rear-end gear reduction 3, thereby drives the loader starting of advancing.
In loader is moveed backward starting braking energy dispose procedure, ECU (Electrical Control Unit) 500 makes the first solenoid directional control valve magnet coil 601a and the 4th solenoid directional control valve magnet coil 604a energising, the control position of conversion first solenoid directional control valve 601 and the 4th solenoid directional control valve 604, the high-pressure oil passage that leads to first drg 101 is blocked, the oil return line that first drg 101 leads to fuel tank 609 is switched on, the working piston of first drg 101 resets under the effect of pull back spring, hydraulic oil in the plunger shaft flows back to fuel tank 609 through oil return line, first drg 101 is in non-braking mode, simultaneously, the high-pressure oil passage that leads to first clutch 102 is switched on, the oil return line that first clutch 102 leads to fuel tank 609 is blocked, and first clutch 102 is in engagement state; The elastic potential energy that stores in the first elastic rubber band energy storage 300 converts the kinetic energy of loader drive wheel to by first clutch 102, gear 100, the 3rd universal drive shaft 2, propons main reduction gear 1, change-speed box 200, first universal drive shaft 4, second universal drive shaft 5, rear-end gear reduction 3, thereby drives loader reversing starting.
When loader is in braking energy maintenance process, ECU (Electrical Control Unit) 500 makes the first solenoid directional control valve magnet coil 601a, the second solenoid directional control valve magnet coil 602a, the 3rd solenoid directional control valve magnet coil 603a and the equal no power of the 4th solenoid directional control valve magnet coil 604a, first solenoid directional control valve 601, second solenoid directional control valve 602, the 3rd solenoid directional control valve 603 and the 4th solenoid directional control valve 604 control position that all is in the normal state, the high-pressure oil passage that lead to first drg 101 and second drg 103 this moment is switched on, the oil return line that first drg 101 and second drg 103 lead to fuel tank 609 is blocked, first drg 101 and second drg 103 all are in braking mode, can not be in the first elastic rubber band energy storage 300 and the second elastic rubber band energy storage 400 stored energy, can not discharge energy stored in the first elastic rubber band energy storage 300 and the second elastic rubber band energy storage 400.
The flow process of elastic rubber band energy storage type load mechanism energy method for controlling reproduction is.
After connecting ignition lock 503, the beginning that powers on of elastic rubber band energy storage type load mechanism energy method for controlling reproduction powers on and carries out step S100 after beginning.
Step S100, detection acceleration pedal switch 501 signals, brake pedal switch 502 signals, reverse gear switch 201 signals, neutral switch 202 signals, car speed sensor 203 signals, the first drum shaft corner home sensor, 301 signals, second tin roller Shaft angle home sensor 401 signals, first drum shaft corner final position sensor 303 signals and second tin roller Shaft angle final position sensor 403 signals.
Step S200, judge whether to be in neutral state: when ECU (Electrical Control Unit) 500 detects neutral switch 202 when closed, be judged as neutral state, carry out step S600; Otherwise, be judged as non-neutral state, carry out step S300.
Step S300, judge whether to be in the reverse gear state: when ECU (Electrical Control Unit) 500 detects reverse gear switch 201 when closed, be judged as the reverse gear state, carry out step S500; Otherwise, be judged as the D Drive state, carry out step S400.
Step S400, judge whether the loader speed of a motor vehicle equals zero: when the speed of a motor vehicle of measuring when car speed sensor 203 equals zero, be judged as loader and be in halted state, carry out step S404; Otherwise, be judged as loader and be in the motoring condition that advances, carry out step S401.
Step S401, judge whether brake pedal is depressed: when ECU (Electrical Control Unit) 500 detects brake pedal switch 502 when closed, be judged as brake pedal and depressed, carry out step S402; Otherwise, be judged as brake pedal and do not depressed, carry out step S600.
Step S402, whether energy storage ends to judge the first elastic rubber band energy storage 300: when ECU (Electrical Control Unit) 500 does not obtain the first drum shaft corner final position sensor, 303 signals, be judged as the first elastic rubber band energy storage, 300 energy stored and do not reach the ceiling capacity that energy storage can store, carry out step S403; Otherwise, be judged as first elastic rubber band energy storage 300 energy storage and end, carry out step S600.
Step S403, the loader braking energy that advances reclaims control: when loader advances travelling brake, ECU (Electrical Control Unit) 500 is respectively to the first solenoid directional control valve magnet coil 602a and the 4th solenoid directional control valve magnet coil 604a output control current I1 and I4, make first solenoid directional control valve 601 and the 4th solenoid directional control valve 604 change control position, make that first drg 101 is in non-braking mode, first clutch 102 is in engagement state, thereby realize that the loader braking energy that advances reclaims control.
Step S404, judge whether acceleration pedal is depressed: when ECU (Electrical Control Unit) 500 detects acceleration pedal switch 501 when closed, be judged as acceleration pedal and depressed, carry out step S405; Otherwise, be judged as acceleration pedal and do not depressed, carry out step S600.
Step S405, judge whether the second elastic rubber band energy storage, 400 energy stored discharge end of a period: when ECU (Electrical Control Unit) 500 does not obtain second tin roller Shaft angle home sensor 401 signals, be judged as the minimum energy value of the second elastic rubber band energy storage, 400 energy stored, carry out step S406 greater than energy storage; Otherwise, be judged as the second elastic rubber band energy storage, 400 energy stored and discharged end of a period, carry out step S600.
Step S406, the loader starting braking energy that advances discharges control: when loader advances starting, ECU (Electrical Control Unit) 500 is respectively to the second solenoid directional control valve magnet coil 602a and the 3rd solenoid directional control valve magnet coil 603a output control current I2 and I3, make second solenoid directional control valve 602 and the 3rd solenoid directional control valve 603 change control position, make that second drg 103 is in non-braking mode, second clutch 104 is in engagement state, thereby realize that the loader braking energy that advances discharges control.
Step S500, judge whether the loader speed of a motor vehicle equals zero: when the speed of a motor vehicle of measuring when car speed sensor 203 equals zero, be judged as loader and be in halted state, carry out step S504; Otherwise, be judged as loader and be in the reverse travel state, carry out step S501.
Step S501, judge whether brake pedal is depressed: when ECU (Electrical Control Unit) 500 detects brake pedal switch 502 when closed, be judged as brake pedal and depressed, carry out step S502; Otherwise, be judged as brake pedal and do not depressed, carry out step S600.
Step S502, whether energy storage ends to judge the second elastic rubber band energy storage 400: when ECU (Electrical Control Unit) 500 does not obtain second tin roller Shaft angle final position sensor 403 signals, be judged as the second elastic rubber band energy storage, 500 energy stored and do not reach the ceiling capacity that energy storage can store, carry out step S503; Otherwise, judge that second elastic rubber band energy storage 400 energy storage ends, and carries out step S600.
Step S503, loader reversing braking energy reclaim control: when loader reverse travel glancing impact, ECU (Electrical Control Unit) 500 is respectively to the second solenoid directional control valve magnet coil 602a and the 3rd solenoid directional control valve magnet coil 603a output control current I2 and I3, make second solenoid directional control valve 602 and the 3rd solenoid directional control valve 603 change control position, make that second drg 103 is in non-braking mode, second clutch 104 is in engagement state, thereby realize that the loader braking energy that advances reclaims control.
Step S504, judge whether acceleration pedal is depressed: when ECU (Electrical Control Unit) 500 detects acceleration pedal switch 501 when closed, be judged as acceleration pedal and depressed, carry out step S505; Otherwise, be judged as acceleration pedal and do not depressed, carry out step S600.
Step S505, judge whether the first elastic rubber band energy storage, 300 energy stored discharge end of a period: when ECU (Electrical Control Unit) 500 does not obtain the first drum shaft corner home sensor, 301 signals, be judged as the minimum energy value of the first elastic rubber band energy storage, 300 energy stored, carry out step S506 greater than energy storage; Otherwise, judge that the first elastic rubber band energy storage, 300 energy stored have discharged end of a period, carry out step S600.
Step S506, loader reversing braking energy discharge control: when loader reversing starting, ECU (Electrical Control Unit) 500 is respectively to the first solenoid directional control valve magnet coil 601a and the 4th solenoid directional control valve magnet coil 604a output control current I1 and I4, make first solenoid directional control valve 601 and the 4th solenoid directional control valve 604 change control position, make that first drg 101 is in non-braking mode, first clutch 102 is in engagement state, thereby realize that loader reversing braking energy discharges control.
Step S600, the retentive control of load mechanism energy: when loader is in the braking energy hold mode, ECU (Electrical Control Unit) 500 is not exported control current to the magnet coil of any one solenoid directional control valve, make each solenoid directional control valve position that is in the normal state, at this moment, first drg 101 and second drg 103 are in braking mode, first clutch 102 and second clutch 104 are in released state, thereby realize the retentive control of load mechanism energy.
In conjunction with the accompanying drawings embodiments of the present invention have been done detailed description above, but the present invention is not limited to above-mentioned embodiment, in the ken that affiliated technical field those of ordinary skill is possessed, can also under the prerequisite that does not break away from aim of the present invention, make various variations.
Claims (1)
1. elastic rubber band energy storage type load mechanism energy method for controlling reproduction, described elastic rubber band energy storage type loader is equipped with gear (100), first drg (101), first clutch (102), second drg (103), second clutch (104), reverse gear switch (201), neutral switch (202), car speed sensor (203), the first elastic rubber band energy storage (300), the first drum shaft corner home sensor (301), the first drum shaft corner detects end plate (302), the first drum shaft corner final position sensor (303), the second elastic rubber band energy storage (400), second tin roller Shaft angle home sensor (401), the second tin roller Shaft angle detects end plate (402), second tin roller Shaft angle final position sensor (403), ECU (Electrical Control Unit) (500), acceleration pedal switch (501), brake pedal switch (502), hydraulic control module (600), it is characterized in that said method comprising the steps of:
Step 1, detection acceleration pedal switch (501) signal, brake pedal switch (502) signal, reverse gear switch (201) signal, neutral switch (202) signal, car speed sensor (203) signal, first drum shaft corner home sensor (301) signal, second tin roller Shaft angle home sensor (401) signal, first drum shaft corner final position sensor (303) signal and second tin roller Shaft angle final position sensor (403) signal;
Step 2, judge whether to be in neutral state: when ECU (Electrical Control Unit) (500) detects neutral switch (202) when closed, be judged as neutral state, carry out step 18; Otherwise, be judged as non-neutral state, carry out step 3;
Step 3, judge whether to be in the reverse gear state: when ECU (Electrical Control Unit) (500) detects reverse gear switch (201) when closed, be judged as the reverse gear state, carry out step 11; Otherwise, be judged as the D Drive state, carry out step 4;
Step 4, judge whether the loader speed of a motor vehicle equals zero: when the speed of a motor vehicle of measuring when car speed sensor (203) equals zero, be judged as loader and be in halted state, carry out step 8; Otherwise, be judged as loader and be in the motoring condition that advances, carry out step 5;
Step 5, judge whether brake pedal is depressed: when ECU (Electrical Control Unit) (500) detects brake pedal switch (502) when closed, be judged as brake pedal and depressed, carry out step 6; Otherwise, be judged as brake pedal and do not depressed, carry out step 18;
Step 6, judge the first elastic rubber band energy storage (300) whether energy storage end: when ECU (Electrical Control Unit) (500) does not obtain first drum shaft corner final position sensor (303) signal, being judged as the first elastic rubber band energy storage (300) is not that energy storage ends, and carry out step 7; Otherwise being judged as the first elastic rubber band energy storage (300) is that energy storage ends, and carry out step 18;
Step 7, the loader braking energy that advances reclaims control: when loader advances travelling brake, ECU (Electrical Control Unit) (500) control first solenoid directional control valve magnet coil (601a) and the 4th solenoid directional control valve magnet coil (604a) are switched on simultaneously, make first drg (101) be in non-braking mode, first clutch (102) is in engagement state, thereby realize that the loader braking energy that advances reclaims control;
Step 8, judge whether acceleration pedal is depressed: when ECU (Electrical Control Unit) (500) detects acceleration pedal switch (501) when closed, be judged as acceleration pedal and depressed, carry out step 9; Otherwise, be judged as acceleration pedal and do not depressed, carry out step 18;
Step 9, judge whether second elastic rubber band energy storage (400) energy stored discharges end of a period: when ECU (Electrical Control Unit) (500) does not obtain second tin roller Shaft angle home sensor (401) signal, being judged as second elastic rubber band energy storage (400) energy stored is not to discharge to end, and carry out step 10; Otherwise being judged as second elastic rubber band energy storage (400) energy stored is to discharge to end, and carry out step 18;
Step 10, the loader starting braking energy that advances discharges control: ECU (Electrical Control Unit) (500) control second solenoid directional control valve magnet coil (602a) and the 3rd solenoid directional control valve magnet coil (603a) are switched on simultaneously, make second drg (103) be in non-braking mode, second clutch (104) is in engagement state, thereby realize that the loader braking energy that advances discharges control;
Step 11, judge whether the loader speed of a motor vehicle equals zero: when the speed of a motor vehicle of measuring when car speed sensor (203) equals zero, be judged as loader and be in halted state, carry out step 15; Otherwise, be judged as loader and be in the reverse travel state, carry out step 12;
Step 12, judge whether brake pedal is depressed: when ECU (Electrical Control Unit) (500) detects brake pedal switch (502) when closed, be judged as brake pedal and depressed, carry out step 13; Otherwise, be judged as brake pedal and do not depressed, carry out step 18;
Step 13, judge the second elastic rubber band energy storage (400) whether energy storage end: when ECU (Electrical Control Unit) (500) does not obtain second tin roller Shaft angle final position sensor (403) signal, being judged as the second elastic rubber band energy storage (400) is not that energy storage ends, and carry out step 14; Otherwise, judge that the second elastic rubber band energy storage (400) is that energy storage ends, and carry out step 18;
Step 14, loader reversing braking energy reclaim control: when loader reverse travel glancing impact, ECU (Electrical Control Unit) (500) control second solenoid directional control valve magnet coil (602a) and the 3rd solenoid directional control valve magnet coil (603a) are switched on simultaneously, make second drg (103) be in non-braking mode, second clutch (104) is in engagement state, thereby realize that the loader braking energy that advances reclaims control;
Step 15, judge whether acceleration pedal is depressed: when ECU (Electrical Control Unit) (500) detects acceleration pedal switch (501) when closed, be judged as acceleration pedal and depressed, carry out step 16; Otherwise, be judged as acceleration pedal and do not depressed, carry out step 18;
Step 16, judge whether first elastic rubber band energy storage (300) energy stored discharges end of a period: when ECU (Electrical Control Unit) (500) does not obtain first drum shaft corner home sensor (301) signal, being judged as the first elastic rubber band energy storage (300) is not to discharge to end, and carry out step 17; Otherwise, judge that first elastic rubber band energy storage (300) energy stored is to discharge to end, and carry out step 18;
Step 17, loader reversing braking energy discharge control: when loader reversing starting, ECU (Electrical Control Unit) (500) control first solenoid directional control valve magnet coil (601a) and the 4th solenoid directional control valve magnet coil (604a) are switched on simultaneously, make first drg (101) be in non-braking mode, first clutch (102) is in engagement state, thereby realize that loader reversing braking energy discharges control;
Step 18, the retentive control of load mechanism energy: when loader is in the braking energy hold mode, ECU (Electrical Control Unit) (500) the control first solenoid directional control valve magnet coil (601a), the second solenoid directional control valve magnet coil (602a), the 3rd solenoid directional control valve magnet coil (603a) and the 4th solenoid directional control valve magnet coil (604a) cut off the power supply simultaneously, make first drg (101) and second drg (103) be in braking mode, first clutch (102) and second clutch (104) are in released state, thereby realize the retentive control of load mechanism energy.
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