CN103223871B - 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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- CN103223871B CN103223871B CN201310167168.7A CN201310167168A CN103223871B CN 103223871 B CN103223871 B CN 103223871B CN 201310167168 A CN201310167168 A CN 201310167168A CN 103223871 B CN103223871 B CN 103223871B
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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 mechanical loader braking energy regeneration technical field, more particularly say, relate to a kind of elastic rubber belt energy accumulator formula mechanical loader braking energy regeneration control method.
Background technology
Along with energy demand increases the aggravation with oil resources day by day deficient contradiction fast, energy-saving and emission-reduction more and more receive global concern.Loader is a kind of important construction machinery and equipment of engineering construction operation, its topmost feature be cyclical loadings duty cycle short, advance, reversing, braking, driveaway operation be frequent, loader is in frequent braking procedure, kinetic energy and potential energy are all converted into heat energy by the friction force of drg and the friction force on tire and ground and are slatterned, not only reduce the service life of drg and tire, and increase oil consumption.
Current existing Brake energy recovery and regeneration system and control method, divide by the mode of energy storage and mainly contain: electric energy storage type, hydraulic accumulation energy type and fly wheel energy storage type.Electricity energy storage type by electrical generator by the kinetic transformation of vehicle be electrical power storage in storage battery or super capacitor, the deficiency such as also exist that cost is high, Brake energy recovery degree of utilization is low and energy conversion efficiency is low; Hydraulic accumulation energy type is that hydraulic energy is stored in energy storage by secondary components such as Hydraulic Pumps by the kinetic transformation of vehicle, there is energy density low, weight is large, the deficiency such as complex structure; Fly wheel energy storage type is the kinetic energy of high speed flywheel by the kinetic transformation of vehicle, and this energy storage mode also exists the deficiencies such as cost is high, technical risk is large, technology is immature.
Summary of the invention
The object of this invention is to provide one and can overcome above-mentioned defect, give full play to that rubber tape accumulator structure is simple, lightweight, energy transformation ratio advantages of higher, automatically can judge that the operation intention of chaufeur and loader advance, reversing, braking, starting state, when realizing advancing to loader Brake energy recovery control, reversing time Brake energy recovery control, braking energy release control when advancing, the elastic rubber belt energy accumulator formula mechanical loader braking energy regeneration control method of braking energy release control when moveing backward.
Its technical scheme is: a kind of elastic rubber belt energy accumulator formula mechanical loader braking energy regeneration control method, described loader is equipped with the first elastic rubber belt energy accumulator, second elastic rubber belt energy accumulator, gear, first drg, second brake, first clutch, second clutch, acceleration pedal switch, brake pedal switch, reverse gear switch, neutral switch, car speed sensor, first drum shaft roll angle inspection end plate, second tin roller Shaft angle detects end plate, ECU (Electrical Control Unit), hydraulic control module, first drum shaft corner home sensor, second tin roller Shaft angle home sensor, first drum shaft corner final position sensor, second tin roller Shaft angle final position sensor, when connection ignition lock, elastic rubber belt energy accumulator formula mechanical loader braking energy regeneration control method is carried out according to following steps.
Step 1, detection acceleration pedal on-off signal, brake pedal switch 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 that neutral switch closes, 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 reverse gear state: when ECU (Electrical Control Unit) detects that reverse gear switch closes, be judged as reverse gear state, carry out step 11; Otherwise, be judged as 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 that car speed sensor measures equals zero, be judged as that loader is in halted state, carry out step 8; Otherwise, be judged as that loader is in advance motoring condition, carry out step 5.
Step 5, judge whether brake pedal is depressed: when ECU (Electrical Control Unit) detects that brake pedal switch closes, be judged as that brake pedal is depressed, carry out step 6; Otherwise, be judged as that brake pedal is not depressed, carry out step 18.
Step 6, judge the first elastic rubber belt energy accumulator whether energy storage end: when ECU (Electrical Control Unit) there is no the first drum shaft corner final position sensor signal, be judged as that the first elastic rubber belt energy accumulator is not that energy storage ends, carry out step 7; Otherwise, be judged as that the first elastic rubber belt energy accumulator is that energy storage ends, carry out step 18.
Step 7, loader advance Brake energy recovery control: when loader advance 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 energized simultaneously, make that the first drg is in non-brake state, first clutch is in engagement state, thus realize loader advance Brake energy recovery and control.
Step 8, judge whether acceleration pedal is depressed: when ECU (Electrical Control Unit) detects that acceleration pedal switch closes, be judged as that acceleration pedal is depressed, carry out step 9; Otherwise, be judged as that acceleration pedal is not depressed, carry out step 18.
Step 9, judge second elastic rubber belt energy accumulator store energy whether discharge end of a period: when ECU (Electrical Control Unit) there is no second tin roller Shaft angle home sensor signal, be judged as that the energy that the second elastic rubber belt energy accumulator stores is not that release ends, carry out step 10; Otherwise, be judged as that the energy that the second elastic rubber belt energy accumulator stores is that release ends, carry out step 18.
Step 10, loader advance starting braking energy release control: ECU (Electrical Control Unit) controls the second solenoid directional control valve magnet coil and the 3rd solenoid directional control valve magnet coil is energized simultaneously, make that second brake is in non-brake state, second clutch is in engagement state, thus realize loader advance braking energy release control.
Step 11, judge whether the loader speed of a motor vehicle equals zero: when the speed of a motor vehicle that car speed sensor measures equals zero, be judged as that loader is in halted state, carry out step 15; Otherwise, be judged as that loader is in reverse travel state, carry out step 12.
Step 12, judge whether brake pedal is depressed: when ECU (Electrical Control Unit) detects that brake pedal switch closes, be judged as that brake pedal is depressed, carry out step 13; Otherwise, be judged as that brake pedal is not depressed, carry out step 18.
Step 13, judge the second elastic rubber belt energy accumulator whether energy storage end: when ECU (Electrical Control Unit) there is no second tin roller Shaft angle final position sensor signal, be judged as that the second elastic rubber belt energy accumulator is not that energy storage ends, carry out step 14; Otherwise, judge that the second elastic rubber belt energy accumulator is that energy storage ends, carry out step 18.
Step 14, loader reversing Brake energy recovery controls: when loader reverse travel is braked, ECU (Electrical Control Unit) controls the second solenoid directional control valve magnet coil and the 3rd solenoid directional control valve magnet coil is energized simultaneously, make that second brake is in non-brake state, second clutch is in engagement state, thus realize loader advance Brake energy recovery and control.
Step 15, judge whether acceleration pedal is depressed: when ECU (Electrical Control Unit) detects that acceleration pedal switch closes, be judged as that acceleration pedal is depressed, carry out step 16; Otherwise, be judged as that acceleration pedal is not depressed, carry out step 18.
Step 16, judge first elastic rubber belt energy accumulator store energy whether discharge end of a period: when ECU (Electrical Control Unit) there is no the first drum shaft corner home sensor signal, be judged as that the first elastic rubber belt energy accumulator is not that release ends, carry out step 17; Otherwise, judge that the energy that the first elastic rubber belt energy accumulator stores is that release ends, carry out step 18.
Step 17, loader reversing braking energy release 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 energized simultaneously, make that the first drg is in non-brake state, first clutch is in engagement state, thus realize loader reversing braking energy release control.
Step 18, the retentive control of load mechanism energy: when loader is in braking energy hold mode, ECU (Electrical Control Unit) controls the power-off simultaneously of 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, the first drg and second brake is made to be in braking mode, first clutch and second clutch are in released state, thus realize the retentive control of load mechanism energy.
For realizing above-mentioned elastic rubber belt energy accumulator formula mechanical loader braking energy regeneration control method, the control system adopted comprises the first elastic rubber belt energy accumulator, second elastic rubber belt energy accumulator, gear, first drg, second brake, first clutch, second clutch, acceleration pedal switch, brake pedal switch, reverse gear switch, neutral switch, car speed sensor, first drum shaft roll angle inspection end plate, second tin roller Shaft angle detects end plate, ECU (Electrical Control Unit), hydraulic control module, first drum shaft corner home sensor, second tin roller Shaft angle home sensor, first drum shaft corner final position sensor, second tin roller Shaft angle final position sensor.
Wherein: the first elastic rubber belt energy accumulator, loader is driven to realize braking energy regeneration for loader advance energy storage and reversing release braking energy.
Second elastic rubber belt energy accumulator, drives loader to realize braking energy regeneration for loader reversing energy storage and the release braking energy that advances.
Gear, for realizing the power transmission of the second universal drive shaft of the first elastic rubber belt energy accumulator, the second elastic rubber belt energy accumulator and loader, the 3rd universal drive shaft.
First drg, for realizing the control for brake of the first elastic rubber belt energy accumulator.
Second brake, for realizing the control for brake of the second elastic rubber belt energy accumulator.
First clutch, for realizing the power Engagement Control of the first elastic rubber belt energy accumulator.
Second clutch, for realizing the power Engagement Control of the second elastic rubber belt energy accumulator.
Whether to put one's foot down acceleration pedal switch, for detecting chaufeur.
Whether brake pedal switch, depress brake pedal for detecting chaufeur.
Whether reverse gear switch, be in backing car gear for detecting loader.
Whether neutral switch, be in neutral gear for detecting loader.
Car speed sensor, for measuring loader moving velocity.
First drum shaft roll angle inspection end plate, for showing the angle that the first cylinder turns over.
Second tin roller Shaft angle detects end plate, for showing the angle that second tin roller turns over.
Whether the first drum shaft corner home sensor, release stored energy for detecting the first energy storage.
Whether second tin roller Shaft angle home sensor, release stored energy for detecting the second energy storage.
Whether the first drum shaft corner final position sensor, store full energy for detecting the first energy storage.
Whether second tin roller Shaft angle final position sensor, store full energy for detecting the second energy storage.
ECU (Electrical Control Unit), adopt micro controller system, its input end connects acceleration pedal switch, brake pedal switch, reverse gear switch, neutral switch, car speed sensor, first drum shaft corner home sensor, second tin roller Shaft angle home sensor, first drum shaft corner final position sensor, second tin roller Shaft angle final position sensor, for identifying the advance motoring condition of loader, reverse travel state, advance starting state, reversing starting state and judge the speed of operation of loader and the starting of chaufeur and braking intention, and judge the state of the elastic potential energy stored in the first elastic rubber belt energy accumulator and the second elastic rubber belt energy accumulator, its mouth connects the first solenoid directional control valve magnet coil of hydraulic control module, 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, for carrying out that Brake energy recovery when loader advances controls, reversing time Brake energy recovery control, braking energy release control and braking energy retentive control when braking energy release control, reversing when advancing.
Hydraulic control module, comprises the first solenoid directional control valve, the 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 the first solenoid directional control valve connects the oil inlet of first clutch, the A hydraulic fluid port of the 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 brake, the A hydraulic fluid port of the 4th solenoid directional control valve connects the oil inlet of the first drg, the oil inlet of fuel tank connects the T hydraulic fluid port of the first solenoid directional control valve simultaneously, the T hydraulic fluid port of the 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, 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.
Compared with prior art, tool has the following advantages in the present invention:
(1) elastic rubber belt energy accumulator formula mechanical loader braking energy regeneration control method of the present invention, automatically can identify the advance of chaufeur, reversing, braking, acceleration intention, detect the state of the elastic potential energy stored in loader speed, the first elastic rubber belt energy accumulator and the second elastic rubber belt energy accumulator;
(2) elastic rubber belt energy accumulator formula mechanical loader braking energy regeneration control method of the present invention, can realize that Brake energy recovery when loader advances controls, reversing time Brake energy recovery control, braking energy release control and braking energy retentive control when braking energy release control, reversing when advancing, thus reach the object of energy-saving and emission-reduction;
(3) elastic rubber belt energy accumulator formula mechanical loader braking energy regeneration control method of the present invention, can reduce drg abrasion, extends drg service life, improves the brake efficiency of loader.
Accompanying drawing explanation
Fig. 1 is the system architecture schematic diagram of the embodiment of the present invention.
Fig. 2 is the first drum shaft roll angle inspection end disk construction schematic diagram in the embodiment of the present invention.
Fig. 3 is that the second tin roller Shaft angle in the embodiment of the present invention detects end plate structural representation.
Fig. 4 is the control method diagram of circuit in the embodiment of the present invention.
In figure: 1, propons main reduction gear 2, 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 brake 104, second clutch 200, change-speed box 201, reverse gear switch 202, neutral switch 203, car speed sensor 300, first elastic rubber belt energy accumulator 301, first drum shaft corner home sensor 302, first drum shaft roll angle inspection end plate 302a, first drum shaft roll angle inspection projection 303, first drum shaft corner final position sensor 400, second elastic rubber belt energy accumulator 401, second tin roller Shaft angle home sensor 402, 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 control module 601, first solenoid directional control valve 601a, first solenoid directional control valve magnet coil 602, second solenoid directional control valve 602a, second solenoid directional control valve magnet coil 603, 3rd solenoid directional control valve 603a, 3rd solenoid directional control valve magnet coil 604, 4th solenoid directional control valve 604a, 4th solenoid directional control valve magnet coil 605, check valve 606, by pass valve 607, Hydraulic Pump 608, oil filter 609, fuel tank
Detailed description of the invention
Describe the present invention below in conjunction with drawings and Examples.
First elastic rubber belt energy accumulator 300, loader is driven to realize braking energy regeneration for loader advance energy storage and reversing release braking energy, when loader advance Brake energy recovery, first elastic rubber belt energy accumulator 300 carries out energy storage, when loader carries out the release of reversing braking energy, the first elastic rubber belt energy accumulator 300 carries out fault offset.
Second elastic rubber belt energy accumulator 400, loader is driven to realize braking energy regeneration for loader reversing energy storage and the release braking energy that advances, when loader reversing Brake energy recovery, second elastic rubber belt energy accumulator 400 carries out energy storage, when loader carries out the release of advance braking energy, the second elastic rubber belt energy accumulator 400 carries out fault offset.
Gear 100, for realizing the first elastic rubber belt energy accumulator 300, second elastic rubber belt energy accumulator 400 and the second universal drive shaft 5 of loader, the power transmission of the 3rd universal drive shaft 2.
First drg 101, for realizing the control for brake of the first elastic rubber belt energy accumulator 300; When the first elastic rubber belt energy accumulator 300 carries out braking energy retentive control, the first drg 101 is braked, and when the first elastic rubber belt energy accumulator 300 carries out Brake energy recovery or braking energy release, the first drg 101 is not braked.
Second brake 103, for realizing the control for brake of the second elastic rubber belt energy accumulator 400; When the second elastic rubber belt energy accumulator 400 carries out braking energy retentive control, second brake 103 is braked, and when the second elastic rubber belt energy accumulator 400 carries out Brake energy recovery control or braking energy release control, second brake 103 is not braked.
First clutch 102, for realizing the power Engagement Control of the first elastic rubber belt energy accumulator 300; When the first elastic rubber belt energy accumulator 300 carries out braking energy retentive control, first clutch 102 is separated, and when the first elastic rubber belt energy accumulator 300 carries out Brake energy recovery control or braking energy release control, first clutch 102 combines.
Second clutch 104, for realizing the power Engagement Control of the second elastic rubber belt energy accumulator 400; When the second elastic rubber belt energy accumulator 400 carries out braking energy retentive control, second clutch 104 is separated, and when the second elastic rubber belt energy accumulator 400 carries out Brake energy recovery control or braking energy release control, second clutch 104 combines.
Acceleration pedal switch 501, for whether to put one's foot down detecting chaufeur, when acceleration pedal is depressed, acceleration pedal switch 501 closes, and when acceleration pedal is not depressed, acceleration pedal switch 501 disconnects.
Whether brake pedal switch 502, depress brake pedal for detecting chaufeur, and when brake pedal is depressed, brake pedal switch 502 closes, and when brake pedal is not depressed, brake pedal switch 502 disconnects.
Whether reverse gear switch 201, be in backing car gear for detecting loader, and when loader is hung on reverse gear by chaufeur, reverse gear switch 201 closes, and when loader is not hung on reverse gear by chaufeur, reverse gear switch 201 disconnects.
Whether neutral switch 202, be in neutral gear for detecting loader, and when loader is hung on neutral gear by chaufeur, neutral switch 202 closes, and when loader is not hung on neutral gear by chaufeur, neutral switch 201 disconnects.
Car speed sensor 203, for measuring loader moving velocity.
First drum shaft roll angle inspection end plate 302, for showing the angle that the first cylinder turns over.
Whether the first drum shaft corner home sensor 301, release stored energy for detecting the first elastic rubber belt energy accumulator 300.
Whether the first drum shaft corner final position sensor 303, store full energy for detecting the first elastic rubber belt energy accumulator 300.
First drum shaft roll angle inspection end plate 302 is fixedly attached to the one end on the cylinder axle of the first elastic rubber belt energy accumulator 300 by key, when the first elastic rubber belt energy accumulator 300 is in initial position, first drum shaft roll angle inspection projection 302a just in time aims at the first drum shaft corner home sensor 301, this initial position is the elastic potential energy release ultimate position that the first elastic rubber belt energy accumulator 300 stores, now, the first drum shaft corner home sensor 301 can detect cylinder initial position signal; When the first drum shaft roll angle inspection end plate 302 turns over certain angle under drum shaft drives, when first drum shaft roll angle inspection 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 that the first elastic rubber belt energy accumulator 300 stores, now, the first drum shaft corner final position sensor 303 can detect cylinder final position signal.
Second tin roller Shaft angle detects end plate 402, for showing the angle that second tin roller turns over.
Whether second tin roller Shaft angle home sensor 401, release stored energy for detecting the second elastic rubber belt energy accumulator 400.
Whether second tin roller Shaft angle final position sensor 403, store full energy for detecting the second elastic rubber belt energy accumulator 400.
Second tin roller Shaft angle detection end plate 402 is fixedly attached to the one end on the cylinder axle of the second elastic rubber belt energy accumulator 400 by key, when the second elastic rubber belt energy accumulator 400 is in initial position, 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 the elastic potential energy release ultimate position that the second elastic rubber belt energy accumulator 400 stores, now, second tin roller Shaft angle home sensor 401 can detect cylinder initial position signal; When the first drum shaft roll angle inspection end plate 302 turns over certain angle under drum shaft drives, when 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 that the second elastic rubber belt energy accumulator 400 stores, now, 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, first drum shaft corner home sensor 301, second tin roller Shaft angle home sensor 401, first drum shaft corner final position sensor 303, second tin roller Shaft angle final position sensor 403, for identifying the advance motoring condition of loader, reverse travel state, advance starting state, reversing starting state and judge the speed of operation of loader and the starting of chaufeur and braking intention, and judge the state of the elastic potential energy stored in the first elastic rubber belt energy accumulator 300 and the second elastic rubber belt energy accumulator 400, the mouth of ECU (Electrical Control Unit) 500 connects the first solenoid directional control valve magnet coil 601a of hydraulic control module 600, 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, for carrying out that Brake energy recovery when loader advances controls, reversing time Brake energy recovery control, braking energy release control and braking energy retentive control when braking energy release control, reversing when advancing.
Hydraulic control module, comprises the 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 the 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 the 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 the control oil cylinder of second brake 103 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 the first drg 101, the oil return pipe of fuel tank 609 connects the T hydraulic fluid port of the first solenoid directional control valve 601 simultaneously, the T hydraulic fluid port of the 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 the first solenoid directional control valve 601 simultaneously, the P hydraulic fluid port of the second solenoid directional control valve 602, the P hydraulic fluid port of the 3rd solenoid directional control valve 603 and the P hydraulic fluid port of the 4th solenoid directional control valve 604, the oil inlet of check valve 605 and the oil inlet of by pass valve 606 connect 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.
Control system carries out the control of mechanical loader braking energy regenerating, the working process of braking energy release control and braking energy retentive control is.
Carry out in advance travelling brake energy recovery process at loader, 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 be energized, convert the control position of the first solenoid directional control valve 601 and the 4th solenoid directional control valve 604, the high-pressure oil passage leading to the first drg 101 is truncated, the oil return line that the high-pressure oil passage of the first drg 101 leads to fuel tank is switched on, the working piston of the first drg 101 resets under the effect of pull back spring, hydraulic oil in plunger shaft flows back to fuel tank 609 through oil return line, first drg 101 is in non-brake state, simultaneously, the high-pressure oil passage leading to first clutch 102 is switched on, the oil return line that first clutch 102 leads to fuel tank 609 is truncated, first clutch 102 is in engagement state, loader advance braking time the kinetic energy elastic potential energy that converts elastic rubber band to by 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 by wheel be stored in the first elastic rubber belt energy accumulator 300.
Carry out in reverse travel Brake energy recovery 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 be energized, convert the control position of the second solenoid directional control valve 602 and the 3rd solenoid directional control valve 603, the high-pressure oil passage leading to second brake 103 is truncated, the oil return line that second brake 103 leads to fuel tank is switched on, the working piston of second brake 103 resets under the effect of pull back spring, hydraulic oil in plunger shaft flows back to fuel tank 609 through oil return line, second brake 103 is in non-brake state, simultaneously, the high-pressure oil passage leading to second clutch 104 is switched on, the oil return line that second clutch 104 leads to fuel tank 609 is truncated, second clutch 104 is in engagement state, the elastic potential energy that kinetic energy during loader reversing braking converts elastic rubber band by wheel to by 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 is stored in the second elastic rubber belt energy accumulator 400.
Carry out in advance travelling brake energy release 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 be energized, convert the control position of the second solenoid directional control valve 602 and the 3rd solenoid directional control valve 603, the high-pressure oil passage leading to second brake 103 is truncated, the oil return line that second brake 103 leads to fuel tank is switched on, the working piston of second brake 103 resets under the effect of pull back spring, hydraulic oil in plunger shaft flows back to fuel tank 609 through oil return line, second brake 103 is in non-brake state, simultaneously, the high-pressure oil passage leading to second clutch 104 is switched on, the oil return line that second clutch 104 leads to fuel tank 609 is truncated, second clutch 104 is in engagement state, the elastic potential energy stored in second elastic rubber belt energy accumulator 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, thus drives loader to advance starting.
Carry out in reversing starting braking energy dispose procedure at loader, 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 be energized, convert the control position of the first solenoid directional control valve 601 and the 4th solenoid directional control valve 604, the high-pressure oil passage leading to the first drg 101 is truncated, the oil return line that first drg 101 leads to fuel tank 609 is switched on, the working piston of the first drg 101 resets under the effect of pull back spring, hydraulic oil in plunger shaft flows back to fuel tank 609 through oil return line, first drg 101 is in non-brake state, simultaneously, the high-pressure oil passage leading to first clutch 102 is switched on, the oil return line that first clutch 102 leads to fuel tank 609 is truncated, first clutch 102 is in engagement state, the elastic potential energy stored in first elastic rubber belt energy accumulator 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, thus drives loader reversing starting.
When loader is in braking energy keep-process, ECU (Electrical Control Unit) 500 makes the first solenoid directional control valve magnet coil 601a, second solenoid directional control valve magnet coil 602a, 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, 3rd solenoid directional control valve 603 and the 4th solenoid directional control valve 604 are all in the normal state control position, the high-pressure oil passage now leading to the first drg 101 and second brake 103 is switched on, the oil return line that first drg 101 and second brake 103 lead to fuel tank 609 is truncated, first drg 101 and second brake 103 are all in braking mode, can not to stored energy in the first elastic rubber belt energy accumulator 300 and the second elastic rubber belt energy accumulator 400, the energy stored in the first elastic rubber belt energy accumulator 300 and the second elastic rubber belt energy accumulator 400 can not be discharged.
The flow process of elastic rubber belt energy accumulator formula mechanical loader braking energy regeneration control method is.
Connect after ignition lock 503, elastic rubber belt energy accumulator formula mechanical loader braking energy regeneration control method powers on beginnings, carries out step S100 after the beginning that powers on.
Step S100, 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, the first drum shaft corner home sensor 301 signal, second tin roller Shaft angle home sensor 401 signal, the first drum shaft corner final position sensor 303 signal and second tin roller Shaft angle final position sensor 403 signal.
Step S200, judge whether to be in neutral state: when ECU (Electrical Control Unit) 500 detects that neutral switch 202 closes, 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 reverse gear state: when ECU (Electrical Control Unit) 500 detects that reverse gear switch 201 closes, be judged as reverse gear state, carry out step S500; Otherwise, be judged as 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 that car speed sensor 203 measures equals zero, be judged as that loader is in halted state, carry out step S404; Otherwise, be judged as that loader is in advance motoring condition, carry out step S401.
Step S401, judge whether brake pedal is depressed: when ECU (Electrical Control Unit) 500 detects that brake pedal switch 502 closes, be judged as that brake pedal is depressed, carry out step S402; Otherwise, be judged as that brake pedal is not depressed, carry out step S600.
Step S402, whether energy storage ends to judge the first elastic rubber belt energy accumulator 300: when ECU (Electrical Control Unit) 500 there is no the first drum shaft corner final position sensor 303 signal, be judged as that the energy that the first elastic rubber belt energy accumulator 300 stores does not reach the ceiling capacity that energy storage can store, carry out step S403; Otherwise, be judged as that the first elastic rubber belt energy accumulator 300 energy storage ends, carry out step S600.
Step S403, loader advance Brake energy recovery control: when loader advance travelling brake, ECU (Electrical Control Unit) 500 exports respectively to the first solenoid directional control valve magnet coil 602a and the 4th solenoid directional control valve magnet coil 604a and controls electric current I 1 and I4, the first solenoid directional control valve 601 and the 4th solenoid directional control valve 604 is made to change control position, make that the first drg 101 is in non-brake state, first clutch 102 is in engagement state, thus realize loader advance Brake energy recovery and control.
Step S404, judge whether acceleration pedal is depressed: when ECU (Electrical Control Unit) 500 detects that acceleration pedal switch 501 closes, be judged as that acceleration pedal is depressed, carry out step S405; Otherwise, be judged as that acceleration pedal is not depressed, carry out step S600.
Step S405, judge second elastic rubber belt energy accumulator 400 store energy whether discharge end of a period: when ECU (Electrical Control Unit) 500 there is no second tin roller Shaft angle home sensor 401 signal, be judged as that the energy of the second elastic rubber belt energy accumulator 400 storage is greater than the minimum energy value of energy storage, carry out step S406; Otherwise, be judged as that the energy that the second elastic rubber belt energy accumulator 400 stores discharges end of a period, carry out step S600.
Step S406, loader advance starting braking energy release control: when loader advances starting, ECU (Electrical Control Unit) 500 exports respectively to the second solenoid directional control valve magnet coil 602a and the 3rd solenoid directional control valve magnet coil 603a and controls electric current I 2 and I3, the second solenoid directional control valve 602 and the 3rd solenoid directional control valve 603 is made to change control position, make second brake 103 be in non-brake state, second clutch 104 is in engagement state, thus realize loader advance braking energy release control.
Step S500, judge whether the loader speed of a motor vehicle equals zero: when the speed of a motor vehicle that car speed sensor 203 measures equals zero, be judged as that loader is in halted state, carry out step S504; Otherwise, be judged as that loader is in reverse travel state, carry out step S501.
Step S501, judge whether brake pedal is depressed: when ECU (Electrical Control Unit) 500 detects that brake pedal switch 502 closes, be judged as that brake pedal is depressed, carry out step S502; Otherwise, be judged as that brake pedal is not depressed, carry out step S600.
Step S502, whether energy storage ends to judge the second elastic rubber belt energy accumulator 400: when ECU (Electrical Control Unit) 500 there is no second tin roller Shaft angle final position sensor 403 signal, be judged as that the energy that the second elastic rubber belt energy accumulator 500 stores does not reach the ceiling capacity that energy storage can store, carry out step S503; Otherwise, judge that the second elastic rubber belt energy accumulator 400 energy storage ends, carry out step S600.
Step S503, loader reversing Brake energy recovery controls: when loader reverse travel is braked, ECU (Electrical Control Unit) 500 exports respectively to the second solenoid directional control valve magnet coil 602a and the 3rd solenoid directional control valve magnet coil 603a and controls electric current I 2 and I3, the second solenoid directional control valve 602 and the 3rd solenoid directional control valve 603 is made to change control position, make second brake 103 be in non-brake state, second clutch 104 is in engagement state, thus realize the control of loader advance Brake energy recovery.
Step S504, judge whether acceleration pedal is depressed: when ECU (Electrical Control Unit) 500 detects that acceleration pedal switch 501 closes, be judged as that acceleration pedal is depressed, carry out step S505; Otherwise, be judged as that acceleration pedal is not depressed, carry out step S600.
Step S505, judge first elastic rubber belt energy accumulator 300 store energy whether discharge end of a period: when ECU (Electrical Control Unit) 500 there is no the first drum shaft corner home sensor 301 signal, be judged as that the energy of the first elastic rubber belt energy accumulator 300 storage is greater than the minimum energy value of energy storage, carry out step S506; Otherwise, judge that the energy that the first elastic rubber belt energy accumulator 300 stores discharges end of a period, carry out step S600.
Step S506, loader reversing braking energy release control: when loader reversing starting, ECU (Electrical Control Unit) 500 exports respectively to the first solenoid directional control valve magnet coil 601a and the 4th solenoid directional control valve magnet coil 604a and controls electric current I 1 and I4, the first solenoid directional control valve 601 and the 4th solenoid directional control valve 604 is made to change control position, make that the first drg 101 is in non-brake state, first clutch 102 is in engagement state, thus realize loader reversing braking energy release control.
Step S600, the retentive control of load mechanism energy: when loader is in braking energy hold mode, ECU (Electrical Control Unit) 500 does not export to the magnet coil of any one solenoid directional control valve and controls electric current, each solenoid directional control valve is in the normal state position, at this moment, first drg 101 and second brake 103 are in braking mode, first clutch 102 and second clutch 104 are in released state, thus realize the retentive control of load mechanism energy.
By reference to the accompanying drawings embodiments of the present invention are explained in detail above, but the present invention is not limited to above-mentioned embodiment, in the ken that art those of ordinary skill possesses, various change can also be made under the prerequisite not departing from present inventive concept.
Claims (1)
1. an elastic rubber belt energy accumulator formula mechanical loader braking energy regeneration control method, described elastic rubber belt energy accumulator formula loader is equipped with gear (100), first drg (101), first clutch (102), second brake (103), second clutch (104), reverse gear switch (201), neutral switch (202), car speed sensor (203), first elastic rubber belt energy accumulator (300), first drum shaft corner home sensor (301), first drum shaft roll angle inspection end plate (302), first drum shaft corner final position sensor (303), second elastic rubber belt energy accumulator (400), second tin roller Shaft angle home sensor (401), 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, the first drum shaft corner home sensor (301) signal, second tin roller Shaft angle home sensor (401) signal, the 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 that neutral switch (202) closes, 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 reverse gear state: when ECU (Electrical Control Unit) (500) detects that reverse gear switch (201) closes, be judged as reverse gear state, carry out step 11; Otherwise, be judged as 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 that car speed sensor (203) measures equals zero, be judged as that loader is in halted state, carry out step 8; Otherwise, be judged as that loader is in advance motoring condition, carry out step 5;
Step 5, judge whether brake pedal is depressed: when ECU (Electrical Control Unit) (500) detects that brake pedal switch (502) closes, be judged as that brake pedal is depressed, carry out step 6; Otherwise, be judged as that brake pedal is not depressed, carry out step 18;
Step 6, judge the first elastic rubber belt energy accumulator (300) whether energy storage end: when ECU (Electrical Control Unit) (500) there is no the first drum shaft corner final position sensor (303) signal, be judged as that the first elastic rubber belt energy accumulator (300) is not that energy storage ends, carry out step 7; Otherwise, be judged as that the first elastic rubber belt energy accumulator (300) is that energy storage ends, carry out step 18;
Step 7, loader advance Brake energy recovery control: when loader advance travelling brake, ECU (Electrical Control Unit) (500) controls the first solenoid directional control valve magnet coil (601a) and the 4th solenoid directional control valve magnet coil (604a) is energized simultaneously, make the first drg (101) be in non-brake state, first clutch (102) is in engagement state, thus realize the control of loader advance Brake energy recovery;
Step 8, judge whether acceleration pedal is depressed: when ECU (Electrical Control Unit) (500) detects that acceleration pedal switch (501) closes, be judged as that acceleration pedal is depressed, carry out step 9; Otherwise, be judged as that acceleration pedal is not depressed, carry out step 18;
ECU (Electrical Control Unit) (500) step 9, judges whether the energy that the second elastic rubber belt energy accumulator (400) stores discharges end of a period: when there is no second tin roller Shaft angle home sensor (401) signal, be judged as that the energy that the second elastic rubber belt energy accumulator (400) stores is not that release ends, carry out step 10; Otherwise, be judged as that the energy that the second elastic rubber belt energy accumulator (400) stores is that release ends, carry out step 18;
Step 10, loader advance starting braking energy release control: ECU (Electrical Control Unit) (500) controls the second solenoid directional control valve magnet coil (602a) and the 3rd solenoid directional control valve magnet coil (603a) is energized simultaneously, make second brake (103) be in non-brake state, second clutch (104) is in engagement state, thus realize loader advance braking energy release control;
Step 11, judge whether the loader speed of a motor vehicle equals zero: when the speed of a motor vehicle that car speed sensor (203) measures equals zero, be judged as that loader is in halted state, carry out step 15; Otherwise, be judged as that loader is in reverse travel state, carry out step 12;
Step 12, judge whether brake pedal is depressed: when ECU (Electrical Control Unit) (500) detects that brake pedal switch (502) closes, be judged as that brake pedal is depressed, carry out step 13; Otherwise, be judged as that brake pedal is not depressed, carry out step 18;
Step 13, judge the second elastic rubber belt energy accumulator (400) whether energy storage end: when ECU (Electrical Control Unit) (500) there is no second tin roller Shaft angle final position sensor (403) signal, be judged as that the second elastic rubber belt energy accumulator (400) is not that energy storage ends, carry out step 14; Otherwise, judge that the second elastic rubber belt energy accumulator (400) is that energy storage ends, carry out step 18;
Step 14, loader reversing Brake energy recovery controls: when loader reverse travel is braked, ECU (Electrical Control Unit) (500) controls the second solenoid directional control valve magnet coil (602a) and the 3rd solenoid directional control valve magnet coil (603a) is energized simultaneously, make second brake (103) be in non-brake state, second clutch (104) is in engagement state, thus realize the control of loader advance Brake energy recovery;
Step 15, judge whether acceleration pedal is depressed: when ECU (Electrical Control Unit) (500) detects that acceleration pedal switch (501) closes, be judged as that acceleration pedal is depressed, carry out step 16; Otherwise, be judged as that acceleration pedal is not depressed, carry out step 18;
ECU (Electrical Control Unit) (500) step 16, judges whether the energy that the first elastic rubber belt energy accumulator (300) stores discharges end of a period: when there is no the first drum shaft corner home sensor (301) signal, be judged as that the first elastic rubber belt energy accumulator (300) is not that release ends, carry out step 17; Otherwise, judge that the energy that the first elastic rubber belt energy accumulator (300) stores is that release ends, carry out step 18;
Step 17, loader reversing braking energy release control: when loader reversing starting, ECU (Electrical Control Unit) (500) controls the first solenoid directional control valve magnet coil (601a) and the 4th solenoid directional control valve magnet coil (604a) is energized simultaneously, make the first drg (101) be in non-brake state, first clutch (102) is in engagement state, thus realize loader reversing braking energy release control;
Step 18, load mechanism energy retentive control: when loader is in braking energy hold mode, ECU (Electrical Control Unit) (500) controls the first solenoid directional control valve magnet coil (601a), second solenoid directional control valve magnet coil (602a), 3rd solenoid directional control valve magnet coil (603a) and the power-off simultaneously of the 4th solenoid directional control valve magnet coil (604a), the first drg (101) and second brake (103) is made to be in braking mode, first clutch (102) and second clutch (104) are in released state, thus realize the retentive control of load mechanism energy.
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| CN201310167168.7A CN103223871B (en) | 2013-06-03 | 2013-06-03 | Elastic rubber band accumulator type loading machine braking energy regeneration control method |
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| US5707115A (en) * | 1996-10-07 | 1998-01-13 | General Motors Corporation | Regenerative braking method |
| KR100534709B1 (en) * | 2003-12-30 | 2005-12-07 | 현대자동차주식회사 | Method and apparatus for controlling regenerative braking of electric vehicle |
| DE102005039314A1 (en) * | 2005-08-19 | 2007-02-22 | Robert Bosch Gmbh | Recuperation of energy in a hybrid vehicle with a hydraulic or pneumatic brake system |
| FR2931765B1 (en) * | 2008-05-29 | 2010-05-07 | Peugeot Citroen Automobiles Sa | BRAKING SYSTEM WITH STABILITY AND TRACK CONTROL TO AT LEAST ONE MOTORIZED BRAKE ELEMENT HAVING A MECHANICAL ENERGY RECOVERY SYSTEM. |
| CN101332774B (en) * | 2008-08-06 | 2010-07-28 | 山东理工大学 | Automobile brake energy regeneration control method |
| CN102442286B (en) * | 2011-12-12 | 2013-12-11 | 江苏理工学院 | Energy regeneration device of drive-by-wire braking system and control method of braking system |
| CN202628410U (en) * | 2012-05-04 | 2012-12-26 | 山东理工大学 | Rubber-belt-type energy storage device |
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