CN103670750B - Limit power matching control system, method and device and engineering machinery - Google Patents
Limit power matching control system, method and device and engineering machinery Download PDFInfo
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Abstract
The invention relates to the technical field of engineering machinery, and discloses a limit power matching control system, a limit power matching control method, a limit power matching control device and engineering machinery, which are used for effectively improving a flameout phenomenon caused by power mismatching of an engine and further improving the controllability and reliability of a product. The control system includes: an engine control module and a rotational speed controller; the control device is in signal connection with the engine control module and the rotating speed controller respectively and is used for obtaining an engine rotating speed target quantity matched with the load power according to the load power when the rotating speed of the engine is lower than a rotating speed threshold corresponding to the current gear of the rotating speed controller; and outputting a rotating speed adjusting control signal to the engine control module, and controlling the rotating speed of the engine to be increased to a rotating speed target amount.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to a kind of power limit matching control system, method, device and a kind of engineering machinery.
Background technique
In order to reduce the cost of motor, energy efficient, when carrying out type selecting to motor, usually the maximum power requirement and not in accordance with motor carries out type selecting, but carry out type selecting according to the power demand that can meet the conventional operating mode of major part, so just there is the situation that motor bearing power under certain operating mode is greater than maximum power, now, motor just likely produces flame-out because of underpower.
Power limit match control is current engineering machinery is a kind of control technique preventing engine misses from often using, its form realized is varied, great majority carry out the flow of regulator solution pressing system by the swash plate pivot angle of main pump in change load-reacting pump, thus reduce engine loading power, peak output under bearing power and motor specific rotation speeds is matched, realize motor under some case of heavy load nonoverload, do not stop working.In addition, electric-control motor all comprises rotational speed governor usually, this rotational speed governor has cruise function, under setting speed, if bearing power increases, rotational speed governor can regulate fuel injection quantity automatically, with the increase of available power (needing the restriction by engine test bench characteristic curve), also can be reduced the flame-out phenomenon of motor by which to a certain extent.
Present inventor finds, if operating grip is too fast or cause engine loading moment of torsion to uprush because of other factors, motor still easily produces flame-out, and this seriously constrains the handling of product and reliability.
Summary of the invention
Embodiments provide a kind of power limit matching control system, method, device and a kind of engineering machinery, in order to effectively to improve the flame-out phenomenon produced because engine power is not mated, and then improve the handling and reliability of product.
The power limit matching control system that the embodiment of the present invention provides, comprising:
Engine control module and rotational speed governor;
Control gear, be connected with described engine control module and described rotational speed governor signal respectively, for when the rotating speed of motor is lower than the rotary speed threshold value that the current gear of rotational speed governor is corresponding, obtain the engine speed aim parameter matched with described bearing power according to bearing power; To engine control module output speed adjustment control signal, the rotating speed controlling motor is increased to described rotating speed aim parameter.
In technical solution of the present invention, when engine speed is lower than the rotary speed threshold value that current gear is corresponding, control gear can to the engine control module output speed adjustment control signal of motor, the rotating speed of motor is made to be increased to rotating speed aim parameter, thus engine power and bearing power are matched, the program effectively improves the flame-out phenomenon produced because engine power is not mated, and improves the handling of product and reliability.
Preferably, described control gear, is connected with the load-sensitive Flow valve signal of load-reacting pump in described load-sensitive hydraulic system further; For when the actual torque of motor is greater than the target torque of motor, obtains first of load-sensitive Flow valve according to the control algorithm of the actual torque of motor and the difference of target torque and setting and control electric current; Export described first to described load-sensitive Flow valve and control electric current.
When the rotating speed of motor declines but when being not less than rotary speed threshold value, control gear exports first to load-sensitive Flow valve and controls electric current and can regulate main pump delivery, thus reduces the load torque of motor, improves the flame-out phenomenon caused because Engine torque is not enough.
Preferably, control system also comprises:
Be arranged at the proportional pressure control valve on the import oil circuit of load-sensitive hydraulic system main control valve;
Be arranged at the first pressure transducer on described main control valve import oil circuit and outlet oil circuit and the second pressure transducer respectively;
Described control gear, be connected with described proportional pressure control valve, described first pressure transducer and described second pressure sensor signal further, for when the rotating speed of described motor is lower than described rotary speed threshold value, according to the inlet outlet pressure differential of main control valve, and when the engine speed stored is down to described rotary speed threshold value, the standard inlet pressure of main control valve obtains second of proportional pressure control valve and controls electric current; Export described second to proportional pressure control valve and control electric current, the inlet pressure of adjustment main control valve is to described standard inlet pressure.
It is unstable that engine speed increases the too fast flow rate of hydraulic system that easily causes, actuator is caused to produce speed fluctuation, the program is when engine speed increases, export second to proportional pressure control valve and control electric current, the inlet pressure of main control valve is made to maintain the standard inlet pressure inlet pressure of main control valve (when namely engine speed is down to rotary speed threshold value) by the oil pressure relief of resize ratio relief valve, the inlet outlet pressure differential of main control valve can remain constant, the stability of flow of hydraulic system, the speed fluctuation that therefore actuator produces can be prevented, further increase the handling of product and reliability.
Based on identical inventive concept, the embodiment of the present invention additionally provides a kind of power limit match control method being applied to power limit matching control system described in preceding solution, comprising:
When the rotating speed of motor is lower than the rotary speed threshold value that the current gear of rotational speed governor is corresponding, obtain the engine speed aim parameter matched with described bearing power according to bearing power;
To engine control module output speed adjustment control signal, the rotating speed controlling motor is increased to described rotating speed aim parameter.
When engine speed is lower than the rotary speed threshold value that current gear is corresponding, to the engine control module output speed adjustment control signal of motor, the rotating speed of motor is made to be increased to rotating speed aim parameter, engine power and bearing power can be made to match, thus effectively improve the flame-out phenomenon produced because engine power is not mated, improve the handling and reliability of product.
Based on identical inventive concept, the embodiment of the present invention additionally provides a kind of power limit matching control apparatus being applied to power limit matching control system described in preceding solution, comprising:
Processing equipment, for when the rotating speed of motor is lower than the rotary speed threshold value that the current gear of rotational speed governor is corresponding, obtains the engine speed aim parameter matched with described bearing power according to bearing power;
Output unit, for adjusting control signal to engine control module output speed, the rotating speed controlling motor is increased to described rotating speed aim parameter.
The program can effectively improve the flame-out phenomenon produced because engine power is not mated, and improves the handling and reliability of product.
The embodiment of the present invention additionally provides a kind of engineering machinery, comprises the power limit matching control system described in preceding solution, has preferably handling and reliability.
Accompanying drawing explanation
Fig. 1 is the power limit matching control system structural representation of one embodiment of the invention;
Fig. 2 is the power limit match control block diagram of one embodiment of the invention;
Fig. 3 is the power limit match control method schematic flow sheet of one embodiment of the invention;
Fig. 4 is the power limit matching control apparatus structural representation of one embodiment of the invention.
Reference character:
1-load-reacting pump; 11-main pump; 12-variable cylinder; 13-load-sensitive Flow valve;
2-fuel tank; 3-first pressure transducer; 4-main control valve; 5-second pressure transducer;
6-control gear; 7-actuator; 8-proportional pressure control valve; 9-motor; 91-rotational speed governor;
92-engine control module; 201-processing equipment; 202-output unit.
Embodiment
In order to effectively improve the flame-out phenomenon produced because engine power is not mated, and then improving the handling and reliability of product, embodiments providing a kind of power limit matching control system, method, device and a kind of engineering machinery.In the control system provided, when engine speed is lower than the rotary speed threshold value that current gear is corresponding, control gear can to the engine control module output speed adjustment control signal of motor, the rotating speed of motor is made to be increased to rotating speed aim parameter, thus engine power and bearing power are matched, the program effectively improves the flame-out phenomenon produced because engine power is not mated, and improves the handling of product and reliability.The present invention is described with reference to the accompanying drawings below with specific embodiment.
As depicted in figs. 1 and 2, the power limit matching control system that first embodiment of the invention provides, comprising:
Engine control module 92 and rotational speed governor 91;
Control gear 6, be connected with engine control module 92 and rotational speed governor 91 signal respectively, for when the rotating speed of motor is lower than the rotary speed threshold value that the current gear of rotational speed governor 91 is corresponding, obtain the engine speed aim parameter matched with bearing power according to bearing power; To engine control module 92 output speed adjustment control signal, the rotating speed controlling motor is increased to rotating speed aim parameter.
Engine control module 92 also claims ECM(EngineControlModule), there is the function of monitoring continuously and controlling engine work running.Rotational speed governor 91 can set many grades of speed (being generally third gear) from low to high, the different moment of torsion of the corresponding motor of difference and power.Rotational speed governor 91 has cruise function, and under a certain shelves rotating speed, if bearing power increases, rotational speed governor 91 can regulate fuel injection quantity automatically, with the increase of available power (needing the restriction by engine test bench characteristic curve).Under rotary speed threshold value refers to current gear, cause the rotating speed critical value of engine misses, the rotary speed threshold value that each grade of rotating speed of rotational speed governor 91 is corresponding different.Preferably, control gear 6 by CAN(ControllerAreaNetwork, controller local area network) bus is connected with engine control module 92 and rotational speed governor 91 signal.
Shown in Fig. 1 and Fig. 2, control gear 6, is connected with load-sensitive Flow valve 13 signal of load-reacting pump 1 in load-sensitive hydraulic system, further for obtaining the torque percentage of motor; Obtain the target torque of motor according to the rotating speed of motor, obtain the actual torque of motor according to the torque percentage of motor; When the actual torque of motor is greater than the target torque of motor, obtains first of load-sensitive Flow valve 13 according to the control algorithm of the actual torque of motor and the difference of target torque and setting and control electric current; The first control electric current is exported to load-sensitive Flow valve 13.
As shown in Figure 1, load-sensitive hydraulic system comprises fuel tank 2, load-reacting pump 1, main control valve 4 and actuator 7 etc., and wherein, load-reacting pump 1 specifically comprises main pump 11, variable cylinder 12 and load-sensitive Flow valve 13; The type of actuator 7 is not limit, such as, can be oil hydraulic cylinder or motor etc.When the actual torque of motor is greater than the target torque of motor, at this moment need to carry out power limit match control to hydraulic system, control gear 6 obtains first of load-sensitive Flow valve 13 according to motor actual torque and the difference of target torque and the control algorithm of setting and controls electric current, first controls the function of current on load-sensitive Flow valve 13, the swash plate making variable cylinder 12 promote main pump 11 swings, the discharge capacity of main pump 11 reduces, the inlet outlet pressure differential of main control valve 4 reduces, flow rate of hydraulic system reduces, thus reduce the actual torque (i.e. load torque) of motor.The control algorithm of setting is preferably PID(ProportionIntegrationDifferentiation, proportional-integral-differential, is called for short PID) algorithm.
Under certain grade of rotating speed, when the bearing power of motor 9 is not mated with peak output, on the one hand can by regulating the discharge capacity of main pump 11, reduce the load torque of motor 9, thus reduce the bearing power of motor 9, on the other hand, rotational speed governor 91 also automatically can regulate fuel injection quantity under the restriction of engine test bench characteristic curve, the increase of available power.These two aspects are all conducive to the flame-out phenomenon improving motor.But, if operating grip is too fast or cause engine loading moment of torsion to uprush because of other factors, at this moment load-reacting pump 1 and motor speed controller 91 will have little time response, engine speed declines and produces flame-out further, therefore, above two aspects motor 9 rotating speed decline but when being not less than rotary speed threshold value, effect is better.
For this defect, in technical solution of the present invention, when engine speed is lower than the rotary speed threshold value that current gear is corresponding, control gear 6 can to the engine control module 92 output speed adjustment control signal of motor 9, make the rotating speed of motor be increased to rotating speed aim parameter, thus engine power and bearing power are matched.The program can have little time at load-reacting pump 1 and motor speed controller 91 rotating speed increasing motor when responding in time, effectively improves the flame-out phenomenon produced because engine power is not mated, improves the handling of product and reliability.
As depicted in figs. 1 and 2, preferably, control system also comprises:
Be arranged at the proportional pressure control valve 8 on the import oil circuit of load-sensitive hydraulic system main control valve 4;
Be arranged at the first pressure transducer 3 and the second pressure transducer 5 on main control valve 4 import oil circuit and outlet oil circuit respectively, first pressure transducer 3 is for detecting the inlet pressure of main control valve 4, and the second pressure transducer 5 is for detecting the outlet pressure of main control valve 4;
Control gear 6, be connected with proportional pressure control valve 8, first pressure transducer 3 and the second pressure transducer 5 signal further, for when the rotating speed of motor is lower than rotary speed threshold value, according to the inlet outlet pressure differential of main control valve 4, and when the engine speed stored is down to rotary speed threshold value, the standard inlet pressure of main control valve obtains second of proportional pressure control valve 8 and controls electric current; Export the second control electric current to proportional pressure control valve 8, the inlet pressure of adjustment main control valve 4 is to standard inlet pressure.
When control gear 6 directly regulates the rotating speed of motor 9 to increase, flow rate of hydraulic system may be caused unstable because engine speed increases too fast, thus cause actuator 7 to produce speed fluctuation, affect the handling of equipment.The program is when motor 9 rotating speed increases, the second control electric current is exported to proportional pressure control valve 8, the inlet pressure of main control valve 4 is made to maintain the standard inlet pressure inlet pressure of main control valve 4 (when namely engine speed is down to rotary speed threshold value) by the oil pressure relief of resize ratio relief valve 8, the inlet outlet pressure differential of such main control valve 4 can remain constant, the stability of flow of hydraulic system, can prevent actuator 7 from producing speed fluctuation.When handle returns meta, control gear 6 can send corresponding current signal makes proportional pressure control valve 8 reset (namely recovering not overflow situation).Visible, when operating grip changes the aperture of main control valve 4, the flow of hydraulic system is only proportional with the aperture of main control valve 4, have nothing to do with the rotating speed of motor 9, therefore, in this programme, the speed of actuator 7 is only by the Stroke Control of handle, accurately can be controlled the speed of actuator 7 by Joystick, further increase the handling of product and reliability.
As shown in Figure 3, based on identical inventive concept, the embodiment of the present invention additionally provides a kind of power limit match control method being applied to previous embodiment power limit matching control system, comprising:
Step 101, when the rotating speed of motor is lower than the rotary speed threshold value that the current gear of rotational speed governor is corresponding, obtain the engine speed aim parameter matched with bearing power according to bearing power;
Step 102, to engine control module output speed adjustment control signal, control the rotating speed of motor and be increased to rotating speed aim parameter.
When engine speed is lower than the rotary speed threshold value that current gear is corresponding, to the engine control module output speed adjustment control signal of motor, the rotating speed of motor is made to be increased to rotating speed aim parameter, engine power and bearing power can be made to match, thus effectively improve the flame-out phenomenon produced because engine power is not mated, improve the handling and reliability of product.
Preferably, the method is also further comprising the steps:
When the actual torque of motor is greater than the target torque of motor, obtains first of load-sensitive Flow valve according to the control algorithm of the actual torque of motor and the difference of target torque and setting and control electric current;
Export first to load-sensitive Flow valve and control electric current.
Preferably, the method is also further comprising the steps:
When the rotating speed of motor is lower than rotary speed threshold value, according to the inlet outlet pressure differential of main control valve, and when the engine speed stored is down to rotary speed threshold value, the standard inlet pressure of main control valve obtains second of proportional pressure control valve and controls electric current;
Export second to proportional pressure control valve and control electric current, the inlet pressure of adjustment main control valve is to standard inlet pressure.
The beneficial effect of each embodiment is the same, and it is no longer repeated here.
As shown in Figure 4, based on identical inventive concept, the embodiment of the present invention additionally provides a kind of power limit matching control apparatus being applied to previous embodiment power limit matching control system, comprising:
Processing equipment 201, for when the rotating speed of motor is lower than the rotary speed threshold value that the current gear of rotational speed governor is corresponding, obtains the engine speed aim parameter matched with bearing power according to bearing power;
Output unit 202, for adjusting control signal to engine control module output speed, the rotating speed controlling motor is increased to rotating speed aim parameter.
Similar with above-mentioned beneficial effect, the program can effectively improve the flame-out phenomenon produced because engine power is not mated, and improves the handling and reliability of product.
Preferred processing equipment 201, also for when the actual torque of motor is greater than the target torque of motor, obtains first of load-sensitive Flow valve according to the control algorithm of the actual torque of motor and the difference of target torque and setting and controls electric current; Output unit 202, also controls electric current for exporting first to load-sensitive Flow valve.
Preferably, processing equipment 201, also for when the rotating speed of motor is lower than rotary speed threshold value, according to the inlet outlet pressure differential of main control valve, and when the engine speed stored is down to rotary speed threshold value, the standard inlet pressure of main control valve obtains second of proportional pressure control valve and controls electric current; Output unit 202, also control electric current for exporting second to proportional pressure control valve, the inlet pressure of adjustment main control valve is to standard inlet pressure.
The beneficial effect of each embodiment is the same, and it is no longer repeated here.
The embodiment of the present invention additionally provides a kind of engineering machinery, comprises the power limit matching control system of preceding solution, and the transmitter of this project machinery not easily stops working because of the factor such as operating grip is too fast, has preferably handling and reliability.The particular type of engineering machinery is not limit, such as, can be hoist, dumping car, elevate engineering truck etc.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (7)
1. a power limit matching control system, is characterized in that, comprising:
Engine control module and rotational speed governor;
Control gear, be connected with described engine control module and described rotational speed governor signal respectively, for when the rotating speed of motor is lower than the rotary speed threshold value that the current gear of rotational speed governor is corresponding, obtain the engine speed aim parameter matched with described bearing power according to bearing power; To engine control module output speed adjustment control signal, the rotating speed controlling motor is increased to described rotating speed aim parameter;
Described control gear, is connected with the load-sensitive Flow valve signal of load-reacting pump in described load-sensitive hydraulic system further; For when the actual torque of motor is greater than the target torque of motor, obtains first of load-sensitive Flow valve according to the control algorithm of the actual torque of motor and the difference of target torque and setting and control electric current; Export described first to described load-sensitive Flow valve and control electric current.
2. control system as claimed in claim 1, is characterized in that, also comprise:
Be arranged at the proportional pressure control valve on the import oil circuit of load-sensitive hydraulic system main control valve;
Be arranged at the first pressure transducer on described main control valve import oil circuit and outlet oil circuit and the second pressure transducer respectively;
Described control gear, be connected with described proportional pressure control valve, described first pressure transducer and described second pressure sensor signal further, for when the rotating speed of described motor is lower than described rotary speed threshold value, according to the inlet outlet pressure differential of main control valve, and when the engine speed stored is down to described rotary speed threshold value, the standard inlet pressure of main control valve obtains second of proportional pressure control valve and controls electric current; Export described second to proportional pressure control valve and control electric current, the inlet pressure of adjustment main control valve is to described standard inlet pressure.
3. be applied to a power limit match control method for power limit matching control system described in claim 1, it is characterized in that, comprising:
When the rotating speed of motor is lower than the rotary speed threshold value that the current gear of rotational speed governor is corresponding, obtain the engine speed aim parameter matched with described bearing power according to bearing power;
To engine control module output speed adjustment control signal, the rotating speed controlling motor is increased to described rotating speed aim parameter;
When the actual torque of motor is greater than the target torque of motor, obtains first of load-sensitive Flow valve according to the control algorithm of the actual torque of motor and the difference of target torque and setting and control electric current;
Export described first to described load-sensitive Flow valve and control electric current.
4. controlling method as claimed in claim 3, is characterized in that, also comprise:
When the rotating speed of described motor is lower than described rotary speed threshold value, according to the inlet outlet pressure differential of main control valve, and when the engine speed stored is down to described rotary speed threshold value, the standard inlet pressure of main control valve obtains second of proportional pressure control valve and controls electric current;
Export described second to proportional pressure control valve and control electric current, the inlet pressure of adjustment main control valve is to described standard inlet pressure.
5. be applied to a power limit matching control apparatus for power limit matching control system described in claim 1, it is characterized in that, comprising:
Processing equipment, for when the rotating speed of motor is lower than the rotary speed threshold value that the current gear of rotational speed governor is corresponding, obtains the engine speed aim parameter matched with described bearing power according to bearing power;
Output unit, for adjusting control signal to engine control module output speed, the rotating speed controlling motor is increased to described rotating speed aim parameter;
Described processing equipment, also for when the actual torque of motor is greater than the target torque of motor, obtains first of load-sensitive Flow valve according to the control algorithm of the actual torque of motor and the difference of target torque and setting and controls electric current;
Described output unit, also controls electric current for exporting described first to described load-sensitive Flow valve.
6. control gear as claimed in claim 5, is characterized in that,
Described processing equipment, also for when the rotating speed of described motor is lower than described rotary speed threshold value, according to the inlet outlet pressure differential of main control valve, and when the engine speed stored is down to described rotary speed threshold value, the standard inlet pressure of main control valve obtains second of proportional pressure control valve and controls electric current;
Described output unit, also control electric current for exporting described second to proportional pressure control valve, the inlet pressure of adjustment main control valve is to described standard inlet pressure.
7. an engineering machinery, is characterized in that, comprise as arbitrary in claim 1 ~ 2 as described in power limit matching control system.
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| CN105525905B (en) * | 2014-09-28 | 2019-02-26 | 徐工集团工程机械股份有限公司 | A kind of rotary drilling rig adaptive power control system and method |
| CN106560552B (en) * | 2016-03-02 | 2019-06-21 | 徐工集团工程机械有限公司 | Ambulation control method, controller and control system under ultimate load mode |
| CN106438527B (en) * | 2016-11-16 | 2018-10-16 | 中航力源液压股份有限公司 | The flow-compensated method and flow compensation device of ratio control pump |
| CN106647837B (en) * | 2017-01-20 | 2020-05-26 | 中联重科股份有限公司 | Method for controlling a hydraulic system, controller and machine |
| CN110147039B (en) * | 2019-05-17 | 2022-05-27 | 固高科技股份有限公司 | Hydraulic servo system and control device thereof |
| CN110645108A (en) * | 2019-09-26 | 2020-01-03 | 潍柴动力股份有限公司 | Control method and device for electric control engine, electronic equipment and storage medium |
| CN111561399B (en) * | 2020-04-23 | 2021-11-09 | 中联重科股份有限公司 | Limit load engine speed control method and device and engineering machinery |
| CN111577697B (en) * | 2020-05-31 | 2022-04-01 | 北京三一智造科技有限公司 | Control method for controlling load sensitive system |
| CN111963672B (en) * | 2020-09-02 | 2022-05-03 | 三一重机有限公司 | Gear adjusting system, method, device, equipment and electric engineering machinery |
| CN114439818A (en) * | 2022-01-27 | 2022-05-06 | 上海中联重科桩工机械有限公司 | Power system torque control method and system |
| CN115434819B (en) * | 2022-08-12 | 2024-04-12 | 中联重科股份有限公司 | Method and device for controlling power matching, electronic equipment and engineering machinery |
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