CN103711170A - Hybrid excavator control method - Google Patents
Hybrid excavator control method Download PDFInfo
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- CN103711170A CN103711170A CN201310365100.XA CN201310365100A CN103711170A CN 103711170 A CN103711170 A CN 103711170A CN 201310365100 A CN201310365100 A CN 201310365100A CN 103711170 A CN103711170 A CN 103711170A
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Abstract
The invention discloses a hybrid excavator control method, and relates to hybrid engineering machinery with a coaxially-connected engine and generator/motor structure. The method includes A, determining an engine target operating point according to an operating mode and an accelerator position; B, determining the control mode of a generator/motor according to the operating mode; C, calculating an output torque value N1 according to the control mode of the generator/motor; D, extracting a limited torque value N2 of the generator/motor corresponding to the target speed of an engine; E, comparing the output torque value N1 of the generator/motor with the limited torque value N2 of the generator/motor corresponding to the target speed of the engine, and selecting the smaller one as a final generator/motor torque output value.
Description
Technical field
The present invention relates to a kind of control method of hybrid power engineering machinery, especially a kind of hybrid excavator control method.Described hybrid power engineering machinery should have coaxial connected motor and generator/motor structure.
Background technology
Excavator is a kind of widely used engineering machinery, and excavator is in work progress, and operation type is many, manipulating object changes greatly, needs different control methods to obtain required performance under different operating modes.Traditional excavator is in order to adapt to different operating modes, motor has been carried out to divided working status control, under severe duty, engine working point is set under rated speed, in carry under operating mode engine working point be set in to rated power 80%, light duty is set in the specified rate 60% of attacking by engine working point.This method makes motor can adapt to the dynamic property requirement that different operating modes has guaranteed severe duty, in carry the fuel economy under operating mode, the operability under light duty.But also there is following shortcoming in him: the severe seriously even flame-out phenomenon of drop engine speed that easily occurs when load is large of engine working point fluctuation under severe duty; In carry an operating mode engine working point can not to be stabilized in economic zone fuel consume serious; Light duty engine speed fluctuates with load variations.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of hybrid excavator control method that can effectively adapt to the different operating mode of excavator.
In order to solve the problems of the technologies described above, the invention provides a kind of hybrid excavator control method, comprise and there is coaxial connected motor and the hybrid power engineering machinery of generator/motor structure; A, according to mode of operation and throttle gear, determine engine target operating point; B, according to mode of operation, determine the control mode of generator/motor; C, according to the control mode of generator/motor, calculate the output torque value N1 of generator/motor; The torque limited value N2 of D, extraction generator/motor correspondence under engine target rotating speed; E, by the corresponding torque limited value N2 comparison under engine target rotating speed of the output torque value N1 of generator/motor and generator/motor, get smaller value as final generator/motor moment of torsion output valve.
As the improvement to hybrid excavator control method of the present invention: described mode of operation be divided into heavily loaded mode of operation, in carry mode of operation and underloading mode of operation.
As the further improvement to hybrid excavator control method of the present invention: engine target operating point is engine target torque and rotating speed of target.
As the further improvement to hybrid excavator control method of the present invention: the engine target operating point determination under described heavily loaded mode of operation is at the external characteristic curve speed governing line intersection point corresponding with throttle gear; In described, carry under mode of operation engine target operating point determination at the optimum oil consumption line speed governing line intersection point corresponding with throttle gear; Under described underloading mode of operation engine target operating point on speed governing line corresponding to throttle gear with the change in torque of pump.
As the further improvement to hybrid excavator control method of the present invention: the curve that described optimum oil consumption line is comprised of the operating point of motor fuel consume minimum under the certain power of output; Described external characteristic curve is the torque limit curve that mean engine can be exported under different rotating speeds; The corresponding speed governing line of described throttle gear refers to that throttle gear determines the curve that in situation, engine speed changes with torque.
As the further improvement to hybrid excavator control method of the present invention: under underloading pattern, generator/motor is carried out to rotating speed compensation and control, the described rotating speed compensation that generator/motor is carried out is controlled the COEFFICIENT K 1 that the torque value that refers to generator/motor is multiplied by setting according to actual engine speed and engine target speed discrepancy and obtained.
As the further improvement to hybrid excavator control method of the present invention: in carry under pattern generator/motor carried out to compensated torque control, the described controlling torque compensation that generator/motor is carried out is controlled the COEFFICIENT K 2 that the torque value that refers to generator/motor is multiplied by setting according to hydraulic pump moment of torsion and engine target difference in torque and is obtained.
As the further improvement to hybrid excavator control method of the present invention: under heavily loaded pattern, generator/motor is carried out to rotating speed compensation and control and add compensated torque and control.
Hybrid excavator control method of the present invention makes excavator stable operation under underloading pattern, in carry fuel consume under pattern and improve, under heavily loaded pattern, guarantee sufficient power.
Compared with prior art, the present invention has the following advantages:
1. by the motor compensating carrying out under heavily loaded pattern, control, guaranteed to export enough power, avoid simultaneously motor because of load excessive and flame-out.
By in carry the motor compensating carrying out under pattern and control, make engine operation in economic zone, reduce fuel consume.
3. by the motor compensating carrying out under underloading pattern, control, make engine speed stable, improve the operability under light duty.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
Fig. 1 is hybrid excavator control method flow chart of the present invention;
Fig. 2 is the position, target operating point that under different working modes, motor is corresponding; Transverse axis represents rotating speed, and vertical pivot represents torque;
Fig. 3 is the rotating speed compensation control principle drawing under underloading pattern, generator/motor being carried out;
Fig. 4 carries the compensated torque control principle drawing under pattern, generator/motor being carried out in being;
Fig. 5 is that the rotating speed compensation of under heavily loaded pattern, generator/motor being carried out adds compensated torque control principle drawing;
Fig. 6 is the output torque restriction schematic diagram of generator/motor under different rotating speeds.
The specific embodiment
As shown in Figure 1, be hybrid excavator control method flow chart of the present invention;
1, the target operating point (being engine target rotating speed and target torque) (step S1) that the mode of operation of selecting according to operator and throttle gear are determined motor;
2, according to mode of operation, determine the control mode of generator/motor, by the control mode of definite generator/motor, calculate the output torque value N1(step S2 of generator/motor);
3, the corresponding torque limited value N2 comparison under engine target rotating speed of generator/motor output torque value N1 step 2 being obtained and generator/motor, gets smaller value as final generator/motor moment of torsion output valve (step S3).
Above-described mode of operation be divided into mode of operation be divided into heavily loaded mode of operation, in carry mode of operation and underloading mode of operation, described generator/motor control mode is divided into that rotating speed compensation is controlled and compensated torque control.
As shown in Figure 3, be the detailed description that the rotating speed compensation of under underloading mode of operation, generator/motor being carried out is controlled, concrete steps are as follows:
1, confirm that mode of operation is underloading mode of operation;
2, obtain the now target operating point of motor; Now, the target operating point of the motor under underloading mode of operation, on speed governing line corresponding to throttle gear, and changes along with the moment of torsion of pump; As shown in Figure 2, some I is the target operating point of motor under respective pump moment of torsion;
3, the sensor carrying by generator/motor detects the actual speed of generator/motor;
4, by rotating speed of target (rotating speed of target of motor is inputted by host control device) the input summer I of the actual speed of motor (sensor being carried by motor detects and obtains) and motor;
5, in adder I, the rotating speed of target of the actual speed of motor and motor is asked to poor;
6, the difference between the actual speed of motor and the rotating speed of target of motor (according to step 5 gained) is multiplied by the COEFFICIENT K 1 of setting, as output torque value N1;
7, the torque limited value comparison under engine target rotating speed by output torque value N1 and motor/motor, selects smaller value as the output torque of final generator/motor.
Because generator/motor and motor are coaxial, so the rotating speed of generator/motor is now engine speed.
As shown in Figure 4, in carry the detailed description that the compensated torque that under mode of operation, generator/motor carried out is controlled, concrete steps are as follows:
1, the mode of operation that confirmation operator selects is carried mode of operation in being;
2, obtain the now target operating point of motor; The target operating point of carrying the motor under mode of operation now, is the intersection point between the speed governing line that optimum oil consumption line is corresponding with throttle gear; As shown in Figure 2, some E, some F, some G and some H are the target operating point of motor corresponding under different throttle gears;
3, detect the pressure (detection of discharge capacity and pressure is known technology) of pump delivery and pump, and calculate the torque value of pump, the pressure of the torque value=pump delivery * pump of pump;
4, in adder II, input the torque value of engine target moment of torsion and pump, by adder II, the torque value of engine target moment of torsion and pump is asked to poor;
5, the difference between engine target moment of torsion and the torque value of pump is multiplied by the COEFFICIENT K 2 of setting, as output torque value N1;
6, the torque limited value comparison under engine target rotating speed by output torque value N1 and generator/motor, selects smaller value as the output torque of final generator/motor.
As shown in Figure 5, for the rotating speed under heavily loaded mode of operation, generator/motor being carried out adds the detailed description that compensated torque is controlled, concrete steps are as follows:
1, confirm that mode of operation is heavily loaded mode of operation; Under heavily loaded pattern, generator/motor is carried out to rotating speed compensation control and add compensated torque control;
2, obtain the now operating point of motor; Now, the operating point of the motor under heavily loaded mode of operation is at the external characteristic curve speed governing line intersection point corresponding with throttle gear; As shown in Figure 2, some A, some B, some C and some D are the target operating point of motor corresponding under different throttle gears;
3, detect the pressure of pump delivery and pump, and calculate the torque value of pump, the pressure of the torque value=pump delivery * pump of pump;
4, by the rotating speed of target input summer I of the actual speed of motor and motor;
5, in adder I, the rotating speed of target of the actual speed of motor and motor is asked to poor; In adder II, input the target torque of motor and the torque value of pump, by adder II, the torque value of the target torque of motor and pump is asked to poor;
6, the COEFFICIENT K 1 that the difference between the actual speed of motor and the rotating speed of target of motor (according to step 5 gained) is multiplied by setting is as output torque value N1 '; Difference between the target torque of motor and the torque value of pump is multiplied by the COEFFICIENT K 2 of setting as output torque value N1 ";
7, by output torque value N1 ' and output torque value N1, " in input summer III, be added, obtain output torque value N1;
8, the torque limited value comparison under engine target rotating speed by output torque value N1(step 7) and generator/motor, selects smaller value as the output torque of final generator/motor.
Fig. 2 has schematically represented the method for definite engine target described above operating point.
In Fig. 2, have the external characteristic curve of motor, speed governing line corresponding to the optimum oil consumption line of motor and different throttle signal, wherein, X-axis coordinate is rotating speed, and Y-axis coordinate is torque; Intersection point between the external characteristic curve of the motor speed governing line corresponding with throttle signal is the target operating point of motor under heavily loaded mode of operation, and putting as shown in Figure 2 A, some B, some C and some D is the target operating point of motor under heavily loaded mode of operation; Intersection point between the optimum oil consumption line of the motor speed governing line corresponding with throttle signal be in carry motor under mode of operation target operating point, the target operating point of carrying motor under mode of operation in putting as shown in Figure 2 E, some F, some G and some H and being; Point on speed governing line corresponding to throttle signal is the target operating point of motor under underloading mode of operation, putting as shown in Figure 2 I is under underloading mode of operation, the target operating point of motor during engine throttle 3 position, now fluctuate with pump moment of torsion in the operating point of motor, so change with loading on speed governing line under actual conditions.
The torque limited value that under above-described different rotating speeds, generator/motor is corresponding is provided by Fig. 6, and in Fig. 6, X-axis coordinate is rotating speed, and Y-axis coordinate is torque.
Finally, it is also to be noted that, what more than enumerate is only a specific embodiment of the present invention.The control method of the hybrid power engineering machinery except above-described aspect is identical with above-mentioned embodiment.And obviously, the invention is not restricted to above embodiment, can also have many distortion.In as described above, just adopted COEFFICIENT K 1, the situation that K2 is constant, but also can set this value with changing value or suitable function.Such as different operating modes adopts different coefficient etc.So all distortion that those of ordinary skill in the art can directly derive or associate from content disclosed by the invention, all should think protection scope of the present invention.
Claims (8)
1. hybrid excavator control method, comprises and has coaxial connected motor and the hybrid power engineering machinery of generator/motor structure; It is characterized in that: A, according to mode of operation and throttle gear, determine engine target operating point;
B, according to mode of operation, determine the control mode of generator/motor;
C, according to the control mode of generator/motor, calculate the output torque value N1 of generator/motor;
The torque limited value N2 of D, extraction generator/motor correspondence under engine target rotating speed;
E, by the corresponding torque limited value N2 comparison under engine target rotating speed of the output torque value N1 of generator/motor and generator/motor, get smaller value as final generator/motor moment of torsion output valve.
2. hybrid excavator control method according to claim 1, is characterized in that: described mode of operation be divided into heavily loaded mode of operation, in carry mode of operation and underloading mode of operation.
3. hybrid excavator control method according to claim 2, is characterized in that: engine target operating point is engine target torque and rotating speed of target.
4. hybrid excavator control method according to claim 3, is characterized in that: the engine target operating point determination under described heavily loaded mode of operation is at the external characteristic curve speed governing line intersection point corresponding with throttle gear;
In described, carry under mode of operation engine target operating point determination at the optimum oil consumption line speed governing line intersection point corresponding with throttle gear;
Under described underloading mode of operation engine target operating point on speed governing line corresponding to throttle gear with the change in torque of pump.
5. hybrid excavator control method according to claim 4, is characterized in that: the curve that described optimum oil consumption line is comprised of in the operating point of exporting fuel consume minimum under certain power motor;
Described external characteristic curve is the torque limit curve that mean engine can be exported under different rotating speeds;
The corresponding speed governing line of described throttle gear refers to that throttle gear determines the curve that in situation, engine speed changes with torque.
6. hybrid excavator control method according to claim 5, it is characterized in that: under underloading pattern, generator/motor is carried out to rotating speed compensation and control, the described rotating speed compensation that generator/motor is carried out is controlled the COEFFICIENT K 1 that the torque value that refers to generator/motor is multiplied by setting according to actual engine speed and engine target speed discrepancy and obtained.
7. hybrid excavator control method according to claim 6, it is characterized in that: in carry under pattern generator/motor carried out to compensated torque control, the described controlling torque compensation that generator/motor is carried out is controlled the COEFFICIENT K 2 that the torque value that refers to generator/motor is multiplied by setting according to hydraulic pump moment of torsion and engine target difference in torque and is obtained.
8. hybrid excavator control method according to claim 7, is characterized in that: under heavily loaded pattern, generator/motor is carried out to rotating speed compensation control and add compensated torque control.
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| CN201310365100.XA CN103711170B (en) | 2013-08-20 | 2013-08-20 | Hybrid excavator control method |
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| CN201310365100.XA CN103711170B (en) | 2013-08-20 | 2013-08-20 | Hybrid excavator control method |
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| CN103711170A true CN103711170A (en) | 2014-04-09 |
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Cited By (8)
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| CN104828090A (en) * | 2014-12-09 | 2015-08-12 | 北汽福田汽车股份有限公司 | Vehicle control method, device and vehicle |
| CN106470883A (en) * | 2014-06-20 | 2017-03-01 | 派克汉尼芬公司 | Power efficiency controlling organization for Work machine |
| CN108104191A (en) * | 2017-12-21 | 2018-06-01 | 柳州柳工挖掘机有限公司 | Excavator work gear intelligent control method |
| CN109778933A (en) * | 2017-11-13 | 2019-05-21 | 柳工常州机械有限公司 | A kind of bull-dozer double power curve control methods of engine |
| CN111336137A (en) * | 2020-03-26 | 2020-06-26 | 湖南机电职业技术学院 | Hydraulic hybrid power device and control method thereof |
| CN113605486A (en) * | 2021-10-11 | 2021-11-05 | 徐工集团工程机械股份有限公司科技分公司 | Loader traveling control system and control method thereof, loader and vehicle control unit |
| CN114319498A (en) * | 2021-12-23 | 2022-04-12 | 中联重科土方机械有限公司 | Control method and device for wheel type excavator, controller and wheel type excavator |
| RU2797703C1 (en) * | 2021-10-11 | 2023-06-07 | Хкмг Констракшн Машинери Ко., Лтд. Сайенс И Технолоджи Бранч | Forklift steering system and a method for controlling the same, a forklift and a vehicle controller |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106470883A (en) * | 2014-06-20 | 2017-03-01 | 派克汉尼芬公司 | Power efficiency controlling organization for Work machine |
| CN106470883B (en) * | 2014-06-20 | 2019-10-25 | 派克汉尼芬公司 | Power efficiency control mechanism for Work machine |
| CN104828090A (en) * | 2014-12-09 | 2015-08-12 | 北汽福田汽车股份有限公司 | Vehicle control method, device and vehicle |
| CN109778933A (en) * | 2017-11-13 | 2019-05-21 | 柳工常州机械有限公司 | A kind of bull-dozer double power curve control methods of engine |
| CN108104191A (en) * | 2017-12-21 | 2018-06-01 | 柳州柳工挖掘机有限公司 | Excavator work gear intelligent control method |
| CN111336137A (en) * | 2020-03-26 | 2020-06-26 | 湖南机电职业技术学院 | Hydraulic hybrid power device and control method thereof |
| CN113605486A (en) * | 2021-10-11 | 2021-11-05 | 徐工集团工程机械股份有限公司科技分公司 | Loader traveling control system and control method thereof, loader and vehicle control unit |
| WO2023060994A1 (en) * | 2021-10-11 | 2023-04-20 | 徐工集团工程机械股份有限公司科技分公司 | Loader locomotion control system and control method thereof, loader, and vehicle control unit |
| RU2797703C1 (en) * | 2021-10-11 | 2023-06-07 | Хкмг Констракшн Машинери Ко., Лтд. Сайенс И Технолоджи Бранч | Forklift steering system and a method for controlling the same, a forklift and a vehicle controller |
| CN114319498A (en) * | 2021-12-23 | 2022-04-12 | 中联重科土方机械有限公司 | Control method and device for wheel type excavator, controller and wheel type excavator |
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