CN103711598A - Hydraulic system adjusting equipment, hydraulic system adjusting method, hydraulic system power matching control system and engineering machinery - Google Patents
Hydraulic system adjusting equipment, hydraulic system adjusting method, hydraulic system power matching control system and engineering machinery Download PDFInfo
- Publication number
- CN103711598A CN103711598A CN201310642327.4A CN201310642327A CN103711598A CN 103711598 A CN103711598 A CN 103711598A CN 201310642327 A CN201310642327 A CN 201310642327A CN 103711598 A CN103711598 A CN 103711598A
- Authority
- CN
- China
- Prior art keywords
- hydraulic system
- centerdot
- actual torque
- pressure reduction
- electric current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000009467 reduction Effects 0.000 claims description 41
- 238000006073 displacement reaction Methods 0.000 claims description 31
- 230000001105 regulatory effect Effects 0.000 claims description 15
- 239000012530 fluid Substances 0.000 claims description 7
- 230000004044 response Effects 0.000 abstract description 6
- 238000011217 control strategy Methods 0.000 abstract description 4
- 230000004069 differentiation Effects 0.000 abstract 1
- 230000010354 integration Effects 0.000 abstract 1
- 230000008859 change Effects 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 9
- 230000001276 controlling effect Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Landscapes
- Fluid-Pressure Circuits (AREA)
- Control Of Positive-Displacement Pumps (AREA)
Abstract
The invention discloses hydraulic system adjusting equipment, a hydraulic system adjusting method, a hydraulic system power matching control system and engineering machinery. The equipment comprises a feedback controller, a feedforward controller and an output device. The feedback controller is used for acquiring actual torque and target torque of an engine, and performing PID (proportion integration differentiation) adjustment on the difference between the actual torque and the target torque to calculate a first control current. The feedforward controller is used for acquiring the preset differential pressure of a variable pump and calculating a second control circuit according to the preset differential pressure. The output device is connected with the feedback controller and the feedforward controller respectively, and is used for outputting a control current to a hydraulic system to adjust absorbing power of the hydraulic system, wherein the control current is based on the sum of the first control current and the second control current. Through the feedback and feedforward combined control strategy, accurate adjustment can be guaranteed, system response speed can be increased, and matching performance of the engine and variable pump hydraulic system under the suddenly-changed loading conditions can be improved.
Description
Technical field
The present invention relates to engineering machinery field, particularly, relate to Power Matching Control System and the engineering machinery of a kind of Engine-variable Pump System regulation of hydraulic system equipment, method, Engine-variable Pump System hydraulic system.
Background technique
For example, in engineering machinery (hoist), when the coupling design of carrying out motor and hydraulic system, for complete machine economy (as element cost, fuel consume etc.) consideration, meeting under most of operations working condition requirement, the output power curve that often can not make motor is always higher than the absorbed power curve of pump (hydraulic system), otherwise the rated power of motor will select very greatly, be unfavorable for energy-conservation and reduce manufacture, user cost, causing great waste.Therefore when hoist carries out some heavily loaded operation, if do not taked overload protection, when hydraulic system load is excessive, will cause engine misses.
Power limit match control technology is a kind of according to the intelligent electrohydraulic control technology of the automatic Moderator Variable pump hydraulic system of load variations, main according to the automatic Moderator Variable pump hydraulic system of the variation of load, reach the automatic object regulating of output power of variable displacement pump, realize on the one hand protection motor nonoverload, even if make hoist within the scope of full load, motor also can safety under any rotating speed, normal work, all the time enable the every control function of hoist, on the other hand, realizing variable displacement pump changes and carries out power match dynamic adjustments with engine power, pump absorbed power and engine output coupling, motor is without the margin of power, can realize the reliable operation of full load load, reach energy-saving effect.
Present stage, the common speed of response of control system for Moderator Variable pump hydraulic system is slower, when undergoing mutation, limit load or load variations be when very fast, system is controlled poor compliance, control system regulating load in time makes motor meet bearing power demand, engine misses probability is larger, has had a strong impact on the reliability of system.
Summary of the invention
The Power Matching Control System and the engineering machinery that the object of this invention is to provide a kind of Engine-variable Pump System regulation of hydraulic system equipment, method, Engine-variable Pump System hydraulic system, the fast-response of controlling with raising system.
To achieve these goals, the invention provides a kind of Engine-variable Pump System regulation of hydraulic system equipment, this equipment comprises: feed back control system, for obtaining actual torque and the target torque of described motor, and the difference in torque between described actual torque and described target torque is carried out to PID adjusting, to draw the first control electric current; Feedforward control device, for obtaining the default pressure reduction of described variable displacement pump, and calculates second according to described default pressure reduction and controls electric current; And output unit, be connected with described feedforward control device with described feed back control system, for exporting control electric current to described hydraulic system, with the absorbed power to this hydraulic system, regulate, wherein said control electric current be based on described first control electric current and described the second control electric current and.
The present invention also provides a kind of Power Matching Control System of Engine-variable Pump System hydraulic system, and this system comprises: described Engine-variable Pump System hydraulic system; And above-mentioned regulating equipment, for regulating described Engine-variable Pump System hydraulic system, the absorbed power of described variable displacement pump and the output power of described motor are matched.
The present invention also provides a kind of engineering machinery that comprises above-mentioned control system.
The present invention also provides a kind of Engine-variable Pump System regulation of hydraulic system method, the method comprises: actual torque and the target torque of obtaining described motor, and the difference in torque between described actual torque and described target torque is carried out to PID adjusting, to draw the first control electric current; Obtain the default pressure reduction of described variable displacement pump, and according to described default pressure reduction, calculate second and control electric current; And export control electric current to described hydraulic system, with the absorbed power to this hydraulic system, regulate, wherein said control electric current be based on described first control electric current and described the second control electric current and.
In technique scheme, by employing, feed back the control strategy combining with feedforward, the comprehensive advantage of feedback control and feedforward control, when guaranteeing accurately adjusting, improved the speed of response of system, improved the matching performance of motor and variable displacement pump hydraulic system under sudden change load working condition, thus stability and the reliability of raising system.
Other features and advantages of the present invention partly in detail are described the embodiment subsequently.
Accompanying drawing explanation
Accompanying drawing is to be used to provide a further understanding of the present invention, and forms a part for specification, is used from explanation the present invention, but is not construed as limiting the invention with embodiment one below.In the accompanying drawings:
Fig. 1 is the variable displacement pump Hydraulic System Principle sketch of crane hoisting mechanism list actuator system;
Fig. 2 is the structural drawing of the Power Matching Control System of Engine-variable Pump System hydraulic system according to the embodiment of the present invention;
Fig. 3 is according to the structural drawing of the Power Matching Control System of the Engine-variable Pump System hydraulic system of another embodiment of the present invention; And
Fig. 4 is the flow chart of Engine-variable Pump System regulation of hydraulic system method according to the embodiment of the present invention.
Description of reference numerals
1 variable pump systems 2 main control valve system 3 hoisting mechanism systems
1.1 main pump 1.2 load-sensitive Flow valve 1.3 reduction valve
2.1 pressure compensator 2.2 main valve 101 feed back control systems
102 feedforward control device 103 output unit 104 reception units
105 computing device 201 motor 202 variable controlling mechanisms
203 variable displacement pump 204 main control valve 205 actuators
100 Engine-variable Pump System regulation of hydraulic system equipment 200 Engine-variable Pump System hydraulic systems
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, embodiment described herein only, for description and interpretation the present invention, is not limited to the present invention.
Fig. 1 shows the variable displacement pump Hydraulic System Principle sketch of crane hoisting mechanism list actuator system, and as shown in Figure 1, this system is mainly comprised of variable pump systems 1, main control valve system 2 and hoisting mechanism system 3 three parts.When main valve 2.2 is opened, when system has traffic demand, the stroking mechanism of pump (load-sensitive Flow valve 1.2 and reduction valve 1.3) can change the discharge capacity of main pump 1.1 automatically, controls the size of output flow.
Default pressure differential deltap p is comprised of two-part, and a part is the pressure differential deltap p that load-sensitive Flow valve 1.2 mechanical springs are set
lS; Another part is by reduction valve 1.3 outlet pressure p
vproduce equivalent pressure differential deltap p
v=kp
v=f (i
c), wherein k is equivalent conversion coefficient, Δ p
vfor reduction valve is controlled current i
cfunction f (i
c); What the final default pressure differential deltap p of variable displacement pump was two-part is poor, that is:
Δ p=Δ p
lS-Δ p
v=Δ p
lS-f (i
c) equation (1)
According to fluid mechanics principle: when the default pressure differential deltap p of variable displacement pump is less than the default pressure differential deltap p of pressure compensator 2.1
comtime, flow system flow Q is:
A=f (i), equation (3)
Wherein, i is that main valve is controlled electric current, C
qfor flow coefficient, A is main valve area of passage, is the function relation that main valve is controlled current i, and ρ is fluid density.
Therefore, from equation (1) and (2), can find out, constant when main valve 2.2 apertures, when area of passage A is constant, changes Δ p and can change flow system flow.Pressure differential deltap p due to mechanical spring setting
lSconstant, therefore change the control current i of reduction valve
ccan change the flow Q of system.
On the other hand, when reduction valve is controlled current i
cconstant, when pressure differential deltap p is constant, change main valve current i, main valve area of passage A changes, and can change flow system flow Q.
As can be seen here, default pressure differential deltap p and the two kinds of modes of main valve current i by Moderator Variable pump can realize the adjusting to flow system flow Q.The present invention around this principle regulates control to load flow, to meet the power match between crane engine-variable displacement pump hydraulic system.
Fig. 2 shows the structural drawing of the Power Matching Control System of Engine-variable Pump System hydraulic system according to the embodiment of the present invention.As shown in Figure 2, this system can comprise: Engine-variable Pump System hydraulic system 200, and this Engine-variable Pump System hydraulic system 200 comprises motor 201, variable controlling mechanism 202, variable displacement pump 203, main control valve 204 and actuator 205; And Engine-variable Pump System regulation of hydraulic system equipment 100, for regulating described Engine-variable Pump System hydraulic system 200, the absorbed power of variable displacement pump 203 and the output power of motor 201 are matched.
Particularly, Engine-variable Pump System regulation of hydraulic system equipment 100 can comprise feed back control system 101, for obtaining the actual torque T of described motor 201
awith target torque T
c, and to described actual torque T
awith described target torque T
cbetween difference in torque T
ecarry out PID adjusting, to draw the first control current i
pid; Feedforward control device 102, for obtaining the default pressure differential deltap p of described variable displacement pump 203, and calculates second according to described default pressure differential deltap p and controls current i
y; And output unit 103, be connected with described feedforward control device 102 with described feed back control system 101, for controlling current i
cfor example export described hydraulic system 200(to, the variable controlling mechanism 202 in input value hydraulic system 200), so that the absorbed power of this hydraulic system 200 is regulated, wherein said control current i
cto control current i based on described first
pidwith described the second control current i
yand, for example, i
c=i
pid+ i
y.
Thus, by employing, feed back and the coordination control strategy that combines of feedforward, the comprehensive advantage of feedback control and feedforward control, when guaranteeing accurate adjusting, improve the speed of response of system, especially improved motor under sudden change load working condition and the power match performance of variable displacement pump.
After feedforward control device 102 gets the default pressure differential deltap p of variable displacement pump 203, it can estimate the second control current i according to this Δ p
y.As mentioned above, i
c=i
pid+ i
y, to the second control current i
ywhile estimating, can suppose i
pid=0, thus, i
c=i
y.Now, can utilize equation (1) to estimate the second control current i
y, i.e. Δ p=Δ p
lS-f (i
y), Δ p wherein
lSfor the default pressure reduction of one in described hydraulic system 200 (as described in conjunction with Figure 1 above, being the pressure reduction of load-sensitive Flow valve 1.2 mechanical springs settings particularly).
In addition, as shown in Figure 3, described Engine-variable Pump System regulation of hydraulic system equipment 100 can also comprise: reception unit 104, and for receiving the rotation speed n of described motor 201
e, the main control valve 204 in actual torque percentage η and described hydraulic system 200 induced pressure P
l; And computing device 105, for according to described engine speed n
ecalculate the target torque T of described motor
c, according to described actual torque percentage η and engine speed n
ecalculate the actual torque T of described motor
a, and according to described engine speed n
e, described actual torque percentage η, described induced pressure P
l, described actual torque T
acalculate the default pressure differential deltap p of described variable displacement pump 203 with the area of passage A of described main control valve, and by described target torque T
cwith described actual torque T
abe sent to described feed back control system 101, and described default pressure differential deltap p is sent to described feedforward control device 102.
Particularly, computing device 105 can calculate described default pressure differential deltap p according to following mode:
Wherein, T
afor the actual torque of described motor, the actual torque percentage that η is described motor, the flow that Q is described hydraulic system, P
lfor described induced pressure, n
efor the rotating speed of described motor, C
qfor flow coefficient, A is the area of passage of described main control valve 204, and ρ is fluid density, and Δ p is described default pressure reduction.
As previously mentioned, regulating system flow Q has two kinds of modes, and the one, suppose that main control valve area of passage A is constant, by regulating default pressure differential deltap p to carry out regulating system flow Q, another is that the default pressure differential deltap p of hypothesis is constant, by regulating main control valve area of passage A to carry out regulating system flow Q.The regulating method that above-described Engine-variable Pump System regulation of hydraulic system equipment 100 is used is just based on first kind of way.In this case, when utilizing equation (5) to calculate default pressure differential deltap p, main control valve area of passage A is certain value.
As previously mentioned, main control valve area of passage A and main control valve are controlled between current i and are had following relation: A=f (i).And main control valve control current i is relevant with the handle signal (for controlling the aperture of main control valve) of this main control valve.When handle signal one timing of main control valve, main control valve is controlled current i and is certain value, and main control valve area of passage A is also certain value.Therefore,, by obtaining handle signal, can draw the area of passage A of main control valve.
Yet in actual control system, the regulation range of default pressure differential deltap p is limited often, when Δ p hour, Q is minimum for system output stream amount, there is the phenomenon that mechanism loading is failure to actuate in system cisco unity malfunction, has had a strong impact on the handling of system.For this reason, the present invention has increased main control valve maximum constraints Current Control in above-mentioned Power Matching Control System, that is, by the maximum constraints electric current to main control valve 204, regulate, and changes the area of passage A of main control valve 204, and then regulating system flow Q.
Particularly, after feedforward control device 102 gets the default pressure differential deltap p of variable displacement pump 203, by this default pressure differential deltap p and Minimum differntial pressure Δ p
min(can obtain by experiment, and can adjust according to real system, be a constant) compares, and at described default pressure differential deltap p, is more than or equal to described Minimum differntial pressure Δ p
minsituation under, described feedforward control device 102 calculates described second according to described default pressure differential deltap p and controls current i
y(as described above, Δ p=Δ p
lS-f (i
y)), and now the maximum constraints electric current of main control valve 204 is the maximum current (being a constant) of this main control valve 204 own.At described default pressure differential deltap p, be less than described Minimum differntial pressure Δ p
minsituation under, described feedforward control device 102 is according to described Minimum differntial pressure Δ p
mincalculate described second and control current i
y(Δ p in this case,
min=Δ p
lS-f (i
y)).That is to say, if default pressure differential deltap p is less than allowed Minimum differntial pressure Δ p
min, feedforward control device 102 can determine that now default pressure differential deltap p is too small, utilizes Minimum differntial pressure Δ p
mincalculate the second control current i
y, and then carry out feed-forward regulation.
Meanwhile, at feedforward control device 102, determine described default pressure differential deltap p and be less than described Minimum differntial pressure Δ p
minsituation under, according to engine speed n
e, the main control valve 204 in actual torque percentage η, described hydraulic system induced pressure P
l, described actual torque T
awith described Minimum differntial pressure Δ p
mincalculate the maximum current i of described main control valve 204
max, and the maximum constraints electric current of described main control valve 204 is adjusted to described maximum current i
max.Particularly, described feedforward control device 102 can calculate according to following mode the maximum current i of main control valve 204
max:
A=f (
imax) equation (8)
First, feedforward control device 102 can be first according to engine speed n
e, actual torque percentage η, induced pressure P
l, and actual torque T
aand equation (6) calculates flow system flow Q, yet according to Minimum differntial pressure Δ p
minwith equation (7) calculates the area of passage A of main control valve 204, finally utilize equation (8) to calculate the maximum current i of main control valve 204
max.
Thus, feeding back, in feed-forward regulation, also the maximum constraints electric current of main control valve is regulated, and then realize the Collaborative Control of the default pressure reduction of variable displacement pump and these two kinds of modes of main control valve area of passage, improved can not regular event due to the too small actuator causing of Δ p problem, especially increase the adjustable extent that system is controlled, reduced the flame-out probability of overload of motor.
The present invention is also applied to engineering machinery by above-mentioned Power Matching Control System, for example hoist.
Fig. 4 shows the flow chart of Engine-variable Pump System regulation of hydraulic system method according to the embodiment of the present invention.As shown in Figure 4, the method can comprise: step 401, the rotation speed n of reception motor
e, actual torque percentage η and main control valve induced pressure P
l.Step 402, according to described engine speed n
ecalculate the target torque T of described motor
c, according to the rotation speed n of described actual torque percentage η and motor
ecalculate the actual torque T of described motor
a.Calculating the target torque T of motor
cwith actual torque T
aafterwards, step 404, to described actual torque T
awith described target torque T
cbetween difference in torque T
ecarry out PID adjusting, to draw the first control current i
pid.Described method also comprises: step 403, and according to described engine speed n
e, described actual torque percentage η, described induced pressure P
l, described actual torque T
acalculate the default pressure differential deltap p of described variable displacement pump with the area of passage A of described main control valve.Step 405, judges whether described default pressure differential deltap p is less than Minimum differntial pressure Δ p
min.At described default pressure differential deltap p, be more than or equal to Minimum differntial pressure Δ p
minsituation under, step 406, calculates second according to this default differential pressure Δ p and controls current i
y; At described default pressure differential deltap p, be less than Minimum differntial pressure Δ p
minsituation under, step 407, according to this Minimum differntial pressure Δ p
mincalculate second and control current i
y.Drawing the second control current i
yafterwards, step 408, controls current i according to described first
pidwith the second control current i
ycalculate and control current i
c.Afterwards, step 411, controls current i by this
cexport hydraulic system to, with the absorbed power to this hydraulic system, regulate.
Described method can also comprise: at described default pressure differential deltap p, be less than Minimum differntial pressure Δ p
minsituation under, step 409, calculates the maximum current i of main control valve
max, afterwards, step 410, is adjusted to calculated maximum current i by the maximum constraints electric current of main control valve
max.Finally, whether step 412, quit work.If so, finish, otherwise, be back to step 401 and proceed to regulate.
Thus, pass through technique scheme, due to the control strategy that adopts feedback to combine with feedforward, the comprehensive advantage of feedback control and feedforward control, when guaranteeing accurately adjusting, improve the speed of response of system, improved the matching performance of motor and variable displacement pump hydraulic system under sudden change load working condition, thus stability and the reliability of raising system.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned mode of execution; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technological scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition each the concrete technical characteristics described in above-mentioned embodiment, in reconcilable situation, can combine by any suitable mode.For fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible compound modes.
In addition, between various mode of execution of the present invention, also can carry out combination in any, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (16)
1. an Engine-variable Pump System regulation of hydraulic system equipment, is characterized in that, this equipment comprises:
Feed back control system, for obtaining actual torque and the target torque of described motor, and carries out PID adjusting to the difference in torque between described actual torque and described target torque, to draw the first control electric current;
Feedforward control device, for obtaining the default pressure reduction of described variable displacement pump, and calculates second according to described default pressure reduction and controls electric current; And
Output unit, be connected with described feedforward control device with described feed back control system, for exporting control electric current to described hydraulic system, with the absorbed power to this hydraulic system, regulate, wherein said control electric current be based on described first control electric current and described the second control electric current and.
2. equipment according to claim 1, is characterized in that, described feedforward control device calculates in the following manner described second and controls electric current:
Δp=Δp
LS-f(i
y)
Wherein, the default pressure reduction that Δ p is described variable displacement pump, Δ p
lSfor the default pressure reduction of one in described hydraulic system, and f (i) is described the second control current i
yfunction.
3. equipment according to claim 1, is characterized in that, this equipment also comprises:
Reception unit, for receiving the induced pressure of main control valve of rotating speed, actual torque percentage and the described hydraulic system of described motor; And
Computing device, for calculate the target torque of described motor according to described engine speed, according to described actual torque percentage and described engine speed, calculate the actual torque of described motor, and the default pressure reduction that calculates described variable displacement pump according to the area of passage of described engine speed, described actual torque percentage, described induced pressure, described actual torque and described main control valve, and described target torque and described actual torque are sent to described feed back control system, and described default pressure reduction is sent to described feedforward control device.
4. equipment according to claim 3, is characterized in that, described computing device calculates described default pressure reduction according to following mode:
Wherein, T
afor the actual torque of described motor, the actual torque percentage that η is described motor, the flow that Q is described hydraulic system, P
lfor described induced pressure, n
efor the rotating speed of described motor, C
qfor flow coefficient, the area of passage that A is described main control valve, ρ is fluid density, and Δ p is described default pressure reduction.
5. equipment according to claim 1, is characterized in that, described feedforward control device also for:
After getting the default pressure reduction of described variable displacement pump, this default pressure reduction and Minimum differntial pressure are compared, in the situation that described default pressure reduction is more than or equal to described Minimum differntial pressure, described feedforward control device calculates described second according to described default pressure reduction and controls electric current; Or
In the situation that described default pressure reduction is less than described Minimum differntial pressure, described feedforward control device calculates described second according to described Minimum differntial pressure and controls electric current.
6. equipment according to claim 5, is characterized in that, described feedforward control device also for:
In the situation that described default pressure reduction is less than described Minimum differntial pressure, according to the induced pressure of the main control valve in engine speed, actual torque percentage, described hydraulic system, described actual torque and described Minimum differntial pressure, calculate the maximum current of described main control valve, and the maximum constraints electric current of described main control valve is adjusted to described maximum current.
7. equipment according to claim 6, is characterized in that, described feedforward control device calculates the maximum current of described main control valve according to following mode:
A=f(i
max)
Wherein, T
afor the actual torque of described motor, the actual torque percentage that η is described motor, the flow that Q is described hydraulic system, P
lfor described induced pressure, n
efor the rotating speed of described motor, C
qfor flow coefficient, the area of passage that A is described main control valve, ρ is fluid density, Δ p
minfor described Minimum differntial pressure, and f (i
max) be described maximum current i
maxfunction.
8. a Power Matching Control System for Engine-variable Pump System hydraulic system, is characterized in that, this system comprises:
Described Engine-variable Pump System hydraulic system; And
According to the equipment described in arbitrary claim in claim 1-7, for regulating described Engine-variable Pump System hydraulic system, the absorbed power of described variable displacement pump and the output power of described motor are matched.
9. an engineering machinery that comprises system claimed in claim 8.
10. an Engine-variable Pump System regulation of hydraulic system method, is characterized in that, the method comprises:
Obtain actual torque and the target torque of described motor, and the difference in torque between described actual torque and described target torque is carried out to PID adjusting, to draw the first control electric current;
Obtain the default pressure reduction of described variable displacement pump, and according to described default pressure reduction, calculate second and control electric current; And
Export control electric current to described hydraulic system, with the absorbed power to this hydraulic system, regulate, wherein said control electric current be based on described first control electric current and described the second control electric current and.
11. methods according to claim 10, is characterized in that, calculate in the following manner described second and control electric current:
Δp=Δp
LS-f(i
y)
Wherein, the default pressure reduction that Δ p is described variable displacement pump, Δ p
lSfor the default pressure reduction of one in described hydraulic system, and f (i) is described the second control current i
yfunction.
12. methods according to claim 10, is characterized in that, the method also comprises:
Receive the induced pressure of the main control valve in rotating speed, actual torque percentage and the described hydraulic system of described motor;
According to described engine speed, calculate the target torque of described motor;
According to described actual torque percentage and described engine speed, calculate the actual torque of described motor; And
According to the area of passage of described engine speed, described actual torque percentage, described induced pressure, described actual torque and described main control valve, calculate the default pressure reduction of described variable displacement pump.
13. methods according to claim 12, is characterized in that, according to following mode, calculate described default pressure reduction:
Wherein, T
afor the actual torque of described motor, the actual torque percentage that η is described motor, the flow that Q is described hydraulic system, P
lfor described induced pressure, n
efor the rotating speed of described motor, C
qfor flow coefficient, the area of passage that A is described main control valve, ρ is fluid density, and Δ p is described default pressure reduction.
14. methods according to claim 10, is characterized in that, the method also comprises:
After getting the default pressure reduction of described variable displacement pump, this default pressure reduction and Minimum differntial pressure are compared, in the situation that described default pressure reduction is more than or equal to described Minimum differntial pressure, according to described default pressure reduction, calculates described second and control electric current; Or
In the situation that described default pressure reduction is less than described Minimum differntial pressure, according to described Minimum differntial pressure, calculates described second and control electric current.
15. methods according to claim 14, is characterized in that, the method also comprises:
In the situation that described default pressure reduction is less than described Minimum differntial pressure, according to the induced pressure of the main control valve in engine speed, actual torque percentage, described hydraulic system, described actual torque and described Minimum differntial pressure, calculate the maximum current of described main control valve, and the maximum constraints electric current of described main control valve is adjusted to described maximum current.
16. methods according to claim 15, is characterized in that, calculate the maximum current of described main control valve according to following mode:
A=f(i
max)
Wherein, T
afor the actual torque of described motor, the actual torque percentage that η is described motor, the flow that Q is described hydraulic system, P
lfor described induced pressure, n
efor the rotating speed of described motor, C
qfor flow coefficient, the area of passage that A is described main control valve, ρ is fluid density, Δ p
minfor described Minimum differntial pressure, and f (i
max) be described maximum current i
maxfunction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310642327.4A CN103711598B (en) | 2013-12-03 | 2013-12-03 | Regulation of hydraulic system equipment, method, Power Matching Control System and engineering machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310642327.4A CN103711598B (en) | 2013-12-03 | 2013-12-03 | Regulation of hydraulic system equipment, method, Power Matching Control System and engineering machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103711598A true CN103711598A (en) | 2014-04-09 |
| CN103711598B CN103711598B (en) | 2016-02-10 |
Family
ID=50404876
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310642327.4A Active CN103711598B (en) | 2013-12-03 | 2013-12-03 | Regulation of hydraulic system equipment, method, Power Matching Control System and engineering machinery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103711598B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104265473A (en) * | 2014-07-28 | 2015-01-07 | 上海华兴数字科技有限公司 | Energy-saving control system for engine and engineering machinery |
| CN104405707A (en) * | 2014-10-21 | 2015-03-11 | 恒天创丰重工有限公司 | Multi-pump hydraulic system and power control method thereof |
| CN105278559A (en) * | 2015-11-19 | 2016-01-27 | 西安建筑科技大学 | Variable speed hydraulic power supply compound compensation control system and method |
| CN111750257A (en) * | 2020-06-10 | 2020-10-09 | 东风汽车集团有限公司 | Control method and system for vehicle variable displacement engine oil pump |
| CN113090600A (en) * | 2021-03-31 | 2021-07-09 | 三一汽车起重机械有限公司 | Variable differential pressure multi-mode load sensitive hydraulic control system and method and engineering machinery |
| CN114137828A (en) * | 2021-12-30 | 2022-03-04 | 中联重科股份有限公司 | Dynamic PID control method, system and storage medium for engineering machinery power matching |
| CN114688004A (en) * | 2022-03-16 | 2022-07-01 | 三一重机有限公司 | Flow distribution method and device and working machine |
| CN115324758A (en) * | 2022-08-16 | 2022-11-11 | 中联重科股份有限公司 | Power control method for excavator |
| CN115434819A (en) * | 2022-08-12 | 2022-12-06 | 中联重科股份有限公司 | Method and device for controlling power matching, electronic equipment and engineering machinery |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02275012A (en) * | 1989-04-18 | 1990-11-09 | Aisin Seiki Co Ltd | Rotation controller for vehicle cooling fan |
| CN102505996A (en) * | 2011-11-28 | 2012-06-20 | 上海中联重科桩工机械有限公司 | Power matching system for electronic control engine and volume adjustable hydraulic pump and method |
| CN102536761A (en) * | 2011-12-26 | 2012-07-04 | 中联重科股份有限公司 | Engineering machinery as well as power control system and power control method of non-electrically-controlled hydraulic pump |
| CN102748202A (en) * | 2012-07-04 | 2012-10-24 | 徐工集团工程机械股份有限公司 | Control method and system for torque of hydraulic pump motor |
| WO2013020282A1 (en) * | 2011-08-10 | 2013-02-14 | 长沙中联重工科技发展股份有限公司 | Control method for hydraulic system and control method for concrete pump truck |
| CN103195696A (en) * | 2013-03-29 | 2013-07-10 | 中联重科股份有限公司 | Engineering machine, concrete pumping system and control device and method thereof |
-
2013
- 2013-12-03 CN CN201310642327.4A patent/CN103711598B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02275012A (en) * | 1989-04-18 | 1990-11-09 | Aisin Seiki Co Ltd | Rotation controller for vehicle cooling fan |
| WO2013020282A1 (en) * | 2011-08-10 | 2013-02-14 | 长沙中联重工科技发展股份有限公司 | Control method for hydraulic system and control method for concrete pump truck |
| CN102505996A (en) * | 2011-11-28 | 2012-06-20 | 上海中联重科桩工机械有限公司 | Power matching system for electronic control engine and volume adjustable hydraulic pump and method |
| CN102536761A (en) * | 2011-12-26 | 2012-07-04 | 中联重科股份有限公司 | Engineering machinery as well as power control system and power control method of non-electrically-controlled hydraulic pump |
| CN102748202A (en) * | 2012-07-04 | 2012-10-24 | 徐工集团工程机械股份有限公司 | Control method and system for torque of hydraulic pump motor |
| CN103195696A (en) * | 2013-03-29 | 2013-07-10 | 中联重科股份有限公司 | Engineering machine, concrete pumping system and control device and method thereof |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104265473A (en) * | 2014-07-28 | 2015-01-07 | 上海华兴数字科技有限公司 | Energy-saving control system for engine and engineering machinery |
| CN104265473B (en) * | 2014-07-28 | 2018-02-13 | 上海华兴数字科技有限公司 | The energy-saving control system and engineering machinery of a kind of engine |
| CN104405707A (en) * | 2014-10-21 | 2015-03-11 | 恒天创丰重工有限公司 | Multi-pump hydraulic system and power control method thereof |
| CN104405707B (en) * | 2014-10-21 | 2016-06-01 | 恒天创丰重工有限公司 | A kind of split-pump hydraulic system and Poewr control method thereof |
| CN105278559A (en) * | 2015-11-19 | 2016-01-27 | 西安建筑科技大学 | Variable speed hydraulic power supply compound compensation control system and method |
| CN111750257A (en) * | 2020-06-10 | 2020-10-09 | 东风汽车集团有限公司 | Control method and system for vehicle variable displacement engine oil pump |
| CN111750257B (en) * | 2020-06-10 | 2021-05-11 | 东风汽车集团有限公司 | Control method and system for vehicle variable displacement engine oil pump |
| CN113090600B (en) * | 2021-03-31 | 2023-09-29 | 三一汽车起重机械有限公司 | Variable differential and differential mode load sensitive hydraulic control system and method and engineering machinery |
| CN113090600A (en) * | 2021-03-31 | 2021-07-09 | 三一汽车起重机械有限公司 | Variable differential pressure multi-mode load sensitive hydraulic control system and method and engineering machinery |
| CN114137828A (en) * | 2021-12-30 | 2022-03-04 | 中联重科股份有限公司 | Dynamic PID control method, system and storage medium for engineering machinery power matching |
| CN114688004A (en) * | 2022-03-16 | 2022-07-01 | 三一重机有限公司 | Flow distribution method and device and working machine |
| CN114688004B (en) * | 2022-03-16 | 2023-10-27 | 三一重机有限公司 | Flow distribution method and device and working machine |
| CN115434819A (en) * | 2022-08-12 | 2022-12-06 | 中联重科股份有限公司 | Method and device for controlling power matching, electronic equipment and engineering machinery |
| 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 |
| CN115324758A (en) * | 2022-08-16 | 2022-11-11 | 中联重科股份有限公司 | Power control method for excavator |
| CN115324758B (en) * | 2022-08-16 | 2024-02-13 | 中联重科股份有限公司 | Excavator power control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103711598B (en) | 2016-02-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103711598B (en) | Regulation of hydraulic system equipment, method, Power Matching Control System and engineering machinery | |
| CN100564898C (en) | Electro-hydraulic proportional flow valve speed regulating control system and method | |
| CN102505996B (en) | Power matching system for electronic control engine and volume adjustable hydraulic pump and method | |
| CN103174471B (en) | Parameter-varying load optimization control method of thermal power generating unit | |
| CN100422451C (en) | Mechanical digger full power control system and method | |
| CN103362666B (en) | Power match control apparatus, method, system and engineering machinery | |
| CN109695599B (en) | Variable hydraulic system, pump output flow control method and engineering machinery | |
| KR102054520B1 (en) | Control method for Hydraulic system of Construction machinery | |
| CN103670750A (en) | Power limit matching control system, method and device and engineering machine | |
| CN102624299A (en) | Anti-saturation PID (Proportion Integration Differentiation) control method for motor speed regulation system | |
| RU2726767C1 (en) | Control system and method of controlling fluid distribution system | |
| CN108280245B (en) | Damping characteristic analysis method of water turbine speed regulating system | |
| CN106647837A (en) | Method and controller for controlling hydraulic system, and machine | |
| CN111352450B (en) | Digital proportional valve flow control system and method | |
| CN111045321B (en) | Method for coordinately controlling embedded internal model controller under deep peak regulation | |
| CN105278559A (en) | Variable speed hydraulic power supply compound compensation control system and method | |
| CN205527473U (en) | Dig rig soon and prevent falling fast control system thereof | |
| CN102864810B (en) | A kind of engineering machinery hydraulic energy saver and control method and excavator | |
| CN205388710U (en) | Change fast hydraulic power source flow control system | |
| CN202856678U (en) | Permanent magnet generator set voltage stabilizing device | |
| CN103236715B (en) | Regulating method for speed regulator mechanical open limit of generation set | |
| CN102828944B (en) | Engineering machinery and pump flow control system thereof and method | |
| CN104500338A (en) | Wind power generation active yawing variable-speed stall control system | |
| CN102864808A (en) | Excavator intelligent control hydraulic system and control method thereof | |
| CN202787371U (en) | Intelligent control hydraulic system of excavator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent of invention or patent application | ||
| CB02 | Change of applicant information |
Address after: 410013 Yuelu District, Hunan, silver basin Road, No. 361, No. Applicant after: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Address before: 410007 ZOOMLION grand pond Industrial Park, Yuanda Road, Changsha economic and Technological Development Zone, Changsha, Hunan 2, China Applicant before: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 410007 CHANGSHA, HUNAN PROVINCE TO: 410013 CHANGSHA, HUNAN PROVINCE |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |