CN103726943A - Engine control method, controller, control system and crane - Google Patents
Engine control method, controller, control system and crane Download PDFInfo
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- CN103726943A CN103726943A CN201310684166.5A CN201310684166A CN103726943A CN 103726943 A CN103726943 A CN 103726943A CN 201310684166 A CN201310684166 A CN 201310684166A CN 103726943 A CN103726943 A CN 103726943A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000000446 fuel Substances 0.000 description 4
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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- Combined Controls Of Internal Combustion Engines (AREA)
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Abstract
The invention discloses a control method, a controller, a control system and a crane of an engine, which are used for preventing the engine from being accidentally flameout and improving the use safety of the crane. The control method comprises the steps of obtaining opening information of an accelerator pedal of an engine; obtaining target rotating speed information of the engine corresponding to the obtained opening information of the accelerator pedal according to the obtained corresponding relation between the opening information of the accelerator pedal of the engine and the rotating speed of the engine; acquiring actual rotating speed information of an engine; storing the obtained actual rotating speed information of the engine, and updating a rotating speed storage value according to a preset updating period; the target rotational speed information or the rotational speed adjustment information is output to the engine control unit.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to a kind of controlling method, controller, control system and hoist of motor.
Background technique
At present; in engineering lifting field; the use of hoist is more and more frequent; in using the process of crane gear; often there will be hoist overwork, the situation of motor accident extinguishing, as motor operates in 1000rpm; and now crane load amount exceeds motor output power now, motor is easy to stop working.
In prior art, need operator rule of thumb to judge the actual situation of hanging between carrying capacity and engine output of hoist, if find, crane load amount exceeds motor output power (being that motor will stop working) now, as shown in Figure 1, Fig. 1 engine throttle pedal structure of the prior art schematic diagram, operator's pedal 01 of need to stepping on the throttle rapidly, increase accelerator open degree, control unit of engine carrys out the fuel injection quantity of control engine etc. according to the throttle opening information receiving, and then the output power of increase motor, prevent from stopping working.
But; this determination methods of the prior art; mainly by operator, rule of thumb judge and operate; the promptness reliability poor and artificial judgement of judgement also can not guarantee; if error in judgement, motor accident extinguishing in craning weight of same process, shear leg loses driving force; even if having hydraulic system and mechanical lock protection, also easily cause certain danger.
Summary of the invention
The embodiment of the present invention provides a kind of controlling method, controller, control system and hoist of motor, in order to prevent motor accident extinguishing, improves the safety in utilization of hoist.
The controlling method of motor provided by the invention, comprising:
Obtain the opening information of the gas pedal of motor;
According to the corresponding relation of the rotating speed of the opening information of the gas pedal of the motor obtaining and motor, obtain the rotating speed of target information of the motor corresponding with the opening information of the gas pedal of obtaining;
Obtain the actual speed information of motor;
The actual speed information of the motor that storage is obtained, with predefined revision cycle renewal rotating speed storing value;
To control unit of engine export target rotary speed information or adjustment of rotational speed information; Wherein:
When described actual speed information is more than or equal to the critical speed of rotation of predefined engine misses, to control unit of engine, export described rotating speed of target information; When described actual speed information is less than described predefined critical speed of rotation, to the adjustment of rotational speed information of control unit of engine output for according to current rotating speed storing value, engine idle, obtain with corresponding relation between adjustment of rotational speed information with current rotating speed storing value and adjustment of rotational speed information corresponding to engine idle.
The controlling method of motor provided by the invention, by the opening information of gas pedal, calculate the rotating speed of target information of motor, obtain the actual speed information of motor, and store this actual speed information, (being the revision cycle) updates the rotating speed storing value corresponding to actual speed information of storage at set intervals, that is to say after a period of time, the actual speed information of storing in memory module becomes this actual speed information of (moment of correspondence after a period of time) acquisition constantly.When actual speed information is more than or equal to predefined critical speed of rotation, to control unit of engine, export described rotating speed of target information, control unit of engine is according to the output power of this rotating speed of target information control engine; When actual speed information is less than predefined critical speed of rotation, the adjustment of rotational speed information that flows to control unit of engine is the basis adjustment of rotational speed information that now corresponding relation between rotating speed storing value, engine idle and adjustment of rotational speed information obtains, and control unit of engine is according to the output power of this adjustment of rotational speed information control engine.
Visible, the controlling method of motor provided by the invention, by gathering the opening information of gas pedal, obtains the practical operation situation of motor according to throttle opening information, can automatically regulate the output power of motor, to prevent that the output power of motor is less than crane load amount.
So the controlling method of motor provided by the invention, has prevented motor accident extinguishing, has improved the safety in utilization of hoist.
In some optional mode of executions, the adjustment of rotational speed information that described that obtain with corresponding relation between adjustment of rotational speed information according to current rotating speed storing value, engine idle and current rotating speed storing value and engine idle are corresponding is specially:
V＝V
1+V
b*a%，
Wherein, V is adjustment of rotational speed information; V
1current rotating speed storing value; V
bfor engine idle; A is predefined constant.
In some optional mode of executions, the value of described a is 50.
In some optional mode of executions, the described predefined revision cycle is 5～10 seconds.Such as: 5 seconds, 6 seconds, 7 seconds, 8 seconds, 9 seconds, 10 seconds etc., just repeat no longer one by one here.If will arrange the revision cycle too short, when engine misses constantly, the data of controller record are the actual speed that approaches motor all the time, motor speed-raising remains under the rotating speed of brennschuluss time and promotes, and does not reach and prevents flame-out effect; If revision cycle overlong time is set, for engine speed, follow the process that accelerator open degree changes, it is very poor that the actual effect of data can become, and can not finely complete the object of control.
In some optional mode of executions, described predefined critical speed of rotation is specially:
V
2＝V
b-k，
Wherein, V
2for critical speed of rotation; V
bfor engine idle; K is predefined constant.
The controller of the motor that the present invention also provides, comprising:
The first receiving module, for receiving the opening information of the gas pedal of the motor getting;
Computing module, for according to the opening information of gas pedal of motor and the corresponding relation of the rotating speed of motor that receive, obtains the rotating speed of target information of the motor corresponding with the opening information of the gas pedal of obtaining;
The second receiving module, for receiving the actual speed information of the motor getting;
Memory module, the actual speed information of the motor that storing received arrives, with predefined revision cycle renewal rotating speed storing value;
Control module, to control unit of engine export target rotary speed information or adjustment of rotational speed information; Wherein:
When described actual speed information is more than or equal to the critical speed of rotation of predefined engine misses, to control unit of engine, export described rotating speed of target information; When described actual speed information is less than described predefined critical speed of rotation, to the adjustment of rotational speed information of control unit of engine output for according to current rotating speed storing value, engine idle, obtain with corresponding relation between adjustment rotary speed information with current rotating speed storing value and adjustment of rotational speed information corresponding to engine idle.
In some optional mode of executions, the adjustment of rotational speed information that described that obtain with corresponding relation between adjustment of rotational speed information according to current rotating speed storing value, engine idle and current rotating speed storing value and engine idle are corresponding is specially:
V＝V
1+V
b*a%，
Wherein, V is adjustment of rotational speed information; V
1for current rotating speed storing value; V
bfor engine idle; A is predefined constant.
The control system of the motor that the present invention also provides, comprising:
Control unit of engine, for the output power of control engine;
Collecting unit, for gathering the opening information of gas pedal and the actual speed information of described motor;
Controller, be connected with described control unit of engine signal with described collecting unit, the rotating speed of target information that the opening information of gas pedal of motor receiving for basis and the corresponding relation of the rotating speed of motor obtain the motor corresponding with the opening information of the gas pedal receiving, the actual speed information of the motor arriving for storing received, upgrade rotating speed storing value with predefined revision cycle, also for to described control unit of engine export target rotary speed information or adjustment of rotational speed information; Wherein:
When described actual speed information is more than or equal to the critical speed of rotation of predefined engine misses, to control unit of engine, export described rotating speed of target information; When described actual speed information is less than described predefined critical speed of rotation, to the adjustment of rotational speed information of control unit of engine output for according to current rotating speed storing value, engine idle, obtain with corresponding relation between adjustment rotary speed information with current rotating speed storing value and adjustment of rotational speed information corresponding to engine idle.
In some optional mode of executions, the pre-stored revision cycle of described controller is 5～10 seconds.
The present invention also provides a kind of hoist, comprises the control system of the motor described in above-mentioned any one.
Accompanying drawing explanation
Fig. 1 is the accelerator pedal structure schematic diagram under prior art;
The controlling method flow chart of the motor that Fig. 2 provides for the embodiment of the present invention;
The controller architecture schematic diagram of the motor that Fig. 3 provides for the embodiment of the present invention;
The control system structural representation of the motor that Fig. 4 provides for the embodiment of the present invention.
Reference character:
01-gas pedal 11-the first receiving module
12-the second receiving module 2-computing module
3-memory module 4-control module
5-motor 6-gas pedal
7-control unit of engine 8-collecting unit
9-controller
Embodiment
In order effectively to improve because of motor overburdening, the output power of motor is not mated and the flame-out phenomenon that produces, and then improves the safety in utilization of hoist, and the embodiment of the present invention provides a kind of controlling method, controller, control system and hoist of motor.In the controlling method providing, when the actual speed information of motor is more than or equal to the critical speed of rotation of predefined engine misses, the adjustment of rotational speed information of exporting to control unit of engine is rotating speed of target information; When actual speed information is less than predefined critical speed of rotation, adjustment of rotational speed information to control unit of engine output is the adjustment of rotational speed information obtaining according to the corresponding relation between current rotating speed storing value, engine idle and adjustment of rotational speed information, this scheme has effectively been improved because of motor overburdening, the output power of motor is not mated and the flame-out phenomenon that produces, has improved the safety in utilization of hoist.Below with specific embodiment and be described with reference to the accompanying drawings the present invention.
The controlling method flow chart of the motor that as shown in Figure 2, Fig. 2 provides for the embodiment of the present invention; The controlling method of motor provided by the invention, comprising:
Step 101: the opening information of obtaining the gas pedal of motor;
Step 102: according to the corresponding relation of the rotating speed of the opening information of the gas pedal of motor and motor, obtain the rotating speed of target information of the motor corresponding with the opening information of the gas pedal of obtaining;
Step 103: the actual speed information of obtaining motor;
Step 104: the actual speed information of the motor that storage is obtained, with predefined revision cycle renewal rotating speed storing value;
Step 105: to control unit of engine export target rotary speed information or adjustment of rotational speed information; Wherein:
When actual speed information is more than or equal to the critical speed of rotation of predefined engine misses, to control unit of engine export target rotary speed information; When actual speed information is less than predefined critical speed of rotation, to the adjustment of rotational speed information of control unit of engine output for according to current rotating speed storing value, engine idle, obtain with corresponding relation between adjustment of rotational speed information with current rotating speed storing value and adjustment of rotational speed information corresponding to engine idle.
Hoist is when work, and when load surpasses the power of motor output, the rotating speed of motor can constantly reduce.
The controlling method of motor provided by the invention, by the opening information of gas pedal, calculate the rotating speed of target information of motor, obtain the actual speed information of motor, and store this actual speed information, (being the revision cycle) updates the rotating speed storing value corresponding to actual speed information of storage at set intervals, that is to say after a period of time, the actual speed information of storing in memory module becomes this actual speed information of (moment of correspondence after a period of time) acquisition constantly.When actual speed information is more than or equal to predefined critical speed of rotation, to control unit of engine, export described rotating speed of target information, control unit of engine is according to the fuel injection quantity of this rotating speed of target information control engine etc., and then controls output power; When actual speed information is less than predefined critical speed of rotation, the adjustment of rotational speed information that flows to control unit of engine is the adjustment of rotational speed information according to now the corresponding relation between rotating speed storing value, engine idle, adjustment of rotational speed information obtains, control unit of engine is controlled fuel injection quantity etc. according to this adjustment of rotational speed information, and then the output power of control engine, make the power district of motor output join the power of wanting under the present load of slinging.
Visible, the controlling method of motor provided by the invention, by gathering the opening information of gas pedal, obtains the practical operation situation of motor according to throttle opening information, can automatically regulate the output power of motor, to prevent that the output power of motor is less than crane load amount.
So the controlling method of motor provided by the invention, has prevented motor accident extinguishing, has improved the safety in utilization of hoist.
Further, in above-mentioned steps 105: what obtain with corresponding relation between adjustment of rotational speed information according to current rotating speed storing value, engine idle is specially with current rotating speed storing value and adjustment of rotational speed information corresponding to engine idle:
V＝V
1+V
b*a%，
Wherein, V is adjustment of rotational speed information; V
1for current rotating speed storing value; V
bfor engine idle; A is predefined constant.
During the race of engine, be called idling.When engine running, if complete close the throttle, at this moment motor is just in idling mode.Rotating speed during engine idle is called as idling speed.Idling speed can be adjusted its height by adjusting air door size etc.Minimum speed when in general, idling speed is not shaken with motor.
Preferably, the value of above-mentioned a is 50.
Preferably, the predefined revision cycle is 5～10 seconds.Such as: 5 seconds, 5.5 seconds, 6 seconds, 7 seconds, 8 seconds, 9 seconds, 10 seconds etc., just repeat no longer one by one here.If will arrange the revision cycle too short, when engine misses constantly, the data of controller record are the actual speed that approaches motor all the time, motor speed-raising remains under the rotating speed of brennschuluss time and promotes, and does not reach and prevents flame-out effect; If revision cycle overlong time is set, for engine speed, follow the process that accelerator open degree changes, it is very poor that the actual effect of data can become, and can not finely complete the object of control.Certainly, the predefined revision cycle also can be for other is worth, and the staff of related domain can set according to actual needs.
Preferably, predefined critical speed of rotation is specially:
V
2＝V
b-k，
Wherein, V
2for critical speed of rotation; V
bfor engine idle; K is predefined constant.The staff of value related domain of k can rule of thumb set, such as: 200 etc., just repeat no longer one by one here.
As shown in Figure 3, the controller architecture schematic diagram of the motor that Fig. 3 provides for the embodiment of the present invention, the controlling method based on above-mentioned motor, can build a kind of controller of motor, and the controller of the motor that the present invention also provides, comprising:
The first receiving module 11, for receiving the opening information of the gas pedal of the motor getting;
The second receiving module 12, for receiving the actual speed information of the motor getting;
When actual speed information is more than or equal to the critical speed of rotation of predefined engine misses, to control unit of engine export target rotary speed information; When actual speed information is less than predefined critical speed of rotation, to the adjustment of rotational speed information of control unit of engine output for according to current rotating speed storing value, engine idle, obtain with corresponding relation between adjustment rotary speed information with current rotating speed storing value and adjustment of rotational speed information corresponding to engine idle.
What further, according to current rotating speed storing value, engine idle, obtain with corresponding relation between adjustment of rotational speed information is specially with current rotating speed storing value and adjustment of rotational speed information corresponding to engine idle:
V＝V
1+V
b*a%，
Wherein, V is adjustment of rotational speed information; V
1for current rotating speed storing value; V
bfor engine idle; A is predefined constant.
As shown in Figure 4, the control system structural representation of the motor that Fig. 4 provides for the embodiment of the present invention, the controller based on above-mentioned motor, can build a kind of control system of motor, and the control system of the motor that the present invention also provides, comprising:
Control unit of engine 7, for the output power of control engine 5;
Collecting unit 8, for gathering the opening information of gas pedal 6 and the actual speed information of motor 5;
When actual speed information is more than or equal to the critical speed of rotation of predefined engine misses, to control unit of engine 7 export target rotary speed informations; When actual speed information is less than predefined critical speed of rotation, to the adjustment of rotational speed information of control unit of engine 7 output for according to current rotating speed storing value, engine idle, obtain with corresponding relation between adjustment rotary speed information with current rotating speed storing value and adjustment of rotational speed information corresponding to engine idle.
Preferably, controller 9 is Controlled by Programmable Controller device PLC.
Optionally, the pre-stored revision cycle of controller 9 is 5～10 seconds.Such as: 5 seconds, 5.5 seconds, 6 seconds, 7 seconds, 8 seconds, 9 seconds, 10 seconds etc., just repeat no longer one by one here.
Preferably, controller is connected with control unit of engine signal by controller area network (Controller Area Network) bus.
Control system based on above-mentioned motor, the present invention also provides a kind of hoist, comprises the control system of the motor described in above-mentioned any one.
The controlling method of above-mentioned motor, controller and control system not only can be used on hoist, also can be used in other engineering machinery.
Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (10)
1. a controlling method for motor, is characterized in that, comprising:
Obtain the opening information of the gas pedal of motor;
According to the corresponding relation of the rotating speed of the opening information of the gas pedal of the motor obtaining and motor, obtain the rotating speed of target information of the motor corresponding with the opening information of the gas pedal of obtaining;
Obtain the actual speed information of motor;
The actual speed information of the motor that storage is obtained, with predefined revision cycle renewal rotating speed storing value;
To control unit of engine export target rotary speed information or adjustment of rotational speed information; Wherein:
When described actual speed information is more than or equal to the critical speed of rotation of predefined engine misses, to control unit of engine, export described rotating speed of target information; When described actual speed information is less than described predefined critical speed of rotation, to the adjustment of rotational speed information of control unit of engine output for according to current rotating speed storing value, engine idle, obtain with corresponding relation between adjustment of rotational speed information with current rotating speed storing value and adjustment of rotational speed information corresponding to engine idle.
2. controlling method as claimed in claim 1, it is characterized in that, the adjustment of rotational speed information that described that obtain with corresponding relation between adjustment of rotational speed information according to current rotating speed storing value, engine idle and current rotating speed storing value and engine idle are corresponding is specially:
V＝V
1+V
b*a%，
Wherein, V is adjustment of rotational speed information; V
1for current rotating speed storing value; V
bfor engine idle; A is predefined constant.
3. controlling method as claimed in claim 2, is characterized in that, the value of described a is 50.
4. controlling method as claimed in claim 3, is characterized in that, the described predefined revision cycle is 5～10 seconds.
5. controlling method as claimed in claim 4, is characterized in that, described predefined critical speed of rotation is specially:
V
2＝V
b-k，
Wherein, V
2for critical speed of rotation; V
bfor engine idle; K is predefined constant.
6. a controller for motor, is characterized in that, comprising:
The first receiving module, for receiving the opening information of the gas pedal of the motor getting;
Computing module, for according to the opening information of gas pedal of motor and the corresponding relation of the rotating speed of motor that receive, obtains the rotating speed of target information of the motor corresponding with the opening information of the gas pedal of obtaining;
The second receiving module, for receiving the actual speed information of the motor getting;
Memory module, the actual speed information of the motor that storing received arrives, with predefined revision cycle renewal rotating speed storing value;
Control module, to control unit of engine export target rotary speed information or adjustment of rotational speed information; Wherein:
When described actual speed information is more than or equal to the critical speed of rotation of predefined engine misses, to control unit of engine, export described rotating speed of target information; When described actual speed information is less than described predefined critical speed of rotation, to the adjustment of rotational speed information of control unit of engine output for according to current rotating speed storing value, engine idle, obtain with corresponding relation between adjustment rotary speed information with current rotating speed storing value and adjustment of rotational speed information corresponding to engine idle.
7. controller as claimed in claim 6, is characterized in that, the adjustment of rotational speed information that described that obtain with corresponding relation between adjustment of rotational speed information according to current rotating speed storing value, engine idle and current rotating speed storing value and engine idle are corresponding is specially:
V＝V
1+V
b*a%，
Wherein, V is adjustment of rotational speed information; V
1for current rotating speed storing value; V
bfor engine idle; A is predefined constant.
8. a control system for motor, is characterized in that, comprising:
Control unit of engine, for the output power of control engine;
Collecting unit, for gathering the opening information of gas pedal and the actual speed information of described motor;
Controller, be connected with described control unit of engine signal with described collecting unit, the rotating speed of target information that the opening information of gas pedal of motor receiving for basis and the corresponding relation of the rotating speed of motor obtain the motor corresponding with the opening information of the gas pedal receiving, be used for the actual speed information receiving described in storing, upgrade rotating speed storing value with predefined revision cycle, also for to described control unit of engine export target rotary speed information or adjustment of rotational speed information; Wherein:
When described actual speed information is more than or equal to the critical speed of rotation of predefined engine misses, to control unit of engine, export described rotating speed of target information; When described actual speed information is less than described predefined critical speed of rotation, to the adjustment of rotational speed information of control unit of engine output for according to current rotating speed storing value, engine idle, obtain with corresponding relation between adjustment rotary speed information with current rotating speed storing value and adjustment of rotational speed information corresponding to engine idle.
9. control system as claimed in claim 8, is characterized in that, the pre-stored revision cycle of described controller is 5～10 seconds.
10. a hoist, is characterized in that, comprises the control system of motor as claimed in claim 8 or 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310684166.5A CN103726943B (en) | 2013-12-13 | 2013-12-13 | Engine control method, controller, control system and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310684166.5A CN103726943B (en) | 2013-12-13 | 2013-12-13 | Engine control method, controller, control system and crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103726943A true CN103726943A (en) | 2014-04-16 |
| CN103726943B CN103726943B (en) | 2016-02-03 |
Family
ID=50451192
Family Applications (1)
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|---|---|---|---|
| CN201310684166.5A Active CN103726943B (en) | 2013-12-13 | 2013-12-13 | Engine control method, controller, control system and crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110415204A (en) * | 2019-03-22 | 2019-11-05 | 泰州三凯工程技术有限公司 | Reliable safety traffic control system |
| CN115126033A (en) * | 2022-06-23 | 2022-09-30 | 徐州徐工挖掘机械有限公司 | Walking speed limit control system and method for wheel excavator |
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|---|---|
| CN103726943B (en) | 2016-02-03 |
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Address after: Yuelu District, Hunan province No. South Road, silver basin, No. 361 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, Hunan 2, China Applicant before: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. |
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