CN104385896B - Loader with bimotored power system - Google Patents
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- CN104385896B CN104385896B CN201410512114.4A CN201410512114A CN104385896B CN 104385896 B CN104385896 B CN 104385896B CN 201410512114 A CN201410512114 A CN 201410512114A CN 104385896 B CN104385896 B CN 104385896B
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Abstract
一种具有双发动机动力系统的装载机，属于工程机械设备，其特征是一个发动机为装载机行走提供动力，另一个发动机为装载机工作提供动力；所述双发动机动力系统包括第一发动机、第二发动机；第一发动机分别连接发电机和控制单元，第二发动机分别连接液压泵和控制单元。装载机行走装置动力系统采用串联式混合动力系统，发动机驱动发电机，所发电能一部分用于电动/发电机，另一部分储存到蓄电装置中，电动/发电机安装在装载机每个驱动轮上，在驱动装载机行走的同时，对制动能量进行回收。装载机工作装置液压传动部分由另一台发动机驱动，发动机直接与液压油泵相联，实现装载机铲掘及转向，在液压系统低负载工况时，发动机采用停缸节油措施。
A loader with a dual-engine power system, which belongs to engineering machinery, is characterized in that one engine provides power for the loader to travel, and the other engine provides power for the loader to work; the dual-engine power system includes a first engine, a second Two engines; the first engine is respectively connected to the generator and the control unit, and the second engine is respectively connected to the hydraulic pump and the control unit. The power system of the loader traveling device adopts a series hybrid system, the engine drives the generator, part of the generated energy is used for the motor/generator, and the other part is stored in the power storage device, and the motor/generator is installed on each driving wheel of the loader On the road, while driving the loader, the braking energy is recovered. The hydraulic transmission part of the loader working device is driven by another engine. The engine is directly connected to the hydraulic oil pump to realize the digging and steering of the loader. When the hydraulic system is under low load conditions, the engine adopts cylinder deactivation to save fuel.
Description
技术领域technical field
本发明是涉及一种具有双发动机动力系统的装载机，它属于一种行走装置、工作装置由单独发动机驱动并且根据各自负载特点采取相应传动方式的工程机械设备。The invention relates to a loader with a dual-engine power system, which belongs to a construction machinery equipment in which a traveling device and a working device are driven by a single engine and adopt corresponding transmission modes according to their respective load characteristics.
背景技术Background technique
装载机是工程建设中常用的设备，在国民经济建设中发挥了重要的作用，Loaders are commonly used equipment in engineering construction and play an important role in national economic construction.
铲装过程是装载机最典型工况，一个作业循环由前进、铲装、后退、前进（动臂提升）、卸料、后退（动臂下降）这6个工作段组成，其作业工况负载复杂，外负载变化频繁，变化范围大，长期存在高油耗、高排放的问题。 目前装载机绝大部分行走装置使用传统的液力机械传动。液力变矩器具有自动变速、减少振动和冲击、较好协调发动机与负载转矩，避免在某些极限工况下发动机负荷过大导致熄火，但液力变矩器传动效率通常较低，铲装工况时的效率甚至接近于零。传统装载机为了满足大负荷工作需求，需匹配具有一定后备功率的发动机，由于装载机负荷变化剧烈，在低负荷时发动机常工作在高油耗率区间，致使整机的油耗和排放性能变差，所以装载机采用混合动力技术既可以提高装载机的一次能源利用率问题减小发动机装机功率，优化发动机工作区间和能量回收，还可以实现取消液力变矩器，提高传动效率，所以混合动力装载机具有更明显节能优势。但混合动力装载机也存在以下几方面问题：The shovel loading process is the most typical working condition of the loader. A working cycle consists of six working sections: forward, shovel loading, backward, forward (boom up), unloading, and back (boom down). It is complicated, the external load changes frequently and the range of change is large, and there are long-term problems of high fuel consumption and high emissions. At present, most of the walking devices of loaders use traditional hydraulic mechanical transmission. The hydraulic torque converter has automatic speed change, reduces vibration and shock, better coordinates the engine and load torque, and avoids flameout caused by excessive engine load under certain extreme conditions, but the transmission efficiency of the hydraulic torque converter is usually low. The efficiency during shovel loading conditions is even close to zero. Traditional loaders need to be equipped with an engine with a certain reserve power in order to meet the demand for heavy load work. Due to the drastic load changes of the loader, the engine often works in the high fuel consumption rate range at low loads, resulting in poor fuel consumption and emission performance of the whole machine. Therefore, the use of hybrid power technology for loaders can not only improve the primary energy utilization rate of the loader, reduce the installed power of the engine, optimize the working range and energy recovery of the engine, but also realize the elimination of the hydraulic torque converter and improve the transmission efficiency. Therefore, hybrid power loading The machine has more obvious energy-saving advantages. However, hybrid loaders also have the following problems:
混合动力装载机的节能控制途径与混合动力汽车类似，但由于装载机工作时，需驱动行走装置和工作装置，在一个完整工作循环内负载特性和作业方式与混合动力汽车是有着显著差别的。以装载机特有的工作周期，负载特性和作业方式，使得混合动力装载机的能量管理十分复杂。The energy-saving control method of a hybrid loader is similar to that of a hybrid vehicle, but because the loader needs to drive the traveling device and the working device when it is working, the load characteristics and working methods in a complete working cycle are significantly different from those of the hybrid vehicle. The energy management of the hybrid loader is very complicated due to the loader's unique working cycle, load characteristics and operation mode.
装载机行走装置和工作装置两部分功率消耗特性是不一样的。由一台发动机实现对装载机行走装置和工作装置的动力驱动，就不可避免会使发动机负荷率较低，燃油消耗率较高，较难实现发动机与负载的全局功率优化及各装置、各元件间局部优化。The power consumption characteristics of the loader traveling device and the working device are different. If one engine is used to power the loader's traveling gear and working gear, it will inevitably lead to a lower engine load rate and a higher fuel consumption rate, making it difficult to achieve global power optimization of the engine and load, as well as various devices and components. between local optimizations.
发明内容：Invention content:
本发明的目的是提供一种匹配装载机行走装置和传动装置动力输出特性The purpose of the present invention is to provide a kind of matching loader traveling device and transmission device power output characteristic
的输出特性的双发动机动力配置，从而提高发动机工作负荷率，提高传动系统效率，实现发动机工作于经济高效区，具有较高经济性和排放性能的双发动机动力系统的装载机。The dual-engine power configuration with excellent output characteristics can increase the engine workload rate, improve the efficiency of the transmission system, and realize the engine working in the economical and efficient area. It is a loader with a dual-engine power system with high economic and emission performance.
本发明的技术方案：装载机配置有两台发动机，分别为驱动行走装置的第一发动机和驱动工作装置的第二发动机，其中装配在第一发动机的第一转速传感器、第一冷却液温度传感器、第一机油温度传感器实时反馈第一发动机的转速、冷却液温度、机油温度至控制单元，控制单元再综合制动踏板、操纵杆位置信号和蓄电装置电容量信号决定第一发动机工作状态。第一发动机与发电机相联，第一发电机所发出电能提供其余电动/发电机，多余电能通过蓄电装置储存，电动/发电机通过减速装置与装载机驱动轮相联，构成装载机行走装置串联混合动力系统。该系统可实现第一发动机热机状态时，取消怠速，迅速启停；实现第一发动机工作在稳定转速，处于经济高效、低排放区域；装载机驱动轮直接由电动/发电机驱动，实现无极变速、缓和工作冲击、取消液力变矩器实现传动高效率、以及对装载机制动能量进行回收。Technical solution of the present invention: the loader is equipped with two engines, respectively the first engine driving the traveling device and the second engine driving the working device, wherein the first speed sensor and the first coolant temperature sensor installed on the first engine , The first engine oil temperature sensor feeds back the speed, coolant temperature, and engine oil temperature of the first engine in real time to the control unit, and the control unit then integrates the signal of the brake pedal, the position signal of the joystick and the capacitance signal of the electric storage device to determine the working state of the first engine. The first engine is connected to the generator, and the electric energy generated by the first generator provides the rest of the motor/generator, and the excess electric energy is stored by the power storage device, and the motor/generator is connected with the driving wheel of the loader through the reduction device, forming the loader to travel Device series hybrid system. The system can cancel the idling speed and start and stop quickly when the first engine is in a hot state; the first engine can work at a stable speed, in an economically efficient and low-emission area; the drive wheels of the loader are directly driven by the electric motor/generator to realize infinitely variable speed , Alleviate the working shock, eliminate the hydraulic torque converter to achieve high transmission efficiency, and recover the braking energy of the loader.
装载机的工作装置是由第二发动机实现驱动，油门控制开关决定第二发动机工作转速，第二发动机通过联轴器与液压泵的输入轴相联，液压泵的出油口与装载机液压装置相联，控制单元检测装载机液压装置的工作状态，当装载机液压装置处于小负荷工况时，控制单元发出指令实现第二发动机部分气缸停止工作，以提高第二发动机负荷率，从而提高第二发动机的燃油经济性。控制单元通过第二冷却液温度传感器、第二机油温度传感器、第二转速传感器实时检测第二发动机冷却液温度、机油温度及转速，当第二发动机热机怠速时，控制单元发出指令实现第二发动机怠速时部分气缸停止工作，提高发动机怠速燃油经济性。当液压装置处于大负荷工况时，控制单元发出指令实现第二发动机全部气缸工作，以满足装载机工作装置对动力性的要求。The working device of the loader is driven by the second engine, and the throttle control switch determines the working speed of the second engine. The second engine is connected to the input shaft of the hydraulic pump through a coupling, and the oil outlet of the hydraulic pump is connected to the hydraulic device of the loader. In conjunction, the control unit detects the working state of the hydraulic device of the loader. When the hydraulic device of the loader is in a low-load condition, the control unit sends an instruction to realize the partial cylinder stop of the second engine, so as to increase the load rate of the second engine, thereby increasing the load rate of the second engine. Second engine fuel economy. The control unit detects the coolant temperature, oil temperature and speed of the second engine in real time through the second coolant temperature sensor, the second engine oil temperature sensor, and the second speed sensor. When the second engine is hot and idle, the control unit issues instructions to realize the second engine When idling, some cylinders stop working to improve the fuel economy of the engine at idling speed. When the hydraulic device is in a heavy load condition, the control unit sends an instruction to realize the operation of all the cylinders of the second engine, so as to meet the power requirement of the loader working device.
本发明具有下述有益效果：The present invention has following beneficial effect:
1、采用两台发动机，分别单独驱动装载机行走装置、工作装置。在满足装载机行走装置、工作装置动力性前提下，利于减小单台发动机装机功率，提高发动机负荷率，提高整机燃油经济性。1. Two engines are used to drive the loader's traveling device and working device separately. Under the premise of satisfying the dynamic performance of the loader's traveling device and working device, it is beneficial to reduce the installed power of a single engine, increase the load rate of the engine, and improve the fuel economy of the whole machine.
2、在装载机行走装置采用串联式混合动力方式传送，其发动机可以连续运转在最大有效功率点，转速稳定，利于发动机工作在经济高效区，采用电动/发电机驱动装载机驱动轮，易于实现无极变速、缓和冲击，利用电动机抗过载能力克服装载机行走时短时峰值负载，在装载机制动时，发电/电动机可工作在发电机状态实现制动能量回收。以蓄电装置的电容量为主要判断依据，控制单元可使实现行走装置发动机热机状态时的启停控制，最大限度减小燃油消耗。2. The traveling device of the loader is transmitted in a series hybrid power mode. The engine can run continuously at the maximum effective power point, and the speed is stable, which is conducive to the engine working in an economical and efficient area. The drive wheel of the loader is driven by an electric/generator, which is easy to implement Infinitely variable speed, moderate impact, using the motor's anti-overload ability to overcome the short-term peak load when the loader is running, when the loader is braking, the generator/motor can work in the generator state to achieve braking energy recovery. Taking the electrical capacity of the power storage device as the main judgment basis, the control unit can realize the start-stop control of the running gear engine when the engine is in the hot state, and minimize fuel consumption.
3、在工作装置中，其发动机选择充分考虑工作装置的动力性，所以应有较大功率储备，在该专利中，当装载机空铲下降等小负荷工况及工作装置驱动发动机热机怠速时，发动机部分气缸停止工作，在大负荷时，发动机全部气缸工作，从而满足工作装置动力性前提下，利于发动机工作在燃油高效区，提高整机燃油经济性。3. In the working device, the engine selection fully considers the power of the working device, so there should be a large power reserve. In this patent, when the loader is empty and the shovel is lowered and other small load conditions and the working device drives the engine heat engine to idle , part of the cylinders of the engine stop working, and when the load is heavy, all the cylinders of the engine work, so as to meet the power of the working device, it is beneficial for the engine to work in the fuel efficient area and improve the fuel economy of the whole machine.
附图说明Description of drawings
图1是本发明实施例的双发动机动力系统结构示意图。Fig. 1 is a schematic structural diagram of a dual-engine power system according to an embodiment of the present invention.
图中，1、驱动轮；2、减速装置；3、电动/发电机；4、制动踏板；5、操纵杆；6、第一冷却液温度传感器； 7、第一机油温度传感器；8、第一发动机；9、第二发动机；10、第二冷却液温度传感器；11、第二机油温度传感器；12、第二转速传感器；13、液压泵；14、液压装置；15、油门控制开关；16、行走速度控制踏板；17、蓄电装置；18、控制单元；19、发电机；20、第一转速传感器。In the figure, 1. drive wheel; 2. deceleration device; 3. motor/generator; 4. brake pedal; 5. joystick; 6. first coolant temperature sensor; 7. first engine oil temperature sensor; 8. The first engine; 9, the second engine; 10, the second coolant temperature sensor; 11, the second engine oil temperature sensor; 12, the second rotational speed sensor; 13, the hydraulic pump; 14, the hydraulic device; 15, the accelerator control switch; 16. Walking speed control pedal; 17. Electric storage device; 18. Control unit; 19. Generator; 20. First rotational speed sensor.
具体实施方式：detailed description:
以下结合附图对本发明进一步进行说明：The present invention is further described below in conjunction with accompanying drawing:
图1所示，双发动机动力系统装载机整机动力驱动路线分为两个部分：其一，第一发动机8、发电机19、蓄电装置17、电动/发电机3、驱动轮1、制动踏板4、前进/后退档位操纵杆5、行走速度控制踏板16、控制单元18组成装载机行走装置驱动系统。As shown in Fig. 1, the power driving route of the loader with dual-engine power system is divided into two parts: first, the first engine 8, generator 19, power storage device 17, motor/generator 3, drive wheel 1, brake The moving pedal 4, the forward/reverse gear lever 5, the walking speed control pedal 16, and the control unit 18 form the driving system of the loader walking device.
其二，第二发动机9、液压泵13、液压装置14、第二发动机9的油门控制开关15、控制单元18组成装载机工作装置驱动系统。Second, the second engine 9, the hydraulic pump 13, the hydraulic device 14, the throttle control switch 15 of the second engine 9, and the control unit 18 form a loader working device drive system.
在装载机行走装置驱动系统中，第一发动机8的转速、冷却液温度、机油温度值通过第一转速传感器20、第一冷却液温度传感器6、第一机油温度传感器7反馈给控制单元18，控制单元18再综合制动踏板4、操纵杆5位置信号和蓄电装置17电容量信号决定第一发动机8工作状态。In the driving system of the loader running gear, the rotational speed, coolant temperature, and engine oil temperature of the first engine 8 are fed back to the control unit 18 through the first rotational speed sensor 20, the first coolant temperature sensor 6, and the first engine oil temperature sensor 7, The control unit 18 then synthesizes the position signals of the brake pedal 4 , the joystick 5 and the capacitance signal of the power storage device 17 to determine the working state of the first engine 8 .
在第一发动机8冷启动时，控制单元18检测第一发动机8冷却液温度、机油温度，若未达到设定温度，第一发动机8只允许怠速运转预热，达到设定温度后，控制单元18控制第一发动机8转速至工作转速，装载机行走装置开始工作，第一发动机8工作时转速恒定，带动发电机19发电，其部分电能供给电动/发电机3，多余电能存储于蓄电装置17中，电动/发电机3通过减速装置2与装载机驱动轮1相联，构成装载机行走装置串联式混合动力传动系统。When the first engine 8 is cold-started, the control unit 18 detects the coolant temperature and the engine oil temperature of the first engine 8. If the set temperature is not reached, the first engine 8 only allows idling to warm up. After reaching the set temperature, the control unit 18 Control the speed of the first engine 8 to the working speed, the loader running gear starts to work, the speed of the first engine 8 is constant when it works, and drives the generator 19 to generate electricity, and part of its electric energy is supplied to the motor/generator 3, and the excess electric energy is stored in the power storage device In 17, the motor/generator 3 is connected with the loader drive wheel 1 through the reduction gear 2, forming a series hybrid power transmission system of the loader traveling device.
控制单元18实时采集制动踏板4、前进/后退档位操纵杆5、行走速度控制踏板16位置及开度信号，控制电动/发电机3工作，实现装载机行走方向及速度控制，当制动踏板4制动时，电动/发电机3工作于发电机状态，所发电能储存于蓄电装置17中，实现制动能量回收。控制单元18采集第一发动机8冷却液温度、机油温度信号，当判断第一发动机8处于热机状态时，通过采集蓄电装置17的电容量信号，当电容量达到设定上限值时，控制单元18关闭第一发动机8，当电容量降到设定下限值时，控制单元18迅速启动第一发动机8至工作转速。The control unit 18 collects the position and opening signals of the brake pedal 4, the forward/reverse gear lever 5, and the walking speed control pedal 16 in real time, controls the operation of the motor/generator 3, and realizes the control of the walking direction and speed of the loader. When the pedal 4 brakes, the motor/generator 3 works in the generator state, and the generated energy is stored in the power storage device 17 to realize braking energy recovery. The control unit 18 collects the coolant temperature and engine oil temperature signals of the first engine 8, and when it is judged that the first engine 8 is in a hot state, by collecting the capacitance signal of the power storage device 17, when the capacitance reaches the set upper limit value, the control unit 18 The unit 18 shuts down the first engine 8, and when the electric capacity drops to a set lower limit, the control unit 18 quickly starts the first engine 8 to the operating speed.
在装载机工作装置驱动系统中，装载机工作装置是由第二发动机9实现驱动，油门控制开关15决定第二发动机9工作转速，第二发动机9通过联轴器与液压泵13的输入轴相联，液压泵13的出油口与装载机液压装置14相联，控制单元18检测装载机液压装置14的工作状态，当装载机液压装置14系统处于小负荷工况时，控制单元18发出指令实现第二发动机9部分气缸停止工作，以提高第二发动机9负荷率，从而提高第二发动机的燃油经济性。控制单元18通过第二冷却液温度传感器10、第二机油温度传感器11、第二转速传感器12实时检测第二发动机的冷却液温度、机油温度及转速，当第二发动机的冷却液温度、机油温度值达到设定值后，即第二发动机处于热机状态，当油门控制开关15开度信号为“0”时，即第二发动机9怠速，控制单元18发出指令实现第二发动机9部分气缸停止工作。液压装置的系统处于大负荷工况时，控制单元18发出指令实现第二发动机全部气缸工作，以满足装载机工作装置对动力性的要求。In the loader working device drive system, the loader working device is driven by the second engine 9, the throttle control switch 15 determines the operating speed of the second engine 9, and the second engine 9 is connected to the input shaft of the hydraulic pump 13 through a coupling. The oil outlet of the hydraulic pump 13 is connected with the loader hydraulic device 14, and the control unit 18 detects the working state of the loader hydraulic device 14. When the loader hydraulic device 14 system is in a small load condition, the control unit 18 issues an instruction Realize that part of the cylinders of the second engine 9 stop working, so as to increase the load rate of the second engine 9, thereby improving the fuel economy of the second engine. The control unit 18 detects the coolant temperature, the engine oil temperature and the rotation speed of the second engine in real time through the second coolant temperature sensor 10, the second engine oil temperature sensor 11, and the second rotational speed sensor 12. When the coolant temperature of the second engine, the engine oil temperature After the value reaches the set value, that is, the second engine is in a warm-up state. When the throttle control switch 15 opening signal is "0", that is, the second engine 9 is idling, and the control unit 18 sends an instruction to realize that part of the cylinders of the second engine 9 stop working. . When the system of the hydraulic device is under a heavy load condition, the control unit 18 sends an instruction to realize the operation of all the cylinders of the second engine, so as to meet the power requirement of the loader working device.
本实施例中蓄电装置包括电池、超级电容。In this embodiment, the power storage device includes a battery and a supercapacitor.
所述的液压装置为缺少动力元件（即液压泵）的液压系统。（完整的液压系统由动力元件、执行元件、控制元件、辅助元件（附件）和液压油五个部分组成(公知内容，省略描述)。The hydraulic device is a hydraulic system lacking power components (ie hydraulic pumps). (The complete hydraulic system consists of five parts: power components, executive components, control components, auxiliary components (accessories) and hydraulic oil (known content, description omitted).
本实施例中所述的控制单元采用三菱FX2N-64MR可编程控制器。The control unit described in this embodiment adopts Mitsubishi FX2N-64MR programmable controller.
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| CN111536202A (en) * | 2020-04-29 | 2020-08-14 | 柳工柳州传动件有限公司 | Transmission device for loader, control method of transmission device and loader |
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| CN2564518Y (en) * | 2002-04-20 | 2003-08-06 | 朱麟江 | Loader |
| US7152705B2 (en) * | 2003-12-23 | 2006-12-26 | Caterpillar Inc | Dual engine electric drive system |
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