CN104847510A - Automatic engineering mechanical engine rotation speed drift compensation method - Google Patents
Automatic engineering mechanical engine rotation speed drift compensation method Download PDFInfo
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- CN104847510A CN104847510A CN201510127765.6A CN201510127765A CN104847510A CN 104847510 A CN104847510 A CN 104847510A CN 201510127765 A CN201510127765 A CN 201510127765A CN 104847510 A CN104847510 A CN 104847510A
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Abstract
Provided is an automatic engineering mechanical engine rotation speed drift compensation method. The rotation speed of an engine is acquired in real time and input into a controller, and the controller judges a current working state of the engine according to other input signals; if the engine is in a high-rotation-speed no-load state, the controller automatically compares actually-measured high no-load rotation speed with a set rotation speed and triggers a compensation function if the rotation speed difference, namely a rotation speed drift distance, is up to a set range; the controller calculates compensation amount according to the rotation speed drift distance, superposes the compensation amount on an original output value of the controller and drives an executing mechanism to work, the angle of an accelerator pull rod mechanically connected with the executing mechanism is compensated, and engine rotation speed compensation is achieved till the drift distance is smaller than a lower limiting value within a certain range. The automatic engineering mechanical engine rotation speed drift compensation method has the advantages that the compensation amount of the executing mechanism is calculated by detecting the rotation speed drift distance of the engine so as to compensate a rotation speed error caused by looseness or deformation of mechanical connection between the accelerator pull rod and the executing mechanism.
Description
Technical field
The present invention relates to technical field of engineering machinery, especially a kind of engineering machinery engine rotating speed drift automatic compensating method.
Background technique
Motor be construction machinery industry the most frequently used power source, the motor that engineering machinery uses is broadly divided into two classes by accelerator mode control, i.e. mechanical engine and electric-controlled type motor, electric-controlled type motor is along with the development of electronic control technology is born, to the precise control of throttle, reliable, it is the direction of development of engine, and mechanical engine is because its superiority of effectiveness is at present still in occupation of staple market, especially absolute market is occupied in C China and country in Southeast Asia, so there is very much practical significance to the research of mechanical engine application technology with optimization.
Affect by engineering machinery working environment, vibrations and thermal radiation can be produced during work, in the course of time the mechanical connection between accelerator rod and actuator can be caused to loosen and deformation, these changes can produce the controlled Displacement error of actuator, accelerator rod angle of swing error can be caused after this propagation of error to engine throttle pull bar, and then cause accelerator open degree and engine speed error, i.e. the said rotating speed drift of the present invention.Rotating speed drift phenomenon is very common phenomenon in engineering machinery field, also be normal phenomenon, for this phenomenon, countermeasure was studied by each producer, current industry is common and effective strategy is exactly periodically artificially check whether engine speed drifts about, if there occurs drift with regard to people for carrying out rotating speed demarcation.The shortcoming of artificial inspection and demarcation is trouble, easily forgets inspection, and by operation intensity, operating mode differentia influence, the fixed cycle checks and can not Timeliness coverage drift occur.
Construction machinery product will carry out matching test and the demarcation of engine speed, power and load in Development Engineering, the result matched is this project machine work performance optimum proportioning, when there is drift in engine speed, the output power of motor is with originally inconsistent, when carrying out operation, engine output does not mate with load demand power, likely causes overloading to stop working or power dissipation.
Summary of the invention
Object of the present invention is just to provide a kind of construction machinery product being mainly used in employing mechanical engine, its throttle or rotational speed regulation realize by motor external actuator push-and-pull accelerator rod, due to the particularity of construction machinery product application operating mode, the controlling device of accelerator rod easily loosens or deformation, the present invention calculates the compensation rate of actuator by detecting the drift value of engine speed, make up accelerator rod and to drift about automatic compensating method in the engineering machinery engine rotating speed of loosening of be mechanically connected of actuator or speed error that deformation brings.
Solution of the present invention is such:
Engineering machinery engine rotating speed drift automatic compensating method, engine rotation speed sensor Real-time Collection engine speed, and live signal is input to controller, described controller is according to other input-signal judging current power working staties, if when described motor is in idling mode or load carrying, then do not carry out the detection of rotating speed drift value, only when being in high rotating speed unloaded state, described controller contrasts the difference of the high rotating speed no-load speed of actual measurement and setting speed automatically, if this speed difference and rotating speed drift value reach certain limit, just trigger compensate function, described controller is according to the number calculation compensation amount of rotating speed drift value, and the former output value of described control that compensation rate is added to, described actuator is driven to work, the control signal of described actuator is owing to obtaining compensation, its output displacement also can produce corresponding compensation, the angle of the accelerator rod be mechanically connected with it is compensated, realize described engine speed to compensate.Some explanation following is also had for foregoing:
One, above process is that circulation is carried out, namely, while compensating, described controller is still carrying out the detection of rotating speed drift value, if still there is the drift value in setting range, then continue calculation compensation amount and carry out output compensation, until drift value is less than the lower limit of setting range;
Two, above drift value detects and all carries out under described motor is in high rotating speed unloaded state with compensation process, once not meet high rotating speed idle condition, directly exit drift value and detect and compensate function, wait when entering the zero load of high rotating speed more next time and restart;
Three, this function is just effective at operation gear, and the low gear for non-operation is then invalid.After arbitrary gear of operation gear compensates, the compensation rate of other operation gears carries out interpolation conversion according to the compensation rate of current shift, compensates together;
Four, when compensating, the output value after compensation replaces the output value of originally having demarcated, and is stored in FLASH, using the value after this compensation as normal output values during start next time, until replaced by the value after new compensation;
Five, drift value is in certain limit and just can triggers compensate function, this scope has CLV ceiling limit value and lower limit, do not trigger compensate function higher than CLV ceiling limit value or lower than lower limit, the setting of CLV ceiling limit value and lower limit is determined according to concrete engineering mechanical type and operating mode.
According to above-mentioned basic technical scheme, a kind of engineering machinery engine rotating speed drift of the present invention automatic compensating method, the step of setting comprises the steps:
(1) Real-time Collection engine speed step: engine rotation speed sensor Real-time Collection engine speed, and live signal is input to controller, described controller is according to other input-signal judging current power working staties;
(2) enter rotating speed drift value detecting step: if when motor is in idling mode or load carrying, then do not carry out the detection of rotating speed drift value; If described controller contrasts the difference of the high rotating speed no-load speed of actual measurement and setting speed automatically when motor is in high rotating speed unloaded state, if this speed difference and rotating speed drift value reach setting range, just trigger compensate function;
(3) compensation rate calculates and rate-determining steps: controller is according to how many calculation compensation amounts of rotating speed drift value, and the former output value of described control that compensation rate is added to, drive actuator's work, the angle of the accelerator rod be mechanically connected with it is compensated, realize described engine speed to compensate, until drift value is less than the lower limit of setting range.
Technological scheme also comprises more specifically: comprise drift auto-compensation and enter setting procedure: drift auto-compensation is just effective at operation gear, and the low gear for non-operation is then invalid.
Further: in described step (2), the establishing method that rotating speed drift value setting range adopts is: this scope has CLV ceiling limit value and lower limit, do not trigger compensate function higher than CLV ceiling limit value or lower than lower limit, the setting of CLV ceiling limit value and lower limit is determined according to concrete engineering mechanical type and operating mode.
Further: in described step (3), speed considerations is undertaken by fixed step size, every step-length is Trpm, first test and calculate the average step length of controller output voltage signal corresponding to every rotating speed step-length, namely controller output voltage signal is to the direct current generator of actuator, voltage signal and actuator's output displacement one_to_one corresponding.The step size voltage that every step-length rotating speed is corresponding under different gear can be variant, averages as effective value:
V
step=(V
max-V
min)/(n
max-n
min)
n
step=10rpm
When the flexible axle displacement of actuator produces same deviation, the augular offset of accelerator rod is caused to be different at different gear, different gear is caused the difference of accelerator rod augular offset approximate see linear, test and calculate the slope of this linear relationship, utilize this slope to converse the rotating speed drift value of other gears by the rotating speed drift value of a certain gear, and then converse the offset voltage value of other gears; Rotating speed drift value slope K and arbitrary gear rotating speed drift value Δ n under different gear
xcomputational methods are as follows:
K=(Δn
2-Δn
1)/(n
max-n
nin)
Δn
x=K(n
x-n
c)+Δn
c
N
max: maximum speed; n
nin: minimum speed; Δ n
2: drift value under maximum speed; Δ n
1: drift value under minimum speed; n
c: current shift rotating speed; n
x: gear rotating speed to be asked; Δ n
c: drift value under current shift; Δ n
x: drift value under gear to be asked;
V in the parameter of above step
step, n
step, K is the parameter that measuring and calculation obtains or sets, other parameters are variable.Rotating speed drift value is detected in real time when carrying out auto-compensation, if drift value is still in setting range, recalculate offset to compensate, until drift value is less than the lower limit of setting range, then be stored in FLASH by obtaining output value after compensation, replace original setting value, so far complete an engine speed drift value detection and obtain process with auto-compensation.
Advantage of the present invention is the compensation rate being calculated actuator by the drift value of detection engine speed, makes up the speed error that accelerator rod brings in the loosening or deformation that actuator is mechanically connected; Be mainly used in the construction machinery product adopting mechanical engine, its throttle or rotational speed regulation realize by motor external actuator push-and-pull accelerator rod, due to the particularity of construction machinery product application operating mode, the controlling device of accelerator rod easily loosens or deformation, the present invention calculates the compensation rate of actuator by the drift value detecting engine speed, makes up the speed error that accelerator rod brings in the loosening or deformation that actuator is mechanically connected.
Accompanying drawing explanation
Fig. 1 is that the present invention adopts a kind of system architecture schematic diagram.
Fig. 2 is the erection drawing of actuator and motor in system shown in Figure 1.
Fig. 3 is actuator and accelerator rod connection diagram in system shown in Figure 1.
Fig. 4 is accelerator rod side-play amount schematic diagram of the present invention.
Embodiment
When the present invention is used for system shown in Fig. 1,2,3, system composition comprises: motor, controller, wherein speed probe 1 is for detecting engine speed, and actuator 2 connects actuator anchor 4 by actuator's flexible axle 3, controls accelerator rod 5 and swings.
Described motor is mechanical engine, and its throttle or rotating speed are controlled by accelerator rod, and described accelerator rod is described motor peripheral unit, can be driven by other mechanical connecting devices.
Described actuator is DC motor Driver, more enough exports corresponding displacement according to input signal, and input signal changes, and output displacement is corresponding does synchronous change.Described actuator can be mechanically connected with described accelerator rod, and can the position of the described accelerator rod of corresponding change.
The fixing device of described actuator is one piece of fixed plate, and this fixed plate is assemblied on described motor, and its effect is the flexible axle of fixing described actuator or actuator, guarantees that the change in displacement that described actuator produces can be delivered to described accelerator rod.
Described controller is the complete machine controller that engineering machinery is assembled, and this controller input signal comprises described signals of rotational speed sensor, and output signal comprises the control signal of actuator.
The present invention includes following steps:
(1) Real-time Collection engine speed step: engine rotation speed sensor Real-time Collection engine speed, and live signal is input to controller, described controller is according to other input-signal judging current power working staties;
(2) enter rotating speed drift value detecting step: if when motor is in idling mode or load carrying, then do not carry out the detection of rotating speed drift value; If described controller contrasts the difference of the high rotating speed no-load speed of actual measurement and setting speed automatically when motor is in high rotating speed unloaded state, if this speed difference and rotating speed drift value reach setting range, just trigger compensate function;
(3) compensation rate calculates and rate-determining steps: controller is according to how many calculation compensation amounts of rotating speed drift value, and the former output value of described control that compensation rate is added to, drive actuator's work, the angle of the accelerator rod be mechanically connected with it is compensated, realize described engine speed to compensate, until drift value is less than the lower limit of certain setting range.
Also comprise drift auto-compensation and enter setting procedure: drift auto-compensation is just effective at operation gear, and the low gear for non-operation is then invalid.
In described step (2), the establishing method that rotating speed drift value setting range adopts is: this scope has CLV ceiling limit value and lower limit, do not trigger compensate function higher than CLV ceiling limit value or lower than lower limit, the setting of CLV ceiling limit value and lower limit is determined according to concrete engineering mechanical type and operating mode.
Below in conjunction with system shown in Figure 1 and Fig. 4, the present invention is described in detail:
One, speed considerations is undertaken by fixed step size, every step-length is T is 10rpm, first test and calculate the average step length of controller output voltage signal corresponding to every rotating speed step-length, namely controller output voltage signal is to the direct current generator of actuator, voltage signal and actuator's output displacement one_to_one corresponding.The step size voltage that every step-length rotating speed is corresponding under different gear can be variant, averages as effective value:
V
step=(V
max-V
min)/(n
max-n
min)
n
step=10rpm
Two, as shown in Figure 4, when the flexible axle displacement of actuator produces same deviation, the augular offset of accelerator rod is caused to be different at different gear.As shown in Figure 4, if the flexible axle displacement of actuator produces the deviation of 0.5cm, under a certain gear, accelerator rod position is biased to A1 by A, produce 7.9 ° of augular offsets, but accelerator rod position is biased to B1 by B under another gear, produce 9.6 ° of augular offsets, this certainly will cause different gear rotating speed side-play amount different.See linear by approximate for this difference, test and calculate the slope of this linear relationship, utilizing this slope can be conversed the rotating speed drift value of other gears by the rotating speed drift value of a certain gear, and then converse the offset voltage value of other gears.Rotating speed drift value slope K and arbitrary gear rotating speed drift value Δ n under different gear
xcomputational methods are as follows:
K=(Δn
2-Δn
1)/(n
max-n
nin)
Δn
x=K(n
x-n
c)+Δn
c
N
max: maximum speed; n
nin: minimum speed; Δ n
2: drift value under maximum speed; Δ n
1: drift value under minimum speed; n
c: current shift rotating speed; n
x: gear rotating speed to be asked; Δ n
c: drift value under current shift; Δ n
x: drift value under gear to be asked;
Three, according to rotating speed drift value calculation compensation voltage.
step =Δn
x/ n
step
V
x= V
step* step
V in the parameter of four, above step
step, n
step, K is the parameter that measuring and calculation obtains or sets, other parameters are variable.Rotating speed drift value is detected in real time when carrying out auto-compensation, such as: the present embodiment is in earthwork, the CLV ceiling limit value of setting is 80rpm, the lower limit of setting is 30rpm, if drift value is still in setting range, recalculates offset and compensates, until drift value is less than the lower limit 30rpm of setting range, then being stored in FLASH by obtaining output value after compensation, replacing original setting value, so far complete an engine speed drift value detection and obtain process with auto-compensation.
Claims (4)
1. an engineering machinery engine rotating speed drift automatic compensating method, is characterized in that: comprise step:
(1) Real-time Collection engine speed step: engine rotation speed sensor Real-time Collection engine speed, and live signal is input to controller, described controller is according to other input-signal judging current power working staties;
(2) enter rotating speed drift value detecting step: if when motor is in idling mode or load carrying, then do not carry out the detection of rotating speed drift value; If described controller contrasts the difference of the high rotating speed no-load speed of actual measurement and setting speed automatically when motor is in high rotating speed unloaded state, if this speed difference and rotating speed drift value reach setting range, just trigger compensate function;
(3) compensation rate calculates and rate-determining steps: controller is according to how many calculation compensation amounts of rotating speed drift value, and the former output value of described control that compensation rate is added to, drive actuator's work, the angle of the accelerator rod be mechanically connected with it is compensated, realize described engine speed to compensate, until drift value is less than the lower limit of setting range.
2. engineering machinery engine rotating speed drift automatic compensating method according to claim 1, is characterized in that: comprise drift auto-compensation and enter setting procedure: drift auto-compensation is just effective at operation gear, and the low gear for non-operation is then invalid.
3. engineering machinery engine rotating speed drift automatic compensating method according to claim 1, it is characterized in that: in described step (2), the establishing method that rotating speed drift value setting range adopts is: this scope has CLV ceiling limit value and lower limit, do not trigger compensate function higher than CLV ceiling limit value or lower than lower limit, the setting of CLV ceiling limit value and lower limit is determined according to concrete engineering mechanical type and operating mode.
4. engineering machinery engine rotating speed drift automatic compensating method according to claim 1, it is characterized in that: in described step (3), speed considerations is undertaken by fixed step size, every step-length is Trpm, first test and calculate the average step length of controller output voltage signal corresponding to every rotating speed step-length, namely controller output voltage signal is to the direct current generator of actuator, voltage signal and actuator's output displacement one_to_one corresponding;
The step size voltage that every step-length rotating speed is corresponding under different gear can be variant, averages as effective value:
V
step=(V
max-V
min)/(n
max-n
min)
n
step=10rpm
When the flexible axle displacement of actuator produces same deviation, the augular offset of accelerator rod is caused to be different at different gear, different gear is caused the difference of accelerator rod augular offset approximate see linear, test and calculate the slope of this linear relationship, utilize this slope to converse the rotating speed drift value of other gears by the rotating speed drift value of a certain gear, and then converse the offset voltage value of other gears; Rotating speed drift value slope K and arbitrary gear rotating speed drift value Δ n under different gear
xcomputational methods are as follows:
K=(Δn
2-Δn
1)/(n
max-n
nin)
Δn
x=K(n
x-n
c)+Δn
c
N
max: maximum speed; n
nin: minimum speed; Δ n
2: drift value under maximum speed; Δ n
1: drift value under minimum speed; n
c: current shift rotating speed; n
x: gear rotating speed to be asked; Δ n
c: drift value under current shift; Δ n
x: drift value under gear to be asked;
V in the parameter of above step
step, n
step, K is the parameter that measuring and calculation obtains or sets, other parameters are variable;
Rotating speed drift value is detected in real time when carrying out auto-compensation, if drift value is still in setting range, recalculate offset to compensate, until drift value is less than the lower limit of setting range, then be stored in FLASH by obtaining output value after compensation, replace original setting value, so far complete an engine speed drift value detection and obtain process with auto-compensation.
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| CN201510127765.6A CN104847510B (en) | 2015-03-23 | 2015-03-23 | Engineering machinery engine rotating speed drift automatic compensating method |
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| CN104847510B CN104847510B (en) | 2017-11-24 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111102082A (en) * | 2019-12-30 | 2020-05-05 | 三一重机有限公司 | Accelerator control device, control method thereof and excavator |
| CN111765015A (en) * | 2020-06-28 | 2020-10-13 | 上海华兴数字科技有限公司 | Engine speed calibration method and device, electronic equipment and readable storage medium |
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| CN202493344U (en) * | 2012-03-27 | 2012-10-17 | 长春工业大学 | Electronic control system of revolution speed of diesel engine |
| CN203008019U (en) * | 2012-11-27 | 2013-06-19 | 徐州徐工挖掘机械有限公司 | Throttle motor self-learning control device of excavating machine |
| CN103527333A (en) * | 2012-07-06 | 2014-01-22 | 上海盈高电子科技有限公司 | Digitalized electronic speed regulator and engine speed regulation method |
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2015
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| CN101016864A (en) * | 2007-02-13 | 2007-08-15 | 三一重机有限公司 | Control method for engine speed of digger machine |
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| CN111102082B (en) * | 2019-12-30 | 2022-07-29 | 三一重机有限公司 | Accelerator control device, control method thereof and excavator |
| CN111765015A (en) * | 2020-06-28 | 2020-10-13 | 上海华兴数字科技有限公司 | Engine speed calibration method and device, electronic equipment and readable storage medium |
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| Publication number | Publication date |
|---|---|
| CN104847510B (en) | 2017-11-24 |
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