CN104847510B - Engineering machinery engine rotating speed drift automatic compensating method - Google Patents
Engineering machinery engine rotating speed drift automatic compensating method Download PDFInfo
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Abstract
A kind of engineering machinery engine rotating speed drift automatic compensating method, engine speed is gathered in real time and is simultaneously input to controller, the controller is according to other input-signal judging current power working conditions；If the controller contrasts the difference for surveying high rotating speed no-load speed and setting speed automatically when engine is in high rotating speed Light Condition, if the speed difference, which is rotating speed drift value, reaches setting range, compensation function is just triggered；Controller is according to how much calculating compensation rates of rotating speed drift value, and the former output valve for the control that compensation rate is added to, drive executing agency's work, the angle of accelerator rod to mechanically connecting therewith is compensated, the engine speed compensation is realized, until drift value is less than the lower limit of certain setting range；Its advantage is to calculate the compensation rate of executing agency by detecting the drift value of engine speed, to make up the loosening that accelerator rod mechanically connects in executing agency or the speed error that deformation band comes.
Description
Technical field
The present invention relates to technical field of engineering machinery, especially a kind of automatic compensation side of engineering machinery engine rotating speed drift
Method.
Background technology
Engine, which is that construction machinery industry is the most frequently used, obtains power source, and the engine that engineering machinery uses is by accelerator mode control
It is broadly divided into two classes, i.e. mechanical engine and electric-controlled type engine, electric-controlled type engine is the development with electronic control technology
It is born, it is precise control to throttle, reliable, it is the direction of development of engine, and mechanical engine is because of its superiority of effectiveness
Still absolute market especially is occupied in China's Mainland and country in Southeast Asia, so to mechanically starting in occupation of staple market at present
The research of machine application technology has practical significance very much with optimization.
Influenceed by engineering machinery working environment, vibrations and heat radiation can be produced during work, throttle can be caused to draw in the course of time
Mechanical connection between bar and executing agency loosens and deformation, and these changes can produce executing agency and be controlled displacement error, the mistake
Difference can cause accelerator rod anglec of rotation error after being delivered to engine throttle pull bar, in turn result in accelerator open degree and turn with engine
Fast error, i.e., the rotating speed drift described in the present invention.Rotating speed drift phenomenon is very common phenomenon in engineering machinery field, Ye Shizheng
Chang Xianxiang, countermeasure was studied for each producer of this phenomenon, current industry is common and effective strategy just
It is to carry out periodically carrying out whether artificial inspection engine speed drifts about, rotating speed is carried out with regard to artificial in the event of drift
Demarcation.It is artificial to check and be trouble the shortcomings that demarcation, easily forget to examine, and by operation intensity, operating mode differentia influence, fixed cycle
Inspection can not find drift in time.
Construction machinery product will carry out matching test and the demarcation of engine speed, power and load in Development Engineering,
The result matched is the engineering machinery service behaviour optimum proportioning, when engine speed is drifted about, the output of engine
Power is with original inconsistent, and when carrying out operation, engine output mismatches with load demand power, it is possible to causes to surpass
Lotus is stopped working or power dissipation.
The content of the invention
It is an object of the invention to provide a kind of construction machinery product being mainly used in using mechanical engine, its oil
Door or rotational speed regulation are to lean on the external executing agency's push-and-pull accelerator rod of engine to realize, due to construction machinery product application operating mode
Particularity, the adjusting means of accelerator rod easily loosens or deformation, the present invention by detect the drift value of engine speed come
The compensation rate of executing agency is calculated, to make up the loosening that accelerator rod mechanically connects in executing agency or the rotating speed mistake that deformation band comes
The engineering machinery engine rotating speed drift automatic compensating method of difference.
The solution of the present invention is such：
Engineering machinery engine rotating speed drift automatic compensating method, engine speed sensor gather engine and turned in real time
Speed, and live signal is input into controller, the controller is according to other input-signal judging current power working conditions, such as
When engine described in fruit is in idling mode or load carrying, then detected without rotating speed drift value, only when in high rotating speed
The controller contrasts the difference for surveying high rotating speed no-load speed and setting speed automatically during Light Condition, if the speed difference
That is rotating speed drift value reaches certain limit, just triggers compensation function, and the controller is mended according to how much calculating of rotating speed drift value
The amount of repaying, and the former output valve for the control that compensation rate is added to, drive the executing agency to work, the control of the executing agency
For signal processed due to being compensated, its output displacement can also produce corresponding compensation, the angle of the accelerator rod mechanically connected therewith
Degree is compensated, and realizes the engine speed compensation.There is some following explanation for the above：
First, above procedure is that circulation is carried out, i.e., while compensating, the controller is still carrying out rotating speed drift value
Detection, if still suffering from the drift value in setting range, continue calculating compensation rate and carry out output compensation, until drift value is less than
The lower limit of setting range；
2nd, the detection of above drift value and compensation process are carried out in the case where the engine is in high rotating speed Light Condition
, drift value detection and compensation function are directly exited if high rotating speed idle condition is not met, waits and enters back into high turn next time
Speed restarts when unloaded；
3rd, the function is just effective in operation gear, and the low gear for non-operation is then invalid.In any gear of operation gear
After position compensates, the compensation rate of other operation gears enters row interpolation conversion according to the compensation rate of current shift, is mended together
Repay；
4th, when compensating, the original output valve demarcated of output valve substitution after compensation, and store it in
In FLASH, using the value after this compensation as normal output values when next time starts shooting, until being substituted by the value after new compensation；
5th, drift value, which is in certain limit, can just trigger compensation function, and the scope has higher limit and lower limit, higher than the upper limit
Value does not trigger compensation function less than lower limit, the setting of higher limit and lower limit according to concrete engineering mechanical type and operating mode and
It is fixed.
According to above-mentioned basic technical scheme, a kind of engineering machinery engine rotating speed drift automatic compensating method of the present invention, if
The step of putting comprises the following steps：
（1）Collection engine speed step in real time：Engine speed sensor gathers engine speed in real time, and will be real-time
Signal is input to controller, and the controller is according to other input-signal judging current power working conditions；
（2）Into rotating speed drift value detecting step：If engine is in idling mode or load carrying, without
Rotating speed drift value detects；The controller contrasts unloaded turn of the high rotating speed of actual measurement automatically when if engine is in high rotating speed Light Condition
The difference of speed and setting speed, if the speed difference, which is rotating speed drift value, reaches setting range, just trigger compensation function；
（3）Compensation rate calculates and rate-determining steps：Controller, and will compensation according to how much calculating compensation rates of rotating speed drift value
The former output valve for the control that is added to, the work of driving executing agency are measured, the angle of the accelerator rod to mechanically connecting therewith obtains
To compensation, the engine speed compensation is realized, until drift value is less than the lower limit of setting range.
More specifically technical scheme also includes：Including drifting about, automatic compensation enters setting procedure：The automatic compensation of drift is being made
Industry gear is just effective, and the low gear for non-operation is then invalid.
Further：The step（2）In, establishing method is used by rotating speed drift value setting range：The scope has
Higher limit and lower limit, compensation function is not triggered higher than higher limit or less than lower limit, the setting of higher limit and lower limit according to
Depending on concrete engineering mechanical type and operating mode.
Further：The step（3）In, speed considerations are carried out by fixed step size, are Trpm per step-length, are tested first simultaneously
The average step length per controller output voltage signal corresponding to rotating speed step-length is calculated, i.e. controller output voltage signal gives execution machine
The direct current generator of structure, voltage signal and executing agency's output displacement one-to-one corresponding.Per corresponding to step-length rotating speed under different gears
Step size voltage can be variant, averages as virtual value：
Vstep=(Vmax-Vmin)/(nmax-nmin)
nstep=10rpm
When the flexible axle displacement of executing agency produces same deviation, the angular deviation for causing accelerator rod in different gears is
Different, cause the difference approximation of accelerator rod angular deviation to see different gears linear, test and calculate the line
The slope of sexual intercourse, the rotating speed drift value of other gears is conversed by the rotating speed drift value of a certain gear using the slope, and then
Converse the offset voltage value of other gears；Rotating speed drift value slope K and any gear rotating speed drift value Δ n under different gearsx
Computational methods are as follows：
K=(Δn2-Δn1)/(nmax-nnin)
Δnx=K(nx-nc)+Δnc
nmax:Maximum speed；nnin：Minimum speed；Δn2：Drift value under maximum speed；Δn1：Drift value under minimum speed；
nc：Current shift rotating speed；nx：Gear rotating speed to be asked；Δnc：Drift value under current shift；Δnx：Drift value under gear to be asked；
V in the parameter of above stepstep、nstep, K be the measuring and calculation parameter that obtains or set, other specification is variable.
Rotating speed drift value is detected in real time when carrying out and compensating automatically, if drift value recalculates offset and entered still in setting range
Row compensation, until drift value is less than the lower limit of setting range, then output valve will be obtained after compensation is stored in FLASH, substitutes
Setting value originally, an engine speed drift value detection is so far completed with compensating to obtain process automatically.
It is an advantage of the invention that the compensation rate of executing agency is calculated by detecting the drift value of engine speed, to make up
The speed error that the loosening or deformation band that accelerator rod mechanically connects in executing agency come；It is mainly used in use and mechanically starts
The construction machinery product of machine, its throttle or rotational speed regulation are to lean on the external executing agency's push-and-pull accelerator rod of engine to realize, by
In the particularity of construction machinery product application operating mode, the adjusting means of accelerator rod easily loosens or deformation, the present invention pass through inspection
The drift value for surveying engine speed calculates the compensation rate of executing agency, is mechanically connected in executing agency making up accelerator rod
The speed error that loosening or deformation band come.
Brief description of the drawings
Fig. 1 is that the present invention uses a kind of system structure diagram.
Fig. 2 is the installation diagram of executing agency and engine in system shown in Figure 1.
Fig. 3 is executing agency and accelerator rod connection figure in system shown in Figure 1.
Fig. 4 is accelerator rod side-play amount schematic diagram of the present invention.
Embodiment
The present invention is used for shown in Fig. 1,2,3 during system, and system composition includes：Engine, controller, wherein speed probe
1 is used to detect engine speed, and executing agency 2 connects actuator anchor 4 by executing agency's flexible axle 3, controls throttle
Pull bar 5 is swung.
The engine is mechanical engine, and its throttle or rotating speed are controlled by accelerator rod, and the accelerator rod is institute
Engine peripheral unit is stated, can be driven by other mechanical connecting devices.
The executing agency is DC motor Driver, more enough to export corresponding displacement according to input signal, and input signal becomes
Change, output displacement accordingly does synchronous change.The executing agency can mechanically connect with the accelerator rod, and can be corresponding
Change the position of the accelerator rod.
The fixing device of the executing agency is one piece of fixed plate, and the fixed plate is assemblied on the engine, and it is acted on
It is the flexible axle of the fixed executing agency or executing agency, it is ensured that change in displacement can be delivered to institute caused by the executing agency
State accelerator rod.
The controller is the complete machine controller assembled in engineering machinery, and the controller input signal passes including the rotating speed
Sensor signal, output signal include the control signal of executing agency.
The present invention comprises the following steps：
（1）Collection engine speed step in real time：Engine speed sensor gathers engine speed in real time, and will be real-time
Signal is input to controller, and the controller is according to other input-signal judging current power working conditions；
（2）Into rotating speed drift value detecting step：If engine is in idling mode or load carrying, without
Rotating speed drift value detects；The controller contrasts unloaded turn of the high rotating speed of actual measurement automatically when if engine is in high rotating speed Light Condition
The difference of speed and setting speed, if the speed difference, which is rotating speed drift value, reaches setting range, just trigger compensation function；
（3）Compensation rate calculates and rate-determining steps：Controller, and will compensation according to how much calculating compensation rates of rotating speed drift value
The former output valve for the control that is added to, the work of driving executing agency are measured, the angle of the accelerator rod to mechanically connecting therewith obtains
To compensation, the engine speed compensation is realized, until drift value is less than the lower limit of certain setting range.
Also include the automatic compensation of drift and enter setting procedure：The automatic compensation of drift is just effective in operation gear, for non-work
The low gear of industry is then invalid.
The step（2）In, establishing method is used by rotating speed drift value setting range：The scope has higher limit with
Limit value, compensation function is not triggered higher than higher limit or less than lower limit, the setting of higher limit and lower limit is according to concrete engineering machine
Depending on tool type and operating mode.
With reference to system shown in Figure 1 and Fig. 4, the present invention is described in detail：
First, speed considerations are carried out by fixed step size, are that T is 10rpm per step-length, are tested first and calculate every rotating speed step-length pair
The average step length for the controller output voltage signal answered, i.e. direct current generator of the controller output voltage signal to executing agency, electricity
Press signal and executing agency's output displacement one-to-one corresponding.Under different gears difference is had per step size voltage corresponding to step-length rotating speed
It is different, average as virtual value：
Vstep=(Vmax-Vmin)/(nmax-nmin)
nstep=10rpm
2nd, as shown in Figure 4, when the flexible axle displacement of executing agency produces same deviation, throttle is caused to draw in different gears
The angular deviation of bar is different.As shown in figure 4, if the flexible axle displacement of executing agency produces 0.5cm deviation, in a certain gear
The lower accelerator rod position in position is biased to A1 by A, produces 7.9 ° of angular deviations, but accelerator rod position is inclined by B under another gear
To B1,9.6 ° of angular deviations are produced, this certainly will cause different gear rotating speed offsets different.The difference approximation is seen linear
Relation, test and calculate the slope of the linear relationship, can be conversed using the slope by the rotating speed drift value of a certain gear
The rotating speed drift value of other gears, and then converse the offset voltage value of other gears.Rotating speed drift value slope K under different gears
With any gear rotating speed drift value Δ nxComputational methods are as follows：
K=(Δn2-Δn1)/(nmax-nnin)
Δnx=K(nx-nc)+Δnc
nmax:Maximum speed；nnin：Minimum speed；Δn2：Drift value under maximum speed；Δn1：Drift value under minimum speed；
nc：Current shift rotating speed；nx：Gear rotating speed to be asked；Δnc：Drift value under current shift；Δnx：Drift value under gear to be asked；
3rd, offset voltage is calculated according to rotating speed drift value.
step =Δnx/ nstep
Vx= Vstep* step
4th, V in the parameter of above stepstep、nstep, K be the measuring and calculation parameter that obtains or set, other specification is change
Amount.Rotating speed drift value is detected in real time when carrying out and compensating automatically, such as：The present embodiment is in earthwork, the higher limit of setting
For 80rpm, the lower limit set is 30rpm, if drift value still in setting range, recalculates offset and compensated,
Until drift value is less than the lower limit 30rpm of setting range, then output valve will be obtained after compensation is stored in FLASH, and substitution is former
The setting value come, an engine speed drift value detection is so far completed with compensating to obtain process automatically.
Claims (1)
- The automatic compensating method 1. a kind of engineering machinery engine rotating speed drifts about, including step：（1）Collection engine speed step in real time：Engine speed sensor gathers engine speed in real time, and by live signal Controller is input to, the controller is according to other input-signal judging current power working conditions；（2）Into rotating speed drift value detecting step：If engine is in idling mode or load carrying, without rotating speed Drift value detects；When if engine is in high rotating speed Light Condition the controller contrast automatically the high rotating speed no-load speed of actual measurement with The difference of setting speed, if the speed difference, which is rotating speed drift value, reaches setting range, just trigger compensation function；（3）Compensation rate calculates and rate-determining steps：Controller folds compensation rate according to how much calculating compensation rates of rotating speed drift value The former output valve of the control, the work of driving executing agency are added to, the angle of the accelerator rod to mechanically connecting therewith is mended Repay, the engine speed compensation is realized, until drift value is less than the lower limit of setting range；It is characterized in that：The step（3）In, speed considerations are carried out by fixed step size, are Trpm per step-length, are tested and count first The average step length per controller output voltage signal corresponding to rotating speed step-length is calculated, i.e. controller output voltage signal is to executing agency Direct current generator, voltage signal corresponds with executing agency output displacement, per step corresponding to step-length rotating speed under different stalls Long voltage can be variant, averages as virtual value：Vstep=(Vmax-Vmin)/(nmax-nmin)nstep=10rpmWhen the flexible axle displacement of executing agency produces same deviation, it is different to cause the angular deviation of accelerator rod in different stalls , cause the difference approximation of accelerator rod angular deviation to see different stalls linear, test and calculate the linear pass The slope of system, the rotating speed drift value of other gears is conversed by the rotating speed drift value of a certain gear using the slope, and then converted Go out the offset voltage value of other gears；Rotating speed drift value slope K and any gear rotating speed drift value Δ n under different stallsxCalculate Method is as follows：K=(Δn2-Δn1)/(nmax-nnin)Δnx=K(nx-nc)+Δncnmax:Maximum speed；nnin：Minimum speed；Δn2：Drift value under maximum speed；Δn1：Drift value under minimum speed；nc： Current gear rotating speed；nx：Gear rotating speed to be asked；Δnc：Drift value under current gear；Δnx：Drift value under gear to be asked；V in the parameter of above stepstep、nstep, K be the measuring and calculation parameter that obtains or set, other specification is variable, is being entered Row detects rotating speed drift value in real time when compensating automatically, if drift value recalculates offset and mended still in setting range Repay, until drift value is less than the lower limit of setting range, then output valve will be obtained after compensation is stored in FLASH, and substitution is original Setting value, so far complete the detection of engine speed drift value and the process compensated automatically.
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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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| CN101016864A (en) * | 2007-02-13 | 2007-08-15 | 三一重机有限公司 | Control method for engine speed of digger machine |
| CN101576012A (en) * | 2009-05-19 | 2009-11-11 | 北京东风机车电器厂 | Electronic speed-regulating method and speed-regulating device thereof |
| 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
- 2015-03-23 CN CN201510127765.6A patent/CN104847510B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101016864A (en) * | 2007-02-13 | 2007-08-15 | 三一重机有限公司 | Control method for engine speed of digger machine |
| CN101576012A (en) * | 2009-05-19 | 2009-11-11 | 北京东风机车电器厂 | Electronic speed-regulating method and speed-regulating device thereof |
| CN202493344U (en) * | 2012-03-27 | 2012-10-17 | 长春工业大学 | Electronic control system of revolution speed of diesel engine |
| 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 |
| 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 |
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