CN104944289B - Crane and its speed of gyration control device, control method - Google Patents
Crane and its speed of gyration control device, control method Download PDFInfo
- Publication number
- CN104944289B CN104944289B CN201510385632.9A CN201510385632A CN104944289B CN 104944289 B CN104944289 B CN 104944289B CN 201510385632 A CN201510385632 A CN 201510385632A CN 104944289 B CN104944289 B CN 104944289B
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- Prior art keywords
- speed
- hydraulic
- engine
- control
- gyration
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
- B66C23/86—Slewing gear hydraulically actuated
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20523—Internal combustion engine
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
- F15B2211/20553—Type of pump variable capacity with pilot circuit, e.g. for controlling a swash plate
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/255—Flow control functions
Abstract
The invention discloses a kind of crane and its speed of gyration control device, control method, the Control in Hydraulic Rotation System includes engine, hydraulic pump and hydraulic motor, and the control method includes：Collection engine speed, hydraulic pump discharge and hydraulic motor displacement；Calculate the maximum stream flow of Control in Hydraulic Rotation System, and according to engine speed, calculate hydraulic pump to should engine speed maximum pump discharge；According to maximum pump discharge, by adjusting the size of the output current of joystick, control hydraulic pump discharge and hydraulic motor rotary speed, so that speed of gyration is not more than the maximum speed of gyration under operating mode residing for Control in Hydraulic Rotation System, and comparing hydraulic system required torque and engine output torque relation in real time, adjustment engine speed and hydraulic pump discharge are not stopped working with ensureing engine.The present invention can reduce the controlling dead error of hydraulic pump, improve system manipulation further.While the accessible maximum speed of gyration of slew gear is ensure that, and engine misses are avoided, improve operating efficiency.
Description
Technical field
The present invention relates to crane automatic control technology, more particularly to a kind of control method of crane rotation speed and control
Device processed, the crane with the speed of gyration control device.
Background technology
When crane works, there is certain requirement to speed of gyration, if maximum revolution speed is not observed during load is hung
The requirement of degree, boom system may occur overload accident.So in the crane course of work, it is necessary to according to machine system to most
Big speed of gyration makes restriction.And the work operating mode according to crane and brachium, maximum speed of gyration is different.So needing
The speed of gyration value of maximum is determined according to different operating modes and brachium, to guarantee crane security in the course of the work.
In the longer crane of large-tonnage and brachium, the control of speed of gyration just seems even more important.
At present, the control of crane rotation mechanism can realize greatly electrodeless variable-speed control, and the hydraulic system of slew gear
Also based on closed type hydraulic system, by taking closed type hydraulic system as an example, actual in the control of whole speed of gyration, mainly have and start
Machine rotating speed, hydraulic pump discharge, hydraulic motor displacement participate in the speed Control to speed of gyration.
And in existing control technology, the size of speed of gyration is subject to two changes of engine speed and handle output current size
The impact of amount so that the size of speed of gyration and the more difficult accurate control of stability.And in speed of gyration change procedure, system
Required dynamic property is different, that is, require that the moment of torsion of engine output and power also change in the change with speed of gyration, such as
Fruit engine speed can not be coordinated well with speed of gyration, it is possible to cause engine misses phenomenon.This just makes revolution unexpected
Stop, whole machine security is made a big impact, should be avoided in turning course.
It is rated speed in engine that the maximum (top) speed of hydraulic motor is, while hydraulic pump is obtained in maximum pump discharge
's.In existing control technology, only consideration is by limiting the maximum pump discharge of hydraulic pump and the minimum injection rate of hydraulic motor is come real mostly
The restriction of existing maximum speed of gyration, does not consider the rotating speed of engine.For example the rotating speed of engine is taken as maximum (top) speed, makees
For fixed value, realize limiting hydraulic motor maximum (top) speed by limiting the maximum pump discharge of hydraulic pump, that is, limit slew gear with
The purpose of maximum speed of gyration revolution.But at work, the rotating speed of engine can change, not turn maximum always
Speed, so allowing for maximum speed of gyration in real work is also affected by engine speed.If i.e. engine does not exist
, under idle conditions, now maximum speed of gyration receives further restriction, even if hydraulic pump for maximum (top) speed, such as engine
Maximum pump discharge is reached, maximum speed of gyration can not reach the maximum of setting.This is just further increased by handle control
The difficulty of hydraulic pump discharge, while increase the dead band of hydraulic pump so that maneuverability is substantially reduced.
To sum up, prior art does not account for the impact of engine speed to the restriction of speed of gyration so that control is accurate,
And operability is poor, and the startability of revolution is poor.
Content of the invention
For technical problem present in prior art, it is an object of the invention to provide one kind is returned for crane hydraulic pressure
Transfer from one department to another the speed of gyration control method that unites.
Another object of the present invention is to providing a kind of speed of gyration control device for crane Control in Hydraulic Rotation System.
Third object of the present invention, is to provide a kind of crane with speed of gyration control device of the present invention.
The purpose of the present invention is realized by following technical scheme：
A kind of speed of gyration control method, for the Control in Hydraulic Rotation System of crane, the Control in Hydraulic Rotation System includes to send out
Motivation, hydraulic pump and hydraulic motor, the control method include：
Collection engine speed, hydraulic pump discharge and hydraulic motor displacement；
The maximum stream flow of the Control in Hydraulic Rotation System is calculated, and according to the engine speed, calculates the hydraulic pump pair
Should engine speed maximum pump discharge；
According to the maximum pump discharge, the size of the output current by adjusting joystick, control the hydraulic pump discharge
With the hydraulic motor rotary speed so that the speed of gyration is not more than the maximum revolution under operating mode residing for the Control in Hydraulic Rotation System
Speed.
A kind of speed of gyration control device, for the Control in Hydraulic Rotation System of crane, the Control in Hydraulic Rotation System includes to send out
Motivation, hydraulic pump and hydraulic motor, it is characterised in that the control device includes：
Acquisition module, for gathering engine speed, hydraulic pump discharge and hydraulic motor displacement；
Computing module, according to the hydraulic pump discharge and hydraulic motor displacement, calculates the maximum of the Control in Hydraulic Rotation System
Flow, and according to the engine speed, calculate the maximum pump discharge that the hydraulic pump corresponds to the engine speed；
Control module, according to the maximum pump discharge, the size of the output current by adjusting joystick, controls the liquid
Pump displacement and the hydraulic motor displacement, so that the speed of gyration is not more than under the residing operating mode of the Control in Hydraulic Rotation System
Maximum speed of gyration.
The crane of the present invention, the speed of gyration control device with the present invention.
The beneficial effects of the present invention is, a kind of speed of gyration control method proposed by the present invention, consider engine
The impact that rotating speed, hydraulic pump discharge, hydraulic motor displacement control to speed of gyration, hence it is evident that the operation of revolution control must be improve
Property, it is to avoid the slew gear startability caused because of the difference of engine speed and operating mode and the notable difference of operability.Root
The hydraulic pump controlled according to the change real-time matching joystick of engine speed and the size of the output current of hydraulic motor, from
And limit hydraulic pump maximum pump discharge and hydraulic motor minimum injection rate of the engine under different rotating speeds.So that the manipulation of joystick
Feel more preferably, and handle controlling dead error larger shortcoming when efficiently avoid low engine speeds.By adjusting engine torque,
Can automatically controlled engine rotating speed, to prevent engine misses and revolution from stopping suddenly, strengthen crane safety.
Description of the drawings
To those skilled in the art, following to the detailed of the example embodiment that is shown in each accompanying drawing by reading
Description, above and other feature of the present invention and advantage will be apparent from.
Fig. 1 is the Control in Hydraulic Rotation System schematic diagram of the crane of the embodiment of the present invention.
Fig. 2 and Fig. 3 is the flow chart of the speed of gyration control method of the embodiment of the present invention.
Fig. 4 is the schematic diagram of the speed of gyration control device of the embodiment of the present invention.
Specific embodiment
Embodiment is described more fully with referring now to accompanying drawing.However, embodiment can be implemented in a variety of forms, and
It is not understood as limited to embodiment set forth herein；Conversely, thesing embodiments are provided so that the present invention will be comprehensively and complete
Whole, and the design of embodiment is comprehensively conveyed to those skilled in the art.Represent phase in figure identical reference
Same or similar part, thus their repeated description can be omitted.
Additionally, described feature, structure or characteristic can be combined in one or more enforcements in any suitable manner
In example.
The control method of the crane rotation speed of the embodiment of the present invention, for the hydraulic pressure of the crane of the embodiment of the present invention
Rotary system, the Control in Hydraulic Rotation System can for shown in Fig. 1, Fig. 1 is the schematic diagram of Closed Hydraulic rotary system, including engine 1,
Hydraulic pump (also can abbreviation drum pump) 2 and hydraulic motor 3.Wherein, hydraulic pump 2 is preferably electric-controlled hydraulic variable pump, hydraulic pressure horse
3 are reached for hydraulic pressure fixed displacement motor.Wherein, hydraulic pump 2 is driven by engine 1, the rotating speed phase of the rotating speed of hydraulic pump 2 and engine 1
With the rotating speed of hydraulic motor 3 is the control object of speed of gyration.Wherein, the speed of gyration of crane rotation mechanism is depended on
, there is fixing register ratio between the two in the rotating speed of hydraulic motor.
Therefore, below equation 1 can be based on, the rotating speed of hydraulic motor be calculated, and the rotating speed of hydraulic motor is controlled.
(formula 1)
Wherein, nmRepresent motor rotary speed, Q represents system discharge capacity, and V represents motor displacement, neFor the rotating speed of engine, VpFor
The discharge capacity of hydraulic pump；ηvFor volumetric efficiency, generally known.
Lower mask body introduces the speed of gyration control method of the embodiment of the present invention.
The speed of gyration control method of the embodiment of the present invention, is to carry out operating mode selection first, because under different operating modes, right
Answer different maximum speeds of gyration.Therefore, when operating mode switching is carried out, operating mode, hydraulic gyration are selected by button by operator
The controller of system receives button result, is selected Conditions Matching maximum speed of gyration automatically.
Simultaneously, Control in Hydraulic Rotation System can Real-time Collection engine speed, hydraulic pump discharge and hydraulic motor displacement etc.
Data, send controller to, and then controller, finally to determine the maximum output current of joystick and then is controlled by calculating
Hydraulic pump processed reaches maximum pump discharge, while making slew gear reach maximum speed of gyration.
Above-mentioned calculating process includes two steps, and one is computing system maximum stream flow, and two is the maximum pump discharge for calculating hydraulic pump.
Wherein, the maximum stream flow of system, consistent with the maximum stream flow of hydraulic pump output, and the output flow of hydraulic pump, equal to hydraulic pump
Discharge capacity be multiplied by the rotating speed of hydraulic pump, therefore in the rotation speed change of engine, can cause hydraulic pump rotation speed change when, pass through
The discharge capacity of adjustment hydraulic pump so that the flow of hydraulic pump output keeps constant.Therefore, it can according to system maximum stream flow, then root
According to the real-time rotating speed of engine, the maximum pump discharge of hydraulic pump is calculated.And the output current of the discharge capacity of hydraulic pump and joystick
It is one-to-one relationship, namely different size of current, the different displacement size of corresponding hydraulic pump, maximum output current are corresponded to most
Huge discharge.Therefore, after the maximum pump discharge of hydraulic pump determines, controller causes the output current size of joystick and hydraulic pump
Maximum pump discharge correspond to, you can realize the maximum pump discharge of hydraulic pump.
Therefore, the speed of gyration control method of the embodiment of the present invention, engine speed is added slew gear as variable
The control of speed, no matter engine is operated under much rotating speeds, ensure that the maximum stream flow of hydraulic pump output is constant, so as to protect
Card hydraulic motor maximum (top) speed, and the maximum speed of gyration of slew gear is constant.Reduce the controlling dead error of hydraulic pump, carry further
High system manipulation.While the accessible maximum speed of gyration of slew gear is ensure that, operating efficiency is improved.
While carrying out above-mentioned control, Control in Hydraulic Rotation System also monitors the pressure of hydraulic pump and discharge capacity, sends out needed for calculating
Motivation moment of torsion, preventing engine misses, its concrete steps is as shown in the figure for automatically controlled engine rotating speed.
As shown in figure 3, the current rotating speed of the pressure of each hydraulic pump of acquisition system, discharge capacity and engine first, all sends to
Controller；Controller calculates required engine torque T1 according to pressure and the displacement data of hydraulic pump；Controller is always according to starting
The current rotating speed of machine, and the engine torque being input in controller and rotary speed property contrast, calculate engine under current rotating speed
Peak torque Tmax；Judge the magnitude relationship of required engine torque and peak torque, if required engine torque is more than sent out
Peak torque under the current rotating speed of motivation, illustrates that, with current rotating speed, output torque is not enough, it is impossible to reach required engine torque, because
This needs, by adjusting engine speed, to increase engine torque.Peak torque under current rotating speed is more than or equal to institute
Need engine torque.If engine can not still meet requirement already at peak torque, then by the output of reduction handle
Electric current reducing the discharge capacity of variable pump, so as to reduce the torque demand of hydraulic system.If required engine torque is not more than sent out
Peak torque under the current rotating speed of motivation, illustrates that engine output torque can reach required engine torque, therefore maintains and starts
The current rotating speed of machine.
When moment of torsion is not enough, engine speed is adjusted to bigger output torque direction change, based on below equation：
(formula 2).
Wherein, TeFor engine torque；PpFor prexxure of the hydraulic pump；VpDischarge capacity for hydraulic pump；For pump in system
Pressure and the discharge capacity sum of products；η is mechanical efficiency, generally known；N is positive integer.
Below, then the speed of gyration control device of the embodiment of the present invention, the crane of the embodiment of the present invention, tool introduced
There is the rotation control device of the embodiment of the present invention.Rotation control device, is arranged on the Control in Hydraulic Rotation System of crane of the present invention
In controller, realize automatically controlling speed of gyration.
As shown in figure 4, the control device includes acquisition module, computing module, control module and torque adjustment module.
Acquisition module, for gathering pressure of engine speed, hydraulic pump discharge, hydraulic motor displacement and hydraulic pump etc.,
The computing module is all sent to.
Computing module, calculates the maximum stream flow of the Control in Hydraulic Rotation System, and according to the engine speed, calculates described
Hydraulic pump to should engine speed maximum pump discharge, and calculate maximum under required engine torque and the current rotating speed of engine
Moment of torsion.
Control module, according to the maximum pump discharge of the engine, the size of the output current by adjusting joystick, control
The hydraulic pump discharge and the hydraulic motor displacement is made, so that the speed of gyration is not more than the institute of the Control in Hydraulic Rotation System
Maximum speed of gyration under place's operating mode.
Whether the torque adjustment module judges the required engine torque more than the engine under current rotating speed
Peak torque；As the peak torque is more than or equal to required engine torque, then maintain the current rotating speed of the engine；Such as
The peak torque is less than the moment of torsion, then pass through control module, reduces the rotating speed of the engine to increase the engine
Moment of torsion.
Speed of gyration control method proposed by the present invention and control device, consider engine speed, hydraulic pump discharge,
The impact that hydraulic motor displacement controls to speed of gyration, hence it is evident that the operability of revolution control must be improve, it is to avoid because of engine
The difference of rotating speed and operating mode and the notable difference of the slew gear startability that causes and operability.Change according to engine speed
The size of the output current of the hydraulic pump of real-time matching handle control and hydraulic motor, so as to limit engine under different rotating speeds
Hydraulic pump maximum pump discharge and hydraulic motor minimum injection rate.So that the manipulation sense of handle is more preferably, and efficiently avoid engine
Handle controlling dead error larger shortcoming during the slow-speed of revolution.By adjust engine torque, can automatically controlled engine rotating speed, to prevent
Engine misses and revolution stop suddenly, strengthen crane safety.
Although embodiments of the invention are as described above, but those embodiments are not for limiting the present invention, this technology neck
The technical staff in domain can impose change according to the content that expresses or imply of the present invention to the technical characteristic of the present invention, all this kind
Change may all belong to the patent protection category sought by the present invention, and in other words, the scope of patent protection of the present invention must regard this theory
The as defined in claim of bright book is defined.
Claims (10)
1. a kind of speed of gyration control method, for the Control in Hydraulic Rotation System of crane, the Control in Hydraulic Rotation System includes to start
Machine, hydraulic pump and hydraulic motor, it is characterised in that the control method includes：
Collection engine speed, hydraulic pump discharge and hydraulic motor displacement；
Calculate the maximum stream flow of the Control in Hydraulic Rotation System, and according to the engine speed, the hydraulic pump is calculated to should
The maximum pump discharge of engine speed；
According to the maximum pump discharge, the size of the output current by adjusting joystick, control the hydraulic pump discharge and institute
Hydraulic motor displacement is stated, so that the speed of gyration is not more than the maximum revolution speed under operating mode residing for the Control in Hydraulic Rotation System
Degree.
2. control method as claimed in claim 1, it is characterised in that also include, according to the maximum pump discharge, make the control
The output current of handle to should the maximum pump discharge so that the speed of gyration reach described maximum speed of gyration.
3. control method as claimed in claim 2, it is characterised in that also include, carry out the operating mode of the Control in Hydraulic Rotation System
Select, and the maximum speed of gyration according to corresponding to selected operating mode determines the operating mode.
4. control method as claimed in claim 2, it is characterised in that also include：
Gather the pressure of the hydraulic pump；
According to pressure and the hydraulic pump discharge of the hydraulic pump, required engine torque is calculated；
Judge the required engine torque whether more than the maximum engine torque under present engine rotating speed；
Required engine torque as described in the peak torque is more than or equal to, then maintain the current rotating speed of the engine.
5. control method as claimed in claim 4, it is characterised in that engine needed for as described in the peak torque is less than is turned round
Square, then reduce the rotating speed of the engine to increase the output torque of the engine.
6. control method as claimed in claim 5, it is characterised in that also include, adjusts the rotating speed of the engine, until adjusting
The corresponding peak torque of the rotating speed of the engine after whole is more than the required engine torque.
7. control method as claimed in claim 1, it is characterised in that the hydraulic pump is electric-controlled hydraulic variable pump, the liquid
Pressure motor is hydraulic pressure fixed displacement motor.
8. a kind of speed of gyration control device, for the Control in Hydraulic Rotation System of crane, the Control in Hydraulic Rotation System includes to start
Machine, hydraulic pump and hydraulic motor, it is characterised in that the control device includes：
Acquisition module, for gathering engine speed, hydraulic pump discharge and hydraulic motor displacement；
Computing module, according to the hydraulic pump discharge and hydraulic motor displacement, calculates the maximum stream flow of the Control in Hydraulic Rotation System,
And according to the engine speed, calculate the maximum pump discharge that the hydraulic pump corresponds to the engine speed；
Control module, according to the maximum pump discharge, the size of the output current by adjusting joystick, controls the hydraulic pump
Discharge capacity and the hydraulic motor displacement, so that under the speed of gyration no more than residing operating mode of the Control in Hydraulic Rotation System most
Big speed of gyration.
9. control device as claimed in claim 8, it is characterised in that also include torque adjustment module, be connected to the collection
Module and computing module, the acquisition module also gather the pressure of the hydraulic pump；The computing module is according to the hydraulic pump
Pressure and the hydraulic pump discharge, calculate required engine torque；
The torque adjustment module judges that whether the required engine torque starts more than described under present engine rotating speed
The peak torque of machine；As the peak torque is more than or equal to required engine torque, then maintain the current rotating speed of the engine；
Required engine torque as described in the peak torque is less than, then reduce the rotating speed of the engine to increase the engine
Output torque.
10. a kind of crane, the crane tool are had the right the speed of gyration control device described in requirement 8 or 9.
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107657133B (en) * | 2017-10-20 | 2020-10-13 | 上海华兴数字科技有限公司 | Rotating speed prediction method and device based on dynamic characteristics of engine |
| KR102391357B1 (en) * | 2018-09-05 | 2022-04-27 | 가부시키가이샤 히다치 겡키 티에라 | Hydraulic drive of electric hydraulic working machine |
| CN114105015B (en) * | 2021-10-15 | 2022-08-02 | 中联重科股份有限公司 | Rotation control method and processor for crane and crane |
| CN114439818A (en) * | 2022-01-27 | 2022-05-06 | 上海中联重科桩工机械有限公司 | Power system torque control method and system |
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