CN105350597B - A kind of parallel type hybrid dynamic excavator dynamical system control method - Google Patents
A kind of parallel type hybrid dynamic excavator dynamical system control method Download PDFInfo
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- CN105350597B CN105350597B CN201510703977.4A CN201510703977A CN105350597B CN 105350597 B CN105350597 B CN 105350597B CN 201510703977 A CN201510703977 A CN 201510703977A CN 105350597 B CN105350597 B CN 105350597B
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- shafting
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- 238000005183 dynamical system Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000003111 delayed effect Effects 0.000 claims abstract description 4
- 230000001133 acceleration Effects 0.000 claims description 8
- 230000008450 motivation Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
Abstract
The invention provides a kind of parallel type hybrid dynamic excavator dynamical system control method, comprise the following steps：A, the vibration amplitude of shafting is checkedaIf shafting vibration amplitudeaLess than setting valuea 1, then step B is carried out, otherwise carries out step H；B, delay judgement is carried out, if delaytIt is delayed less than settingt 1, then step C is carried out, otherwise carries out step J；C, the state-of-charge of accumulator is checkedsIf state-of-chargesMore than setting values 1, then step D is carried out, otherwise carries out step K；D, the output pressure of hydraulic pump is checkedpIf output pressurepMore than setting valuep 1, then step E is carried out, otherwise carries out step K；E, ISG motors are kept to be operated in motoring condition；H, ISG motors are kept to be operated in idling conditions, start-up study program；J, controller closes engine, sends alarm signal；K, ISG motors are kept to be operated in generating state.This method can effectively improve power system operational security.
Description
Technical field
The invention belongs to hybrid power system control technology field, and in particular to a kind of parallel type hybrid dynamic excavates motor-driven
Force system control method.
Background technology
Hybrid excavator has advantage in terms of saving with emission reduction.Existing parallel type hybrid dynamic excavator dynamical system
The control targe of system control method is to meet load power demand, reduce dynamical system energy expenditure, does not take into full account power
Influence of the system shafting vibration to power system operation security.In fact, parallel type hybrid dynamic excavator dynamical system axle
It is that vibration amplitude can cause the dynamical system life-span to decline when protruding, dynamical system shafting can be caused to be broken under serious conditions, it is unfavorable
In the safe operation of hybrid excavator.
The content of the invention
It is an object of the invention to propose one kind consider dynamical system shafting vibration amplitude, accumulator state-of-charge and
The hybrid system control method of the factors such as dynamical system load power demand, improve the work safety of hybrid power system
Property.
The present invention proposes a kind of parallel type hybrid dynamic excavator dynamical system control method, and the dynamical system includes
Engine, ISG motors, hydraulic pump, acceleration transducer, rotary encoder, accumulator, controller, the control method include
Following steps：
A, the vibration amplitude of shafting is checkedaIf shafting vibration amplitudeaLess than setting valuea 1, then step B is carried out, otherwise
Carry out step H；
B, delay judgement is carried out, if delaytIt is delayed less than settingt 1, then step C is carried out, otherwise carries out step J；
C, the state-of-charge of accumulator is checkedsIf state-of-chargesMore than setting values 1, then step D is carried out, is otherwise entered
Row step K；
D, the output pressure of hydraulic pump is checkedpIf output pressurepMore than setting valuep 1, then step E is carried out, is otherwise entered
Row step K；
E, ISG motors are kept to be operated in motoring condition；
H, keep ISG motors is operated in idling conditions, start-up study program；
J, controller closes engine, sends alarm signal；
K, ISG motors are kept to be operated in generating state.
Preferably, in the control method of the present invention, in the step A, the vibration amplitude of the shaftingaInclude 2
Component, it is torsional vibration of shafting amplitude respectivelya- 1 and the flexural vibrations amplitude of shaftinga-2；The vibration amplitude setting of the shafting
Valuea 1It is torsional vibration of shafting amplitude setting value respectively comprising 2 componentsa 1- 1 and the flexural vibrations amplitude setting value of shaftinga 1-
2。
Preferably, in the control method of the present invention, in the step A, the twisting vibration amplitude of shafting is using rotation
Encoder is measured, and the flexural vibrations amplitude of shafting is measured using acceleration transducer.
Preferably, in the control method of the present invention, in the step A, can determine that when meeting following either condition
Shafting vibration amplitudeaLess than setting valuea 1：
a- 1 is less thana 1-1；
a- 2 are less thana 1-2；
a- 1 is less thana 1- 1, anda- 2 are less thana 1-2。
Preferably, in the control method of the present invention, in the step B, there is provided a delay procedure, setting delayt 1It is configured according to the actual conditions of dynamical system.
Preferably, in the control method of the present invention, in the step E, the electric power of ISG motors is loading demand
The difference of power and engine output.
Preferably, in the control method of the present invention, in the step K, the generated output of ISG motors is defeated for engine
Go out the difference of power and load demand power.
Preferably, in the control method of the present invention, the shafting vibration amplitude setting valuea 1, state-of-charge setting values 1、
Output pressure setting valuep 1It can be configured according to the actual conditions of dynamical system.
Compared with prior art, the beneficial effects of the present invention are：Dynamical system shafting vibration amplitude, storage are considered
Influence of the energy factor such as device state-of-charge and dynamical system load demand power to hybrid system control method, is improved mixed
Close power system operational security.
Brief description of the drawings
Fig. 1 is the parallel type hybrid dynamic excavator power system architecture schematic diagram according to embodiments of the invention；
Fig. 2 is the parallel type hybrid dynamic excavator dynamical system control method flow chart according to embodiments of the invention.
Embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Fig. 1 is parallel type hybrid dynamic excavator power system architecture schematic diagram, as shown in figure 1, parallel type hybrid dynamic
Excavator dynamical system, including engine 1, ISG motors 2, hydraulic pump 3, acceleration transducer 4, rotary encoder 5, accumulator
6th, controller 7.It can be readily appreciated that in order to realize that the technical scheme completely needs, other routines in hybrid power system also be present
Device, in view of the known property general knowledge for being arranged to this area of these devices, so herein without repeating.
In Fig. 1, the dotted line between foregoing all parts represents electrical connection, for transmitting control signal or electric energy.Hair
Motivation 1, ISG motors 2, acceleration transducer 4, rotary encoder 5 are connected with controller 7, accumulator 6 respectively with ISG motors 2 and
Controller 7 connects.
In Fig. 1, the solid line between foregoing all parts represents to mechanically connect, engine 1, ISG motors 2, hydraulic pump 3
On the same axis, acceleration transducer 4 is arranged on the outer surface of ISG motors 2 for installation, and rotary encoder 5 is arranged on ISG motors
2 with the periphery of the connecting shaft of hydraulic pump 3.
Fig. 2 is parallel type hybrid dynamic excavator dynamical system control method flow chart, as shown in Fig. 2 parallel mixing
Power digger dynamical system control method comprises the following steps：
A, the vibration amplitude of shafting is checkedaIf shafting vibration amplitudeaLess than setting valuea 1, then step B is carried out, otherwise
Carry out step H；
Specifically, the vibration amplitude of shaftingaIt is torsional vibration of shafting amplitude respectively comprising 2 componentsa- 1 and shafting
Flexural vibrations amplitudea-2.The vibration amplitude setting value of shaftinga 1It is the setting of torsional vibration of shafting amplitude respectively comprising 2 components
Valuea 1- 1 and the flexural vibrations amplitude setting value of shaftinga 1- 2,a 1It can be configured according to the actual conditions of dynamical system.Shafting
Twisting vibration amplitude measured using rotary encoder 5, the flexural vibrations amplitude of shafting is measured using acceleration transducer 4.
It is determined as shafting vibration amplitude when meeting following either conditionaLess than setting valuea 1：
a- 1 is less thana 1-1；
a- 2 are less thana 1-2；
a- 1 is less thana 1- 1, anda- 2 are less thana 1-2；
B, delay judgement is carried out, if delaytIt is delayed less than settingt 1, then step C is carried out, otherwise carries out step J；
Specifically, only when the vibration amplitude of shaftingaMore than setting valuea 1Shi Caihui start-up study programs, delay procedure
Purpose have 2, when avoid control program because in dynamical system start-up course vibration amplitude it is excessive caused by judge by accident, second, when dynamic
When there is the operation of Short-time Overload lotus in Force system, the buffer time certain to dynamical system.Setting delayt 1According to dynamical system
Actual conditions are configured.
C, the state-of-charge of accumulator 6 is checkedsIf state-of-chargesMore than setting values 1, then step D is carried out, is otherwise entered
Row step K；
Specifically, the state-of-charge setting value of accumulator 6s 1It can be configured according to the actual conditions of dynamical system,
It is to prevent the depth of accumulator 6 from generating electricity to carry out purpose of the state-of-charge of accumulator 6 detection compared with, influences the work longevity of accumulator 6
Life.
D, the output pressure of hydraulic pump 3 is checkedpIf output pressurepMore than setting valuep 1, then step E is carried out, is otherwise entered
Row step K；
Specifically, the output pressure setting value of hydraulic pump 3p 1It can be configured according to the actual conditions of dynamical system, liquid
The output pressure of press pump 3pMore than setting valuep 1When show dynamical system demand power it is larger, it is necessary to ISG motors 2 be operated in it is electronic
State is with the driving load of assisted engine 1.
E, ISG motors 2 are kept to be operated in motoring condition；
Specifically, the electric power of ISG motors 2 is the difference of the power output of hydraulic pump 3 and the power output of engine 1；
H, ISG motors 2 are kept to be operated in idling conditions, start-up study program；
Specifically, ISG motors 2 are in and neither generated electricity, also not electronic state.
J, controller 7 closes engine, sends alarm signal；
Specifically, to prevent dynamical system to be damaged, controller 7 actively closes engine 1, and sends alarm signal
Number.
K, ISG motors 2 are kept to be operated in generating state；
Specifically, the generated output of ISG motors 2 is the difference of the power output of engine 1 and the power output of hydraulic pump 3.
In step, by comparing shafting vibration amplitudeaWhether setting vibration amplitude is more thana 1, effectively prevent because shaking
The excessive security for being damaged to dynamical system shafting, improving the hybrid power system course of work of dynamic amplitude.
In step C, by comparing the state-of-charge of accumulator 6sWhether setting value is more thans 1, effectively prevent because of accumulator
6 deep discharges damage to accumulator 6, improve the working life of hybrid power system.
In step D, by comparing the output pressure of hydraulic pump 3pWhether setting value is more thanp 1, accurately obtain dynamical system
The demand power of system, improve the functional reliability of hybrid power system.
Examples detailed above should all be considered to be illustrative rather than restrictive in all respects.Master of the present invention is not being departed from
On the premise of the scope and design philosophy of wanting feature, a variety of changes, variations and alternatives can be made.Dimension, claims etc.
Any change in the implication and scope of the same sex should be all included in the present invention.
In view of these instruct, those skilled in the art will readily occur to other embodiments of the invention, combination and
Modification.Therefore, when combining described above and accompanying drawing is read, the present invention is only defined by the claims.
Claims (7)
1. a kind of parallel type hybrid dynamic excavator dynamical system control method, it is characterised in that the dynamical system includes hair
Motivation, ISG motors, hydraulic pump, acceleration transducer, rotary encoder, accumulator, controller, the control method include with
Lower step：
A, the vibration amplitude of shafting is checkeda, the vibration amplitude of the shaftingaIt is the twisting vibration of shafting respectively comprising 2 components
Amplitudea- 1 and the flexural vibrations amplitude of shaftinga-2；The vibration amplitude setting value of the shaftinga 1It is axle respectively comprising 2 components
The twisting vibration amplitude setting value of systema 1- 1 and the flexural vibrations amplitude setting value of shaftinga 1- 2, if shafting vibration amplitudeaIt is less than
Setting valuea 1, then step B is carried out, otherwise carries out step H；
B, delay judgement is carried out, if delaytIt is delayed less than settingt 1, then step C is carried out, otherwise carries out step J；
C, the state-of-charge of accumulator is checkedsIf state-of-chargesMore than setting values 1, then step D is carried out, otherwise carries out step
K；
D, the output pressure of hydraulic pump is checkedpIf output pressurepMore than setting valuep 1, then step E is carried out, otherwise carries out step
K；
E, ISG motors are kept to be operated in motoring condition；
H, keep ISG motors is operated in idling conditions, start-up study program；
J, controller closes engine, sends alarm signal；
K, ISG motors are kept to be operated in generating state.
2. the control method as described in claim 1, it is characterised in that in the step A, the twisting vibration amplitude of shafting
Measured using rotary encoder, the flexural vibrations amplitude of shafting is measured using acceleration transducer.
3. the control method as described in claim 1, it is characterised in that in the step A, meeting following either condition
When judge shafting vibration amplitudeaLess than setting valuea 1：
a- 1 is less thana 1-1；
a- 2 are less thana 1-2；
a- 1 is less thana 1- 1, anda- 2 are less thana 1-2。
4. the control method as described in claim 1, it is characterised in that in the step E, the electric power of ISG motors is
The difference of bearing power and engine output.
5. the control method as described in claim 1, it is characterised in that in the step K, the generated output of ISG motors is
The difference of engine output and bearing power.
6. the control method as described in claim 1, it is characterised in that the shafting vibration amplitude setting valuea 1, state-of-charge
Setting values 1, output pressure setting valuep 1It is configured according to the actual conditions of dynamical system.
7. the control method as described in claim 1, it is characterised in that there is provided a delay procedure, setting delayt 1According to
The actual conditions of dynamical system are configured.
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| CN201510703977.4A CN105350597B (en) | 2015-10-27 | 2015-10-27 | A kind of parallel type hybrid dynamic excavator dynamical system control method |
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| CN201510703977.4A CN105350597B (en) | 2015-10-27 | 2015-10-27 | A kind of parallel type hybrid dynamic excavator dynamical system control method |
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| CN113565164A (en) * | 2021-09-26 | 2021-10-29 | 徐工集团工程机械股份有限公司科技分公司 | Loader control system, loader, and loader control method |
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| EP1291467A1 (en) * | 2000-05-23 | 2003-03-12 | Kobelco Construction Machinery Co., Ltd. | Construction machinery |
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| CN103074915A (en) * | 2013-02-01 | 2013-05-01 | 广西工学院 | Parallel hybrid-power hydraulic excavator control method |
| CN104221265A (en) * | 2012-06-04 | 2014-12-17 | 住友重机械工业株式会社 | Working machine and method for controlling same |
| CN104220287A (en) * | 2012-03-26 | 2014-12-17 | 神钢建机株式会社 | Power-transmission device and hybrid construction equipment provided therewith |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6150821B2 (en) * | 2013-02-08 | 2017-06-21 | 住友建機株式会社 | Excavator and control method of excavator |
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2015
- 2015-10-27 CN CN201510703977.4A patent/CN105350597B/en active Active
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| EP1291467A1 (en) * | 2000-05-23 | 2003-03-12 | Kobelco Construction Machinery Co., Ltd. | Construction machinery |
| CN102007029A (en) * | 2008-04-04 | 2011-04-06 | 爱信Ai株式会社 | Hybrid power unit control system |
| CN104220287A (en) * | 2012-03-26 | 2014-12-17 | 神钢建机株式会社 | Power-transmission device and hybrid construction equipment provided therewith |
| CN104221265A (en) * | 2012-06-04 | 2014-12-17 | 住友重机械工业株式会社 | Working machine and method for controlling same |
| CN103074915A (en) * | 2013-02-01 | 2013-05-01 | 广西工学院 | Parallel hybrid-power hydraulic excavator control method |
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Application publication date: 20160224 Assignee: YIYANG FUJIA TECHNOLOGY Co.,Ltd. Assignor: HUNAN INSTITUTE OF ENGINEERING Contract record no.: X2023980052371 Denomination of invention: A Control Method for the Power System of a Parallel Hybrid Electric Excavator Granted publication date: 20171215 License type: Common License Record date: 20231214 |
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Application publication date: 20160224 Assignee: Yiyang Chuangxing Technology Co.,Ltd. Assignor: HUNAN INSTITUTE OF ENGINEERING Contract record no.: X2023980052753 Denomination of invention: A Control Method for the Power System of a Parallel Hybrid Electric Excavator Granted publication date: 20171215 License type: Common License Record date: 20231219 |
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