CN105667510A - Control device and method for wheel type mechanical hydraulic travelling system - Google Patents

Control device and method for wheel type mechanical hydraulic travelling system Download PDF

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Publication number
CN105667510A
CN105667510A CN201610008680.0A CN201610008680A CN105667510A CN 105667510 A CN105667510 A CN 105667510A CN 201610008680 A CN201610008680 A CN 201610008680A CN 105667510 A CN105667510 A CN 105667510A
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China
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control
travel
control unit
speed
value
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CN201610008680.0A
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Chinese (zh)
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CN105667510B (en
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何清华
刘均益
陈艳军
何耀军
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山河智能装备股份有限公司
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14Adaptive cruise control
    • B60W30/143Speed control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/30Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00Input parameters relating to a particular sub-units
    • B60W2510/06Combustion engines, Gas turbines
    • B60W2510/0638Engine speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00Input parameters relating to occupants
    • B60W2540/10Accelerator pedal position

Abstract

The invention discloses a control device and method for a wheel type mechanical hydraulic travelling system. Based on a control unit, state quantities including pressure, rotating speed, electric currents, positions and the like are detected, a first magnetic valve, a second magnetic valve and a third magnetic valve are controlled, besides, a damping device is additionally arranged on a pilot oil line, and too big impact during starting and stopping is avoided. An accelerator pedal and running speed are in real-time matching, so that the maneuvering flexibility is improved, and maneuvering comfort and driving feeling are enhanced; the throttling losses when a running control valve is not fully opened are reduced, energy is saved, and the control response speed is increased; control on manual switch and automatic switch under various travelling operating conditions is realized, the trouble that a manipulator frequently adjusts various travelling modes is reduced, and the operation fatigue feeling is reduced; pressure impact during starting and stopping is reduced, and better comfort is achieved.

Description

A kind of control device and method of wheel machine Walking hydraulic system

Technical field

The present invention relates to the control device and method of a kind of wheel machine Walking hydraulic system.

Background technology

Hydrostatic driving is widely used in mechanically moving, Fig. 1 as shown in the figure, due in its running and driving system, start rotating speed, discharge of main pump, travel valve aperture, the isoparametric change of running motor discharge capacity all can cause the change of travel speed, its input is a multivariable system, and because the parameter controlled is many, its general control mode of therefore traditional hydrostatic driving driving system is to travel the parameters such as front stationary engine throttle only by regulating travel valve aperture to control travel speed. traditional Walking hydraulic system is as shown in Figure 2, hydraulic pressure foot-operated (60) controls travel control valve (10), and the first electromagnetic valve (9) controls travel direction and is advance or retreats, due to this driving mode in machine travel process travel control valve (10) not necessarily in maximum travel position, the problem that all can there is throttling time particularly below maximum travel position, and the engine speed relation frequently real-time matching corresponding with travel control valve (10). in the middle of complicated road conditions, driver needs to take different control modes according to different load conditions or adjust control strategy rapidly in time, and existing control method cannot meet and easily occurs fatigue after these demands result in driver's long-duration driving, high oil consumption, low performance, cannot regulate according to demand, impact including travelling to start, cruise travels, climbing travels, reversing mode of different demands etc., therefore to improve the transformation that above-mentioned determination needs to realize hydraulic control to automatically controlled control mode, realize more flexible, quickly control response and adapt to different road traveling operating modes, reach comfortable, energy-conservation, better driving experience and individual needs, it is badly in need of proposing the new control device and method of a kind of wheel machine Walking hydraulic system.

Summary of the invention

The technical problem to be solved be in order to avoid above-mentioned run at a low speed the energy loss brought or low engine speed when high engine speeds time travel speed can not add and this handle that sense is poor, it is big to impact, control very flexible problem, it is provided that the control device and method of a kind of wheel machine Walking hydraulic system.

The control device of a kind of wheel machine Walking hydraulic system, including stroke detection mechanism, speed detecting mechanism, pressure detection mechanism, input mechanism, electromagnetic valve group and control unit;

Described stroke detection mechanism is connected with control unit, obtains accelerator travel signal and is transferred to control unit;

Described speed detecting mechanism is connected with control unit, obtains wheel machine travel speed and is transferred to control unit;

Described pressure detection mechanism is connected with control unit, and the walking brake pressure of brake valve is also input to control unit;

Described electromagnetic valve group at least includes three electromagnetic valves, first electromagnetic valve, the second electromagnetic valve and the 3rd electromagnetic valve, described first electromagnetic valve is arranged on the pilot control oil circuit of travel control valve, described second electromagnetic valve is arranged on the pilot control oil circuit of hydraulic motor displacement governor motion, and described 3rd electromagnetic valve is connected with the opening adjustment mechanism of hydraulic pump; Electromagnetic valve group is controlled by described control unit;

Described control unit is according to the wheel type hydraulic traveling pattern of input mechanism input, utilize the accelerator travel signal of Real-time Collection, engine speed and wheel machine travel speed, compare the optimum matching relation table of accelerator card set in advance stroke-engine speed-hydraulic pump aperture, the 3rd electromagnetic valve is controlled change hydraulic pump aperture in real time.

Also including throttling unit, described throttling unit includes first throttle device (27), the second throttling arrangement (29), the 3rd throttling arrangement (36) and the 4th throttling arrangement (37);

Described first throttle device (27) and the 3rd throttling arrangement (36) are separately positioned on two oil-ins of travel control valve (10), described second throttling arrangement (29) and the 4th throttling arrangement (37) are separately positioned on two oil return openings of travel control valve (10), and the 3rd throttling arrangement (36) connect with the first check valve (32), the 4th throttling arrangement (37) in the second check valve (33) connect.

The control method of a kind of wheel machine Walking hydraulic system, adopts described control device, carries out wheel machine Walking hydraulic system controlling as follows:

1) when accelerator pedal is lower than threshold values S1 stroke, control unit output result is default value, and engine speed does not adjust, and concrete S1 threshold values is determined according to the characteristic curve of pedal travel with output signal;

2) accelerate to control

When accelerator travel S more than threshold values S1 and increment more than threshold values Sm time, when accelerator travel increases, accelerator travel increases to Si+1 from Si, it is Ni+1 that control unit adjusts engine speed, electromotor Ni+1 is corresponding with pedal travel Si+1, engine speed Ni is after Ta after a while, control unit controls the electric current of the 3rd electromagnetic valve and is stepped up the Ii+1 current value corresponding with engine speed Ni+1, different accelerator travels is mapped to different engine peed stable values one by one, namely (Si+1)-(Ni+1)-(Ii+1) maps one by one, these mapping relations obtain optimum matching point according to reality debugging, accelerator travel Si, engine speed Ni, the optimal value of electromagnetic valve current Ii determines the characteristic curve of the stroke according to accelerator pedal and output signal, engine test bench characteristic curve, the performance curve of pressure-flow of hydraulic pump determines the matching value of static state, on this basis machine is debugged and speed of falling according to engine speed determines whether to reach optimal match point, fall speed general control within 10%,

3) deceleration controls

When accelerator travel S more than the absolute value of threshold values S1 and stroke minimizing amount more than threshold values Sm time, accelerator travel reduces to Si-1 from Si, pedal testing agency inputs control unit detected value Si-1, control unit controls the electric current of the 3rd proportioning valve and gradually reduces the Ii-1 current value corresponding with Si-1, Ii-1 is after Tc after a while, control unit controls Ni-1 and the Si-1 correspondence that Throttle Opening Control unit makes electromotor correspondence control unit corresponding, namely (Si-1)-(Ii-1)-(Ni-1) maps one by one, its mapping relations obtain optimum matching point according to reality debugging, accelerator travel Si, engine speed Ni, the optimal value of electromagnetic valve current Ii determines the characteristic curve of the stroke according to accelerator pedal and output signal, engine test bench characteristic curve, the performance curve of pressure-flow of hydraulic pump determines the matching value of static state, on this basis machine is debugged and speed of falling according to engine speed determines whether to reach optimal match point, fall speed general control within 10%,

4) electromotor-pump stable matching controls

When accelerator travel S is more than threshold values S1, accelerator travel is maintained at Si value and accelerator travel increase and decrease amount absolute value less than threshold values Sn, the corresponding engine speed Ni mapped mutually controls in certain scope, if the rotating speed rate of descent of electromotor is more than Kp threshold values, corresponding Ii is correspondingly reduced to Ii-1, if engine speed Ni-1 returns to Ni, corresponding Ii-1 correspondingly increases to Ii, keep the stable Dynamic Matching of accelerator travel-engine speed-pump power electric current, its mapping relations obtain optimum matching point according to reality debugging, accelerator travel Si, engine speed Ni, the optimal value of electromagnetic valve current Ii determines the characteristic curve of the stroke according to accelerator pedal and output signal, engine test bench characteristic curve, the performance curve of pressure-flow of hydraulic pump determines the matching value of static state, on this basis machine is debugged and speed of falling according to engine speed determines whether to reach optimal match point, fall speed general control within 10%.

The concrete rate-determining steps of cruise travel control method is as follows:

1) start cruise to travel: when travel speed is Vi, after manually selecting selection cruise traveling, when accelerator travel S is more than when setting threshold value S1 and travel speed Vi > Vt1, Vt1 is cruising speed threshold values, control unit memory is currently located engine speed Ni and controls it stably, and control unit Synchronization Control the 3rd electromagnetic valve current value Ii keeps corresponding with Ni;

2) stably cruise traveling

Exceeding maximum threshold values Vm1 when what travel speed exceeded cruising speed Vi, control unit controls engine speed Ni and remains stable for constant, and control unit Synchronization Control the 3rd ratio threshold Ii reduces according to engine speed Ni rate of change ratio; When travel speed lower than cruising speed Vi less than minimum threshold values Vm2, control unit controls engine speed Ni and increases the size of engine speed and the 3rd corresponding ratio threshold Ii according to target difference accordingly, makes wheel machine travel speed stable between the maximum threshold values and minimum threshold values of Vi;

3) cancel cruise to travel: in cruise driving process, when the manipulation accelerating travel pedal of manipulator returns to below S1, accelerator travel is made again to increase to more than S2 within the Td time, control unit is judged as that cancelling cruise travels, or when brake control valve move make brake pressure raise and more than Pi1 after, cancelling cruise to travel, electromotor is switched to feed speed control driving mode.

During climbing driving mode, concrete control process is as follows:

1) climbing is started, after Non-follow control input mechanism selects climbing pattern, control unit controls the second electromagnetic valve (12) and opens so that it is be placed in conducting position, the next work of row's adjustable valve (35), makes the work discharge capacity of running motor be in the operating position of maximum pump discharge;

2) climbing is cancelled, when input mechanism (18) controls the cancellation climbing traveling being in forward mode, control unit controls the second electromagnetic valve (12) and closes, place it in cut-off position, now row's adjustable valve 35 puts upper work, makes the work discharge capacity of running motor be in the operating position of minimum injection rate.

When carrying out Autonomous Control traveling, when manipulation hands switches to Autonomous Control to travel on input mechanism, pedal stroke, prexxure of the hydraulic pump value, control unit clock value are accelerated in control unit collection, and control unit travels according to acceleration and deceleration traveling, cruise, climbing travels between three kinds of travelings control and mutually automatically switches:

1) cruise under Autonomous Control travels starts, travel speed Vi > Vt2 value, Vt2 is cruising speed threshold values, and after keeping a period of time Tt, starting cruise to travel, control unit controls engine speed and is fixed on Nr1 value, and Nr1 value is autonomous cruise setting speed, make the 3rd electromagnetic valve current be maintained at Ir1 value corresponding with Nr1, and keep stablizing of travel speed Vr1 according to electromotor-pump stable matching control method;

2) in the cruise driving process under Autonomous Control travels, below S1 is returned to along with accelerating travel pedal is accustomed in the manipulation of manipulator, then accelerator travel is made again to increase to more than S2, control unit output control and cancel cruise travel or when brake control valve move make brake pressure rising and more than Pi1 after, cancelling cruise to travel, electromotor is switched to feed speed control and travels;

3) climbing of the startup under Autonomous Control travels travels, and main pump force value is more than Pt2 persistent period more than Tt2, and control unit controls the second electromagnetic valve and opens, and makes the work discharge capacity of running motor to maximum pump discharge, starts climbing traveling;

4) climbing of the cancellation under Autonomous Control travels travels, and main pump force value more than Tt2, control unit the second closed electromagnetic valve, makes the work discharge capacity of running motor return to minimum injection rate less than Pt2 persistent period;

5) when conditions above does not possess, it is defaulted as acceleration and deceleration and travels control.

When wheel machine carries out energy-conservation traveling, concrete control process is as follows:

1) energy-conservation traveling is started, input mechanism manually selects the energy-conservation traveling of startup, control unit controls engine speed and is maintained in Ne value and works, Ne value is the rotating speed of optimum oil consumption point, corresponding current value Ie mates with engine speed Ne, and electromotor and pump carry out according to acceleration and deceleration stable matching control method;

2) cancel energy-conservation traveling, input mechanism manually selects cancellation and starts energy-conservation traveling, be switched to and add speed control method.

When wheel machine is moveed backward, control process as follows:

1) high-reverse

If arranging high-reverse pattern, control unit controls the second electromagnetic valve and remains turned-off, and running motor is placed in minimum injection rate, and control unit controls electromotor and is maintained in Ns value and works, and Ns value is the engine speed value of best back-up speed;

2) high torque height tackles car

If arranging high torsion reversing mode at a high speed, control unit controls the second electromagnetic valve and is held open, and running motor is placed in maximum pump discharge, and control unit controls electromotor and is maintained on Ns and works, Ns value is the engine speed value of best back-up speed.

Beneficial effect

The invention provides the control device and method of a kind of wheel machine Walking hydraulic system, the quantity of states such as multiple pressure, rotating speed, electric current, position are detected based on control unit, first, second, third electromagnetic valve is controlled, and on guide oil road, increasing damping unit, it is prevented that impact when starting and stop is excessive. For controlling the accelerator pedal of travel speed, the testing agency of detection accelerator travel, control to travel the travel control valve of running motor rotating, control the first electromagnetic valve that travel control valve moves, described first electromagnetic valve controls to be connected with control unit, and first electromagnetic valve output guide's hydraulic oil acts on the hydraulic fluid port of travel control valve and controls input; The first, the 3rd throttling arrangement is installed on travel control valve control end oil circuit, the second, the 4th throttling arrangement and first, second check valve are connected on travel control valve control end oil circuit, described control unit possesses detection clock status detection, delays time to control, and the output pressure of described brake control valve is by brake pressure testing agency.

By above technical scheme, create beneficial effect:

(1) throttle accelerator pedal and speed of travel real-time matching, adds the motility of manipulation and strengthens that manipulation is comfortable, drives and feel;

(2) decrease the travel control valve restriction loss when not having standard-sized sheet, save energy with increasing and control response speed;

(3) achieve manual switching and the auto-changeover control of various driving cycle, decrease manipulator and adjust various driving mode continually, reduce operation fatigue sense;

(4) reduce compression shock when startup, stopping, possessing better comfortableness.

Accompanying drawing explanation

Fig. 1 is tradition driving system control block diagram;

Fig. 2 is conventional hydraulic drive-control system structure chart;

Fig. 3 is control apparatus structure schematic diagram of the present invention;

Fig. 4 is control method schematic diagram of the present invention;

Fig. 5 controls process schematic for applying when control method of the present invention is accelerated travelling;

Fig. 6 controls process schematic for applying when control method of the present invention carries out Reduced Speed Now;

Fig. 7 carries out stable cruise traveling control process schematic for applying control method of the present invention;

Fig. 8 is for applying control method control block diagram of the present invention;

Fig. 9 is Energy Saving Control process schematic;

Label declaration: 1-electromotor, 2-the 3rd check valve, 5-the first oil circuit, 6-the 4th check valve, 7-accelerator pedal, 9-the first electromagnetic valve, 10-travel control valve, 12-the second electromagnetic valve, 13-the second oil circuit, 14-the 3rd oil circuit, 15-hydraulic pressure main pump, 17-pioneer pump, 18-input mechanism, 19-Rotating speed measring mechanism, 20-pedal testing agency, 22-pressure detection mechanism, 25-Throttle Opening Control unit, 27-first throttle device, 29-the second throttling arrangement, 30-control unit, 31-the 3rd electromagnetic valve, 32-the first check valve, 33-the second check valve, 35-arranges adjustable valve, 36-the 3rd throttling arrangement, 37-the 4th throttling arrangement, 38-brake control valve, 39-brake pressure testing agency, 41-travel speed testing agency.

Detailed description of the invention

Below in conjunction with drawings and Examples, the present invention is described further.

According to Fig. 1, the stroke of accelerator pedal 7 detects through pedal testing agency 20, the pressure of hydraulic pressure main pump 15 detects through pressure detection mechanism 22, brake control valve 38 pressure detects through brake pressure testing agency 39, the rotating speed of electromotor 1 detects through Rotating speed measring mechanism 19, car load travel speed detects in travel speed testing agency 41, the detection signal of above-mentioned testing agency is input to control unit 30 jointly, indication mechanism input mechanism 18 and control unit 30 realize data exchange and control, Throttle Opening Control unit 25, first electromagnetic valve 9, second electromagnetic valve 12, 3rd electromagnetic valve 31 and control unit 30 realize data exchange and control, each actuator (25, 9, 12, 31) control signal exported by control unit 30 performs corresponding unlatching, close, keep and corresponding stroke action etc. first electromagnetic valve 9 controls the pioneer pump 17 pilot control pressure to travel control valve 10 two ends oil circuit 13 and oil circuit 14, and the first electromagnetic valve 9 controls the commutation of travel control valve 10, makes running motor 16 realize rotating, controls advance and the retrogressing of car load. second oil circuit the 13, the 3rd oil circuit 14 is provided with throttling arrangement, second oil circuit the 13, the 3rd oil circuit 14 installs first throttle 27 device, the 3rd throttling arrangement 29 at in-line, and oil return line is installed the 3rd throttling arrangement the 36, the 4th throttling arrangement 37 and is installed in series respectively at first check valve the 32, second check valve 33. second electromagnetic valve 12 controls the pioneer pump 17 pilot pressure to displacement control valve 35 oil circuit 5, and the first oil circuit 5 is provided with the 3rd check valve 2, and the 3rd check valve 2 and the 4th check valve 6 are installed side by side.

State detection mechanism (9, 12, 18-22, 25, 31, 39, 41) rotating speed, pressure, travel position, location status, control unit clock, the quantity of states such as travel speed are input to control unit 30, indication mechanism input mechanism 18 input state is to control unit 30, logic through control unit 30, result is exported after the computings such as variable quantity, control (9, 12, 25, 31) actuator execution action, specifically as the traveling of Fig. 8 controls shown in schematic diagram, carry out the control of various traveling, hydraulic wheel type machinery travel speed control method includes the advance acceleration travelled and Reduced Speed Now, cruise travels, climbing travels, energy-conservation traveling, the control modes such as autonomous traveling, the multiple control modes such as the reverse travel also retreated.

After manipulator sets the advance traveling of driving mode on indication mechanism input mechanism 18, when selecting acceleration and deceleration to travel, entering acceleration and deceleration and travel control, concrete control method and process are as follows:

Control unit realizes the one-to-one relationship of accelerator pedal-electromotor-pump, make accelerator travel, engine speed, hydraulic pressure main pump various in wheel machine driving process of proportional solenoid give it the gun, Reduced Speed Now and the stable matching relationship travelled, its rate-determining steps is as follows:

1) when accelerator pedal is lower than threshold values S1 stroke, control unit output result is default value, and engine speed does not adjust;

2) speed control method is added

Such as: accelerator pedal is from the process of 0-Smax, the signal value Is of pedal testing agency detection is linearly increasing along with accelerator travel S increase, Ismax corresponding maximum when to maximum Smax, accelerator pedal from 0 start more than threshold values S1 and increment more than threshold values Sm time, control unit thinks that quantity of state changes, thus being adjusted engine speed controlling.

When accelerator travel increases, accelerator travel increases to Si+1 from Si, such as along with the increase of pedal stroke, when Is arrives S1-S2 interval, S1 stroke is within 6mm, corresponding engine speed is N1, such as 1200r/min, therefore control unit control Throttle Opening Control unit makes electromotor arrive N1, N1 is arrived through the ta time from N0 in engine speed, , after N1 is stable again after the ta time, the ta time is within 100ms, the electric current I1 that controller adjusts the 3rd electromagnetic valve is corresponding with it, by that analogy, corresponding Ni and Ii is had at the stroke Si of accelerator pedal, sequencing according to sequential is controlled, its mapping relations obtain optimum matching point according to reality debugging.

3) method for slowing-down control

Accelerator travel reduces to Si-1 from Si, when accelerator travel more than the absolute value of threshold values S1 (within 2mm, stroke is dead band) and stroke minimizing amount more than threshold values Sm (such as within 0.5mm) time, pedal testing agency inputs control unit detected value Si-1, control unit controls the electric current of the 3rd proportioning valve and gradually reduces the Ii-1 current value corresponding with Si-1, Ii-1 is stable after TnTc after a while, the tc time is within 100ms, control unit controls Ni-1 and the Si-1 correspondence that Throttle Opening Control unit makes electromotor correspondence control unit corresponding, namely (Si-1)-(Ii-1)-(Ni-1) maps one by one, its deceleration control process is as shown in Figure 6.

Such as: accelerator pedal is from the process of Smax-0, the signal value Is of pedal testing agency detection reduces along with accelerator pedal and linearly reduces, accelerator pedal from Smax start the absolute value of increment more than threshold values Sm time, control unit thinks that quantity of state changes, thus being adjusted engine speed controlling.

Minimizing along with pedal stroke, when Is arrives S3-S2 interval, corresponding engine speed is N2 and the three electromagnetic valve current I2, now therefore control unit control Throttle Opening Control unit makes electromotor arrive N2, arrives N1 through the ta time from N0 in engine speed, after N1 is stable again after the tb time, the electric current I1 that controller adjusts the 3rd electromagnetic valve is corresponding with it, by that analogy, there is corresponding Ni and Ii at the stroke Si of accelerator pedal, be controlled according to the sequencing of sequential.

4) electromotor-pump stable matching controls

When accelerator travel is more than threshold values S1, when accelerator travel increase and decrease amount absolute value is less than threshold values Sm, now engine speed Si and Ni mates correspondence one by one by mapping relations,

When on above-mentioned basis, if KP is within 10%y scope when the rotating speed rate of descent of electromotor falls speed more than threshold values Kp, corresponding Ii correspondingly does and reduces;

If electromotor falls speed recovers normal gradually more than Kp, the 3rd corresponding electromagnetic valve I i correspondingly increases, until by matching relationship (Ni)-(Ii) one by one;

Engine speed and the 3rd electromagnetic valve I i is realized within the scope of dynamic stability through said process;

After manipulator sets the advance traveling of driving mode on indication mechanism input mechanism 18, when selecting cruise speed to travel, entrance cruise speed travels and controls, and concrete control method and process are as follows:

1) start cruise travel: when accelerator travel is more than S1 and travel speed Vi > Vt1 time, Vt1 is cruising speed threshold values, value is more than 15Km/h, manually select selection cruise to travel, control unit memory is currently located engine speed Ni and controls it stably, and control unit Synchronization Control the 3rd electromagnetic valve current value Ii keeps corresponding with Ni;

2) stably cruise traveling:

When travel speed exceedes the maximum threshold values of cruising speed Vi, such as Vi=30Km/h, maximum threshold values is Vm1=33Km/h, control unit controls engine speed Ni and remains stable for constant, control unit Synchronization Control the 3rd ratio threshold Ii reduces according to relative speed variation ratio, when travel speed is lower than the minimum threshold values Vm2 of cruising speed Vi, minimum threshold values Vm2=27Km/h, control unit controls engine speed Ni and increases the size of engine speed and the 3rd corresponding ratio threshold Ii according to target difference accordingly, make wheel machine travel speed stable between the maximum threshold values and minimum threshold values of Vi, such as Vi actual value fluctuates up and down on the basis of V (desired value), and now the 3rd ratio threshold Ii also follow I (desired value) adjust up and down or follow seen control, as shown in Figure 7,

3) cancel cruise to travel: in cruise driving process, when the manipulation accelerating travel pedal of manipulator returns to below S1, then accelerator travel is made again to increase to more than S2, control unit is judged as that cancelling cruise travels, or when brake control valve move make brake pressure raise and be 2MPa-5MPa more than Pi1, Pi1 value, after a period of time, cancelling cruise to travel, electromotor is switched to feed speed control and travels;

After manipulator sets the advance traveling of driving mode on indication mechanism input mechanism 18, when selecting climbing speed to travel, entrance climbing speed travels and controls, and concrete control method and process are as follows:

1) climbing is started, after Non-follow control indication mechanism input mechanism selects climbing pattern, control unit controls the second electromagnetic valve 12 and opens so that it is be placed in conducting position, now the next work of row's adjustable valve 35, makes the work discharge capacity of running motor be in the operating position of maximum pump discharge;

2) climbing is cancelled, when indication mechanism input mechanism 18 controls to be in the cancellation climbing traveling of forward mode, control unit controls the second electromagnetic valve 12 and closes, place it in cut-off position, now row's adjustable valve 35 puts upper work, makes the work discharge capacity of running motor be in the operating position of minimum injection rate;

The method that Autonomous Control travels, when manipulation hands switches to Autonomous Control to travel on indication mechanism input mechanism 18, pedal stroke, main pump force value, control unit clock value are accelerated in control unit collection, control machine and travel between three kinds of travelings control mutually automatically switch according to acceleration and deceleration traveling, cruise traveling, climbing.

1) cruise under Autonomous Control travels starts, travel speed Vi > Vt2 value, the value of Vt2 is at more than 20Km/h, and after keeping a period of time Tt, Tt is more than 60s, starting cruise to travel, control unit control engine speed is fixed on Nr1 makes the 3rd electromagnetic valve current be maintained at Ir1 value, and keeps stablizing of travel speed Vi according to electromotor-pump stable matching control method;

2) in the cruise driving process under Autonomous Control travels, below S1 is returned to along with accelerating travel pedal is accustomed in the manipulation of manipulator, then accelerator travel is made again to increase to more than S2, control unit output controls and cancels cruise travel or make brake pressure raise and more than Pi1 (Pi1 > 2MPa) after a period of time when brake control valve moves, cancelling cruise to travel, electromotor is switched to feed speed control and travels;

3) climbing of the startup under Autonomous Control travels travels, main pump force value more than Pt2 persistent period more than Tt2 (Tt2 > 30s), control unit controls the second electromagnetic valve and opens, make the work discharge capacity of running motor to maximum pump discharge, starting climbing to travel, the quantity of state such as electromotor, proportioning valve current value does not adjust;

When manipulation hands switches to energy-conservation traveling on indication mechanism input mechanism 18, energy-conservation traveling rate-determining steps is as follows:

1) energy-conservation traveling is started, indication mechanism input mechanism manually selects the energy-conservation traveling of startup, control unit controls electromotor and is maintained on Ne and works, corresponding current value Ie mates with engine speed Ne, onrelevant between accelerating travel pedal and engine speed, electromotor and pump carry out according to acceleration and deceleration stable matching control method, wherein engine speed Ne span is 1700 > Ns > 1300r/min, the determination of its optimum speed value external characteristic curve according to electromotor, selectes according to moment of torsion and oil consumption relation;

2) cancel energy-conservation traveling, indication mechanism input mechanism manually selects cancellation and starts energy-conservation traveling, be switched to and add speed control method.

The method that Autonomous Control travels, when manipulation hands switches to reverse travel to control to travel on indication mechanism input mechanism 18, it is as follows that it controls process and method:

1) high-reverse

If arranging high-reverse pattern, control unit controls the second electromagnetic valve and remains turned-off, and running motor is placed in minimum injection rate, and control unit controls electromotor and is maintained in Ns value and works, Ns value is the engine speed value of best back-up speed, and between accelerating travel pedal and engine speed, onrelevant controls;

2) high torque reversing

If arranging high torsion reversing mode, control unit controls the second electromagnetic valve and is held open, running motor is placed in maximum pump discharge, control unit controls electromotor and is maintained on Ns and works, Ns value is the engine speed value of best back-up speed, between accelerating travel pedal and engine speed, onrelevant controls, and wherein engine speed Ns span is 1700 > Ns > 1200r/min.

Claims (8)

1. the control device of a wheel machine Walking hydraulic system, it is characterised in that include stroke detection mechanism, speed detecting mechanism, pressure detection mechanism, input mechanism, electromagnetic valve group and control unit;
Described stroke detection mechanism is connected with control unit, obtains accelerator travel signal and is transferred to control unit;
Described speed detecting mechanism is connected with control unit, obtains wheel machine travel speed and is transferred to control unit;
Described pressure detection mechanism is connected with control unit, and the walking brake pressure of brake valve is also input to control unit;
Described electromagnetic valve group at least includes three electromagnetic valves, first electromagnetic valve, the second electromagnetic valve and the 3rd electromagnetic valve, described first electromagnetic valve is arranged on the pilot control oil circuit of travel control valve, described second electromagnetic valve is arranged on the pilot control oil circuit of hydraulic motor displacement governor motion, and described 3rd electromagnetic valve is connected with the opening adjustment mechanism of hydraulic pump;Electromagnetic valve group is controlled by described control unit;
Described control unit is according to the wheel type hydraulic traveling pattern of input mechanism input, utilize the accelerator travel signal of Real-time Collection, engine speed and wheel machine travel speed, compare the optimum matching relation table of accelerator card set in advance stroke-engine speed-hydraulic pump aperture, the 3rd electromagnetic valve is controlled change hydraulic pump aperture in real time.
2. control device according to claim 1, it is characterized in that, also including throttling unit, described throttling unit includes first throttle device (27), the second throttling arrangement (29), the 3rd throttling arrangement (36) and the 4th throttling arrangement (37);
Described first throttle device (27) and the 3rd throttling arrangement (36) are separately positioned on two oil-ins of travel control valve (10), described second throttling arrangement (29) and the 4th throttling arrangement (37) are separately positioned on two oil return openings of travel control valve (10), and the 3rd throttling arrangement (36) connect with the first check valve (32), the 4th throttling arrangement (37) in the second check valve (33) connect.
3. the control method of a wheel machine Walking hydraulic system, it is characterised in that adopt the control device described in claim 1 or 2, carries out wheel machine Walking hydraulic system controlling as follows:
1) when accelerator pedal is lower than threshold values S1 stroke, control unit output result is default value, and engine speed does not adjust;
2) accelerate to control
When accelerator travel S more than threshold values S1 and increment more than threshold values Sm time, when accelerator travel increases, accelerator travel increases to Si+1 from Si, it is Ni+1 that control unit adjusts engine speed, electromotor Ni+1 is corresponding with pedal travel Si+1, engine speed Ni is after Ta after a while, control unit controls the electric current of the 3rd electromagnetic valve and is stepped up the Ii+1 current value corresponding with engine speed Ni+1, different accelerator travels is mapped to different engine peed stable values one by one, namely (Si+1)-(Ni+1)-(Ii+1) maps one by one, these mapping relations obtain optimum matching point according to reality debugging,
3) deceleration controls
When accelerator travel S more than the absolute value of threshold values S1 and stroke minimizing amount more than threshold values Sm time, accelerator travel reduces to Si-1 from Si, pedal testing agency inputs control unit detected value Si-1, control unit controls the electric current of the 3rd proportioning valve and gradually reduces the Ii-1 current value corresponding with Si-1, Ii-1 is after Tc after a while, control unit controls Ni-1 and the Si-1 correspondence that Throttle Opening Control unit makes electromotor correspondence control unit corresponding, namely (Si-1)-(Ii-1)-(Ni-1) maps one by one, its mapping relations obtain optimum matching point according to reality debugging,
4) electromotor-pump stable matching controls
When accelerator travel S is more than threshold values S1, accelerator travel is maintained at Si value and accelerator travel increase and decrease amount absolute value less than threshold values Sn, the corresponding engine speed Ni mapped mutually controls in certain scope, if the rotating speed rate of descent of electromotor is more than Kp threshold values, corresponding Ii is correspondingly reduced to Ii-1, if engine speed Ni-1 returns to Ni, corresponding Ii-1 correspondingly increases to Ii, keeping the stable Dynamic Matching of accelerator travel-engine speed-pump power electric current, its mapping relations obtain optimum matching point according to reality debugging.
4. control method according to claim 3, it is characterised in that the concrete rate-determining steps of cruise travel control method is as follows:
1) start cruise to travel: when travel speed is Vi, after manually selecting selection cruise traveling, when accelerator travel S is more than when setting threshold value S1 and travel speed Vi > Vt1, Vt1 is cruising speed threshold values, control unit memory is currently located engine speed Ni and controls it stably, and control unit Synchronization Control the 3rd electromagnetic valve current value Ii keeps corresponding with Ni;
2) stably cruise traveling
Exceeding maximum threshold values Vm1 when what travel speed exceeded cruising speed Vi, control unit controls engine speed Ni and remains stable for constant, and control unit Synchronization Control the 3rd ratio threshold Ii reduces according to engine speed Ni rate of change ratio; When travel speed lower than cruising speed Vi less than minimum threshold values Vm2, control unit controls engine speed Ni and increases the size of engine speed and the 3rd corresponding ratio threshold Ii according to target difference accordingly, makes wheel machine travel speed stable between the maximum threshold values and minimum threshold values of Vi;
3) cancel cruise to travel: in cruise driving process, when the manipulation accelerating travel pedal of manipulator returns to below S1, accelerator travel is made again to increase to more than S2 within the Td time, control unit is judged as that cancelling cruise travels, or when brake control valve move make brake pressure raise and more than Pi1 after, cancelling cruise to travel, electromotor is switched to feed speed control driving mode.
5. control method according to claim 4, it is characterised in that during climbing driving mode, concrete control process is as follows:
1) climbing is started, after Non-follow control input mechanism selects climbing pattern, control unit controls the second electromagnetic valve (12) and opens so that it is be placed in conducting position, the next work of row's adjustable valve (35), makes the work discharge capacity of running motor be in the operating position of maximum pump discharge;
2) climbing is cancelled, when input mechanism (18) controls the cancellation climbing traveling being in forward mode, control unit controls the second electromagnetic valve (12) and closes, place it in cut-off position, now row's adjustable valve 35 puts upper work, makes the work discharge capacity of running motor be in the operating position of minimum injection rate.
6. control method according to claim 5, it is characterized in that, when carrying out Autonomous Control traveling, when manipulation hands switches to Autonomous Control to travel on input mechanism, pedal stroke, prexxure of the hydraulic pump value, control unit clock value are accelerated in control unit collection, and control unit travels according to acceleration and deceleration traveling, cruise, climbing travels between three kinds of travelings control and mutually automatically switches:
1) cruise under Autonomous Control travels starts, travel speed Vi > Vt2 value, Vt2 is cruising speed threshold values, and after keeping a period of time Tt, starting cruise to travel, control unit controls engine speed and is fixed on Nr1 value, and Nr1 value is autonomous cruise setting speed, make the 3rd electromagnetic valve current be maintained at Ir1 value corresponding with Nr1, and keep stablizing of travel speed Vr1 according to electromotor-pump stable matching control method;
2) in the cruise driving process under Autonomous Control travels, below S1 is returned to along with accelerating travel pedal is accustomed in the manipulation of manipulator, then accelerator travel is made again to increase to more than S2, control unit output control and cancel cruise travel or when brake control valve move make brake pressure rising and more than Pi1 after, cancelling cruise to travel, electromotor is switched to feed speed control and travels;
3) climbing of the startup under Autonomous Control travels travels, and main pump force value is more than Pt2 persistent period more than Tt2, and control unit controls the second electromagnetic valve and opens, and makes the work discharge capacity of running motor to maximum pump discharge, starts climbing traveling;
4) climbing of the cancellation under Autonomous Control travels travels, and main pump force value more than Tt2, control unit the second closed electromagnetic valve, makes the work discharge capacity of running motor return to minimum injection rate less than Pt2 persistent period;
5) when conditions above does not possess, it is defaulted as acceleration and deceleration and travels control.
7. control method according to claim 6, it is characterised in that when wheel machine carries out energy-conservation traveling, concrete control process is as follows:
1) energy-conservation traveling is started, input mechanism manually selects the energy-conservation traveling of startup, control unit controls engine speed and is maintained in Ne value and works, Ne value is the rotating speed of optimum oil consumption point, corresponding current value Ie mates with engine speed Ne, and electromotor and pump carry out according to acceleration and deceleration stable matching control method;
2) cancel energy-conservation traveling, input mechanism manually selects cancellation and starts energy-conservation traveling, be switched to and add speed control method.
8. control method according to claim 7, it is characterised in that when wheel machine is moveed backward, controls process as follows:
1) high-reverse
If arranging high-reverse pattern, control unit controls the second electromagnetic valve and remains turned-off, and running motor is placed in minimum injection rate, and control unit controls electromotor and is maintained in Ns value and works, and Ns value is the engine speed value of best back-up speed;
2) high torque height tackles car
If arranging high torsion reversing mode at a high speed, control unit controls the second electromagnetic valve and is held open, and running motor is placed in maximum pump discharge, and control unit controls electromotor and is maintained on Ns and works, Ns value is the engine speed value of best back-up speed.
CN201610008680.0A 2016-01-07 2016-01-07 A kind of control device and method of wheel machine Walking hydraulic system CN105667510B (en)

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CN108910788A (en) * 2018-06-28 2018-11-30 江苏理工学院 Telescopic arm forklift truck and the hydraulic system impacted for improving its starting
CN110050570A (en) * 2018-05-22 2019-07-26 农业部南京农业机械化研究所 The control mechanism and method that combine harvester forward speed steadily switches
CN110422162A (en) * 2019-08-14 2019-11-08 上海宏英智能科技有限公司 A kind of sliding loader hydraulic moving electric-control system and method
CN110422162B (en) * 2019-08-14 2021-02-19 上海宏英智能科技股份有限公司 Hydraulic traveling electric control system and method for skid steer loader

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CN102888876A (en) * 2012-10-31 2013-01-23 三一重机有限公司 Energy regeneration structure of excavator and excavator
CN102954202A (en) * 2012-10-22 2013-03-06 湖南恒润高科股份有限公司 High-low gear switching device for bridge detection vehicle

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CN110050570A (en) * 2018-05-22 2019-07-26 农业部南京农业机械化研究所 The control mechanism and method that combine harvester forward speed steadily switches
CN108910788A (en) * 2018-06-28 2018-11-30 江苏理工学院 Telescopic arm forklift truck and the hydraulic system impacted for improving its starting
CN110422162A (en) * 2019-08-14 2019-11-08 上海宏英智能科技有限公司 A kind of sliding loader hydraulic moving electric-control system and method
CN110422162B (en) * 2019-08-14 2021-02-19 上海宏英智能科技股份有限公司 Hydraulic traveling electric control system and method for skid steer loader

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