CN106049593A - Automatic idling system based on multiple hydraulic accumulators and control method - Google Patents
Automatic idling system based on multiple hydraulic accumulators and control method Download PDFInfo
- Publication number
- CN106049593A CN106049593A CN201610621615.5A CN201610621615A CN106049593A CN 106049593 A CN106049593 A CN 106049593A CN 201610621615 A CN201610621615 A CN 201610621615A CN 106049593 A CN106049593 A CN 106049593A
- Authority
- CN
- China
- Prior art keywords
- pressure
- valve
- oil
- control valve
- hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
-
- 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
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
Abstract
The invention relates to an automatic idling system based on multiple hydraulic accumulators and a control method. Based on a power battery electric quantity storage unit, the flow changing function of a hydraulic pump is achieved through the structure that a frequency-conversion power motor is adopted in a power system for driving the constant-flow hydraulic pump, the high-efficiency driving performance and the good control characteristic of frequency-conversion speed control are fully utilized, and the power system can be matched with a load in a full-power manner. Due to the fact that a composite energy combination of a power battery and the multiple sets of hydraulic accumulators is adopted, the beneficial effects of the electric quantity storage unit with relatively high energy density and the beneficial effects of a hydraulic accumulator energy storage unit with relatively high power density are integrated, the energy density is ensured through the power battery, the first hydraulic accumulator is used for providing or absorbing instantaneous large power of a hydraulic drive system, the second hydraulic accumulator is used for providing auxiliary driving for special working conditions, and various power requirements of a hydraulic excavator in complex working conditions are met.
Description
Technical field
The present invention relates to Construction Machinery Energy Saving and reduce discharging art, more particularly, it relates to one is based on many hydraulic energy-accumulatings
The auto idle speed system of device, and a kind of control method for auto idle speed system.
Background technology
Energy efficiency is low, discharge and the engineering machinery of noise difference needs the pressure tackling energy-conserving and environment-protective badly, makes great efforts technically
Seek new energy-saving scheme.Therefore, engineering machinery realizes the target that energy-saving and emission-reduction always industry lays siege to.Wherein mixing is dynamic
Power actuation techniques and pure electric drive technology are current study hotspots.
Hybrid power actuation techniques achieves certain effect in terms of the energy-saving and emission-reduction of engineering machinery, but there is oil consumption fall
Low limited and relatively costly, be difficult to commercialization, the weak points such as exhaust emission cannot be solved simultaneously, specifically have a following deficiency:
1) energy storage units that hybrid power system uses all has obvious pluses and minuses, can not well be suitable for work
The journey various complex working conditions of machinery, and relatively costly；
2) different from vehicle, engineering machinery is mostly the system of single pump multi executors, and engine power can not be easily
Reduce, and system capacity conversion links is more so that effective utility of laser power is difficult to obtain bigger raising；
3) big ups and downs are loaded during engineer machinery operation, but owing to hydraulic circuit is longer, the hybrid single of dynamical system
Unit is difficult to Real-time and Dynamic and compensates the fluctuation of load.
The power drive of Traditional project machinery is all that the pump utilizing fixed angular speed and change discharge capacity realizes pump control load-transducing control
System, and pure power drive system uses variable speed power motor to replace electromotor to drive fixed displacement hydraulic pump to realize variable function,
The fluid power system being aided with advanced person reaches global power coupling, it is possible to gives full play to excavator usefulness and is truly realized zero
The effects of energy conservation and environmental protection of discharge.But current pure electric drive technology is only used for operating mode than shallower small engineering machinery and vehicle
Field, only with the function of electromotor simulation conventional engines, does not give full play of motor opposite engine and has good
The advantage of good rotating speed control characteristic, controls also do not have specialized designs to the electro-hydraulic balance of complete machine, it is difficult to be applied to operating mode simultaneously
In complicated engineering machinery.
According to statistics, most of engineering machinery quit work and wait that the idling operation of operation accounts for the 30% of total run time,
If the output energy of now dynamical system can be reduced, sound pollution and the energy loss of system will be greatly reduced.
But tradition auto idle speed controls to be actually the switching control between electromotor height two-stage rotating speed, still suffers from
Following deficiency:
1) engine governed speed narrow range and idling speed can not be the lowest, typically just the less two-stage rotating speed of speed discrepancy it
Between switch；
2), during idling, simply reduce rotating speed simply, still suffer from a large amount of reactive loss；
3), when cancelling auto idle speed, hydraulic pump outlet is difficult to quickly set up and overcomes load desirable pressure.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that one can be effectively improved engineering machinery auto idle speed
The handling good auto idle speed systems based on many hydraulic accumulators of energy saving of system, system, and for auto idle speed system
Control method.
Technical scheme is as follows:
A kind of auto idle speed system based on many hydraulic accumulators, includes electrokinetic cell, variable frequency power motor, quantitative liquid
Press pump, clutch, pioneer pump, the first check valve, the first overflow valve, pilot operated handle, the first pressure transducer, the second pressure
Sensor, the second check valve, the first proportional pressure control valve, the 3rd pressure transducer, the 3rd solenoid directional control valve, the second overflow valve,
Four pressure transducers, open center clematis stem proportional direction valve, the 3rd check valve, pressure-loaded unit, hydraulic pump off-load energy regenerating
Unit, the 5th pressure transducer, load pressure suitable solution unit, the 6th pressure transducer, the 7th pressure transducer, executor
Oil cylinder, filter, fuel tank and complete machine controller；
Variable frequency power motor is connected with electrokinetic cell, as load outputs；Variable frequency power motor, pioneer pump, clutch
Connection is rotated coaxially with quantitative hydraulic pump；The oil-in of quantitative hydraulic pump connects fuel tank through filter, quantitative hydraulic pump fuel-displaced
Mouthful connect the oil-in of the second check valve, the oil-out of the second check valve connect respectively the oil-in of the first proportional pressure control valve, the
Three pressure transducers and the A mouth of the 3rd solenoid directional control valve；The oil-out of the first proportional pressure control valve connects fuel tank；3rd electromagnetic switch
The B mouth of valve connects out P mouth and P1 mouth, the load pressure suitable solution unit of center clematis stem proportional direction valve respectively；Open center six
The T mouth of logical proportional direction valve connects fuel tank, and the A mouth opening center clematis stem proportional direction valve connects the 6th pressure transducer and swing arm oil
The rodless cavity of cylinder, the B mouth opening center clematis stem proportional direction valve connects the 7th pressure transducer and the rod chamber of boom cylinder, in opening
The D mouth of heart clematis stem proportional direction valve connects the oil-in of pressure-loaded unit respectively and pressure-loaded cell pressure loading unit divides
Lian Jie the oil-in of hydraulic pump off-load energy recovery unit, the 5th pressure transducer and hydraulic pump off-load energy recovery unit；
Pressure-loaded unit is also respectively connected with the 3rd solenoid directional control valve B mouth, load pressure suitable solution unit and opens center clematis stem ratio
P and the P1 mouth of direction valve；Hydraulic pump off-load energy recovery unit oil-out connects fuel tank；The oil-out of pressure-loaded unit connects
3rd check valve oil-in；3rd check valve oil-out connects fuel tank；Load pressure suitable solution unit connects second respectively and overflows
The stream oil-in of valve, load pressure suitable solution unit, the 4th pressure transducer and load pressure suitable solution unit；Pioneer pump
Oil-in connects fuel tank, and pioneer pump oil-out connects the first check valve oil-in；First check valve oil-out connects first respectively
Overflow valve oil-in, load pressure suitable solution unit and pilot handle P mouth；First overflow valve oil-out connects fuel tank；Guide
Oil-out K1 and K2 of operation handle connects out the two ends control port of center clematis stem proportional direction valve respectively and connects the respectively
One pressure transducer and the second pressure transducer；The T mouth of pilot operated handle connects fuel tank；First pressure transducer, the second pressure
Force transducer, the 3rd pressure transducer, the 4th pressure transducer, the 5th pressure transducer, the 6th pressure transducer, the 7th pressure
The input of the sensor equal signal of telecommunication connects complete machine controller；The output of complete machine controller signals connects variable frequency power motor, load respectively
Pressure adaptation control unit, the 3rd solenoid directional control valve, the first proportional pressure control valve and pressure-loaded unit.
As preferably, using variable frequency power motor to drive the type of drive of quantitative hydraulic pump, variable frequency power motor includes becoming
Frequently device, power motor.
As preferably, open center clematis stem proportional direction valve and include controlling swing arm, dipper, scraper bowl, turntable and left and right walking
Banked direction control valves.
As preferably, pressure-loaded unit includes three-position four-way electromagnetic directional valve, the second proportional pressure control valve, and based on opening in
The minus flow principle composition of heart clematis stem proportional direction valve；Hydraulic pump off-load energy recovery unit includes 3-position 4-way electromagnetic switch
Valve, the 3rd overflow valve and the second hydraulic accumulator, control position in the banked direction control valves of swing arm, dipper, scraper bowl, turntable and left and right walking
Oil return line is all connected with pressure-loaded unit and energy recovery unit.
As preferably, load pressure suitable solution unit includes the first hydraulic accumulator, the first solenoid directional control valve and second
Solenoid directional control valve.
As preferably, the first hydraulic accumulator and the second hydraulic accumulator meet the power grade requirement preset respectively, and
And first the power grade of hydraulic accumulator and the second hydraulic accumulator different.
As preferably, converter is connected to electrokinetic cell as load outputs, controls power motor simultaneously and realizes frequency conversion
Speed governing；Power motor, pioneer pump, clutch and quantitative hydraulic pump rotate coaxially connection；The oil-in of quantitative hydraulic pump is through filtering
Device connects fuel tank, and the oil-out of quantitative hydraulic pump connects the oil-in of the second check valve, and the oil-out of the second check valve connects the
The oil-in of one proportional pressure control valve, the 3rd pressure transducer and the A mouth of the 3rd solenoid directional control valve；First proportional pressure control valve fuel-displaced
Mouth connects fuel tank；The B mouth of the 3rd solenoid directional control valve connects opens the P mouth of center clematis stem proportional direction valve and P1 mouth, the second electromagnetism change
To the A mouth of valve；The T mouth opening center clematis stem proportional direction valve connects fuel tank, and the A mouth opening center clematis stem proportional direction valve connects the 6th
Pressure transducer and the rodless cavity of boom cylinder, the B mouth opening center clematis stem proportional direction valve connects the 7th pressure transducer and moves
The rod chamber of arm oil cylinder, the D mouth opening center clematis stem proportional direction valve connects oil-in and the 3-position 4-way of the second proportional pressure control valve
The P mouth of solenoid directional control valve；The A mouth of three-position four-way electromagnetic directional valve connects the oil-in of the 3rd overflow valve, the 5th pressure transducer
With the second hydraulic accumulator；The T mouth of three-position four-way electromagnetic directional valve connects the 3rd solenoid directional control valve B mouth, the second solenoid directional control valve A
P and the P1 mouth of Kou Hekai center clematis stem proportional direction valve；3rd overflow valve oil-out connects fuel tank；Going out of second proportional pressure control valve
Hydraulic fluid port connects the 3rd check valve oil-in；3rd check valve oil-out connects fuel tank；The B mouth of the second solenoid directional control valve connects second
The oil-in of overflow valve, the first solenoid directional control valve B mouth, the 4th pressure transducer and the first hydraulic accumulator；Pioneer pump oil-in
Connecting fuel tank, its oil-out connects the first check valve oil-in；First check valve oil-out connect the first overflow valve oil-in,
One solenoid directional control valve A mouth and pilot handle P mouth；First overflow valve oil-out connects fuel tank；The oil-out K1 of pilot operated handle
Connect out the two ends control port of center clematis stem proportional direction valve with K2 respectively and connect the first pressure transducer and second respectively
Pressure transducer；The T mouth of pilot operated handle connects fuel tank；First pressure transducer, the second pressure transducer, the 3rd pressure pass
Sensor, the 4th pressure transducer, the 5th pressure transducer, the 6th pressure transducer, the 7th pressure transducer equal signal of telecommunication input
Connect complete machine controller；The output of complete machine controller signals connect converter, the first solenoid directional control valve, the second solenoid directional control valve, the
Three solenoid directional control valves, the first proportional pressure control valve, the second proportional pressure control valve and three-position four-way electromagnetic directional valve.
A kind of control method for described auto idle speed system, the first pressure transducer, the second pressure transducer,
Three pressure transducers, the 4th pressure transducer, the 5th pressure transducer, the 6th pressure transducer, the 7th pressure transducer are respectively
Obtain the output pressure p of pilot operated handle K1 mouth in real timei1, the output pressure p of pilot operated handle K2 mouthi2, quantitative hydraulic pump
Outlet pressure pi3、pp, the pressure p of the first hydraulic accumulatori4, the pressure p of the second hydraulic accumulatori5, boom cylinder rodless cavity
Maximum pressure pi6, the maximum pressure p of boom cylinder rod chamberi7；
Set pilot pressure threshold value as less on the occasion of δ, quantitative hydraulic pump safe pressure lower threshold ppmin, quantitative hydraulic pump
Safe pressure upper limit threshold ppmax, hydraulic accumulator minimum working pressure threshold value pamin, hydraulic accumulator maximum working pressure threshold value
pamax, one-level idling speed nidle1, two grades of idling speed nidle2, one-level auto idle speed time t1With two grades of auto idle speed times
t2；
Pressure-loaded unit matching load pressure adaptation unit carries out auto idle speed pressure adaptation control, uses Discrete control
Strategy, including one-level auto idle speed, two grades of auto idle speeds and cancellation auto idle speed.
As preferably, 1) control strategy of one-level auto idle speed is that the first hydraulic accumulator adapts to maximum load pressure and the
The control method that two hydraulic accumulator recovered liquid press pump direct off-load energy combine, step is as follows:
1.1) if the pilot operated handle pressure reduction of detection in real time is less than pilot pressure threshold value δ, and auto idle speed system
The time being in holding state exceedes default one-level auto idle speed time t1, then judge that auto idle speed system enters one-level automatic
The idling stage；Complete machine controller sends power motor rotary speed instruction, and power motor rotating speed is down to one-level auto idle speed rotating speed
nidle1；
1.2) if the pressure p of the first hydraulic accumulatori4Not less than maximum load pressure pLmax=max{pi6,pi7, then
Complete machine controller controls the first solenoid directional control valve, the second solenoid directional control valve, the 3rd equal dead electricity of solenoid directional control valve, 3-position 4-way electromagnetism
Reversal valve is operated in left position, controls the second higher setup pressure value of proportional pressure control valve, and hydraulic pump is directly to the second hydraulic accumulator
Oil-filled；When the pressure of the second hydraulic accumulator is close to its pressure upper limit threshold value pamaxTime, control the second proportional pressure control valve and set near
Being similar to the pressure unloading value of zero, hydraulic pump stops to accumulator oil-filled, and the hydraulic oil of hydraulic pump output is by opening center clematis stem ratio
The middle position oil return line P1-D of proportional direction valve and the second proportional pressure control valve oil sump tank；
1.3) if the pressure p of the first hydraulic accumulatori4Less than maximum load pressure pLmax=max{pi6,pi7, the most whole
Machine controller controls the first solenoid directional control valve and the 3rd solenoid directional control valve dead electricity, and the second solenoid directional control valve obtains electric, 3-position 4-way electricity
Magnetic reversal valve is operated in middle position, controls the second higher setup pressure value of proportional pressure control valve, and first hydraulic pump gives the first hydraulic energy-accumulating
Device is oil-filled, after the first hydraulic accumulator pressure and maximum load pressure adapt, then carries out step 1.2) operation；
2) control strategy of two grades of auto idle speeds is the lowest energy consumption of the second hydraulic accumulator recovered liquid pressure energy to greatest extent
Control method, step is as follows:
2.1) if the pilot operated handle pressure reduction of detection in real time is still less than pilot pressure threshold value δ, and auto idle speed system
System keeps time of holding state and exceedes set two grade auto idle speed time t2, then judge that auto idle speed system enters
In two grades of auto idle speed stages, complete machine controller sends rotary speed instruction, and power motor rotating speed is further reduced to two grades preset
Auto idle speed rotating speed nidle2, now dynamical system output energy only meets and overcomes system friction the needs kept on the go；
2.2) complete machine controller controls the first solenoid directional control valve, the second solenoid directional control valve, the 3rd equal dead electricity of solenoid directional control valve,
Three-position four-way electromagnetic directional valve is operated in left position, controls the second higher setup pressure value of proportional pressure control valve, and hydraulic pump is directly to
Two hydraulic accumulators are oil-filled；When the pressure of the second hydraulic accumulator is close to its pressure upper limit threshold value pamaxTime, 3-position 4-way electromagnetism
Reversal valve is operated in middle position, controls the second proportional pressure control valve and sets the pressure unloading value being similar to zero, and hydraulic pump stops to accumulation of energy
Device is oil-filled, and the hydraulic oil of hydraulic pump output is overflow by the middle position oil return line P1-D and the second ratio opening center clematis stem proportional direction valve
Stream valve oil sump tank；
Strategy 1), strategy 2) in, the type selecting volume of the second hydraulic accumulator meet: Va=qpnidle1t1+qpnidle2t2；Its
In, qpFor quantitative hydraulic pump delivery.
As preferably, 3) control strategy cancelling auto idle speed is hydraulic pump and the common matched load of Double-hydraulic accumulator
Overall situation positive flow control method, step is as follows:
3.1) if the pilot operated handle pressure reduction of detection in real time is more than pilot pressure threshold value δ, then auto idle speed system is judged
System needs resume operation, and auto idle speed system cancels auto idle speed immediately；
3.2) complete machine controller is according to the output pressure signal of pilot operated handle by proportionate relationship k preset, and calculates
Rotating speed of target to power motor-hydraulic pump: nt=k | Δ p |；Wherein, Δ p=pi1-δ or Δ p=pi2-δ；
3.2) complete machine controller is according to calculated power motor rotating speed of target ntSend motor speed switching command, with
Time control the second solenoid directional control valve and the 3rd solenoid directional control valve obtains electric, the first hydraulic accumulator release pressure oil mates rapidly negative
Carry；
3.3) if the hydraulic pump outlet pressure p of in real time detectionpLess than maximum load pressure pLmax=max{pi6,pi7, then
Complete machine controller controls three-position four-way electromagnetic directional valve and is operated in right position, the second hydraulic accumulator release pressure oil drive and perform
Device operation；
3.4) if the hydraulic pump outlet pressure p of in real time detectionpMore than maximum load pressure pLmax=max{pi6,pi7, then
Second solenoid directional control valve and the 3rd equal dead electricity of solenoid directional control valve, driven executor's operation by hydraulic pump pressure oil output；The most such as
Really the first hydraulic accumulator pressure pi4Meet pilot circuit pressure requirements, then clutch cuts off, and pioneer pump is shut down, and the first electromagnetism changes
Obtain electric to valve, the first hydraulic accumulator uses as pilot circuit power source；
3.5) in step 3.4) on the basis of, if the hydraulic pump outlet pressure p of detection in real timepBeyond the safe work of hydraulic pump
Make pressure limit, i.e. pp<ppminOr pp>ppmax, then judge that executor is to run into rigid load or need the work of more rapid motion
Condition, auto idle speed system is high-pressure low-flow demand or low pressure and mass flow demand；
If the second hydraulic accumulator pressure pi5More than maximum load pressure pLmax, then complete machine controller controls power current
Machine-hydraulic pump is shut down, or adjustment the first proportional pressure control valve sets pressure and makes power motor-hydraulic pump remain minimum as minima
The direct off-load of rotating speed, the 3rd solenoid directional control valve obtains electric and three-position four-way electromagnetic directional valve and is operated in right position, only by the second pressure accumulation of energy
Device release pressure oil drives actuator motions；
If the second hydraulic accumulator pressure pi5Less than load pressure pLmax, then it is total to by the second hydraulic accumulator and hydraulic pump
Actuator motions is driven with pressure oil output；Control the 3rd solenoid directional control valve dead electricity and three-position four-way electromagnetic directional valve is operated in the right side
Position, complete machine controller is according to the second hydraulic accumulator pressure pi5With maximum load pressure pLmaxBy preset ratio coefficient correction power
Motor speed: nm=nt·k*；Wherein, p is worked asi3>pLmaxTime, k*=1；Work as pi3≤pLmaxTime, k*=| pi5-pLmax|/pLmax。
Beneficial effects of the present invention is as follows:
Auto idle speed system of the present invention uses variable frequency power based on electrokinetic cell electricity storage element, dynamical system
Motor drives quantitative hydraulic pump structure to realize the variable-flow function of hydraulic pump, makes full use of the high efficiency driven nature of frequency control
Dynamical system can be reached mate with the total power of load with good control characteristic；
By using the compound energy of electrokinetic cell and many hydraulic accumulators group to combine, combine relative energy density higher
Electricity storage element and the advantage of the higher hydraulic accumulator energy-storage units of versus power density, utilize electrokinetic cell to guarantee
Metric density, utilizes the first hydraulic accumulator to provide or absorbs the momentary high power of fluid power system, utilizing the second hydraulic energy-accumulating
Device provides process auxiliary drive for special operation condition, it is ensured that the various power demands of hydraulic crawler excavator complex working condition.
In view of improving the handling of engineering machinery auto idle speed control, described auto idle speed system is at hydraulic pump outlet
Place is configured with many hydraulic accumulators auxiliary drive unit, and the first hydraulic accumulator has load pressure adaptation function, the second liquid
The energy of hydraulic pump output in time period in addition to carrying out load pressure suitable solution during pressure accumulator absorption auto idle speed,
Limits recovery system energy.When cancelling auto idle speed, the first hydraulic accumulator rapid auxiliary hydraulic pressure pump discharge is quickly set up gram
Clothes load desirable pressure, can significantly improve auto idle speed and control response speed；The hydraulic energy that second hydraulic accumulator reclaims can
Drive actuator motions with independent or auxiliary main power source, meet some special operation condition demands, enable the system to measure maximum
Change and utilize.
Accompanying drawing explanation
Fig. 1 is the structural representation of auto idle speed system；
In figure: 1 is electrokinetic cell, 2 is converter, and 3 is power motor, and 4 is quantitative hydraulic pump, and 5 is clutch, and 6 is first
Leading pump, 7 is the first check valve, and 8 is the first overflow valve, and 9 is pilot operated handle, and 10 is the first pressure transducer, and 11 is second
Pressure transducer, 12 is the second check valve, and 13 is the 3rd pressure transducer, and 14 is the first proportional pressure control valve, and 15 is the first electromagnetism
Reversal valve, 16 is the second solenoid directional control valve, and 17 is the 3rd solenoid directional control valve, and 18 is the second overflow valve, and 19 is the 4th pressure sensing
Device, 20 is the first hydraulic accumulator, 21 Shi Kai center clematis stem proportional direction valves, and 22 is the second proportional pressure control valve, and 23 is the 3rd list
To valve, 24 is three-position four-way electromagnetic directional valve, and 25 is the 3rd overflow valve, and 26 is the 5th pressure transducer, and 27 is that the second hydraulic pressure stores
Energy device, 28 is the 7th pressure transducer, and 29 is the 6th pressure transducer, and 30 are carried out device oil cylinder, and 31 is oil absorption filter, and 32 are
Fuel tank, 33 is complete machine controller.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The present invention is to solve prior art engineering machinery auto idle speed system exist energy-conservation limited, system is handling
The deficiencies such as difference, it is provided that a kind of auto idle speed systems based on many hydraulic accumulators, active force drive system uses variable frequency power electricity
Machine drive quantitative hydraulic pump type of drive, as it is shown in figure 1, include electrokinetic cell 1, variable frequency power motor (includes converter
2, power motor 3), quantitative hydraulic pump 4, clutch 5, pioneer pump the 6, first check valve the 7, first overflow valve 8, pilot operated handle
9, first pressure transducer the 10, second pressure transducer the 11, second check valve the 12, the 3rd pressure transducer the 13, first ratio is overflow
Stream valve the 14, first solenoid directional control valve the 15, second solenoid directional control valve the 16, the 3rd solenoid directional control valve the 17, second overflow valve the 18, the 4th pressure
Force transducer the 19, first hydraulic accumulator 20, open center clematis stem proportional direction valve 21 and (include controlling swing arm, dipper, scraper bowl, turning
Platform and left and right walking banked direction control valves, in the present embodiment, only included control one of them actuator banked direction control valves), second
Proportional pressure control valve the 22, the 3rd check valve 23, three-position four-way electromagnetic directional valve the 24, the 3rd overflow valve the 25, the 5th pressure transducer 26,
Second hydraulic accumulator the 27, the 6th pressure transducer the 28, the 7th pressure transducer 29, actuator cylinder 30, filter 31, fuel tank
32 and complete machine controller 33.First hydraulic accumulator 20 and the second hydraulic accumulator 27 meet the power grade preset respectively to be wanted
Ask, and the first hydraulic accumulator 20 is different from the power grade of the second hydraulic accumulator 27.In the present embodiment, the first hydraulic pressure stores
Energy device 20 meets the power grade requirement of system Ordinary Work operating mode, and the second hydraulic accumulator 27 disclosure satisfy that system special operation condition
Power grade requirement.
Wherein: electrokinetic cell 1 is as the total input energy sources of system；Converter 2 is connected to electrokinetic cell 1 as load output
End, controls power motor 3 simultaneously and realizes frequency control；Power motor 3, pioneer pump 6, clutch 5 and quantitative hydraulic pump 4 coaxially turn
It is dynamically connected；The oil-in of quantitative hydraulic pump 4 connects fuel tank 32 through filter 31, and it is single that the oil-out of quantitative hydraulic pump 4 connects second
To the oil-in of valve 12, the oil-out of the second check valve 12 connects the oil-in of the first proportional pressure control valve 14, the 3rd pressure sensing
Device 13 and the A mouth of the 3rd solenoid directional control valve 17；The oil-out of the first proportional pressure control valve 14 connects fuel tank；3rd solenoid directional control valve 17
B mouth connect and open P mouth and P1 mouth, the A mouth of the second solenoid directional control valve 16 of center clematis stem proportional direction valve 21；Open center clematis stem ratio
The T mouth of proportional direction valve 21 connects fuel tank, and the A mouth opening center clematis stem proportional direction valve 21 connects the 6th pressure transducer 29 and performs
The rodless cavity of device oil cylinder 30, the B mouth opening center clematis stem proportional direction valve 21 connects the 7th pressure transducer 28 and actuator cylinder
The rod chamber of 30, the D mouth opening center clematis stem proportional direction valve 21 connects oil-in and the 3-position 4-way of the second proportional pressure control valve 22
The P mouth of solenoid directional control valve 24；The A mouth of three-position four-way electromagnetic directional valve 24 connects the oil-in of the 3rd overflow valve 25, the 5th pressure
Sensor 26 and the second hydraulic accumulator 27；The T mouth of three-position four-way electromagnetic directional valve 24 connects the B of the 3rd solenoid directional control valve 17
Mouthful, P and the P1 mouth of the A Kou Hekai center clematis stem proportional direction valve 21 of the second solenoid directional control valve 16；3rd overflow valve 25 oil-out
Connect fuel tank；The oil-out of the second proportional pressure control valve 22 connects the oil-in of the 3rd check valve 23；3rd check valve 23 oil-out
Connect fuel tank；The B mouth of the second solenoid directional control valve 16 connect the oil-in of the second overflow valve 18, the B mouth of the first solenoid directional control valve 15,
4th pressure transducer 19 and the first hydraulic accumulator 20；Pioneer pump 6 oil-in connects fuel tank, and it is unidirectional that its oil-out connects first
The oil-in of valve 7；First check valve 7 oil-out connects the first overflow valve 8 oil-in, the A mouth of the first solenoid directional control valve 15 and elder generation
Lead the P mouth of operation handle 9；First overflow valve 8 oil-out connects fuel tank；Oil-out K1 and K2 of pilot operated handle 9 connects respectively
The two ends control port of Jie Kai center clematis stem proportional direction valve 21 also connects the first pressure transducer 10 and the second pressure passes respectively
Sensor 11；The T mouth of pilot operated handle 9 connects fuel tank；First pressure transducer the 10, second pressure transducer the 11, the 3rd pressure
Sensor the 13, the 4th pressure transducer the 19, the 5th pressure transducer the 26, the 6th pressure transducer the 18, the 7th pressure transducer 29
All signal of telecommunication inputs connect complete machine controller 33；The signal output of complete machine controller 33 connects converter the 2, first solenoid directional control valve
15, second solenoid directional control valve the 16, the 3rd solenoid directional control valve the 17, first proportional pressure control valve the 14, second proportional pressure control valve 22 and three
Four-way electromagnetic reversing valve 24.
Wherein, described first hydraulic accumulator the 20, first solenoid directional control valve 15 and the composition load of the second solenoid directional control valve 16
Pressure adaptation control unit.Three-position four-way electromagnetic directional valve 24 and the second proportional pressure control valve 22 are based on opening center clematis stem proportion directional
The minus flow principle decomposition pressure loading unit of valve 21.Three-position four-way electromagnetic directional valve the 24, the 3rd overflow valve 25 and the second hydraulic pressure
Accumulator 27 forms hydraulic pump off-load energy recovery unit；Control swing arm, dipper, scraper bowl, turntable and the multichannel of left and right walking
In valve, position oil return line is all connected to this pressure-loaded unit and energy recovery unit.
In the present embodiment, described electrokinetic cell 1 uses LiFePO4 high power dynamic lithium battery, utilizes electrokinetic cell 1
Guarantee metric density, utilize the first hydraulic accumulator 20 and the second hydraulic accumulator 27 provide or absorb the wink of fluid power system
Time high-power.
In the present embodiment, other executor's hydraulic circuits include that dipper drive system, scraper bowl drive system and walking are driven
The middle position oil return of center of the opening clematis stem proportional direction valve 21 of dynamic system be parallel to be attached to by the second proportional reversing valve 22, the
Three check valves 23, three-position four-way electromagnetic directional valve the 24, the 3rd overflow valve 25 and the pressure-loaded of the second hydraulic accumulator 27 composition
With energy recovery unit.
Based on described auto idle speed system, the present invention also provides for the auto idle speed controlling party of a kind of many hydraulic accumulators
Method, specific as follows:
First pressure transducer, the second pressure transducer, the 3rd pressure transducer, the 4th pressure transducer, the 5th pressure
Sensor, the 6th pressure transducer, the 7th pressure transducer obtain the output pressure p of pilot operated handle K1 mouth the most in real timei1、
The output pressure p of pilot operated handle K2 mouthi2, quantitative hydraulic pump discharge pressure pi3、pp, the pressure p of the first hydraulic accumulatori4、
The pressure p of the second hydraulic accumulatori5, the maximum pressure p of boom cylinder rodless cavityi6, the maximum pressure of boom cylinder rod chamber
pi7；
Set pilot pressure threshold value as less on the occasion of δ, quantitative hydraulic pump safe pressure lower threshold ppmin, quantitative hydraulic pump
Safe pressure upper limit threshold ppmax, hydraulic accumulator minimum working pressure threshold value pamin, hydraulic accumulator maximum working pressure threshold value
pamax, one-level idling speed nidle1, two grades of idling speed nidle2, one-level auto idle speed time t1With two grades of auto idle speed times
t2；Wherein, auto idle speed pressure adaptation controls to be completed by pressure-loaded unit matching load pressure adaptation unit.
Described auto idle speed systems based on many hydraulic accumulators use the strategy of stepwise control, the most idle including one-level
Speed, two grades of auto idle speeds and cancellation auto idle speed three phases, its driving control method is as follows:
1) control strategy of one-level auto idle speed is that the first hydraulic accumulator adapts to maximum load pressure and the second hydraulic pressure stores
The control method that energy device recovered liquid press pump direct off-load energy combines, step is as follows:
1.1) if the pilot operated handle pressure reduction of detection in real time is less than pilot pressure threshold value δ, and auto idle speed system
The time being in holding state exceedes default one-level auto idle speed time t1, then judge that auto idle speed system enters one-level automatic
The idling stage；Complete machine controller sends power motor rotary speed instruction, and power motor rotating speed is down to one-level auto idle speed rotating speed
nidle1；
1.2) if the pressure p of the first hydraulic accumulatori4Not less than maximum load pressure pLmax=max{pi6,pi7, then
Complete machine controller controls the first solenoid directional control valve, the second solenoid directional control valve, the 3rd equal dead electricity of solenoid directional control valve, 3-position 4-way electromagnetism
Reversal valve is operated in left position, controls the second higher setup pressure value of proportional pressure control valve, and hydraulic pump is directly to the second hydraulic accumulator
Oil-filled；When the pressure of the second hydraulic accumulator is close to its pressure upper limit threshold value pamaxTime, control the second proportional pressure control valve and set near
Being similar to the pressure unloading value of zero, hydraulic pump stops to accumulator oil-filled, and the hydraulic oil of hydraulic pump output is by opening center clematis stem ratio
The middle position oil return line P1-D of proportional direction valve and the second proportional pressure control valve oil sump tank；
1.3) if the pressure p of the first hydraulic accumulatori4Less than maximum load pressure pLmax=max{pi6,pi7, the most whole
Machine controller controls the first solenoid directional control valve and the 3rd solenoid directional control valve dead electricity, and the second solenoid directional control valve obtains electric, 3-position 4-way electricity
Magnetic reversal valve is operated in middle position, controls the second higher setup pressure value of proportional pressure control valve, and first hydraulic pump gives the first hydraulic energy-accumulating
Device is oil-filled, after the first hydraulic accumulator pressure and maximum load pressure adapt, then carries out step 1.2) operation；
2) control strategy of two grades of auto idle speeds is the lowest energy consumption of the second hydraulic accumulator recovered liquid pressure energy to greatest extent
Control method, step is as follows:
2.1) if the pilot operated handle pressure reduction of detection in real time is still less than pilot pressure threshold value δ, and auto idle speed system
System keeps time of holding state and exceedes set two grade auto idle speed time t2, then judge that auto idle speed system enters
In two grades of auto idle speed stages, complete machine controller sends rotary speed instruction, and power motor rotating speed is further reduced to two grades preset
Auto idle speed rotating speed nidle2, now dynamical system output energy only meets and overcomes system friction the needs kept on the go；
2.2) complete machine controller controls the first solenoid directional control valve, the second solenoid directional control valve, the 3rd equal dead electricity of solenoid directional control valve,
Three-position four-way electromagnetic directional valve is operated in left position, controls the second higher setup pressure value of proportional pressure control valve, and hydraulic pump is directly to
Two hydraulic accumulators are oil-filled；When the pressure of the second hydraulic accumulator is close to its pressure upper limit threshold value pamaxTime, 3-position 4-way electromagnetism
Reversal valve is operated in middle position, controls the second proportional pressure control valve and sets the pressure unloading value being similar to zero, and hydraulic pump stops to accumulation of energy
Device is oil-filled, and the hydraulic oil of hydraulic pump output is overflow by the middle position oil return line P1-D and the second ratio opening center clematis stem proportional direction valve
Stream valve oil sump tank；
Strategy 1), strategy 2) in, the type selecting volume of the second hydraulic accumulator meet: Va=qpnidle1t1+qpnidle2t2；Its
In, qpFor quantitative hydraulic pump delivery.
3) overall situation that control strategy is hydraulic pump matched load common with Double-hydraulic accumulator cancelling auto idle speed just flows
Amount control method, step is as follows:
3.1) if the pilot operated handle pressure reduction of detection in real time is more than pilot pressure threshold value δ, then auto idle speed system is judged
System needs resume operation, and auto idle speed system cancels auto idle speed immediately；
3.2) complete machine controller is according to the output pressure signal of pilot operated handle by proportionate relationship k preset, and calculates
Rotating speed of target to power motor-hydraulic pump: nt=k | Δ p |；Wherein, Δ p=pi1-δ or Δ p=pi2-δ；
3.2) complete machine controller is according to calculated power motor rotating speed of target nt, send motor speed switching command,
Controlling the second solenoid directional control valve simultaneously and the 3rd solenoid directional control valve obtains electric, the first hydraulic accumulator release pressure oil mates rapidly negative
Carry；
3.3) if the hydraulic pump outlet pressure p of in real time detectionpLess than maximum load pressure pLmax=max{pi6,pi7, then
Complete machine controller controls three-position four-way electromagnetic directional valve and is operated in right position, the second hydraulic accumulator release pressure oil drive and perform
Device operation；
3.4) if the hydraulic pump outlet pressure p of in real time detectionpMore than maximum load pressure pLmax=max{pi6,pi7, then
Second solenoid directional control valve and the 3rd equal dead electricity of solenoid directional control valve, driven executor's operation by hydraulic pump pressure oil output；The most such as
Really the first hydraulic accumulator pressure pi4Meet pilot circuit pressure requirements, then clutch cuts off, and pioneer pump is shut down, and the first electromagnetism changes
Obtain electric to valve, the first hydraulic accumulator uses as pilot circuit power source；
3.5) in step 3.4) on the basis of, if the hydraulic pump outlet pressure p of detection in real timepBeyond the safe work of hydraulic pump
Make pressure limit, i.e. pp<ppminOr pp>ppmax, then judge that executor is to run into rigid load or need the work of more rapid motion
Condition, auto idle speed system is high-pressure low-flow demand or low pressure and mass flow demand；
If the second hydraulic accumulator pressure pi5More than maximum load pressure pLmax, then complete machine controller controls power current
Machine-hydraulic pump is shut down, or adjustment the first proportional pressure control valve sets pressure and makes power motor-hydraulic pump remain minimum as minima
The direct off-load of rotating speed, the 3rd solenoid directional control valve obtains electric and three-position four-way electromagnetic directional valve and is operated in right position, only by the second pressure accumulation of energy
Device release pressure oil drives actuator motions；
If the second hydraulic accumulator pressure pi5Less than load pressure pLmax, then it is total to by the second hydraulic accumulator and hydraulic pump
Actuator motions is driven with pressure oil output；Control the 3rd solenoid directional control valve dead electricity and three-position four-way electromagnetic directional valve is operated in the right side
Position, complete machine controller is according to the second hydraulic accumulator pressure pi5With maximum load pressure pLmaxBy preset ratio coefficient correction power
Motor speed: nm=nt·k*；Wherein, p is worked asi3>pLmaxTime, k*=1；Work as pi3≤pLmaxTime, k*=| pi5-pLmax|/pLmax。
Above-described embodiment is intended merely to the present invention is described, and is not used as limitation of the invention.As long as according to this
Bright technical spirit, be changed above-described embodiment, modification etc. all will fall in the range of the claim of the present invention.
Claims (10)
1. an auto idle speed system based on many hydraulic accumulators, it is characterised in that include electrokinetic cell, variable frequency power electricity
Machine, quantitative hydraulic pump, clutch, pioneer pump, the first check valve, the first overflow valve, pilot operated handle, the first pressure sensing
Device, the second pressure transducer, the second check valve, the first proportional pressure control valve, the 3rd pressure transducer, the 3rd solenoid directional control valve,
Two overflow valves, the 4th pressure transducer, open center clematis stem proportional direction valve, the 3rd check valve, pressure-loaded unit, hydraulic pump unload
Lotus energy recovery unit, the 5th pressure transducer, load pressure suitable solution unit, the 6th pressure transducer, the 7th pressure pass
Sensor, actuator cylinder, filter, fuel tank and complete machine controller；
Variable frequency power motor is connected with electrokinetic cell, as load outputs；Variable frequency power motor, pioneer pump, clutch and fixed
Amount hydraulic pump rotates coaxially connection；The oil-in of quantitative hydraulic pump connects fuel tank through filter, and the oil-out of quantitative hydraulic pump is even
Connecing the oil-in of the second check valve, the oil-out of the second check valve connects the oil-in of the first proportional pressure control valve, the 3rd pressure respectively
Force transducer and the A mouth of the 3rd solenoid directional control valve；The oil-out of the first proportional pressure control valve connects fuel tank；3rd solenoid directional control valve
B mouth connects out P mouth and P1 mouth, the load pressure suitable solution unit of center clematis stem proportional direction valve respectively；Open center clematis stem ratio
The T mouth of proportional direction valve connects fuel tank, opens the A mouth of center clematis stem proportional direction valve and connects the 6th pressure transducer and boom cylinder
Rodless cavity, the B mouth opening center clematis stem proportional direction valve connects the 7th pressure transducer and the rod chamber of boom cylinder, opens center six
The D mouth of logical proportional direction valve connects the oil-in of pressure-loaded unit respectively and pressure-loaded cell pressure loading unit connects respectively
Connect the oil-in of hydraulic pump off-load energy recovery unit, the 5th pressure transducer and hydraulic pump off-load energy recovery unit；Pressure
Loading unit is also respectively connected with the 3rd solenoid directional control valve B mouth, load pressure suitable solution unit and opens center clematis stem proportion directional
P and the P1 mouth of valve；Hydraulic pump off-load energy recovery unit oil-out connects fuel tank；The oil-out of pressure-loaded unit connects the 3rd
Check valve oil-in；3rd check valve oil-out connects fuel tank；Load pressure suitable solution unit connects the second overflow valve respectively
Oil-in, load pressure suitable solution unit, the 4th pressure transducer and load pressure suitable solution unit；Pioneer pump oil-feed
Mouth connects fuel tank, and pioneer pump oil-out connects the first check valve oil-in；First check valve oil-out connects the first overflow respectively
Valve oil-in, load pressure suitable solution unit and pilot handle P mouth；First overflow valve oil-out connects fuel tank；Pilot operated
Oil-out K1 and K2 of handle connects out the two ends control port of center clematis stem proportional direction valve respectively and connects the first pressure respectively
Force transducer and the second pressure transducer；The T mouth of pilot operated handle connects fuel tank；First pressure transducer, the second pressure pass
Sensor, the 3rd pressure transducer, the 4th pressure transducer, the 5th pressure transducer, the 6th pressure transducer, the 7th pressure sensing
The input of the device equal signal of telecommunication connects complete machine controller；The output of complete machine controller signals connects variable frequency power motor, load pressure respectively
Suitable solution unit, the 3rd solenoid directional control valve, the first proportional pressure control valve and pressure-loaded unit.
Auto idle speed system based on many hydraulic accumulators the most according to claim 1, it is characterised in that use frequency conversion to move
Force motor drives the type of drive of quantitative hydraulic pump, and variable frequency power motor includes converter, power motor.
Auto idle speed system based on many hydraulic accumulators the most according to claim 1, it is characterised in that open center clematis stem
Proportional direction valve includes controlling swing arm, dipper, scraper bowl, turntable and the banked direction control valves of left and right walking.
Auto idle speed system based on many hydraulic accumulators the most according to claim 3, it is characterised in that pressure-loaded list
Unit includes three-position four-way electromagnetic directional valve, the second proportional pressure control valve, and former based on the minus flow opening center clematis stem proportional direction valve
Reason composition；Hydraulic pump off-load energy recovery unit includes three-position four-way electromagnetic directional valve, the 3rd overflow valve and the second hydraulic energy-accumulating
Device, control swing arm, dipper, scraper bowl, turntable and left and right walking banked direction control valves in position oil return line be all connected with pressure-loaded unit and
Energy recovery unit.
Auto idle speed system based on many hydraulic accumulators the most according to claim 4, it is characterised in that load pressure is fitted
Control unit is answered to include the first hydraulic accumulator, the first solenoid directional control valve and the second solenoid directional control valve.
Auto idle speed system based on many hydraulic accumulators the most according to claim 5, it is characterised in that the first hydraulic pressure stores
Energy device and the second hydraulic accumulator meet the power grade requirement preset respectively, and the first hydraulic accumulator and the second hydraulic pressure store
The power grade of energy device is different.
Auto idle speed system based on many hydraulic accumulators the most according to claim 5, it is characterised in that converter connects
To electrokinetic cell as load outputs, control power motor simultaneously and realize frequency control；Power motor, pioneer pump, clutch
Connection is rotated coaxially with quantitative hydraulic pump；The oil-in of quantitative hydraulic pump connects fuel tank through filter, quantitative hydraulic pump fuel-displaced
Mouth connects the oil-in of the second check valve, and the oil-out of the second check valve connects the oil-in of the first proportional pressure control valve, the 3rd pressure
Force transducer and the A mouth of the 3rd solenoid directional control valve；The oil-out of the first proportional pressure control valve connects fuel tank；3rd solenoid directional control valve
B mouth connects P mouth and P1 mouth, the A mouth of the second solenoid directional control valve opening center clematis stem proportional direction valve；Open center clematis stem proportion directional
The T mouth of valve connects fuel tank, open the A mouth of center clematis stem proportional direction valve connect the 6th pressure transducer and boom cylinder without bar
Chamber, the B mouth opening center clematis stem proportional direction valve connects the 7th pressure transducer and the rod chamber of boom cylinder, opens center clematis stem ratio
The D mouth of proportional direction valve connects the oil-in of the second proportional pressure control valve and the P mouth of three-position four-way electromagnetic directional valve；3-position 4-way electromagnetism
The A mouth of reversal valve connects the oil-in of the 3rd overflow valve, the 5th pressure transducer and the second hydraulic accumulator；3-position 4-way electromagnetism
The T mouth of reversal valve connect the 3rd solenoid directional control valve B mouth, the P of the second solenoid directional control valve A Kou Hekai center clematis stem proportional direction valve and
P1 mouth；3rd overflow valve oil-out connects fuel tank；The oil-out of the second proportional pressure control valve connects the 3rd check valve oil-in；3rd
Check valve oil-out connects fuel tank；The B mouth of the second solenoid directional control valve connects the oil-in of the second overflow valve, the first solenoid directional control valve
B mouth, the 4th pressure transducer and the first hydraulic accumulator；Pioneer pump oil-in connects fuel tank, and it is unidirectional that its oil-out connects first
Valve oil-in；First check valve oil-out connects the first overflow valve oil-in, the first solenoid directional control valve A mouth and pilot handle P mouth；
First overflow valve oil-out connects fuel tank；Oil-out K1 and K2 of pilot operated handle connects out center clematis stem proportion directional respectively
The two ends control port of valve also connects the first pressure transducer and the second pressure transducer respectively；The T mouth of pilot operated handle is even
Connected tank；First pressure transducer, the second pressure transducer, the 3rd pressure transducer, the 4th pressure transducer, the 5th pressure pass
Sensor, the 6th pressure transducer, the 7th pressure transducer equal signal of telecommunication input connect complete machine controller；Complete machine controller signals is defeated
Go out to connect converter, the first solenoid directional control valve, the second solenoid directional control valve, the 3rd solenoid directional control valve, the first proportional pressure control valve, second
Proportional pressure control valve and three-position four-way electromagnetic directional valve.
8. the control method for the auto idle speed system described in any one of claim 1 to 7, it is characterised in that first
Pressure transducer, the second pressure transducer, the 3rd pressure transducer, the 4th pressure transducer, the 5th pressure transducer, the 6th pressure
Force transducer, the 7th pressure transducer obtain the output pressure p of pilot operated handle K1 mouth the most in real timei1, pilot operated handle
The output pressure p of K2 mouthi2, quantitative hydraulic pump discharge pressure pi3、pp, the pressure p of the first hydraulic accumulatori4, the second hydraulic energy-accumulating
The pressure p of devicei5, the maximum pressure p of boom cylinder rodless cavityi6, the maximum pressure p of boom cylinder rod chamberi7；
Set pilot pressure threshold value as less on the occasion of δ, quantitative hydraulic pump safe pressure lower threshold ppmin, quantitative hydraulic pump safety
Upper pressure limit threshold value ppmax, hydraulic accumulator minimum working pressure threshold value pamin, hydraulic accumulator maximum working pressure threshold value
pamax, one-level idling speed nidle1, two grades of idling speed nidle2, one-level auto idle speed time t1With two grades of auto idle speed times
t2；
Pressure-loaded unit matching load pressure adaptation unit carries out auto idle speed pressure adaptation control, uses Discrete control plan
Slightly, including one-level auto idle speed, two grades of auto idle speeds and cancellation auto idle speed.
Control method for auto idle speed system the most according to claim 8, it is characterised in that
1) control strategy of one-level auto idle speed is that the first hydraulic accumulator adapts to maximum load pressure and the second hydraulic accumulator
The control method that recovered liquid press pump direct off-load energy combines, step is as follows:
1.1) if the pilot operated handle pressure reduction of detection in real time is less than pilot pressure threshold value δ, and auto idle speed system is in
The time of holding state exceedes default one-level auto idle speed time t1, then judge that auto idle speed system enters one-level auto idle speed
Stage；Complete machine controller sends power motor rotary speed instruction, and power motor rotating speed is down to one-level auto idle speed rotating speed nidle1；
1.2) if the pressure p of the first hydraulic accumulatori4Not less than maximum load pressure pLmax=max{pi6,pi7, then complete machine control
Device processed controls the first solenoid directional control valve, the second solenoid directional control valve, the 3rd equal dead electricity of solenoid directional control valve, three-position four-way electromagnetic directional valve
Being operated in left position, control the second higher setup pressure value of proportional pressure control valve, hydraulic pump is oil-filled directly to the second hydraulic accumulator；When
The pressure of the second hydraulic accumulator is close to its pressure upper limit threshold value pamaxTime, control the second proportional pressure control valve setting and be similar to zero
Pressure unloading value, hydraulic pump stops to accumulator oil-filled, and the hydraulic oil of hydraulic pump output is by opening center clematis stem proportional direction valve
Middle position oil return line P1-D and the second proportional pressure control valve oil sump tank；
1.3) if the pressure p of the first hydraulic accumulatori4Less than maximum load pressure pLmax=max{pi6,pi7, then complete machine controls
Device controls the first solenoid directional control valve and the 3rd solenoid directional control valve dead electricity, and the second solenoid directional control valve obtains electric, 3-position 4-way electromagnetic switch
Valve is operated in middle position, controls the second higher setup pressure value of proportional pressure control valve, and first hydraulic pump gives the first hydraulic accumulator oil-filled,
After the first hydraulic accumulator pressure and maximum load pressure adapt, then carry out step 1.2) operation；
2) control strategy of two grades of auto idle speeds is the lowest energy consumption control of the second hydraulic accumulator recovered liquid pressure energy to greatest extent
Method, step is as follows:
2.1) if the pilot operated handle pressure reduction of detection in real time is still less than pilot pressure threshold value δ, and auto idle speed system continues
The continuous time being in holding state exceedes set two grade auto idle speed time t2, then judge that auto idle speed system enters two grades
In the auto idle speed stage, complete machine controller sends rotary speed instruction, and two grades that are further reduced to power motor rotating speed preset automatic
Idling speed nidle2, now dynamical system output energy only meets and overcomes system friction the needs kept on the go；
2.2) complete machine controller controls the first solenoid directional control valve, the second solenoid directional control valve, the 3rd equal dead electricity of solenoid directional control valve, three
Four-way electromagnetic reversing valve is operated in left position, controls the second higher setup pressure value of proportional pressure control valve, and hydraulic pump is directly to the second liquid
Pressure accumulator is oil-filled；When the pressure of the second hydraulic accumulator is close to its pressure upper limit threshold value pamaxTime, 3-position 4-way electromagnetic switch
Valve is operated in middle position, controls the second proportional pressure control valve and sets the pressure unloading value being similar to zero, and hydraulic pump stops filling to accumulator
Oil, the hydraulic oil of hydraulic pump output is by opening middle position oil return line P1-D and second proportional pressure control valve of center clematis stem proportional direction valve
Oil sump tank；
Strategy 1), strategy 2) in, the type selecting volume of the second hydraulic accumulator meet: Va=qpnidle1t1+qpnidle2t2；Wherein, qp
For quantitative hydraulic pump delivery.
Control method for auto idle speed system the most according to claim 8, it is characterised in that
3) the overall positive flow control that control strategy is hydraulic pump and the common matched load of Double-hydraulic accumulator of auto idle speed is cancelled
Method processed, step is as follows:
3.1) if the pilot operated handle pressure reduction of detection in real time is more than pilot pressure threshold value δ, then judge that auto idle speed system needs
Resuming operation, auto idle speed system cancels auto idle speed immediately；
3.2) complete machine controller is according to the output pressure signal of pilot operated handle by proportionate relationship k preset, and is calculated dynamic
The rotating speed of target of force motor-hydraulic pump: nt=k | Δ p |；Wherein, Δ p=pi1-δ or Δ p=pi2-δ；
3.2) complete machine controller is according to calculated power motor rotating speed of target nt, send motor speed switching command, same to time control
Make the second solenoid directional control valve and the 3rd solenoid directional control valve obtains electric, the first hydraulic accumulator release rapid matched load of pressure oil；
3.3) if the hydraulic pump outlet pressure p of in real time detectionpLess than maximum load pressure pLmax=max{pi6,pi7, then complete machine
Controller controls three-position four-way electromagnetic directional valve and is operated in right position, the second hydraulic accumulator release pressure oil drive executor to make
Industry；
3.4) if the hydraulic pump outlet pressure p of in real time detectionpMore than maximum load pressure pLmax=max{pi6,pi7, then second
Solenoid directional control valve and the 3rd equal dead electricity of solenoid directional control valve, driven executor's operation by hydraulic pump pressure oil output；If simultaneously the
One hydraulic accumulator pressure pi4Meet pilot circuit pressure requirements, then clutch cuts off, and pioneer pump is shut down, the first solenoid directional control valve
Obtaining electric, the first hydraulic accumulator uses as pilot circuit power source；
3.5) in step 3.4) on the basis of, if the hydraulic pump outlet pressure p of detection in real timepBeyond hydraulic pump trouble free service pressure
Power scope, i.e. pp＜ ppminOr pp>ppmax, then judge that executor is to run into rigid load or need the operating mode of more rapid motion,
Auto idle speed system is high-pressure low-flow demand or low pressure and mass flow demand；
If the second hydraulic accumulator pressure pi5More than maximum load pressure pLmax, then complete machine controller controls power motor-liquid
Press pump is shut down, or adjustment the first proportional pressure control valve sets pressure and makes power motor-hydraulic pump maintain minimum speed as minima
Directly off-load, the 3rd solenoid directional control valve obtains electric and three-position four-way electromagnetic directional valve and is operated in right position, only released by the second pressure accumulator
Put pressure oil and drive actuator motions；
If the second hydraulic accumulator pressure pi5Less than load pressure pLmax, then the most defeated by the second hydraulic accumulator and hydraulic pump
Go out pressure oil and drive actuator motions；Control the 3rd solenoid directional control valve dead electricity and three-position four-way electromagnetic directional valve be operated in right position,
Complete machine controller is according to the second hydraulic accumulator pressure pi5With maximum load pressure pLmaxBy preset ratio coefficient correction power current
Machine rotating speed: nm=nt·k*；Wherein, p is worked asi3＞ pLmaxTime, k*=1；Work as pi3≤pLmaxTime, k*=| pi5-pLmax|/pLmax。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610621615.5A CN106049593B (en) | 2016-08-01 | 2016-08-01 | A kind of auto idle speed system and control method based on more hydraulic accumulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610621615.5A CN106049593B (en) | 2016-08-01 | 2016-08-01 | A kind of auto idle speed system and control method based on more hydraulic accumulators |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106049593A true CN106049593A (en) | 2016-10-26 |
| CN106049593B CN106049593B (en) | 2018-08-10 |
Family
ID=57196200
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610621615.5A Active CN106049593B (en) | 2016-08-01 | 2016-08-01 | A kind of auto idle speed system and control method based on more hydraulic accumulators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106049593B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110185660A (en) * | 2019-06-26 | 2019-08-30 | 北京天泽电力集团有限公司 | It is integrated with the control system of the hydraulic pump of engine |
| CN112388611A (en) * | 2020-10-15 | 2021-02-23 | 南京晨光集团有限责任公司 | Full hydraulic drive system for rotary motion of mechanical arm |
| CN112631133A (en) * | 2020-12-28 | 2021-04-09 | 江苏师范大学 | Hydraulic position servo system control method based on double energy accumulators |
| CN114370082A (en) * | 2022-01-17 | 2022-04-19 | 华侨大学 | Automatic idle speed control system and method of electric loader |
| CN114458647A (en) * | 2022-02-21 | 2022-05-10 | 合肥协力仪表控制技术股份有限公司 | Hydraulic source and hydraulic energy recycling system for non-road mobile machine |
| CN115419622A (en) * | 2022-09-22 | 2022-12-02 | 华侨大学 | Electro-hydraulic compound drive engineering machinery rotation system and control method |
| CN115962167A (en) * | 2023-01-03 | 2023-04-14 | 吉林大学 | Hydraulic hybrid power system based on multistage constant voltage network and servo motor pump set |
| WO2023065625A1 (en) * | 2021-10-22 | 2023-04-27 | 华侨大学 | Engineering machine electro-hydraulic composite energy storage driving system and control method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009173168A (en) * | 2008-01-24 | 2009-08-06 | Toyota Motor Corp | Hybrid vehicle and control method therefor |
| CN101845837A (en) * | 2009-03-23 | 2010-09-29 | 利勃海尔-法国股份有限公司 | The driver that is used for hydraulic crawler excavator |
| CN101980881A (en) * | 2008-03-27 | 2011-02-23 | 三菱重工业株式会社 | Hybrid industrial vehicle |
| US20120207620A1 (en) * | 2007-07-12 | 2012-08-16 | Odyne Systems, LLC. | Hybrid vehicle drive system and method and idle reduction system and method |
| CN202787369U (en) * | 2012-04-27 | 2013-03-13 | 华侨大学 | Hydraumatic excavating energy saving system |
| CN103924627A (en) * | 2014-04-15 | 2014-07-16 | 华侨大学 | Automatic idle speed system and method of electro-hydraulic hybrid-driving engineering machine |
| CN105264149A (en) * | 2013-06-03 | 2016-01-20 | 沃尔沃建筑设备公司 | A hydraulic system for a working machine and a method for controlling a hydraulic system |
-
2016
- 2016-08-01 CN CN201610621615.5A patent/CN106049593B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120207620A1 (en) * | 2007-07-12 | 2012-08-16 | Odyne Systems, LLC. | Hybrid vehicle drive system and method and idle reduction system and method |
| JP2009173168A (en) * | 2008-01-24 | 2009-08-06 | Toyota Motor Corp | Hybrid vehicle and control method therefor |
| CN101980881A (en) * | 2008-03-27 | 2011-02-23 | 三菱重工业株式会社 | Hybrid industrial vehicle |
| CN101845837A (en) * | 2009-03-23 | 2010-09-29 | 利勃海尔-法国股份有限公司 | The driver that is used for hydraulic crawler excavator |
| CN202787369U (en) * | 2012-04-27 | 2013-03-13 | 华侨大学 | Hydraumatic excavating energy saving system |
| CN105264149A (en) * | 2013-06-03 | 2016-01-20 | 沃尔沃建筑设备公司 | A hydraulic system for a working machine and a method for controlling a hydraulic system |
| CN103924627A (en) * | 2014-04-15 | 2014-07-16 | 华侨大学 | Automatic idle speed system and method of electro-hydraulic hybrid-driving engineering machine |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110185660A (en) * | 2019-06-26 | 2019-08-30 | 北京天泽电力集团有限公司 | It is integrated with the control system of the hydraulic pump of engine |
| CN112388611A (en) * | 2020-10-15 | 2021-02-23 | 南京晨光集团有限责任公司 | Full hydraulic drive system for rotary motion of mechanical arm |
| CN112388611B (en) * | 2020-10-15 | 2022-06-21 | 南京晨光集团有限责任公司 | Full hydraulic drive system for rotary motion of mechanical arm |
| CN112631133A (en) * | 2020-12-28 | 2021-04-09 | 江苏师范大学 | Hydraulic position servo system control method based on double energy accumulators |
| WO2023065625A1 (en) * | 2021-10-22 | 2023-04-27 | 华侨大学 | Engineering machine electro-hydraulic composite energy storage driving system and control method thereof |
| CN114370082A (en) * | 2022-01-17 | 2022-04-19 | 华侨大学 | Automatic idle speed control system and method of electric loader |
| CN114370082B (en) * | 2022-01-17 | 2023-09-26 | 华侨大学 | Automatic idle speed control system and method for electric loader |
| CN114458647A (en) * | 2022-02-21 | 2022-05-10 | 合肥协力仪表控制技术股份有限公司 | Hydraulic source and hydraulic energy recycling system for non-road mobile machine |
| CN115419622A (en) * | 2022-09-22 | 2022-12-02 | 华侨大学 | Electro-hydraulic compound drive engineering machinery rotation system and control method |
| CN115962167A (en) * | 2023-01-03 | 2023-04-14 | 吉林大学 | Hydraulic hybrid power system based on multistage constant voltage network and servo motor pump set |
| CN115962167B (en) * | 2023-01-03 | 2023-05-26 | 吉林大学 | Hydraulic hybrid power system based on multistage constant-pressure network and servo motor pump group |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106049593B (en) | 2018-08-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106049593B (en) | A kind of auto idle speed system and control method based on more hydraulic accumulators | |
| CN105839689B (en) | The more motor hydraulic excavating mechanical electronic hydraulic hybrid drive systems of multiple-energy-source and control method | |
| CN104141326B (en) | Energy-saving control system for excavator | |
| CN107420384B (en) | System is used in the storage of lifting device gravitional force P-V | |
| CN105134695B (en) | A kind of automatically controlled opening and closing core hydraulic system and engineering machinery | |
| CN108978775B (en) | Series-parallel mechanical hybrid power system for excavator based on flywheel | |
| WO2001090490A1 (en) | Construction machinery | |
| CN205617466U (en) | Multipotency source many motors hydraulic shovel electricity liquid hybrid -driven system | |
| CN103924627A (en) | Automatic idle speed system and method of electro-hydraulic hybrid-driving engineering machine | |
| CN208329024U (en) | A kind of loading pump control hybrid-power hydraulic system | |
| CN104452868B (en) | Double-hydraulic-cylinder mixed drive control system | |
| CN108506251A (en) | The Electrical hydrostatic actuator of asymmetric pump control asymmetrical cylinder | |
| WO2023092667A1 (en) | Hydraulic system with electro-proportional control multi-working-position valve, and control method thereof | |
| CN103950870A (en) | Forklift hydraulic system with energy recovery and double-pump oil supply functions | |
| CN110030304A (en) | A kind of coordinated drive and passive active brake method of large inertia load | |
| CN208950998U (en) | A kind of hydraulic system of the series-parallel mode conversion of hydraulic cylinder | |
| CN103030064A (en) | Control system and control method of engineering machinery equipment | |
| CN108978774B (en) | Series-parallel hybrid power system for excavator | |
| CN112594240B (en) | Hydraulic system of working device, control method and electric loader | |
| CN205776443U (en) | Excavator swing arm potential energy classification is reclaimed and release device | |
| US11371535B2 (en) | Fluid pressure circuit | |
| CN104314132B (en) | The motor flow hydraulic control circuit of excavator minus flow system and control method | |
| CN114960827B (en) | Energy-saving hydraulic system for electric loader and electric loader | |
| CN106678130A (en) | Closed type variable rotating speed pump controlled hydraulic system of installing equipment of pure electric compression type garbage truck | |
| CN203890013U (en) | Double-pump oil supply and energy recovery type forklift hydraulic system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |