CN106103851B - The power control unit of engineering machinery - Google Patents
The power control unit of engineering machinery Download PDFInfo
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- CN106103851B CN106103851B CN201480070496.8A CN201480070496A CN106103851B CN 106103851 B CN106103851 B CN 106103851B CN 201480070496 A CN201480070496 A CN 201480070496A CN 106103851 B CN106103851 B CN 106103851B
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- 230000008859 change Effects 0.000 claims description 17
- 230000007423 decrease Effects 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 6
- 238000013507 mapping Methods 0.000 claims description 6
- 238000009412 basement excavation Methods 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 22
- 239000000295 fuel oil Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 9
- 239000010720 hydraulic oil Substances 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 8
- 239000000446 fuel Substances 0.000 description 7
- 238000002347 injection Methods 0.000 description 5
- 239000007924 injection Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000001098 delayed sleep phase syndrome Diseases 0.000 description 1
- 208000033921 delayed sleep phase type circadian rhythm sleep disease Diseases 0.000 description 1
- 235000019800 disodium phosphate Nutrition 0.000 description 1
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2066—Control of propulsion units of the type combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W30/00—Purposes 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
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1886—Controlling power supply to auxiliary 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
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/15—Agricultural vehicles
- B60W2300/154—Boom carrying vehicles, e.g. for crop spraying
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine speed
- B60W2710/0661—Speed change rate
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The present invention relates to the power control unit of engineering machinery, including：Engine, it is connected with hydraulic pump, for driving the hydraulic pump；Engine controller, for controlling the engine, so as to when in heavy duty state, make the instruction of engine rotation number rise default engine rotation number, then engine rotation number is set to rise or drop to hysteresis form according to engine load rate；When in light-load state, the instruction of engine rotation number is declined default engine rotation number, then engine rotation number is risen or drop to hysteresis form according to engine load rate；And apparatus for controlling pump, for there is the moment of torsion gradient distribution map of engine dynamic characteristic to control the hydraulic pump using reflection.
Description
Technical field
The present invention relates to the power control unit of engineering machinery.
Background technology
Generally, the engineering machinery of such as excavator is utilized from the capacity variable type hydraulic pump discharge liquid being directly connected to engine
Force feed, driving include multiple apparatus for work such as swing arm, dipper and scraper bowl.
The discharge flow of this hydraulic pump is controlled by a variety of variables, disclosure satisfy that the efficiency of operation and fuel oil expense
Etc. a variety of conditions.
Fig. 1 a to Fig. 1 c are the schematic diagram for illustrating existing hydraulic pump control method.
Fig. 1 a are the schematic diagram for illustrating flow control.Flow can be controlled according to P-Q line charts.That is, due to engine output
Peak torque is set, therefore engine runs hydraulic pump in the stability range in the case of no stopping.For example, if desired
Higher pressure, then reduce flow；When pressure is smaller, controls and protrude maximum stream flow.
Fig. 1 b are the schematic diagram for illustrating horsepower control.Horsepower control refers to select load model to control hydraulic pump in advance.
That is, it needs to when improving transaction capabilities, upper load model is selected with maximum output torque；When needing to carry out gently loading operation,
The next load model is selected to reduce peak torque.
Above-mentioned load model can show as light load mode, standard termination pattern and heavy duty pattern.Also, can
To show as full-power mode, power mode, mode standard, economic model, idle mode etc..That is, load model can basis
The weight of load or the torque of output are showed.
Fig. 1 c are that the control of compound flow and horsepower control and gives the control schematic diagram of applicable hydraulic pump.
That is, when operation form is heavy duty, select upper power mode (P patterns) and carry out operation；When operation shape
When state is gently loads, select the mode standard (S mode) of bottom and carry out operation.Accordingly, power mode is changed to mode standard
When, control maximum discharge flow and limit its side towards reduction.
As illustrated in figure 1 c, when the control of compound flow and horsepower control are to control hydraulic pump, pump is illustrated with reference to figure 2 and Fig. 3
Correlation between moment of torsion and engine rotation number.
Fig. 2 is the time relevant with engine rotation number and pump moment of torsion to elapse curve map.Fig. 3 is relevant with engine rotation number
Pump torque curve figure.
In fig. 2, A, B are the situation that desired value (flow/hydraulic pressure) steeply rises when emergency operation control stick.Now,
Sharp moment declines engine rotation number (rpm), and shows the form that actual pump moment of torsion declines astatically.
With reference to figure 3, engine rotation number (rpm) shows linear shape before and after specified 1800~1900rpm of rotation number；But
It is such as C portion, the unstable part of generation bounce.A part of the C portion equivalent to Fig. 2, part B.I.e., it is possible to learn, when tight
The pump moment of torsion of final output is unstable during anxious manipulation bar, therefore the problem of controlling declines during operation be present.
It is described in detail for C portion then as follows：
When emergency operation control stick, then moment of torsion (Max Torque) increase according to needed for control stick gear maximum, engine rotation
Revolution (rpm) is reduced, and the output torque (T) of hydraulic pump is reduced.
As long as moment of torsion (Max Torque) variable quantity needed for control maximum, then draw in the part of actual torque variable quantity cataclysm
Hold up rotation number (rpm) reduction, the energy that can so cause limitation to use, i.e. degraded performance.I.e., it is however generally that according to injection
Spray fuel is measured, but if engine rotation number declines, even if then can also be led in the presence of the energy summation that can make up consumption fuel
Enlargement loss is caused to deteriorate the result that fuel oil takes.
On the other hand, supervisor engine rotation number (rpm) is to cause the size of moment of torsion in control limit, as follow-up place
Reason, due to feeding back (feed back) end value, therefore, it is difficult to tackle engine rotation number (rpm) cataclysm.Also, due to final
The final moment of torsion of the hydraulic pump of output is unstable, therefore can have the problem of decline of the controlling during operation.
The content of the invention
It is an object of the present invention to provide the power control unit of engineering machinery, by being controlled according to engine load rate
Engine rotation number and pump moment of torsion are to improve fuel oil expense, so as to solve the above problems.
Another object of the present invention is to, there is provided the power control unit of engineering machinery, by relatively low using flow
During low-load operation, engine speed is actively controlled, so as to improve fuel oil expense.
To achieve these goals, according to one embodiment of the invention, filled according to the dynamic Control of the engineering machinery of the present invention
Put including：Engine, it is connected with hydraulic pump, for driving the hydraulic pump；Engine controller, for controlling the engine, from
And when in heavy duty state, the instruction of engine rotation number is risen default engine rotation number, then made according to engine load rate
Engine rotation number rises or dropped to hysteresis (Hysteresis) form；When in light-load state, refer to engine rotation number
Order declines default engine rotation number, then engine rotation number is risen or drop to hysteresis form according to engine load rate；
And apparatus for controlling pump, for there is the moment of torsion gradient distribution map of engine dynamic characteristic to control the hydraulic pump using reflection.
Preferably, by engine load rate (%)=actual engine moment of torsion/engine peak torque * 100, the engine is calculated
Load factor.
Preferably, it is less than maximum rated instruction area in engine rotation number instruction, the engine controller is used
The rising of engine rotation number or the action declined are made according to engine load rate in limitation.
Preferably, heavy duty state is excavation (Digging) or boom arm lift (Boom up)+rotation (Swing) area
Between；Light-load state entrucking (Dumping) or convolution+recovery (Return) section.
Preferably, the apparatus for controlling pump, engine load rate is divided into multiple sections and according to each section for working as
When producing engine load, the moment of torsion gradient that engine rotation number declines phenomenon stable time point is obtained respectively, generates the torsion
Square gradient distribution map.
Preferably, the engine controller includes：Required torque-calculating section, for using needed for flow and calculation of pressure
Moment of torsion；Target velocity calculating section, for the required moment of torsion to be applied to required moment of torsion and the target velocity distribution of hysteresis form
Figure is to calculate target velocity, the acclivity and decline slop of the target velocity calculated using the required torque limit；And
Speed controlling portion, for controlling engine speed according to the target velocity calculated in the target velocity calculating section.
Preferably, the target velocity calculating section includes：Required moment of torsion and target velocity mapping portion, for by the institute
Moment of torsion is needed to be applied to the required moment of torsion and target velocity distribution map to calculate target velocity；Rate of change calculating part, for utilizing
Moment of torsion needed for described, the acclivity in the target velocity that the required moment of torsion and target velocity mapping portion calculate is calculated with
Drop angle slope；And rate of change limiting unit, for according to the rate of change calculating part calculate target velocity acclivity and
Decline slop limits the target velocity.
Preferably, the target velocity calculating section, for when at least one in high capacity work in swing arm or dipper
During industry, engine speed is set to increase；When swing arm and dipper are in low-load operation, decline engine speed.
Preferably, when the swing arm either the swing arm pilot signal boom arm lift or dipper gather pressure with
It was high capacity operation when upper.
According to this specification as described above, by providing the power control unit of engineering machinery, it is according to engine load
Rate controls engine rotation number into hysteresis form, and the moment of torsion gradient distribution map controlling pump for having engine dynamic characteristic using reflection is turned round
Square, so as to minimize the limitation of the transaction capabilities of engineering machinery and improve operation fuel oil expense.
Also, by providing the power control unit of engineering machinery, it is when using the low-load operation compared with low discharge
Engine speed is actively controlled, so as to improve fuel oil expense efficiency.
Also, by providing the power control unit of engineering machinery, the reality only gathered in such as boom arm lift and dipper
In high capacity operation, increase engine rotation number, so as in low-load region and low-load region engine rotation number be made clear and definite
Ground rises or declined.
Brief description of the drawings
Fig. 1 a to Fig. 1 c are the schematic diagram for illustrating existing hydraulic pump control method.
Fig. 2 is the time relevant with engine rotation number and pump moment of torsion to elapse curve map.Fig. 3 is relevant with engine rotation number
Pump torque curve figure.
Fig. 3 is the pump torque curve figure relevant with engine rotation number.
Fig. 4 is the engine load rate curve synoptic diagram according to engine rotation number.
Fig. 5 is the power control unit structural representation according to the engineering machinery of one embodiment of the invention.
Fig. 6 a to Fig. 6 c are the schematic diagram for illustrating the hydraulic pump control in the hydraulic system of engineering machinery.
Fig. 7 is the engine rotation number control zone for the power control unit for illustrating engineering machinery according to an embodiment of the invention
The schematic diagram in domain.
Fig. 8 is the working as power control unit for illustrating engineering machinery according to an embodiment of the invention to make engine according to the stage
The schematic diagram of engine rotation number change when load rises.
Fig. 9 a to Fig. 9 f illustrate in the power control unit of engineering machinery according to an embodiment of the invention according to load
The schematic diagram of the example of range set moment of torsion gradient.
Figure 10 is the schematic diagram according to the instrument board of the engineering machinery of one embodiment of the invention.
Figure 11 is the engine rotation number curve synoptic diagram in each operation interval of engineering machinery.
Figure 12 is the structural representation according to the engine controller of the engineering machinery of one embodiment of the invention.
Figure 13 is the structural representation according to the target velocity calculating section of one embodiment of the invention.
Figure 14 is the required moment of torsion of hysteresis (Hysteresis) form and the schematic diagram of target velocity distribution map.
Figure 15 is the curve map that percentage speed variation is shown according to required moment of torsion.
Figure 16（a）, Figure 16（b）To illustrate the dynamic of the engine controller of engineering machinery according to another embodiment of the present invention
The schematic diagram of work.
Figure 17 is the schematic flow sheet according to the engine control method of one embodiment of the invention.
Embodiment
Technical term used in this manual is merely to illustrate specific embodiment, not to limit the invention to
Purpose.Also, should be according to the general of the technical field belonging to the present invention on the premise of not carrying out especially definition in this manual
Logical technical staff institute it will be appreciated that meaning explanation technical term used in this manual；It must not be construed to excessive general
Including property meaning, or the meaning excessively reduced.Also, ought be in used technical term in this specification can not correct earth's surface
During up to present inventive concept, mistake technical term, the skill that those of ordinary skill in the art are capable of correct understanding should be replaced with
Art term is simultaneously understood.Also, general term used in the present invention should according to prior definition or it is front and rear in
Appearance explains, and the meaning for not being able to excessively reduce explains.
Also, odd number manifestation mode used in this manual, does not have clearly different situations on context
Under, multiple meanings can also be included.In this application, " by ... form " or the term such as " comprising " shall not be construed as wrapping
The multiple inscapes recorded in the description or multiple steps are included, which part inscape or part steps can not
It is included, can also either includes extra inscape or step.
Also, the suffix of used inscape in the description, such as " module " and " portion ", take into consideration only specification
Write what convenience was just added or used with, itself simultaneously without distinctiveness implication or plays different effects.
Also, it is more to can be used for explanation in the term for describing language used in this specification including first, second etc.
Kind inscape, but the term is not used to limit the inscape.The term is only used for an inscape
It is different from another inscape.For example, in the case where not departing from scope of the presently claimed invention, the first inscape can
To be named as the second inscape, similarly the second inscape can also be named as the first inscape.
Hereinafter, preferred embodiment of the present invention will be described in detail by reference to the drawing, with reference independently, for identical or
Similar inscape imparts identical reference, and eliminates the repeat specification to it.
Also, when illustrating of the invention, if being possible to obscure ancestor of the present invention for illustrating for related known technology
During purport, by description is omitted.Also, accompanying drawing is only to readily appreciate inventive concept, it is not handy accompanying drawing should to be noticed
In being construed to the limitation to inventive concept.
The power control unit of engineering machinery according to an embodiment of the invention, engine rotation is controlled according to engine load rate
Number and pump moment of torsion.Can be according to the following computing engines load factor of mathematical expression 1.
[mathematical expression 1]
Engine load rate (%)=actual engine moment of torsion/engine peak torque * 100
Fig. 4 is the engine load rate curve synoptic diagram according to engine rotation number.
The load area (Heavy Load Area) as shown in figure 4, engine load rate is attached most importance to when being 80~100%, engine is born
Load rate is less than being light load area (Light Load Area) when 50%.
The power control unit of engineering machinery according to an embodiment of the invention, when engine load rate is located at heavy duty region
When, it is light load mode from heavy duty mode altering so that hydraulic power corresponds to operation maximum performance；When engine load rate is tieed up
When holding more than 50%, heavy duty pattern is maintained.
Also, the power control unit of engineering machinery, when engine load rate is reduced to less than 50%, into light load mould
Formula is with the fuel oil expense efficiency that maximizes；When engine load rate is maintained below 80%, light load mode is maintained.
Fig. 5 is the power control unit structural representation according to the engineering machinery of one embodiment of the invention.
As shown in figure 5, hydraulic pump 10 possesses swash plate r, discharge flow is increased or decreased according to swash plate angle of inclination.Wherein,
The angle of inclination of swash plate is adjusted by pump control mechanism 40.
The hydraulic oil to be spued from hydraulic pump 10 is provided to main control valve 20, if running specific valve element in main control valve 20
(Spool), then above-mentioned hydraulic oil is provided to the actuator 30 with the connection of corresponding valve element.Therefore, run according to hydraulic oil
Actuator 30 is with the desired thing of execution.
In addition, operator is by manipulation bar and pedal etc., so as to produce flow control signal.Flow control letter
Number along flow control signal line pi manipulate main control valve 20 specific valve element.
That is, when the valve element of operator's manipulation bar, then flow control signal opening and closing main control valve 20；When valve corresponding to opening
Core, then hydraulic oil provide to actuator 30, so as to perform desired operation.
In addition, hydraulic pump 10 receives power transmission from engine 100, by the control of engine controller 104, to engine
100 are controlled.
By engine rotation number control unit 102, engine rotation number (rpm) can be previously set；And controlled and filled according to pump
Engine rotation number (rpm) can be changed by putting 50 instruction.
Instructed when to the input engine rotation number of engine controller 104, then the runtime engine speed regulator of engine controller 104
106, to provide fuel to engine 100.If for example, assigning the instruction for improving engine rotation number, increase fuel injection
Amount；If assigning the instruction for reducing engine rotation number, fuel injection amount is reduced；If specific engine is maintained to rotate
Number, then maintain fuel injection amount to a certain degree.
Engine controller 104 is according to following heavy duty mode operation：When engine load rate is more than 80%, engine
Rotation number instruction rises to default engine rotation number (for example, 100rpm), and according to engine load rate engine rotation number
Rise or drop to hysteresis (Hysteresis) form.Also, when engine controller 104 is less than 50%, engine is revolved
Revolution instruction drops to default engine rotation number (for example, 100rpm), and according to engine load rate in engine rotation number
Rise or drop to hysteresis form.As shown in fig. 7, the variable amplitude of engine rotation number is set as pair by engine controller 104
The connecting moves of continuous action does not have influential 100rpm, and engine rotation number is instructed smaller 300rpm than maximum rated rotation number
Instruction area, it is contemplated that operating speed, limit above-mentioned engine rotation number control.
Apparatus for controlling pump 50 controls the horsepower of pump control mechanism 40 according to the load condition of engine.Wherein, apparatus for controlling pump 50
Generation reflection has the moment of torsion gradient distribution map of engine dynamic characteristic, and pump control mechanism is controlled using the moment of torsion gradient distribution map of generation
40 horsepower.Method for generating moment of torsion gradient distribution map according to the apparatus for controlling pump 50 of the present invention, it will be with reference to figure 8
Fig. 9 a to Fig. 9 f are described in detail.
In addition, hydraulic pump 10 also includes the gear pump 70 as auxiliary pump.Gear pump 70 is led to offers such as control stick/pedals
To device hydraulic oil；When manipulation bar/pedal, the pressure of flow control signal is transmitted by producing flow control signal.
In addition, the guider hydraulic oil to be spued from gear pump 70 via electrical proportional pressure-reducing valve 60 and passes through the first hydraulic tube
Line L1 is supplied to reversal valve 80.Also, the opposite side of reversal valve 80 receives flow control signal pi inputs.Reversal valve 80 is in the first liquid
Larger pressure is selected in pressure pipeline L1 pressure and the pressure of flow control signal line, and selected pressure is via second
Hydraulic line L2 is provided to pump control mechanism 40.
Above-mentioned electrical proportional pressure-reducing valve 60 receives control letter by the first signal wire s1 from above-mentioned apparatus for controlling pump 50
Number input.Specifically, when performing operation option (for example, Breaker/ Shear) in engineering machinery, electronics ratio is utilized
Example pressure-reducing valve 60 compares flow control signal line pi guider pressure and the corresponding pressure of the flow with being set for option action
Afterwards, flow is controlled using wherein pressure higher one.
Hereinafter, the pump control mechanism 40 for controlling hydraulic pump 10 is illustrated with reference to figure 5 and Fig. 6.
Fig. 6 a to Fig. 6 c are the schematic diagram for illustrating the hydraulic pump control in the hydraulic system of engineering machinery.
The control of hydraulic pump 10 has flow control, the control of equal horsepower and horsepower control, is carried out below for each control
Describe in detail.
[flow controls (Flow Control)]
Flow control refers to by flow needed for the generation of manipulation bar, caused flow control signal pi and operation
Control stick displacement it is suitable.For example, as shown in Figure 6 a, flow control signal pi increases to p2 from p1, then pump control mechanism 40 is controlled
Swash plate r processed, so that flow Qp increases to q2 from q1.Accordingly, the discharge flow of hydraulic pump 10 can increase.
[equal horsepower controls (Constant Horse Power Control)]
Equal horsepower control refers to receive load pressure Pd to control the pump horsepower for remaining certain.
Equal horsepower control is that the correlation of finger pressure and flow is set to P-Q distribution maps, in hydraulic pump 10 and main
Receive to act on the load pressure Pd of hydraulic line between control valve 20, and change discharge flow according to the P-Q distribution maps of setting.
For example, as shown in Figure 6 b, load pressure Pd increases to p2 from p1, then pump control mechanism 40 controls swash plate r to flow
Amount Qp is reduced to q2 from q1.Control the discharge flow of hydraulic pump 10 to reduce accordingly, but pump horsepower is maintained to certain level.
[horsepower controls (Power Shift Control)]
Horsepower control is that the control of pump horsepower is adjusted according to the load condition of engine.That is, horsepower is controlled P-Q distribution maps
It is set as multiple, one is selected to control hydraulic pump according to being supported in multiple P-Q distribution maps.Multiple P-Q distribution maps can root
Selected according to the instruction of the apparatus for controlling pump 50 by secondary signal line s2.
For example, as fig. 6 c, P-Q distribution maps may be provided in heavy duty distribution map, standard termination distribution map, gently bear
Distribution map is carried, specific P-Q distribution maps are selected according to job load, so as to control hydraulic pump.
Accordingly, even if applying identical load pressure Pd, if selected heavy duty distribution map, spue corresponding with q1 big
The flow of amount.Reverse side, if selected standard termination distribution map, spue flow corresponding with q2, and wherein q2 is less than q1.If also,
Light load distribution figure is selected, then spue flow corresponding with q3, and wherein q3 is less than q2.
That is, when the load for judging manipulating object is big, horsepower control is selected and the P-Q of heavy duty phase nearside divides
Butut；When the load for judging manipulating object is general, the selected standard termination distribution map of horsepower control；When judging to make
When the load of industry object is small, the selected P-Q distribution maps with light load phase nearside of horsepower control, so as to control hydraulic pump
10。
Fig. 8 is the working as power control unit for illustrating engineering machinery according to an embodiment of the invention to make engine according to the stage
The schematic diagram of engine rotation number change when load rises.Fig. 9 a to Fig. 9 f illustrate in engineering machine according to an embodiment of the invention
The schematic diagram of the example of moment of torsion gradient is set in the power control unit of tool according to loading range.
First, pump moment of torsion is calculated according to following mathematical expression 2 according to the apparatus for controlling pump 50 of the present invention.
[mathematical expression 2]
T=P × Q × A
T：The size of the pump moment of torsion (Pump Torque) embodied by hydraulic pump.
P：The pressure of the hydraulic oil to be spued from hydraulic pump.
Q：The flow of the hydraulic oil to be spued in hydraulic pump in per unit rotation.
A：By the constant that strength unit conversion is unit of horsepower.
Moment of torsion gradient distribution map is the moment of torsion gradient for confirming the engine dynamic characteristic according to engine load and generating.With
Under, with reference to figure 8 and Fig. 9 a to Fig. 9 f, illustrate the generation method of moment of torsion gradient distribution map.
As shown in figure 8, the maximum engine load factor that can be embodied is assumed to be 100%, according to phase sets engine load
Rate, the engine load rate of setting is supplied to engineering machinery (equipment), so as to confirm that the change of engine rotation number elapses.
When being promptly applied with the engine load rate of setting, then can be restored after the decline of engine rotation number (rpm) moment, this
When confirm the time point that engine rotation number is restored.
For example, when being applied with 50% engine load rate, if the slippage of engine rotation number (rpm) is higher than specified engine
Rotation number, then perform next step.
In the next step, when being applied with 75% engine load rate, if the slippage of engine rotation number (rpm)
D1 is less than specified engine rotation number, then changes moment of torsion gradient, be higher than volume so as to find the drop point of engine rotation number (rpm)
Determine the part of engine rotation number.
Also, in the next step, when being applied with 100% engine load rate, then engine rotation number (rpm)
Slippage D2 can sharp drop.Now, by changing moment of torsion gradient, the drop point for finding engine rotation number (rpm) is higher than
Specified engine rotation number, stable part.
As described above, periodically component improves engine load rate, and the change passage of observing engine rotation number (rpm),
And when when drop point is higher than specified engine rotation number or stable, it is believed that dynamic between engine load rate and engine rotation number
Step response is consistent with each other.
In an embodiment of the present invention, although being illustrated by 50%, 70%, 100% example of engine load rate,
But as shown in Fig. 9 a to Fig. 9 f, the moment of torsion gradient distribution map that engine load rate is divided into 5 sections can be generated, wherein
5 sections include 20%, 40%, 60%, 80%, 100%.
As illustrated in fig. 9, low engine load rate is applicable initial stage, to find engine rotation number stable time point, and handle
Gradient now is defined as the first moment of torsion gradient R1.
Then, as shown in figure 9b, 20% engine load rate is applicable, to find engine rotation number stable time point, and
And gradient now is defined as the second moment of torsion gradient (R2).
Similarly, as shown in Fig. 9 c to Fig. 9 e, periodically find and define the 3rd moment of torsion gradient R3 to the 5th moment of torsion
Gradient R5.
As shown in figure 9f, the first moment of torsion gradient R1 defined as described above to the 5th moment of torsion gradient R5, it is and each
Individual load section contrastively forms moment of torsion gradient distribution map (map).
Apparatus for controlling pump 50 utilizes foregoing moment of torsion gradient distribution map, controls the horsepower of pump control mechanism 40.That is, pump controls
Device 50 reflects moment of torsion gradient in the torque value above calculated, so as to control hydraulic pump 10.
Because the moment of torsion gradient distribution map is reflects the value for having engine dynamic characteristic, therefore apparatus for controlling pump 50 reflects
Engine dynamic characteristic is so as to controlling hydraulic pump 10.
On the other hand, the section of engine load rate is segmented, then can more accurately find engine dynamic characteristic, but carefully
The section divided is more, and the time of searching engine dynamic characteristic is longer, preferably 3 to 5 sections.
The load section of above-mentioned engine load rate can be set as equidistantly.For example, when being set as 5 sections, can
To set load section with 20% equivalency range.
Also, as described above, although the load section of engine load can be set as equidistantly, to be set as
Different spacing.For example, it is wider by the relatively low section sets of engine load；It is relative by the higher section sets of engine load
It is narrower, set so as to sectionalization.More specifically, when engine load is set as 5 sections, can be set as：First
It is 0~30% to load section, and the second load section is 30%~55%, and the 3rd load section is 55%~75%, the 4th load
Section is 75%~90%, and the 5th load section is 90~100%.
In addition, when engine load is relatively low, decline (drop) phenomenon of engine rotation number will not be so obvious；But work as and draw
Hold up load it is higher when, the slippage of engine rotation number can the rate of exchange it is big.Therefore, the big section of engine load, more needs to segment
Change setting, so as to find the consistent point of the dynamic characteristic between engine load and engine rotation number.Accordingly, more precisely slap
Hold engine dynamic characteristic.If that is, load section big load section when, loading range is set as narrower；It is if negative
Section is carried when being relatively small load section, then loading range is set as it is wider, so as to reflect sensitive section to load
Bigger weighted value can be set, engine dynamic characteristic can more precisely be grasped with this.
Figure 10 is the schematic diagram according to the instrument board of the engineering machinery of one embodiment of the invention.
In engineering machinery, user can pass through mode selecting button selection mode；In order to save fuel oil expense, giving tacit consent to
(Default) start-up mode under state.
With reference to figure 10, during selection mode, increase word in the power mode icon 1010 positioned at the left side lower end of instrument board
" S ", so as to identify whether to have selected function.Also, increase the internal memory work(about corresponding function in the menu of instrument board
Can, the work pattern being always defaulted as when restarting so as to be set in before a pattern or record.
Figure 11 is the engine rotation number curve synoptic diagram in each operation interval of engineering machinery.
With reference to figure 11, when 180 degree excavation or car loading operation, (Digging) or boom arm lift (Boom up) are excavated
+ rotation (Swing) section, which is attached most importance to, loads section, in order to ensure the peak power performance of setting power mode, makes engine rotation number
Rising, entrucking (Dumping) or convolution+recovery (Return) section are light load section, by reducing engine rotation number,
With the fuel oil expense efficiency that maximizes.Correspondingly, when making the rising of engine rotation number, according between actual engine rotation number and instruction
Difference, bring bad influence to performance to prevent pump moment of torsion by limitation, decline control point 1110 and shifted gears to prevent stopping power and controlled
System is exceedingly worked, and moment of torsion gradient is provided to the profile (Profile) for considering engine dynamic characteristic to pump moment of torsion control 1120
(Ramp), so as to reduce the decline of engine rotation number, and then the excessive injection of fuel can be prevented.
Figure 12 is the structural representation according to the engine controller of the engineering machinery of one embodiment of the invention.
With reference to figure 12, included according to the engine controller of the present invention：Required torque-calculating section 110, moment of torsion control portion
120th, target velocity calculating section 130 and speed controlling portion 140 etc..
Moment of torsion needed for the required multiplication pump discharge q of torque-calculating section 110 and the calculation of pressure gone out from pump control unit.For pressure
For power control type excavator, pump discharge is sensed, and the pump pressure instruction caused by the pump control unit in control pump pressure that is multiplied
And pump discharge, then it can calculate the moment of torsion being actually needed in equipment.
Moment of torsion control portion 120 is according to the required moment of torsion control pump moment of torsion calculated in required torque-calculating section 110.
The required moment of torsion that target velocity calculating section 130 calculates required torque-calculating section 110 is applied to as shown in figure 14
The required moment of torsion and target velocity distribution map of (Hysteresis) form are lagged, to calculate target velocity；And limit basis to exist
The acclivity (Ramp) and decline slop for the target velocity that the required moment of torsion that required torque-calculating section 110 calculates calculates.
Wherein, as shown in figure 15, the control of target velocity calculating part 130 is according to calculating in required torque-calculating section 110
The acclivity (Ramp) and decline slop for the target velocity that percentage speed variation corresponding to required moment of torsion calculates.
Speed controlling portion 140 controls engine speed according to the target velocity calculated in target velocity calculating section 130.
Figure 13 is the structural representation according to the target velocity calculating section of one embodiment of the invention.
With reference to figure 13, required moment of torsion and target velocity matching part are included according to the target velocity calculating section 130 of the present invention
210th, rate of change calculating part 220 and rate of change limiting unit 230 etc..
The required moment of torsion calculated in required torque-calculating section 110 is applicable by required moment of torsion and target velocity mapping portion 210
In the required moment of torsion and target velocity distribution map of hysteresis form, so as to calculate target velocity.
Rate of change calculating part 220 is calculated in required moment of torsion using the required moment of torsion calculated in required torque-calculating section 110
And the acclivity and decline slop of target velocity that target velocity mapping portion 210 calculates.
Acclivity and lower drop angle of the rate of change limiting unit 230 according to the target velocity calculated in rate of change calculating part 220
Slope limited target speed.
In addition, for engineering machinery, such as hold deposit and spread out (Roll what deposit was moved to another place
Out) act, because front portion displacement is little, therefore need not be too big flow, but when causing to draw because of hydraulic slip (Loss)
When holding up moment of torsion increase, it is difficult to control engine speed, that is, be difficult to desired direction controlling engine rotation number.Therefore, in the present invention
In another embodiment, the actual high capacity operation of (Arm crowd) is only gathered in such as boom arm lift (Boom up) and dipper
Middle increase engine rotation number.
Figure 16 is the schematic diagram of the action for the engine controller for illustrating engineering machinery according to another embodiment of the present invention.
First, the engine controller of engineering machinery according to another embodiment of the present invention draws to Figure 12 engineering machinery
The target velocity calculating section 130 for holding up control device inputs swing arm pressure and dipper pressure.
Hereinafter, refer to the attached drawing 16, illustrate engineering machinery according to another embodiment of the present invention engine controller it is dynamic
Make.
As shown in figure 16, when at least one pressure in swing arm and dipper is in more than 20bar, i.e. high load condition
When, target velocity calculating section 130 follows the trail of hysteresis curve so that engine speed rises (ON).
Also, when the pressure of swing arm and dipper is in below 20bar, i.e., low-load state when, target velocity calculating section 130
Tracking tracking hysteresis curve is so that engine speed declines (OFF).
Figure 17 is the schematic flow sheet according to the engine control method of one embodiment of the invention.
With reference to figure 17, step S610, required torque-calculating section 110 utilizes moment of torsion needed for flow and calculation of pressure.
The required moment of torsion calculated in required torque-calculating section 110 is applied to stagnant by step S620, target velocity calculating section 130
The required moment of torsion of form and target velocity distribution map are to calculate target velocity afterwards.Now, target velocity calculating section 130 is using in institute
The acclivity and decline slop for the target velocity that the required moment of torsion for needing torque-calculating section 110 to calculate is calculated with limiting.
Then, step S630, speed controlling portion 140 are controlled according to the target velocity calculated in target velocity calculating section 130
Engine speed processed.
Above-mentioned method can be realized in several ways.For example, embodiments of the invention can be by hardware, firmware
(Firmware), software or their combination is realized.
If realized with hardware, the method for the embodiment of the present invention can be by one or more ASIC
(Application Specific Integrated Circuits, referred to as ASICs), digital signal processor (Digital
Signal Processors, referred to as DSPs), digital signal processing device (Digital Signal Processing
Devices, referred to as DSPDs), it is PLD (Programmable Logic Devices, referred to as PLDs), existing
Field programmable gate array (Field Programmable Gate Arrays, referred to as FPGAs), processor, controller, micro-control
Device and microprocessor processed are realized.
If realized with firmware or software, the method for the embodiment of the present invention can be by above-mentioned perform function or action
The forms such as module, step or function are realized.Software code can be stored in internal storage location, be driven by processor.
The internal storage location is located at the processor either internally or externally, can be received according to prior art between the processor
Send out data.
More than, refer to the attached drawing illustrates the present embodiment disclosed embodiment.It is identical with this, the embodiment of each accompanying drawing diagram
It is not used to limit, one of ordinary skill in the art can be combined with each other, and part composition will when be combineding with each other
Being known as to be omitted.
Wherein, in the present specification and claims used term or word can not according to common implication or
The meaning of person's dictionary carries out doctrinal explanation, and the mode that should be consistent with the technological thought of this disclosure makes an explanation.
Therefore, the structure in this specification is recorded embodiment and accompanying drawing is only an embodiment of this disclosure,
And the technological thought of this disclosure is not all, it is therefore to be understood that existing and can be replaced at the time point of application invention
A variety of equivalents and variation.
[commercial Application]
The invention provides the power control unit of engineering machinery, and wherein the power control unit of engineering machinery is according to engine
Load factor is hysteresis form the control of engine rotation number, there is the moment of torsion gradient distribution map controlling pump of engine dynamic characteristic using reflection
Moment of torsion, so as to minimize the limitation of the transaction capabilities of engineering machinery, improve operation fuel oil expense, therefore overcome prior art
Defect, not only exist on the market or exploitation of the device using corresponding technology but also the device in applicable associations technology abundant
Feasibility, and be the degree that can clearly implement in reality, therefore be the invention that can industrially utilize.
Claims (9)
1. a kind of power control unit of engineering machinery, including：
Engine, it is connected with hydraulic pump, for driving the hydraulic pump,
The power control unit of the engineering machinery is characterised by, in addition to：
Engine controller, it is pre- so as to rise when in heavy duty state, the instruction of engine rotation number for controlling the engine
If engine rotation number, then engine rotation number is increased according to engine load rate or drop to hysteresis form；When gently bearing
During load state, the instruction of engine rotation number is declined default engine rotation number, engine rotation number is then made according to engine load rate
Rise or drop to hysteresis form；And
Apparatus for controlling pump, for there is the moment of torsion gradient distribution map of engine dynamic characteristic to control the hydraulic pump using reflection.
2. the power control unit of engineering machinery according to claim 1, it is characterised in that
The engine load rate is calculated according to following mathematical expression 1,
[mathematical expression 1]
Engine load rate=actual engine moment of torsion/engine peak torque * 100.
3. the power control unit of engineering machinery according to claim 1, it is characterised in that
It is less than maximum rated instruction area in engine rotation number instruction, the engine controller draws for limiting basis
Hold up the action that load factor makes engine rotation number rise or decline.
4. the power control unit of engineering machinery according to claim 1, it is characterised in that
Heavy duty state is excavation or boom arm lift+rotation section；
Light-load state is entrucking or convolution+recovery section.
5. the power control unit of engineering machinery according to claim 1, it is characterised in that
The apparatus for controlling pump, engine load rate is divided into multiple sections and according to each section generation engine load for working as
When, the moment of torsion gradient that engine rotation number declines phenomenon stable time point is obtained respectively, generates the moment of torsion gradient distribution
Figure.
6. the power control unit of engineering machinery according to claim 1, it is characterised in that the engine controller bag
Include：
Required torque-calculating section, for utilizing moment of torsion needed for flow and calculation of pressure；
Target velocity calculating section, for the required moment of torsion to be applied to the required moment of torsion and target velocity distribution map of hysteresis form
To calculate target velocity, the acclivity and decline slop of the target velocity calculated using the required torque limit；And
Speed controlling portion, for controlling engine speed according to the target velocity calculated in the target velocity calculating section.
7. the power control unit of engineering machinery according to claim 6, it is characterised in that the target velocity calculating section
Including：
Required moment of torsion and target velocity mapping portion, for the required moment of torsion to be applied into the required moment of torsion and target velocity
Distribution map is to calculate target velocity；
Rate of change calculating part, for using the required moment of torsion, calculating in the required moment of torsion and the calculation of target velocity mapping portion
The acclivity and decline slop of the target velocity gone out；And
Rate of change limiting unit, for the acclivity and decline slop according to the target velocity calculated in the rate of change calculating part
To limit the target velocity.
8. the power control unit of engineering machinery according to claim 6, it is characterised in that
The target velocity calculating section, for when at least one in swing arm or dipper is in high capacity operation, making engine
Speed rises；When swing arm and dipper are in low-load operation, decline engine speed.
9. the power control unit of engineering machinery according to claim 8, it is characterised in that
When the pilot signal of the swing arm either swing arm when boom arm lift or dipper gather more than pressure to be high negative
Carry operation.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020130164662A KR102126589B1 (en) | 2013-12-26 | 2013-12-26 | Method and Apparatus for Controlling Engine of Construction Machinery |
| KR1020130164557A KR102099481B1 (en) | 2013-12-26 | 2013-12-26 | Method and Apparatus for Controlling Power of Construction Machinery |
| KR10-2013-0164662 | 2013-12-26 | ||
| KR10-2013-0164557 | 2013-12-26 | ||
| PCT/KR2014/012808 WO2015099448A1 (en) | 2013-12-26 | 2014-12-24 | Power control device for construction machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106103851A CN106103851A (en) | 2016-11-09 |
| CN106103851B true CN106103851B (en) | 2018-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480070496.8A Active CN106103851B (en) | 2013-12-26 | 2014-12-24 | The power control unit of engineering machinery |
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| WO (1) | WO2015099448A1 (en) |
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| US11359557B2 (en) | 2020-05-27 | 2022-06-14 | Caterpillar Inc. | Method and system for load control in an internal combustion engine |
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| CN101358456A (en) * | 2008-08-29 | 2009-02-04 | 三一重工股份有限公司 | Land leveler control method, system and leveler |
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| WO2013031525A1 (en) * | 2011-08-31 | 2013-03-07 | 日立建機株式会社 | Construction machine |
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| GB2427187B (en) * | 2004-04-08 | 2008-06-18 | Komatsu Mfg Co Ltd | Hydraulic drive device for work machine |
| KR101637571B1 (en) * | 2009-12-23 | 2016-07-20 | 두산인프라코어 주식회사 | Hydraulic pump control apparatus and control method for construction machinery |
| JP5074571B2 (en) * | 2010-10-26 | 2012-11-14 | 株式会社小松製作所 | Work vehicle and control method of work vehicle |
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|---|---|---|---|---|
| CN101358456A (en) * | 2008-08-29 | 2009-02-04 | 三一重工股份有限公司 | Land leveler control method, system and leveler |
| KR20100069725A (en) * | 2008-12-17 | 2010-06-25 | 두산인프라코어 주식회사 | Power control apparatus for hybrid contruction machinery |
| WO2012043108A1 (en) * | 2010-09-30 | 2012-04-05 | 株式会社拓人 | Test creation server, result form creation server, exercise workbook creation server, problem maintenance server, test creation program, result form creation program, exercise workbook creation program, and problem maintenance program |
| CN103119226A (en) * | 2010-10-06 | 2013-05-22 | 住友重机械工业株式会社 | Hybrid working machine |
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| CN106103851A (en) | 2016-11-09 |
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