CN106351280A - Energy-saving method for hybrid power engineering machine based on feed-forward compensation - Google Patents
Energy-saving method for hybrid power engineering machine based on feed-forward compensation Download PDFInfo
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- CN106351280A CN106351280A CN201610948764.2A CN201610948764A CN106351280A CN 106351280 A CN106351280 A CN 106351280A CN 201610948764 A CN201610948764 A CN 201610948764A CN 106351280 A CN106351280 A CN 106351280A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000000446 fuel Substances 0.000 claims abstract description 33
- 230000009849 deactivation Effects 0.000 claims description 13
- 238000011217 control strategy Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 238000004134 energy conservation Methods 0.000 abstract 1
- 230000014509 gene expression Effects 0.000 description 17
- 238000005516 engineering process Methods 0.000 description 6
- 239000003921 oil Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000003111 delayed effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000001095 motoneuron effect Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 241000602850 Cinclidae Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000010710 diesel engine oil Substances 0.000 description 1
- 239000002283 diesel fuel Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
-
- 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
- E02F9/2221—Control of flow rate; Load sensing arrangements
-
- 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
Abstract
The invention relates to a control method for a hybrid power engineering machine with a fixed rotating speed and variable displacement diesel, belonging to the field of energy conservation of engineering machinery. The method comprises the steps of (1) adding diesel load prediction based on feed-forward compensation to a controller, feeding back power required by a load to the overall controller, and calculating, by the overall controller, a torque value required by the load; (2) under the condition of fixed rotating speed nl r/min, selecting an optimal fuel point when all cylinders of the diesel work; selecting an optimal fuel point when less than 50% of cylinders of the diesel stop; and selecting an optimal fuel point when 50% of cylinders of the diesel stop; (3) determining corresponding four intervals according to the output torques corresponding to the optimal fuel points respectively; (4) determining the working modes of the diesel and the motor according to the torque required by the load and the quantity of electric charges; and (5) in order to eliminate hybrid power speed governing deviation, performing advanced compensation on the rotating speed of the diesel via feed-forward. According to the method, the fuel consumption can be reduced.
Description
Technical field
The invention belongs to Construction Machinery Energy Saving field, particularly there is the hybrid power engineering machine that rotary speed working determined by diesel engine
Tool is and in particular to have the hybrid excavator that rotary speed working determined by diesel engine.
Background technology
Hydraulic crawler excavator is more and more extensive as a kind of its application of major project plant equipment, but due to its load change
Greatly, the fluctuation of diesel engine operating point is serious, causes diesel engine fuel consumption severe.Technology of Hybrid Electric Vehicle has to the exploitation of engineering machinery
Significance, operating point fluctuation range can be reduced, so that fluctuation of speed amplitude is declined, the multi-operating points of existing diesel control plan
Slightly utilize battery " peak load shifting " to act on, the mode of operation of diesel engine is divided into basic, normal, high three kinds of work dot patterns of power, has
Effect controls operating point fluctuation, but there is also following shortcoming: diesel engine can not in real time and load matched exist delayed；In, low work(
During rate operating point, diesel engine is operated in non-economy area；Still there is small range fluctuation in diesel engine speed.
Patent content
The present invention seeks to solve hybrid excavator diesel engine and generator/motor can not exist in real time and load matched
Delayed, in, low-load operating point when the more economical area of fuel consumption greatly increase and the little model of mixed power diesel engine rotating speed
Enclose the technical problem of fluctuation.
Technical scheme: there is the hybrid power engineering machinery control method determined rotating speed and become capacity diesel engine,
Described hybrid power engineering machinery includes thering is the hybrid excavator that rotary speed working determined by diesel engine, it is characterized in that including under
State:
(1), increase the engine load prediction based on feedforward compensation in the controller, in real time load power demand is fed back to whole
On vehicle controller, by entire car controller computational load required torque value；
(2) the diesel engine universal characteristic curve choosing, under the conditions of determining rotating speed n1r/min, during cylinder operation whole according to diesel engine
Take optimal fuel point as a point, corresponding output torque is ta；Diesel engine ten thousand after being stopped less than 50% cylinder according to diesel engine
Characteristic curve is had to choose optimal fuel point as b point, corresponding output torque is tb；Bavin after half cylinder is stopped according to diesel engine
Oil machine universal characteristic curve chooses optimal fuel point as c point, and corresponding output torque is tc；
(3), four intervals are divided according to torque ta, tb corresponding to a, b, c, tc at 3 points, moment of torsion interval [0, tc] is corresponding
Little load, moment of torsion interval [tc, tb] corresponds to medium and small load, heavy load during moment of torsion interval [tb, ta] is corresponding, and moment of torsion is more than ta and corresponds to
Heavy load；
(4), determine that control strategy becomes capacity diesel engine work according to load required torque and the quantity of electric charge (i.e. soc value) size
Mode (cylinder deactivation or one or several cylinder do not quit work) and motor operation mode；
(5), in order to eliminate hybrid power speed governing deviation, compensated in advance is carried out to diesel engine speed by feedforward, so that diesel engine is turned
Speed keeps constant.
Control strategy:
If be supported on heavy load interval, cylinder of diesel engine not cylinder deactivation, it is operated in optimal fuel point a point, load power demand=bavin
Oil machine provides power+motor power (output)；
If it is interval and when the quantity of electric charge is less than 40% to be supported on middle heavy load, cylinder of diesel engine not cylinder deactivation is operated in optimal fuel point a
Point, diesel engine provides power=load power demand+generator power；
If it is interval and when the quantity of electric charge is more than 40% to be supported on middle heavy load, cylinder of diesel engine cylinder deactivation number is less than 50% cylinder, is operated in
Corresponding optimal fuel point b point, load power demand=diesel engine provides power+motor power (output)；
If it is interval and when the quantity of electric charge is less than 40% to be supported on medium and small load, cylinder of diesel engine cylinder deactivation number is less than 50% cylinder, is operated in
Corresponding optimal fuel point b point, diesel engine provides power=load power demand+generator power；
If it is interval and when the quantity of electric charge is more than 40% to be supported on medium and small load, diesel engine 50% cylinder deactivation is operated in corresponding optimal
Fuel point c point, load power demand=diesel engine provides power+motor power (output)；
If be supported on little load interval, diesel engine 50% cylinder deactivation, it is operated in corresponding optimal fuel point c point；
The described method determining rotating speed feedforward compensation, is to add a motor at diesel engine, fine-tuning accelerator open degree, controller according to
The load signal of feedforward and soc value determine diesel engine operating point, are then obtained to eliminate mixing according to diesel engine operating point
Power speed governing deviation, the excess power of the required output of diesel engine, draw the compensation corner of air throttle, to motor signal, drive control
Motor throttle valve processed reaches optimal open position, compensated in advance, makes diesel engine speed keep constant.
The present invention adopts pressure transducer, effusion meter to measure pressure and the flow of hydraulic pump position, realizes mending based on feedforward
The engine load prediction repaid, is timely fed back to entire car controller and draws load power demand, slow down delayed.
In middle or small load, discharge capacity is become using diesel engine, that is, one or several cylinders quit work, by reducing work
The number of cylinder, improves the rate of load condensate of working cylinder, makes diesel engine be operated in (or close) economical and efficient area.
Under the conditions of determining rotating speed n1 r/min, during cylinder operation whole according to diesel engine, diesel engine universal characteristic curve is chosen
Optimal fuel point, as a point, stops choosing optimal fuel point less than diesel engine universal characteristic curve after 50% cylinder according to diesel engine
As b point, diesel engine universal characteristic curve after 50% cylinder is stopped according to diesel engine and chooses optimal fuel point as c point.
Load required torque interval (high pulling torque, middle high pulling torque, medium and small moment of torsion, little moment of torsion) is according to 3 points of determinations of a, b, c
After divided.
Hybrid power system with feedforward compensation can reduce diesel engine speed waving interval, but also has a little model
Enclose fluctuation △ n, add a motor, fine-tuning accelerator open degree at diesel engine, controller is according to the load signal feedovering and soc
Value determines diesel engine operating point, is then obtained to eliminate hybrid power speed governing deviation, diesel engine institute according to diesel engine operating point
The excess power that need to export, draws the compensation corner of air throttle, and to motor signal, drive control motor throttle valve reaches most preferably
Open position, compensated in advance, make diesel engine speed keep constant.
Compared with prior art, the invention has the advantages that
1st, the system with feedforward compensation can make control strategy mate in time with load change；
2nd, middle or small load is using change Displacement Technology (one or several cylinders quit work) and true on the basis of becoming Displacement Technology
Determine the optimal fuel point of diesel engine and can effectively reduce fuel consumption；
3rd, feedforward compensation is carried out to the hybrid power fluctuation of speed, diesel engine speed can be made to be held essentially constant.
Brief description
Fig. 1 is diesel engine speed regulation characteristic curve；
Fig. 2 is mixed power diesel engine speed regulation characteristic；
Fig. 3 is the speed regulation characteristic in n1 r/min for the mixed power diesel engine with feedforward compensation；
Fig. 4 is the control principle drawing of the present invention；
Fig. 5 is the double closed loop speed regulation system control block diagram with feedforward compensation.
In figure, 1 expression rotating mechanism of dredger, 2 expression swing arms, 3 expression dippers, 4 expression scraper bowls, 5 represent banked direction control valves and
Valve group, 6 represent effusion meters, 7 expression piezometers, 8 expression power couplers, 9 expression motors, 10 expression electromotors, and 11 expressions are sent out
Electricity/motor, 12 expression rectification/inverters, 13 expression batteries, 14 expression speed probes, 15 represent that electromotor becomes discharge capacity control
Device processed, 16 expression electric machine controllers, 17 expression entire car controllers, 101 expression pid controllers, 102 expression throttle openings, 103
Represent diesel engine, 104 expression hydraulic pumps.
Specific implementation method
Shown in Fig. 1, the governor control characteristics of diesel engine is made up of external characteristics section and governor control characteristics section, and the governor control characteristics of diesel engine refers in oil
Relation between diesel engine output torque and rotating speed when door aperture is different.
Fig. 2 is mixed power diesel engine speed regulation characteristic, and it is fixed to reduce with Technology of Hybrid Electric Vehicle in engineering machinery
Diesel engine speed regulation fluctuation range under rotating speed.
Fig. 3 is on the basis of Technology of Hybrid Electric Vehicle, plus the diesel engine speed regulation curve after feedforward compensation, and diesel engine speed is basic
Do not fluctuate, the method realizing rotating speed feedforward compensation adds a motor, fine-tuning accelerator open degree at diesel engine, gives electricity by controller
Machine signal, drive control motor throttle valve reaches optimal open position.
In Fig. 3, curve is diesel engine external characteristics section and the governor control characteristics section determined during rotating speed n1 r/min, is determining rotating speed n1 r/
Under the conditions of min, universal characteristic curve during cylinder operation whole according to diesel engine chooses optimal fuel point as a point, corresponding
Output torque be ta；Universal characteristic curve after being stopped less than 50% cylinder according to diesel engine chooses optimal fuel point as b point,
Corresponding output torque is tb；Universal characteristic curve after half cylinder is stopped according to diesel engine and chooses optimal fuel point as c point,
Corresponding output torque is tc.Four intervals, moment of torsion area are divided according to torque ta, tb corresponding to 3 points of a, b, c, tc
Between [0, tc] correspond to little load, moment of torsion interval [tc, tb] corresponds to medium and small load, heavy load during moment of torsion interval [tb, ta] is corresponding, turns round
Square is more than ta and corresponds to heavy load；
The hybrid architecture pattern that Fig. 4 adopts is parallel oil electric mixed dynamic.
Fig. 5 is the double closed loop speed regulation system control block diagram with feedforward compensation, and load n is as interference effect in hydraulic system.Will
Diesel engine is determined rotating speed and is set to n1, the speed regulation characteristic in n1 rotating speed for the mixed power diesel engine, be not constant in n1, have partially
Difference △ n, in order to eliminate hybrid power system speed governing deviation, can adjust throttle opening in advance on the basis of feedforward and be mended
Repay.Mixed power diesel engine required torque according to feedforward and corresponding diesel engine speed regulation deviation △ n under this moment of torsion, ask
Go out the excess power in order to eliminate output needed for speed governing deviation diesel engine, draw the compensation corner of air throttle, by controller phase
The voltage signal answered is sent to drive circuit module, and drive control motor throttle valve reaches optimal open position.
The excess power p=t* △ n of the required output of diesel engine；T is required torque under mixed power diesel engine current working,
△ n is deviation rotating speed；When the value of p be on the occasion of when, motor effect be throttle valve aperture increase, when p value be negative value when, motor
Effect is that throttle valve moves to aperture reduction direction.
Deviation △ n=(n1-n)；N1 is rotating speed of target, and n is corresponding on hybrid power speed regulation characteristic under t moment of torsion
Rotating speed.
The present invention adopts diesel engine multi-operating points, in start-up course, is adjusted using pid, surveys diesel oil by speed probe
Machine rotating speed is compared with rotating speed of target n1, adjusts through pid, makes diesel engine reach rotating speed of target on startup as early as possible.In work process
In, according to the load feedovering and soc value size, controller can control diesel engine operating point in time, if must motor hand
Make in a point then in order to eliminate hybrid power speed governing deviation, excess power p=ta*(n1-na of the required output of diesel engine), according to institute
The excess power that need to export, draws the compensation corner of air throttle, by controller, corresponding voltage signal is sent to drive circuit
Module, drive control motor throttle valve reaches optimal open position, compensated in advance, makes diesel engine can be operated in constant rotational speed.
Finally, it should also be noted that above illustration is only a specific embodiment of the present invention, its in addition to excavator
His hybrid power engineering machinery Energy Saving Control strategy is identical with above-mentioned embodiment, and obviously, the present invention also has other changes many
Shape, as described above middle diesel engine adopt six-cylinder diesel engine, it is suitable for four-cylinder diesel engine or more than six cylinders bavin
Oil machine.So above-mentioned deformation is all considered as protection scope of the present invention.
Claims (3)
1. there is the hybrid power engineering machinery power-economizing method determined rotating speed and become capacity diesel engine, described hybrid power engineering machinery
Including the hybrid excavator there is diesel engine determining rotary speed working, it is characterized in that including the description below:
(1) increase the engine load prediction based on feedforward compensation in the controller, in real time load power demand is fed back to whole
On vehicle controller, by entire car controller computational load required torque value；
(2) the diesel engine universal characteristic curve choosing under the conditions of determining rotating speed n1 r/min, during cylinder operation whole according to diesel engine
Take optimal fuel point as a point, corresponding output torque is ta；Diesel engine ten thousand after being stopped less than 50% cylinder according to diesel engine
Characteristic curve is had to choose optimal fuel point as b point, corresponding output torque is tb；Stopped after 50% cylinder according to diesel engine
Diesel engine universal characteristic curve chooses optimal fuel point as c point, and corresponding output torque is tc；
(3) four intervals are divided according to torque ta, tb corresponding to a, b, c, tc at 3 points, moment of torsion interval [0, tc] correspondence is little
Load, moment of torsion interval [tc, tb] corresponds to medium and small load, heavy load during moment of torsion interval [tb, ta] is corresponding, and it is corresponding big that moment of torsion is more than ta
Load；
(4) according to load required torque and quantity of electric charge size determine control strategy become capacity diesel engine working method with electronic
Machine mode of operation；
(5) in order to eliminate hybrid power speed governing deviation, compensated in advance is carried out to diesel engine speed by feedforward, makes diesel engine speed
Keep constant.
2. a kind of hybrid excavator diesel energy-saving control strategy according to claims 1, is characterized in that:
If be supported on heavy load interval, cylinder of diesel engine not cylinder deactivation, it is operated in optimal fuel point a point, load power demand=bavin
Oil machine provides power+motor power (output)；
If it is interval and when the quantity of electric charge is less than 40% to be supported on middle heavy load, cylinder of diesel engine not cylinder deactivation is operated in optimal fuel point a
Point, diesel engine provides power=load power demand+generator power；
If it is interval and when the quantity of electric charge is more than 40% to be supported on middle heavy load, cylinder of diesel engine cylinder deactivation number is less than 50% cylinder, is operated in
Corresponding optimal fuel point b point, load power demand=diesel engine provides power+motor power (output)；
If it is interval and when the quantity of electric charge is less than 40% to be supported on medium and small load, cylinder of diesel engine cylinder deactivation number is less than 50% cylinder, is operated in
Corresponding optimal fuel point b point, diesel engine provides power=load power demand+generator power；
If it is interval and when the quantity of electric charge is more than 40% to be supported on medium and small load, diesel engine 50% cylinder deactivation is operated in corresponding optimal
Fuel point c point, load power demand=diesel engine provides power+motor power (output)；
If be supported on little load interval, diesel engine 50% cylinder deactivation, it is operated in corresponding optimal fuel point c point.
3. realize, according to claims 1, the method that hybrid power determines rotating speed feedforward compensation, it is characterized in that: at diesel engine
Plus a motor, fine-tuning accelerator open degree, controller determines diesel engine work according to the load signal of feedforward and electric charge value
Point, then obtains to eliminate hybrid power speed governing deviation according to diesel engine operating point, the excess power of the required output of diesel engine,
Draw the compensation corner of air throttle, to motor signal, drive control motor throttle valve reaches optimal open position, mends in advance
Repay, make diesel engine speed keep constant.
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| CN201610948764.2A CN106351280B (en) | 2016-10-26 | 2016-10-26 | Hybrid power engineering machinery power-economizing method based on feedforward compensation |
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| CN201610948764.2A CN106351280B (en) | 2016-10-26 | 2016-10-26 | Hybrid power engineering machinery power-economizing method based on feedforward compensation |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109797801A (en) * | 2017-11-16 | 2019-05-24 | 卡特彼勒公司 | For controlling the system and method for machine |
| CN113799762A (en) * | 2020-06-17 | 2021-12-17 | 北京福田康明斯发动机有限公司 | Hybrid vehicle control method and device, storage medium and hybrid vehicle |
| US11279366B1 (en) * | 2020-11-17 | 2022-03-22 | Deere & Company | Feedforward mechanism with signal decay for torque adjustment in diesel engine operation |
| CN114658556A (en) * | 2022-04-14 | 2022-06-24 | 广西玉柴船电动力有限公司 | Transient loading control method for electronic control common rail diesel engine |
| CN115324758A (en) * | 2022-08-16 | 2022-11-11 | 中联重科股份有限公司 | Power control method for excavator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106351280B (en) | 2018-07-10 |
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