CN106351280B - Hybrid power engineering machinery power-economizing method based on feedforward compensation - Google Patents
Hybrid power engineering machinery power-economizing method based on feedforward compensation Download PDFInfo
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- CN106351280B CN106351280B CN201610948764.2A CN201610948764A CN106351280B CN 106351280 B CN106351280 B CN 106351280B CN 201610948764 A CN201610948764 A CN 201610948764A CN 106351280 B CN106351280 B CN 106351280B
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000000446 fuel Substances 0.000 claims abstract description 32
- 230000009849 deactivation Effects 0.000 claims abstract description 15
- 238000011217 control strategy Methods 0.000 claims description 5
- 239000002283 diesel fuel Substances 0.000 claims description 4
- 230000008859 change Effects 0.000 abstract description 2
- 238000010276 construction Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction 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
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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
With the hybrid power engineering machinery control method for determining rotating speed and change capacity diesel engine, belong to Construction Machinery Energy Saving field, including（1）, increase the engine load prediction based on feedforward compensation in the controller, in real time will be needed for load in Feedback of Power to entire car controller, the torque value as needed for entire car controller computational load；（2）, determine rotating speed n1 r/min under the conditions of, best fuel point when selecting diesel engine whole cylinder operation；Diesel engine is selected to be less than the best fuel point of 50% cylinder deactivation；Select the best fuel point of 50% cylinder deactivation of diesel engine；（3）, respectively output torque size according to corresponding to best fuel point correspond to 4 sections；（4）, torque and quantity of electric charge size according to needed for load determine to become capacity diesel engine working method and motor operation mode.（5）, in order to eliminate hybrid power speed governing deviation, by feedforward to diesel engine speed carry out compensated in advance, keep constant diesel engine speed.The present invention can reduce fuel consumption.
Description
Technical field
The invention belongs to Construction Machinery Energy Saving fields, and the hybrid power engineering machine of rotary speed working is particularly determined with diesel engine
Tool, and in particular to there is the hybrid excavator that diesel engine determines rotary speed working.
Background technology
Hydraulic crawler excavator as a kind of major project mechanical equipment its using more and more extensive, but due to its load variation
Greatly, the fluctuation of diesel engine operating point is serious, causes diesel engine fuel consumption severe.Technology of Hybrid Electric Vehicle has the exploitation of engineering machinery
Significance, operating point fluctuation range can be reduced, declines fluctuation of speed amplitude, the multi-operating points control plan of existing diesel
It is slightly acted on using battery " peak load shifting ", the operating mode of diesel engine is divided into basic, normal, high three kinds of work dot patterns of power, is had
Effect control operating point fluctuation, but there is also following shortcomings：Diesel engine cannot have lag in real time and load matched；In, low work(
During rate operating point, diesel engine is operated in non-economy area；Still there are small range fluctuations for diesel engine speed.
Patent content
The present invention seeks to solve hybrid excavator diesel engine and generator/motor cannot in real time and load matched,
There are lag, the more economical area of fuel consumption rate greatly increases and mixed power diesel engine rotating speed when in, low-load operating point
The technical issues of small range fluctuates.
Technical scheme of the present invention：With determine rotating speed and become capacity diesel engine hybrid power engineering machinery control method,
The hybrid power engineering machinery includes the hybrid excavator that rotary speed working is determined with diesel engine, it is characterized in that including under
It states：
（1）, in the controller increase based on feedforward compensation engine load prediction, in real time will load needed for Feedback of Power
Onto entire car controller, the torque value as needed for entire car controller computational load；
（2）, under the conditions of rotating speed n1 r/min are determined, diesel engine universal characteristic during according to diesel engine whole cylinder operation is bent
Line selection takes best fuel point, and as a points, corresponding output torque is Ta；Stopped according to diesel engine less than the diesel oil after 50% cylinder
Machine universal characteristic curve chooses best fuel point as b points, and corresponding output torque is Tb；After stopping half cylinder according to diesel engine
Diesel engine universal characteristic curve choose best fuel point as c points, corresponding output torque is Tc；
（3）, four sections, torque section [0, Tc] divided according to torque Ta, Tb, Tc corresponding to 3 points of a, b, c
Corresponding small load, torque section [Tc, Tb] corresponding medium and small load, heavy load during torque section [Tb, Ta] is corresponding, torque are more than Ta
Corresponding heavy load；
（4）, according to needed for load torque and the quantity of electric charge（That is SOC value）Size determines that control strategy becomes capacity diesel engine
Working method（Cylinder deactivation or one or several cylinders are not stopped）With motor operation mode；
（5）, in order to eliminate hybrid power speed governing deviation, by feedforward to diesel engine speed carry out compensated in advance, make diesel oil
Machine rotating speed is kept constant.
Control strategy：
If be supported on heavy load section, cylinder of diesel engine not cylinder deactivation is operated in best fuel point a points, work(needed for load
Rate=diesel engine provides power+motor power (output)；
If when being supported on middle heavy load section and the quantity of electric charge and being less than 40%, cylinder of diesel engine not cylinder deactivation is operated in best combustion
Oil drop a points, diesel engine provide power+generator power needed for power=load；
If when being supported on middle heavy load section and the quantity of electric charge and being more than 40%, cylinder of diesel engine cylinder deactivation number is less than 50% cylinder, work
Make in corresponding best fuel point b points, power needed for load=diesel engine provides power+motor power (output)；
If be supported on it is medium and small load section and the quantity of electric charge be less than 40% when, cylinder of diesel engine cylinder deactivation number be less than 50% cylinder, work
Make in corresponding best fuel point b points, diesel engine provides power+generator power needed for power=load；
If be supported on it is medium and small load section and the quantity of electric charge be more than 40% when, 50% cylinder deactivation of diesel engine is operated in corresponding
Best fuel point c points, power needed for load=diesel engine provide power+motor power (output)；
If be supported on small load section, 50% cylinder deactivation of diesel engine is operated in corresponding best fuel point c points；
The method for determining rotating speed feedforward compensation is to add a motor, fine-tuning accelerator open degree, controller at diesel engine
Diesel engine operating point is determined according to the load signal of feedforward and SOC value, then is obtained to eliminate according to diesel engine operating point
Hybrid power speed governing deviation, the excess power of output needed for diesel engine obtain the compensation corner of air throttle, to motor signal, drive
Dynamic control motor throttle valve reaches best open position, and compensated in advance keeps constant diesel engine speed.
The present invention measures the pressure and flow of hydraulic pump position using pressure sensor, flowmeter, realizes and is mended based on feedforward
Repay engine load prediction, be timely fed back to entire car controller obtain load needed for power, slow down lag.
In middle or small load, discharge capacity is become using diesel engine, i.e., one or several cylinders are stopped, by reducing work
The number of cylinder improves the rate of load condensate of working cylinder, is operated in diesel engine（It is or close）Economical and efficient area.
Under the conditions of rotating speed n1 r/min are determined, chosen according to diesel engine universal characteristic curve during diesel engine whole cylinder operation
Best fuel point stops diesel engine universal characteristic curve after being less than 50% cylinder according to diesel engine and chooses best fuel point as a points
As b points, diesel engine universal characteristic curve chooses best fuel point as c points after stopping 50% cylinder according to diesel engine.
Torque section needed for load（Large torque, middle large torque, medium and small torque, small torque）It is to be determined for 3 points according to a, b, c
After divided.
Hybrid power system with feedforward compensation can reduce diesel engine speed waving interval, but can also be there are one small model
Fluctuation △ n are enclosed, add a motor at diesel engine, fine-tuning accelerator open degree, controller is according to the load signal and SOC of feedforward
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 be exported obtains the compensation corner of air throttle, and to motor signal, drive control motor throttle valve reaches best
Open position, compensated in advance keep constant diesel engine speed.
Compared with prior art, the present invention has the following advantages：
1st, the system with feedforward compensation can be such that control strategy is matched in time with load variation；
2nd, middle or small load is using change Displacement Technology（One or several cylinders are stopped）, and becoming Displacement Technology basis
The upper determining best fuel point of diesel engine can effectively reduce fuel consumption；
3rd, feedforward compensation is carried out to the hybrid power fluctuation of speed, diesel engine speed can be held essentially constant.
Description of the drawings
Fig. 1 is diesel engine speed regulation characteristic curve；
Fig. 2 is mixed power diesel engine speed regulation characteristic；
Fig. 3 is speed regulation characteristic of the mixed power diesel engine with feedforward compensation in n1 r/min；
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 represent rotating mechanism of dredger, 2 represent swing arms, 3 represent dippers, 4 represent scraper bowls, 5 represent multi-way valves and
Valve group, 6 represent flowmeter, and 7 represent pressure gauge, and 8 represent power coupler, and 9 represent motor, and 10 represent engine, and 11 represent hair
Electricity/motor, 12 represent rectification/inverter, and 13 represent battery, and 14 represent speed probe, and 15 represent that engine 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 represent hydraulic pump.
Specific implementation method
Shown in Fig. 1, the governor control characteristics of diesel engine is made of external characteristics section and governor control characteristics section, and the governor control characteristics of diesel engine refers to
Relationship in accelerator open degree difference between diesel engine output torque and rotating speed.
Fig. 2 is mixed power diesel engine speed regulation characteristic, can reduce with Technology of Hybrid Electric Vehicle in engineering machinery and determine
Diesel engine speed regulation fluctuation range under rotating speed.
Fig. 3 is on the basis of Technology of Hybrid Electric Vehicle, adds the diesel engine speed regulation curve after feedforward compensation, diesel engine speed is basic
It does not fluctuate, the method for realizing rotating speed feedforward compensation adds a motor, fine-tuning accelerator open degree, by controller to electricity at diesel engine
Machine signal, drive control motor throttle valve reach best open position.
Governor control characteristics section when curve is diesel engine external characteristics section and determines rotating speed n1 r/min in Fig. 3, is determining rotating speed n1 r/
Under the conditions of min, universal characteristic curve during according to diesel engine whole cylinder operation chooses best fuel point as a points, corresponding
Output torque be Ta；Stop being less than the universal characteristic curve after 50% cylinder according to diesel engine and choose best fuel point as b points,
Corresponding output torque is Tb；Stop the universal characteristic curve after half cylinder according to diesel engine and choose best fuel point as c points,
Corresponding output torque is Tc.Four sections, torque area are divided according to torque Ta, Tb, Tc corresponding to 3 points of a, b, c
Between [0, Tc] corresponding small load, torque section [Tc, Tb] corresponding medium and small load, heavy load during torque section [Tb, Ta] is corresponding turns round
Square corresponds to heavy load more than Ta；
The hybrid architecture pattern that Fig. 4 is used 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.It will
Diesel engine determines rotating speed and is set as n1, speed regulation characteristic of the mixed power diesel engine in n1 rotating speeds, is not constant in n1, has partially
Poor △ 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
It repays.Torque and corresponding diesel engine speed regulation deviation △ n under this torque, are asked according to needed for the mixed power diesel engine of feedforward
Go out to eliminate the excess power exported needed for speed governing deviation diesel engine, the compensation corner of air throttle is obtained, by controller phase
The voltage signal answered is sent to drive circuit module, and drive control motor throttle valve reaches best open position.
Excess power P=T* △ the n exported needed for diesel engine；T is required torque under mixed power diesel engine current working,
△ n are deviation rotating speed；When the value of P is positive value, motor effect is the increase of throttle valve aperture, when the value of P is negative value, motor
Effect is that throttle valve is moved 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 torques
Rotating speed.
The present invention in start-up course, is adjusted using PID using diesel engine multi-operating points, diesel oil is surveyed by speed probe
Machine rotating speed is adjusted compared with rotating speed of target n1 through PID, and diesel engine is made to reach rotating speed of target as early as possible on startup.In the course of work
In, according to the load of feedforward and SOC value size, controller can control diesel engine operating point in time, if must motor hand
Make in a points then in order to eliminate hybrid power speed governing deviation, excess power P=Ta* of output needed for diesel engine（n1-na）, according to institute
The excess power that need to be exported obtains the compensation corner of air throttle, and corresponding voltage signal is sent to driving circuit by controller
Module, drive control motor throttle valve reach best open position, and compensated in advance makes diesel engine that can be operated in constant rotational speed.
Finally, it should also be noted that more than illustration is only the specific embodiment of the present invention, its in addition to excavator
His hybrid power engineering machinery Energy Saving Control strategy is identical with the above embodiment, and obviously, and there are many more other changes by the present invention
Shape, middle diesel engine uses six-cylinder diesel engine as described above, it is suitable for four-cylinder diesel engine or the bavin more than six cylinders
Oil machine.So above-mentioned deformation is considered as protection scope of the present invention.
Claims (1)
1. the hybrid power engineering machinery power-economizing method based on feedforward compensation, the hybrid power engineering machinery includes having diesel oil
Machine determines the hybrid excavator of rotary speed working, including the description below：
（1）Increase the engine load prediction based on feedforward compensation in the controller, in real time will Feedback of Power needed for load to whole
On vehicle controller, the torque value as needed for entire car controller computational load；
（2）Under the conditions of rotating speed n1 r/min are determined, diesel engine universal characteristic curve choosing during according to diesel engine whole cylinder operation
Taking best fuel point, corresponding output torque is Ta as a points；Stopped according to diesel engine less than the diesel engine ten thousand after 50% cylinder
There is characteristic curve to choose best fuel point as b points, corresponding output torque is Tb；After stopping 50% cylinder according to diesel engine
Diesel engine universal characteristic curve chooses best fuel point as c points, and corresponding output torque is Tc；
（3）Four sections are divided according to torque Ta, Tb, Tc corresponding to a, b, c, torque section [0, Tc] correspondence is small at 3 points
Load, torque section [Tc, Tb] corresponding medium and small load, heavy load during torque section [Tb, Ta] is corresponding, it is big that torque is more than Ta correspondences
Load；
（4）Torque and quantity of electric charge size according to needed for load determine control strategy become capacity diesel engine working method with it is electronic
Machine operating mode；
（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
It keeps constant；It is characterized in that：
If be supported on heavy load section, cylinder of diesel engine not cylinder deactivation is operated in best fuel point a points, power=bavin needed for load
Oil machine provides power+motor power (output)；
If when being supported on middle heavy load section and the quantity of electric charge and being less than 40%, cylinder of diesel engine not cylinder deactivation is operated in best fuel point a
Point, diesel engine provide power+generator power needed for power=load；
If when being supported on middle heavy load section and the quantity of electric charge and being more than 40%, cylinder of diesel engine cylinder deactivation number is less than 50% cylinder, is operated in
Corresponding best fuel point b points, power needed for load=diesel engine provide power+motor power (output)；
If be supported on it is medium and small load section and the quantity of electric charge be less than 40% when, cylinder of diesel engine cylinder deactivation number be less than 50% cylinder, be operated in
Corresponding best fuel point b points, diesel engine provide power+generator power needed for power=load；
If being supported on medium and small load section and when the quantity of electric charge is more than 40%, 50% cylinder deactivation of diesel engine is operated in corresponding best
Fuel point c points, power needed for load=diesel engine provide power+motor power (output)；
If be supported on small load section, 50% cylinder deactivation of diesel engine is operated in corresponding best fuel point c points.
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| US10519626B2 (en) * | 2017-11-16 | 2019-12-31 | Caterpillar Inc. | System and method for controlling 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 |
| CN114658556B (en) * | 2022-04-14 | 2023-08-25 | 广西玉柴船电动力有限公司 | Transient loading control method for electric control common rail diesel engine |
| CN115324758B (en) * | 2022-08-16 | 2024-02-13 | 中联重科股份有限公司 | Excavator power control method |
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| US6564774B2 (en) * | 2001-04-12 | 2003-05-20 | Dresser, Inc. | Feedforward engine control governing system |
| CN100464036C (en) * | 2005-03-28 | 2009-02-25 | 广西柳工机械股份有限公司 | Path control system used for hydraulic digger operating device and its method |
| CN101225668B (en) * | 2008-01-14 | 2010-12-15 | 浙江大学 | Control method of multiple system hybrid-power hydraulic shovel |
| CN101676538A (en) * | 2008-09-18 | 2010-03-24 | 吕文杰 | Engine with multiple-level gas displacement |
| US8522543B2 (en) * | 2008-12-23 | 2013-09-03 | Caterpillar Inc. | Hydraulic control system utilizing feed-forward control |
| CN102019927B (en) * | 2010-12-14 | 2015-04-22 | 湖南南车时代电动汽车股份有限公司 | Method and device for controlling auxiliary power unit of tandem hybrid vehicle with feedforward |
| CN103205992B (en) * | 2013-03-13 | 2015-11-25 | 上海华兴数字科技有限公司 | A kind of excavator Power control component and method |
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