CN106560552A - Walking control method, controller and control system in limit load mode - Google Patents
Walking control method, controller and control system in limit load mode Download PDFInfo
- Publication number
- CN106560552A CN106560552A CN201610119196.5A CN201610119196A CN106560552A CN 106560552 A CN106560552 A CN 106560552A CN 201610119196 A CN201610119196 A CN 201610119196A CN 106560552 A CN106560552 A CN 106560552A
- Authority
- CN
- China
- Prior art keywords
- speed
- travel
- threshold value
- electric current
- amplitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
- E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
- E01C23/088—Rotary tools, e.g. milling drums
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Positive-Displacement Pumps (AREA)
Abstract
The invention discloses a walking control method, controller and control system in a limit load mode, and relates to the field of engineering machines. The method includes the steps that the rotating speed of an engine is detected in the limit load mode; if it is detected that the rotating speed of the engine is smaller than a low rotating speed threshold value V1, the control current of a walking motor is periodically reduced at the amplitude of A1 until the rotating speed of the engine is not smaller than the low rotating speed threshold value V1. In this way, in the limit load mode, gradual reduction regulation is periodically conducted on the control current of the walking motor directly without the operation like table look-up, and thus the rotating speed of the engine can be regulated in time.
Description
Technical field
The present invention relates to engineering machinery field, the walking under more particularly to a kind of ultimate load pattern
Control method, controller and control system.
Background technology
One of main machine that pavement milling machine is constructed as asphalt pavement conserving, is widely used in
In cities and towns town road and Highway Maintenance engineering.Construction requirement is as far as possible on these highways
Shortening construction period, impact of the construction to traffic is reduced to a minimum, therefore it is required that milling
Planer has higher efficiency of construction and stable service ability, while it is higher to require that milling machine has
Adaptability and the flexibly operating characteristics of intelligence.
Traditional ultimate load control technic, is that one kind automatically adjusts variable pump according to load change
The smart electronicses control technology of discharge capacity.In existing milling machine electric-control system, due to actual condition
Uncertainty, the negative of engine and hydraulic system may be occurred under ultimate load pattern
Lotus mismatches phenomenon, and so as to cause engine speed fluctuated, equipment operation is suddenly fast suddenly slow,
Affect milling pavement quality.Although have also been introduced ultimate load control in the existing electric-control system of milling machine
Thought processed, but fast situation is fallen according to engine, successively decrease or be incremented by control by the method tabled look-up
Electric current, because there is hysteresis quality in hydraulic system response, when milling machine faces complex working condition, this
Plant control technology and be difficult to preferable control effect.
Existing scheme falls fast situation and tables look-up to successively decrease or be incremented by control electric current, so meeting according to engine
Occur adjusting situation not in time, and if in existing regulation scheme engine speed reach it is a certain
Control electric current more than rotating speed is just raised at once, such that engine speed is fluctuated, shadow
Ring the performance of engine and the life-span of milling machine.
The content of the invention
A technical problem to be solved by this invention is：It is how timely under ultimate load pattern
Adjust the rotating speed of engine.
Another technical problem to be solved by this invention is：In the process for adjusting engine speed
In how to avoid engine speed problem fluctuated.
A kind of one side according to embodiments of the present invention, there is provided the walking under ultimate load pattern
Control method, including：Engine speed is detected under ultimate load pattern；If detect starting
Machine rotating speed is less than slow-speed of revolution threshold value V1, then periodically reduce the control of running motor with amplitude A 1
Electric current processed, until engine speed is not less than slow-speed of revolution threshold value V1.
In one embodiment, also include：If the control electric current of running motor is reached after minimum of a value,
Engine speed then periodically reduces traveling pump still less than slow-speed of revolution threshold value V1 with amplitude A 2
Control electric current, until engine speed be not less than slow-speed of revolution threshold value V1.
In one embodiment, also include：If detecting engine speed more than high rotary speed threshold value
V2, then judge whether the speed of travel reaches default speed of travel V3；If the speed of travel is not up to
Default speed of travel V3, then periodically increase the control electric current of traveling pump with amplitude A 3, until
Engine speed is not more than high rotary speed threshold value V2.
In one embodiment, amplitude A 1 is more than amplitude A 3.
In one embodiment, also include：If detecting engine speed more than high rotary speed threshold value
V2, then judge whether the speed of travel reaches default speed of travel V3；If the speed of travel is not up to
Default speed of travel V3, then periodically increase the control electric current of traveling pump with amplitude A 3, until
Engine speed is not more than high rotary speed threshold value V2.
In one embodiment, also include：If the control electric current of traveling pump is reached after maximum,
Engine speed then periodically increases walking horse still greater than high rotary speed threshold value V2 with amplitude A 4
The control electric current for reaching, until engine speed is not more than high rotary speed threshold value V2.
In one embodiment, amplitude A 1 is more than amplitude A 3, and/or amplitude A 2 is more than amplitude
A4。
In one embodiment, judge the speed of travel whether reach default speed of travel V3 it
Before, also include：If detecting engine speed more than high rotary speed threshold value V2, during one section of time delay
Between after, again detect engine speed be more than high rotary speed threshold value V2；If detecting engine speed
Still above high rotary speed threshold value V2, then perform and judge whether the speed of travel reaches the default speed of travel
The subsequent step of V3.
A kind of one side according to embodiments of the present invention, there is provided the walking under ultimate load pattern
Controller, including：Engine speed detection module, sends out for the detection under ultimate load pattern
Motivation rotating speed；Running motor control electric current output module, if little for detecting engine speed
In slow-speed of revolution threshold value V1, then periodically reduce the control electric current of running motor with amplitude A 1, directly
It is not less than slow-speed of revolution threshold value V1 to engine speed.
In one embodiment, also include：Traveling pump control electric current output module, if for row
The control electric current for walking motor is reached after minimum of a value, engine speed still less than slow-speed of revolution threshold value V1,
Then periodically reduce the control electric current of traveling pump with amplitude A 2, until engine speed is not little
In slow-speed of revolution threshold value V1.
In one embodiment, also include：Speed of travel judge module, if sending out for detecting
Motivation rotating speed is more than high rotary speed threshold value V2, then judge whether the speed of travel reaches the default speed of travel
V3, and will determine that result is sent to traveling pump control electric current output module；Traveling pump control electric current
Output module is in the case of not up to default speed of travel V3 of the speed of travel with the cycle of amplitude A 3
Property ground increase traveling pump control electric current, until engine speed is not more than high rotary speed threshold value V2.
In one embodiment, amplitude A 1 is more than amplitude A 3.
In one embodiment, also include：Speed of travel judge module, if sending out for detecting
Motivation rotating speed is more than high rotary speed threshold value V2, then judge whether the speed of travel reaches the default speed of travel
V3, and will determine that result is sent to traveling pump control electric current output module；Traveling pump control electric current
Output module is in the case of not up to default speed of travel V3 of the speed of travel with the cycle of amplitude A 3
Property ground increase traveling pump control electric current, until engine speed is not more than high rotary speed threshold value V2.
In one embodiment, speed of travel judge module is additionally operable to, if detect engine turning
Speed is more than high rotary speed threshold value V2, judges whether the speed of travel reaches default speed of travel V3, and
Will determine that result is sent to running motor control electric current output module；Running motor control electric current is defeated
Go out module to be additionally operable to, the control electric current of traveling pump reach maximum rear engine rotating speed still greater than
In the case of high rotary speed threshold value V2, with the control electricity that amplitude A 4 periodically increases running motor
Stream, until engine speed is not more than high rotary speed threshold value V2.
In one embodiment, amplitude A 1 is more than amplitude A 3, and/or amplitude A 2 is more than amplitude
A4。
In one embodiment, also including time delay module, for sentencing in speed of travel judge module
Whether the disconnected speed of travel is reached before default speed of travel V3, if engine speed detection module
Engine speed is detected more than high rotary speed threshold value V2, then time delay module control engine speed inspection
Survey module and detect that engine speed is more than high rotary speed threshold value V2 again over time；If starting
Machine Rotating speed measring module detects again engine speed still above high rotary speed threshold value V2, then go
Walk speed judge module and judge whether the speed of travel reaches default speed of travel V3.
A kind of one side according to embodiments of the present invention, there is provided the walking under ultimate load pattern
Control system, including：Traveling pump, running motor and above-mentioned traveling controller, wherein,
Traveling controller is electrically connected respectively with traveling pump, running motor.
In one embodiment, traveling control system also include engine, wherein, engine with
Traveling controller is electrically connected.
The present invention at least has advantages below：
Under ultimate load pattern, without the need for the operation such as table look-up, directly with predetermined amplitude periodically
Regulation of successively decreasing is carried out to the control electric current of running motor, so as to enter to the rotating speed of engine in time
Row is adjusted.If additionally, adjusting the control electric current of running motor engine can not be made to reach expection
Rotating speed, directly periodically the control electric current of traveling pump can also be passed with predetermined amplitude
Subtract regulation, so as to be adjusted to the rotating speed of engine in time.
On the other hand, the delay adjustment work(of travelling control electric current is increased in current flow control process
Can, engine speed change can be caused relatively steady, efficiently solve engine speed and neglect height
Suddenly low problem.
By referring to the drawings to the detailed description of exemplary embodiment of the invention, the present invention
Further feature and its advantage will be made apparent from.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will
The accompanying drawing to be used needed for embodiment or description of the prior art is briefly described, it is clear that
Ground, drawings in the following description are only some embodiments of the present invention, for the common skill in this area
For art personnel, without having to pay creative labor, can be being obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 illustrates the knot of the traveling control system one embodiment under ultimate load pattern of the present invention
Structure schematic diagram.
Fig. 2 illustrates traveling control system another embodiment under ultimate load pattern of the present invention
Realize schematic diagram.
Fig. 3 illustrates one embodiment of the ambulation control method under ultimate load pattern of the present invention
Schematic flow sheet.
Fig. 4 illustrates another embodiment of the ambulation control method under ultimate load pattern of the present invention
Schematic flow sheet.
Fig. 5 illustrates another embodiment of the ambulation control method under ultimate load pattern of the present invention
Schematic flow sheet.
Fig. 6 illustrates the further embodiment of the ambulation control method under ultimate load pattern of the present invention
Schematic flow sheet.
Fig. 7 illustrates the structural representation of the traveling controller under ultimate load pattern of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical scheme in the embodiment of the present invention
It is clearly and completely described, it is clear that described embodiment is only that a present invention part is real
Apply example, rather than the embodiment of whole.Below to the description reality of at least one exemplary embodiment
It is merely illustrative on border, never as to the present invention and its application or any restriction for using.
Based on the embodiment in the present invention, those of ordinary skill in the art are not before creative work is made
The every other embodiment for being obtained is put, the scope of protection of the invention is belonged to.
So-called ultimate load pattern is referred to and is not destroyed what is can bear in the ability to bear of equipment
Peak load, the maximum load that the equipment that calculates by being multiplied by safety coefficient with limit load can bear
Lotus.Successively decrease under ultimate load pattern according to engine falling fast situation in prior art and tabling look-up
Or the situation problem for adjusting not in time that incremental control electric current is present, propose the present invention.
Walking control under the ultimate load pattern of one embodiment of the invention is described with reference to Fig. 1
System processed.
Fig. 1 illustrates the structural representation of the traveling control system under ultimate load pattern of the present invention.Such as
Shown in Fig. 1, the traveling control system under the ultimate load pattern of the embodiment includes:Travelling control
Device 20 and the walking executive component such as traveling pump 30 and running motor 40, additionally can be with
Including engine 10.Wherein, traveling controller 20 respectively with engine 10, traveling pump 30,
Running motor 40 is electrically connected.Can be with transmitting telecommunication number or electric signal etc. by electric connection structure.
Walking control under the ultimate load pattern of one embodiment of the invention is described with reference to Fig. 2
A kind of implementation of system processed.
Fig. 2 illustrates that one kind of the traveling control system under ultimate load pattern of the present invention is shown routinely
Realize schematic diagram.As shown in Fig. 2 the travelling control system under the ultimate load pattern of the embodiment
In system, traveling controller 20 is electrically connected by CAN interface with engine 10, engine 10
Engine speed can be detected by speed probe, and engine speed is sent to controller 20
Signal, engine rotational speed signal carries the rotary speed information of engine 10.Controller can pass through
CAN_L interfaces engine speed is less than the tach signal of slow-speed of revolution threshold value V1, and can
To be more than the tach signal of high rotary speed threshold value V2 by CAN_H interfaces engine speed.
Controller 20 is electrically connected by PWM1 interfaces with traveling pump 30, so as to export to traveling pump 30
Traveling pump control electric current.Controller 20 is also electrically connected by PWM2 interfaces with running motor 40,
So as to export running motor control electric current to running motor 40.
Walking control under the ultimate load pattern of one embodiment of the invention is described with reference to Fig. 3
Method processed.
Fig. 3 illustrates the stream of one embodiment of the ambulation control method under ultimate load pattern of the present invention
Journey schematic diagram.As shown in figure 1, the ambulation control method bag under the ultimate load pattern of the embodiment
Include：
Step S302, under ultimate load pattern engine speed is detected.
Whether step S304, judge the engine speed for detecting less than slow-speed of revolution threshold value V1.
Step S306, if detecting engine speed less than slow-speed of revolution threshold value V1, with amplitude A 1
Periodically reduce the control electric current of running motor, until engine speed is not less than slow-speed of revolution threshold
Value V1.Wherein it is possible to pre-set amplitude A 1 and its corresponding regulating cycle.It is solid in the cycle
In the case of fixed, amplitude A 1 is more big, and the control electric current of running motor declines faster；In width
In the case that degree A1 is fixed, under the control electric current of the more little then running motor of corresponding regulating cycle
Drop faster.
For example, when milling machine is excessive in milling pressure, there is speed in engine, now ultimate load
Pattern is intervened.When engine speed is less than 1900r/min, in order to ensure milling power output,
The speed of travel should be reduced, with 50ms is now the cycle with setting value by the control electric current of running motor
2mA successively decreases.Simultaneously in real time whether detection engine speed returns to more than 1900r/min, such as
Fruit does not have, then continue that the control electric current of running motor is successively decreased by cycle 50ms with setting value 2mA,
Till engine speed is not less than 1900r/min.
Under ultimate load pattern, without the need for the operation such as table look-up, directly with predetermined amplitude periodically
Regulation of successively decreasing is carried out to the control electric current of running motor, so as to enter to the rotating speed of engine in time
Row is adjusted.
If adjusting the control electric current of running motor engine can not be made to reach expected rotating speed, also
Directly regulation of successively decreasing periodically can be carried out to the control electric current of traveling pump with predetermined amplitude, from
And the rotating speed of engine is adjusted in time.The situation is described with reference to Fig. 4.
Fig. 4 illustrates another embodiment of the ambulation control method under ultimate load pattern of the present invention
Schematic flow sheet.As shown in figure 4, on the basis of above-described embodiment, the pole of the embodiment
Ambulation control method under limit load modes includes：
Step S405, if engine speed is less than slow-speed of revolution threshold value V1, judges running motor control
Whether electric current processed reaches minimum of a value.
Step S408, if the control electric current of running motor reaches minimum of a value, with amplitude A 2 weeks
Phase property ground reduces the control electric current of traveling pump, until engine speed is not less than slow-speed of revolution threshold value V1.
Likewise, amplitude A 2 and its corresponding regulating cycle can be pre-set.In cycle fixation
In the case of, amplitude A 2 is more big, and the control electric current of traveling pump declines faster；It is solid in amplitude A 2
In the case of fixed, corresponding regulating cycle is more little, and the control electric current of traveling pump declines faster.
For example, the control electric current scope of running motor is 200mA to 800mA.When walking horse
The control electric current for reaching is decreased to after 200mA, if engine speed is still below 1900r/min, this
When the control electric current of traveling pump is successively decreased by the cycle of 50ms with setting value 1mA.In real time simultaneously
Whether detection engine speed returns to more than 1900r/min, if it is not, continuing to walk
The control electric current of pump is successively decreased by cycle 50ms with setting value 1mA, until engine speed is not less than
Till 1900r/min.
Under ultimate load pattern, without the need for the operation such as table look-up, directly with predetermined amplitude periodically
Regulation of successively decreasing is carried out to the control electric current of traveling pump, so as to further turn to engine in time
Speed is adjusted.
The walking under the ultimate load pattern of another embodiment of the invention is described with reference to Fig. 5
Control method.
Fig. 5 illustrates another embodiment of the ambulation control method under ultimate load pattern of the present invention
Schematic flow sheet.As shown in figure 5, on the basis of above-described embodiment, working as engine speed
After being promoted to slow-speed of revolution threshold value V1 and the above, can be in the situation for ensureing machine normal work
The speed of travel of lower hoisting machine.Therefore, the ambulation control method under ultimate load pattern of the present invention
Can also include：
Whether step S510, judgement detects engine speed more than high rotary speed threshold value V2.
Step S512, if whether detecting engine speed more than high rotary speed threshold value V2, enters
One step judges whether the speed of travel reaches default speed of travel V3.
Step S514, if not up to default speed of travel V3 of the speed of travel, judges traveling pump control
Whether electric current processed reaches maximum.
Step S516, if traveling pump control electric current is not up to maximum, with the cycle of amplitude A 3
Property ground increase traveling pump control electric current, until engine speed is not more than high rotary speed threshold value V2.
For example, after when the milling machine speed of travel declines, engine speed is gone up.Turn in engine
When speed is higher than 2100r/min, now judge whether the speed of travel reaches 5-10m/min.If walking
Speed is less than 5-10m/min, then in order to lift the speed of travel of milling machine, now by traveling pump
Control electric current is incremented by by the cycle of 50ms with setting value 0.5mA.Detect engine in real time simultaneously
Whether rotating speed returns to below 2100r/min, if it is not, continuing the control electricity of traveling pump
Stream is successively decreased by cycle 50ms with setting value 0.5mA, until engine speed is not higher than 2100r/min,
Or till engine speed reaches 5-10m/min higher than 2100r/min and the speed of travel.
With the method for reducing the speed of travel in the same manner, the ambulation control method for lifting the speed of travel may be used also
To include：
Step S518, if traveling pump control electric current reaches maximum, with amplitude A 3 periodically
Ground increases the control electric current of running motor, until engine speed is not more than high rotary speed threshold value V2.
For example, the control electric current scope of traveling pump is 80mA to 120mA.When the control of traveling pump
Electric current processed is increased to after 120mA, if the speed of travel is still not up to 5-10m/min, in order to carry
The speed of travel of milling machine is risen, with 50ms is the cycle with setting value by the control electric current of running motor
1mA is incremented by.Simultaneously in real time whether detection engine speed returns to below 2100r/min, such as
Fruit does not have, then continue to be incremented by the control electric current of traveling pump with setting value 1mA by cycle 50ms,
Until engine speed is not higher than 2100r/min, or engine speed higher than 2100r/min and
Till the speed of travel reaches 5-10m/min.
Under ultimate load pattern, when engine speed be promoted to slow-speed of revolution threshold value V1 and more than
Afterwards, without the need for the operation such as table look-up, directly according to default amplitude and cycle to running motor and row
Walking the control electric current of the walking execution original paper such as pump carries out incremental, so as to ensure that machine is normal
The speed of travel of timely hoisting machine in the case of work.The operating efficiency of machine is effectively ensured.
In the middle of the above embodiments method, A1 can be set and be more than more than A3, and A2
A4 so that when engine speed is too low, comparatively quickly lifts the rotating speed of engine, it is to avoid send out
Motivation is fallen the flame-out situation of speed and is occurred；When causing engine speed too high simultaneously, relatively slowly
Reduce the rotating speed of engine so that engine speed steadily declines.
The walking under the ultimate load pattern of further embodiment of the present invention is described with reference to Fig. 6
Control method.
Fig. 6 illustrates the further embodiment of the ambulation control method under ultimate load pattern of the present invention
Schematic flow sheet.As shown in fig. 6, on the basis of above-described embodiment, judging walking speed
Whether degree is reached before default speed of travel V3, further comprising the steps of：
Step S611, if detecting engine speed more than high rotary speed threshold value V2, one section of time delay
After time, detect that engine speed is more than high rotary speed threshold value V2 again.For example, can be with time delay
After 2s engine speed detected again.If detecting engine speed to turn still above high
Fast threshold value V2, then perform and judge whether the speed of travel reaches default speed of travel V3 etc. and subsequently walk
Rapid S512～S518.
The delay adjustment function of travelling control electric current is increased in current flow control process, can be made
Obtain engine speed change relatively steady, efficiently solve engine speed problem fluctuated.
Walking control under the ultimate load pattern of one embodiment of the invention is described with reference to Fig. 7
Device processed.
Fig. 7 illustrates the structural representation of the traveling controller under ultimate load pattern of the present invention.As schemed
Shown in 7, the traveling controller 20 under the ultimate load pattern of the embodiment includes：
Engine speed detection module 202, for detecting that engine turns under ultimate load pattern
Speed；
Running motor control electric current output module 204, if being less than for detecting engine speed
Slow-speed of revolution threshold value V1, then periodically reduce the control electric current of running motor with amplitude A 1, until
Engine speed is not less than slow-speed of revolution threshold value V1.
Optionally, traveling controller 20 can also include：
Traveling pump control electric current output module 206, if the control electric current for running motor reaches
After minimum of a value, engine speed is then periodically subtracted still less than slow-speed of revolution threshold value V1 with amplitude A 2
The control electric current of little traveling pump, until engine speed is not less than slow-speed of revolution threshold value V1.
Optionally, traveling controller 20 can also include：
Speed of travel judge module 208, if for detecting engine speed more than high rotating speed threshold
Value V2, then judge whether the speed of travel reaches default speed of travel V3, and will determine that result is sent out
Deliver to traveling pump control electric current output module 206.Traveling pump control electric current output module 206 exists
Row is periodically increased with amplitude A 3 in the case of not up to default speed of travel V3 of the speed of travel
The control electric current of pump is walked, until engine speed is not more than high rotary speed threshold value V2.
Wherein, speed of travel judge module 208 can be also used for, if detecting engine speed
More than high rotary speed threshold value V2, judge whether the speed of travel reaches default speed of travel V3, and will
Judged result is sent to running motor control electric current output module 204.Running motor control electric current
Output module 204 is additionally operable to, and in the control electric current of traveling pump maximum rear engine rotating speed is reached
In the case of still greater than high rotary speed threshold value V2, running motor is periodically increased with amplitude A 4
Control electric current, until engine speed is not more than high rotary speed threshold value V2.
Optionally, A1 can be set and is more than A4 more than A3, and/or A2.
Additionally, optional, traveling controller 20 can also include：
Time delay module 210, for whether judging the speed of travel in speed of travel judge module 208
Before reaching default speed of travel V3, if engine speed detection module 202 is detected starting
Machine rotating speed is more than high rotary speed threshold value V2, then the control of time delay module 210 engine speed detection module
202 detect again that over time engine speed is more than high rotary speed threshold value V2.If engine
Rotating speed measring module 202 detects again engine speed still above high rotary speed threshold value V2, then
Speed of travel judge module 208 judges whether the speed of travel reaches default speed of travel V3.
One of ordinary skill in the art will appreciate that realizing that all or part of step of above-described embodiment can
To be completed by hardware, it is also possible to which the hardware that correlation is instructed by program is completed, described journey
Sequence can be stored in a kind of computer-readable recording medium, and storage medium mentioned above can be
Read-only storage, disk or CD etc..
Presently preferred embodiments of the present invention is the foregoing is only, it is all at this not to limit the present invention
Within the spirit and principle of invention, any modification, equivalent substitution and improvements made etc. all should be wrapped
It is contained within protection scope of the present invention.
Claims (18)
1. the ambulation control method under a kind of ultimate load pattern, including：
Engine speed is detected under ultimate load pattern；
If detecting engine speed is less than slow-speed of revolution threshold value V1, with amplitude A 1 periodically
Reduce the control electric current of running motor, until engine speed is not less than slow-speed of revolution threshold value V1.
2. the method for claim 1, it is characterised in that also include：
If the control electric current of running motor is reached after minimum of a value, engine speed is still less than the slow-speed of revolution
Threshold value V1, then periodically reduce the control electric current of traveling pump with amplitude A 2, until engine turns
Speed is not less than slow-speed of revolution threshold value V1.
3. the method for claim 1, it is characterised in that also include：
If detecting engine speed more than high rotary speed threshold value V2, judge whether the speed of travel reaches
To default speed of travel V3；
If not up to default speed of travel V3 of the speed of travel, is periodically increased with amplitude A 3
The control electric current of traveling pump, until engine speed is not more than high rotary speed threshold value V2.
4. method as claimed in claim 3, it is characterised in that amplitude A 1 is more than amplitude
A3。
5. method as claimed in claim 2, it is characterised in that also include：
If detecting engine speed more than high rotary speed threshold value V2, judge whether the speed of travel reaches
To default speed of travel V3；
If not up to default speed of travel V3 of the speed of travel, is periodically increased with amplitude A 3
The control electric current of traveling pump, until engine speed is not more than high rotary speed threshold value V2.
6. method as claimed in claim 5, it is characterised in that also include：
If the control electric current of traveling pump is reached after maximum, engine speed is still greater than high rotating speed threshold
Value V2, then periodically increase the control electric current of running motor, until engine with amplitude A 4
Rotating speed is not more than high rotary speed threshold value V2.
7. method as claimed in claim 6, it is characterised in that the amplitude A 1 is more than institute
Amplitude A 3 is stated, and/or the amplitude A 2 is more than the amplitude A 4.
8. the method as described in any one of claim 3 to 7, it is characterised in that judging row
Walk whether speed is reached before default speed of travel V3, also include：
If detecting engine speed more than high rotary speed threshold value V2, after time delay for a period of time, then
Secondary detection engine speed is more than high rotary speed threshold value V2；
If detecting engine speed still above high rotary speed threshold value V2, perform and judge walking speed
Whether degree reaches the subsequent step of default speed of travel V3.
9. the traveling controller under a kind of ultimate load pattern, including：
Engine speed detection module, for detecting engine speed under ultimate load pattern；
Running motor control electric current output module, if for detecting engine speed less than low turn
Fast threshold value V1, then periodically reduce the control electric current of running motor, until starting with amplitude A 1
Machine rotating speed is not less than slow-speed of revolution threshold value V1.
10. traveling controller as claimed in claim 9, it is characterised in that also include：
Traveling pump control electric current output module, if the control electric current for running motor reaches minimum
After value, engine speed then periodically reduces row still less than slow-speed of revolution threshold value V1 with amplitude A 2
The control electric current of pump is walked, until engine speed is not less than slow-speed of revolution threshold value V1.
11. traveling controllers as claimed in claim 9, it is characterised in that also include：
Speed of travel judge module, if for detecting engine speed more than high rotary speed threshold value V2,
Then judge whether the speed of travel reaches default speed of travel V3, and will determine that result is sent to walking
Pump control electric current output module；
Traveling pump control electric current output module is in not up to default speed of travel V3 of the speed of travel
In the case of periodically increase the control electric current of traveling pump with amplitude A 3, until engine speed
No more than high rotary speed threshold value V2.
12. traveling controllers as claimed in claim 11, it is characterised in that amplitude A 1 is big
In amplitude A 3.
13. traveling controllers as claimed in claim 10, it is characterised in that also include：
Speed of travel judge module, if for detecting engine speed more than high rotary speed threshold value V2,
Then judge whether the speed of travel reaches default speed of travel V3, and will determine that result is sent to walking
Pump control electric current output module；
Traveling pump control electric current output module is in not up to default speed of travel V3 of the speed of travel
In the case of periodically increase the control electric current of traveling pump with amplitude A 3, until engine speed
No more than high rotary speed threshold value V2.
14. traveling controllers as claimed in claim 13, it is characterised in that
Speed of travel judge module is additionally operable to, if detecting engine speed more than high rotary speed threshold value
V2, judges whether the speed of travel reaches default speed of travel V3, and will determine that result send to
Running motor control electric current output module；
Running motor control electric current output module is additionally operable to, and reaches most in the control electric current of traveling pump
In the case that big value rear engine rotating speed is still greater than high rotary speed threshold value V2, with amplitude A 4 periodically
Ground increases the control electric current of running motor, until engine speed is not more than high rotary speed threshold value V2.
15. traveling controllers as claimed in claim 14, it is characterised in that the amplitude
A1 is more than the amplitude A 3, and/or the amplitude A 2 is more than the amplitude A 4.
16. traveling controllers as described in any one of claim 11 to 15, it is characterised in that
Also include time delay module, it is pre- for judging whether the speed of travel reaches in speed of travel judge module
If before speed of travel V3, if engine speed detection module detects engine speed being more than
High rotary speed threshold value V2, then time delay module control engine speed detection module is over time again
Secondary detection engine speed is more than high rotary speed threshold value V2；
If engine speed detection module detects again engine speed still above high rotating speed threshold
Value V2, then speed of travel judge module judge whether the speed of travel reaches default speed of travel V3.
Traveling control system under a kind of 17. ultimate load patterns, including：
Engine, traveling pump, running motor and as described in any one of claim 9 to 16
Traveling controller, wherein, the traveling controller is respectively with engine, traveling pump, walk horse
Up to electrical connection.
18. traveling control systems as claimed in claim 17, it is characterised in that also include：
Engine, wherein, the engine is electrically connected with the traveling controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610119196.5A CN106560552B (en) | 2016-03-02 | 2016-03-02 | Ambulation control method, controller and control system under ultimate load mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610119196.5A CN106560552B (en) | 2016-03-02 | 2016-03-02 | Ambulation control method, controller and control system under ultimate load mode |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106560552A true CN106560552A (en) | 2017-04-12 |
| CN106560552B CN106560552B (en) | 2019-06-21 |
Family
ID=58485504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610119196.5A Active CN106560552B (en) | 2016-03-02 | 2016-03-02 | Ambulation control method, controller and control system under ultimate load mode |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106560552B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113848901A (en) * | 2021-09-23 | 2021-12-28 | 湖南三一中益机械有限公司 | Control method and control system of electric milling machine and electric milling machine |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1558048A (en) * | 2004-01-18 | 2004-12-29 | 三一重工股份有限公司 | Limit load adjustment method of all hydraulic bulldozer and apparatus thereof |
| CN2673954Y (en) * | 2004-01-18 | 2005-01-26 | 三一重工股份有限公司 | Limiting load adjusting device for full hydraulic bulldozer |
| CN200974465Y (en) * | 2006-12-01 | 2007-11-14 | 王树跃 | Automotive vehicles |
| CN101513975A (en) * | 2009-03-20 | 2009-08-26 | 抚顺挖掘机制造有限责任公司 | Method for controlling power limit load of caterpillar crane |
| CN101857175A (en) * | 2010-05-26 | 2010-10-13 | 安徽英科智控股份有限公司 | Control system and control method of limit load of container reach stacker |
| CN101988434A (en) * | 2009-08-05 | 2011-03-23 | 上海派芬自动控制技术有限公司 | Method and system for controlling limit load |
| CN102400437A (en) * | 2011-11-25 | 2012-04-04 | 柳工无锡路面机械有限公司 | Control device and method for power limit load of full-hydraulic rubber-tyred roller |
| CN202359488U (en) * | 2011-11-25 | 2012-08-01 | 柳工无锡路面机械有限公司 | Power limit load control device for full hydraulic pneumatic tyred roller |
| WO2013015780A1 (en) * | 2011-07-25 | 2013-01-31 | Michelin Recherche Et Technique, S. A. | System for predicting residual tire endurance limit in real-time |
| CN103670750A (en) * | 2013-12-12 | 2014-03-26 | 中联重科股份有限公司 | Power limit matching control system, method and device and engineering machine |
-
2016
- 2016-03-02 CN CN201610119196.5A patent/CN106560552B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1558048A (en) * | 2004-01-18 | 2004-12-29 | 三一重工股份有限公司 | Limit load adjustment method of all hydraulic bulldozer and apparatus thereof |
| CN2673954Y (en) * | 2004-01-18 | 2005-01-26 | 三一重工股份有限公司 | Limiting load adjusting device for full hydraulic bulldozer |
| CN200974465Y (en) * | 2006-12-01 | 2007-11-14 | 王树跃 | Automotive vehicles |
| CN101513975A (en) * | 2009-03-20 | 2009-08-26 | 抚顺挖掘机制造有限责任公司 | Method for controlling power limit load of caterpillar crane |
| CN101988434A (en) * | 2009-08-05 | 2011-03-23 | 上海派芬自动控制技术有限公司 | Method and system for controlling limit load |
| CN101857175A (en) * | 2010-05-26 | 2010-10-13 | 安徽英科智控股份有限公司 | Control system and control method of limit load of container reach stacker |
| WO2013015780A1 (en) * | 2011-07-25 | 2013-01-31 | Michelin Recherche Et Technique, S. A. | System for predicting residual tire endurance limit in real-time |
| CN102400437A (en) * | 2011-11-25 | 2012-04-04 | 柳工无锡路面机械有限公司 | Control device and method for power limit load of full-hydraulic rubber-tyred roller |
| CN202359488U (en) * | 2011-11-25 | 2012-08-01 | 柳工无锡路面机械有限公司 | Power limit load control device for full hydraulic pneumatic tyred roller |
| CN103670750A (en) * | 2013-12-12 | 2014-03-26 | 中联重科股份有限公司 | Power limit matching control system, method and device and engineering machine |
Non-Patent Citations (2)
| Title |
|---|
| 岳现闯、郭红霞: "推土机极限载荷控制的数控系统研究", 《筑路机械与施工机械化》 * |
| 张源: "极限载荷控制技术在起重机上的应用", 《建筑机械化》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113848901A (en) * | 2021-09-23 | 2021-12-28 | 湖南三一中益机械有限公司 | Control method and control system of electric milling machine and electric milling machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106560552B (en) | 2019-06-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6405427B2 (en) | Wind park control method | |
| DE102007050587B4 (en) | Method and device for controlling charging processes for a battery | |
| US7486053B2 (en) | Power manager for an electrical power generator | |
| CA2908612C (en) | Method for feeding electrical power into an electrical supply network | |
| CN101752864B (en) | Method and arrangement for limiting electric power required by electric loads | |
| DE102006041819B4 (en) | A controller for selectively controlling the output current and an output voltage of an electric generator | |
| CN204707485U (en) | Weeding apparatus | |
| US20140008977A1 (en) | Electrical system having a dc link | |
| CN109936395A (en) | A kind of more charging pile networking control systems and method based on power coordination | |
| CN102159830A (en) | Power control for a wind park | |
| CN102918744B (en) | For the method and apparatus that the output voltage compensating motor generator declines | |
| CN104620460A (en) | Power plant control during a low voltage or a high voltage event | |
| CN103255801B (en) | A kind of energy storage device energy control method of hybrid power machinery | |
| CN110277796A (en) | Fault traversing system | |
| KR101951117B1 (en) | Control System For Wind Power Generating | |
| US20190267838A1 (en) | Distributed Network Control Of A Microgrid | |
| CN106560552A (en) | Walking control method, controller and control system in limit load mode | |
| CN103909923A (en) | Hybrid type construction machine | |
| CN102966448A (en) | Method for regulating the operation of an electric generator set | |
| JP4673539B2 (en) | Excitation current controller for three-phase AC generator | |
| CN103133441A (en) | Double hydraulic devices and speed control method, equipment and system thereof | |
| KR102017934B1 (en) | A control system of an internal combustion engine | |
| CN107370344B (en) | Chopper self-checking method and controller of fan converter | |
| CN102828944B (en) | Engineering machinery and pump flow control system thereof and method | |
| CN109792157A (en) | The voltage regulator of electric generator of vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220803 Address after: 221004 26 Tuo Lan Shan Road, Xuzhou economic and Technological Development Zone, Jiangsu Patentee after: JIANGSU XUGONG ENGINEERING MACHINERY RESEARCH INSTITUTE Co.,Ltd. Address before: 221004 Industrial Zone, Xuzhou Economic Development Zone, Jiangsu, China Patentee before: XCMG CONSTRUCTION MACHINERY Co.,Ltd. |