CN106647385B - Power balance control equipment, method and system and engineering machinery - Google Patents
Power balance control equipment, method and system and engineering machinery Download PDFInfo
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- CN106647385B CN106647385B CN201611107845.6A CN201611107845A CN106647385B CN 106647385 B CN106647385 B CN 106647385B CN 201611107845 A CN201611107845 A CN 201611107845A CN 106647385 B CN106647385 B CN 106647385B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses a power balance control device, a method, a system and an engineering machine, wherein the control device comprises: the receiving device is used for receiving the output power of each of a plurality of execution units, and the execution units are powered by a power source; control means for comparing respective output powers of the plurality of execution units with respective set powers of the plurality of execution units, respectively; when an execution unit with output power larger than corresponding set power exists in the plurality of execution units, adjusting parameters of the execution unit; otherwise, calculating the sum of the output powers of the execution units and comparing the sum of the output powers with the total power set value; and adjusting parameters of a part of execution units in the plurality of execution units under the condition that the sum of the output powers is larger than a total power set value. The invention can avoid sudden speed drop or stop of the power source caused by overlarge power consumed by a certain execution unit or overlarge total power consumed by a plurality of execution units.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to power balance control equipment, a power balance control method, a power balance control system comprising the power balance control equipment and engineering machinery comprising the power balance control system.
Background
Work machines are often operated in harsh and complex conditions, and often have multiple actuators that simultaneously consume power/torque/force from a power source. When the power/torque/force consumed by one execution unit increases, the total power/torque/force of a plurality of execution units may approach or exceed the output limit of the power source, which may cause the power source to stall or stop working.
As shown in FIG. 1, the power source may provide power to execution units 1-n, where n is an integer greater than 1. In the prior art power distribution strategy, two modes are common, the first mode considers the total output capacity of the power source, and 2 or more execution units are operated according to a designed program to avoid the situation that the total demand approaches or exceeds the total output of the power source, and the mode can avoid the problem of insufficient total output, but also brings the reduction of the controllability of the execution units. In the second mode, the power demand command of each execution unit comes from a person who executes the action, and the power demand of each execution unit is independently completed, so that the controllability of the execution units is greatly improved, but the total demand of a plurality of execution units which work simultaneously can approach or exceed the total output, and the power source is abnormal to work.
Disclosure of Invention
The invention aims to provide a power balance control device, a power balance control method, a power balance control system comprising the power balance control device and a construction machine comprising the power balance control system, which can avoid sudden deceleration or stop of a power source caused by overlarge power consumed by one execution unit or overlarge total power consumed by a plurality of execution units.
In order to achieve the above object, an embodiment of the present invention provides a power balance control apparatus, including: the receiving device is used for receiving the output power of each of a plurality of execution units, and the execution units are powered by a power source; control means for performing the following operations: comparing the output power of each execution unit with the set power of each execution unit; when an execution unit with output power larger than corresponding set power exists in the execution units, adjusting parameters of the execution unit to enable the output power of the execution unit to be smaller than the set power of the execution unit; under the condition that the output power of all execution units in the execution units is smaller than the corresponding set power, calculating the sum of the output power of the execution units, and comparing the sum of the output power with a total power set value; and under the condition that the sum of the output powers is larger than the total power set value, adjusting parameters of part of the execution units in the plurality of execution units so that the sum of the output powers is smaller than the total power set value.
Optionally, each of the execution units is assigned a priority; the partial execution units are determined according to the respective priorities of all execution units.
Optionally, the priority of the part of the execution units is lower than the priority of other execution units in the plurality of execution units.
Optionally, the set power of each of the plurality of execution units is related to the rated output power of each of the plurality of execution units, and the total power set value is related to the rated output power of the power source.
Accordingly, an embodiment of the present invention further provides a power balance control method, where the control method includes: receiving output power of each of a plurality of execution units, wherein the execution units are powered by a power source; comparing the output power of each execution unit with the set power of each execution unit; when an execution unit with output power larger than corresponding set power exists in the execution units, adjusting parameters of the execution unit to enable the output power of the execution unit to be smaller than the set power of the execution unit; under the condition that the output power of all execution units in the execution units is smaller than the corresponding set power, calculating the sum of the output power of the execution units, and comparing the sum of the output power with a total power set value; and under the condition that the sum of the output powers is larger than the total power set value, adjusting parameters of part of the execution units in the plurality of execution units so that the sum of the output powers is smaller than the total power set value.
Optionally, each of the execution units is assigned a priority; the partial execution units are determined according to the respective priorities of all execution units.
Optionally, the priority of the part of the execution units is lower than the priority of other execution units in the plurality of execution units.
Optionally, the set power of each of the plurality of execution units is related to the rated output power of each of the plurality of execution units, and the total power set value is related to the rated output power of the power source.
Accordingly, an embodiment of the present invention further provides a power balance control system, including: a power source; a plurality of execution units powered by the power source; power detection means for detecting output power of each of the plurality of execution units; and the above power balance control apparatus.
Correspondingly, an embodiment of the present invention further provides a construction machine, and the construction machine includes the above power balance control system.
By the technical scheme, the power of each execution unit can be detected, and the output power of the execution unit is adjusted under the condition that the output power of one execution unit is larger than the set power of the execution unit; and under the condition that the output power of each execution unit is smaller than the corresponding set power, judging whether the sum of the output power of each execution unit is larger than the total power set value, and under the condition that the sum of the output power of each execution unit is larger than the total power set value, ensuring that the output power of each execution unit is smaller than the total power set value for the parameters of partial execution units. The invention can avoid the sudden speed drop or stop of the power source caused by the overlarge power consumed by a certain execution unit or the overlarge total power consumed by a plurality of execution units.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a prior art power system;
fig. 2 is a schematic structural diagram of a power balance control system according to an embodiment of the present invention; and
fig. 3 is a flowchart of a power balance control method according to an embodiment of the present invention.
Fig. 4 is a flowchart of a power balance control method according to another embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
The technical solution of the present invention is mainly directed to the second power distribution mode in the above-mentioned prior art. In the engineering machinery field, because the operating mode is complicated, need deal with different operating modes in a flexible way, power distribution mode in the foretell second is adopted more to improve the controllability of complete machine. In the existing mode, the working combination situation of the execution units 1-n is uncertain, and only 1 execution unit may work, or a plurality of execution units may work; and the power consumed by each execution unit is uncertain. In this way, when a plurality of execution units which are simultaneously operated are in operation, the power of one execution unit is increased due to the change of the load, and the total output power of the plurality of execution units may approach the limit power output of the power source, in this case, the power source may be decelerated or stopped due to the protective design of the power source.
Fig. 2 is a schematic structural diagram of a power balance control system according to an embodiment of the present invention. As shown in fig. 2, an embodiment of the present invention provides a power balance control system, which includes: a power source 10; a plurality of execution units 1-n powered by the power source 10; a power detection means 200 for detecting the output power of each of the plurality of execution units 1-n; and a power balance control device 100 for determining whether it is necessary to adjust the output power of individual or some of the execution units 1-n according to the output power of each of the execution units 1-n detected by the power detection means 200, so as to avoid the output power of the execution units from being too large and causing the power source to stall or stop working, or to avoid the power consumed by some of the execution units from the power source from being too large and causing other execution units to be difficult to allocate sufficient power from the power source and operate effectively.
Specifically, the power source may be, for example, a hydraulic pump driven by a pump wheel of a torque converter, which may provide pressurized oil to various actuators (e.g., a slewing mechanism, a luffing mechanism, a traveling mechanism, etc., which are commonly found in construction machinery) to drive the actuators to operate normally. Of course, the present invention is not limited thereto, and may also be an engine, an electric motor, or other driving mechanism that can provide power.
As shown in fig. 2, the power balance control apparatus 100 may include: a receiving device 110 for receiving output power of each of a plurality of execution units 1-n, the execution units 1-n being powered by a power source 10; and control means 120 for performing the following operations: comparing the output power of each execution unit 1-n with the set power of each execution unit 1-n; when an execution unit with output power larger than corresponding set power exists in the execution units 1-n, adjusting parameters of the execution unit so that the output power of the execution unit is smaller than the set power of the execution unit; under the condition that the output power of all execution units in the execution units 1-n is smaller than the corresponding set power, calculating the sum of the output power of the execution units 1-n, and comparing the sum of the output power with a total power set value; and adjusting parameters of a part of the execution units 1-n under the condition that the sum of the output powers is larger than a total power set value, so that the sum of the output powers is smaller than the total power set value.
The set power of each of the plurality of execution units may be related to the rated output power of each of the plurality of execution units, and may be a ratio of the rated output power of each of the plurality of execution units, for example, a common general output power range of each of the execution units may be statistically analyzed, and the set power of each of the execution units may be determined according to the output power range. For example, in general, the output power of a material distribution screw system of a paving machine is generally 400-500 kw, the set power can be set to 500 kw, the output power of a crawler traveling mechanism is generally 200 kw and 230 kw, and the set power can be set to 230 kw. For example, the setting power of each of the plurality of execution units may be set according to the output power of each of the plurality of execution units under the normal operating condition.
The total power set point is related to a rated output power of the power source, which may be a proportion of the rated output power of the power source. For example, if the power source is rated to output 500 kilowatts, the power set point may be set to 490 kilowatts.
Preferably, each of the plurality of execution units 1-n may be assigned a priority, which may take into account the importance of the operation performed by the execution unit, for example, also in the case of a paver, the priority of the travelling mechanism may be higher than the priority of the distribution screw system, i.e. in case of a limited output of the power source, the power requirement of the travelling mechanism should preferably be met before the distribution screw system. In the case that the sum of the output powers of the execution units 1-n is greater than the total power setting value, a partial execution unit (for example, an individual execution unit or a combination of execution units consisting of a plurality of execution units) may be determined according to the priorities of the execution units, and the parameters of the partial execution unit may be adjusted so that the sum of the output powers is less than the total power setting value. Generally, the priority of the portion of the execution units is lower than the priority of other execution units within the plurality of execution units.
Also for example, with a paver, the travel mechanism may be prioritized over the distribution screw system. In some cases, when the output power of the power source of the paving machine is not enough to meet the power requirements of all the execution units of the paving machine, the power supply from the power source to the material distribution screw system may be stopped or reduced to meet the power requirements of other execution units such as the traveling mechanism, and the stopping of the material distribution screw system may not have any influence on the normal operation of the paving machine, because it is likely that enough material has been accumulated on the left and right sides of the paving machine before the power supply is stopped or reduced for the paving machine to use in the next minutes and other time periods. It is advantageous to temporarily stop or reduce the power supply, which on the one hand ensures the power supply of the other execution units and on the other hand does not affect the normal operation of the paver, so that a flexible distribution of the power output of the power source of the paver is achieved.
In the above operation of adjusting the parameter of the execution unit, the parameter may be a voltage or a current, etc. which may be used to adjust the output power of the execution unit. For example, the flow rate of hydraulic oil entering the execution unit can be controlled by adjusting the current of an electro-hydraulic proportional valve connected to the execution unit, thereby realizing the output power control of the execution unit.
Fig. 3 is a flowchart of a power balance control method according to an embodiment of the present invention. As shown in fig. 3, an embodiment of the present invention further provides a power balance control method, including: receiving output power of each of a plurality of execution units, wherein the execution units are powered by a power source; comparing the output power of each execution unit with the set power of each execution unit; when an execution unit with output power larger than corresponding set power exists in the execution units, adjusting parameters of the execution unit to enable the output power of the execution unit to be smaller than the set power of the execution unit; under the condition that the output power of all execution units in the execution units is smaller than the corresponding set power, calculating the sum of the output power of the execution units, and comparing the sum of the output power with a total power set value; and under the condition that the sum of the output powers is larger than the total power set value, adjusting parameters of part of the execution units in the plurality of execution units so that the sum of the output powers is smaller than the total power set value.
Fig. 4 is a flowchart of a power balance control method according to another embodiment of the present invention. As shown in FIG. 4, another embodiment of the present invention provides a power balancing control method, which is different from the power balancing control method shown in FIG. 3 in that a step (shown in a bold box in FIG. 4) is added, which determines which execution units of the execution units 1-n should be adjusted according to the priority of each execution unit of the execution units 1-n.
For details and advantages of the power balance control method provided by the present invention, reference may be made to the above description of the power balance control apparatus, which is not described herein again.
Correspondingly, the invention also provides engineering machinery, and the engineering machinery comprises the power balance control system. The working machine may be, for example, a paver, a road roller, a mixer pump truck, a crane, or the like, which may involve a mechanical device that supplies power to a plurality of actuating units from a power source.
Although the technical solutions of the present disclosure are described by taking the output powers of the power source and the execution unit as examples, the powers are not the only consideration of the present disclosure, and may be replaced by other considerations such as torque, force, and the like, and such considerations should be considered as equivalents of the above powers, and are within the scope of the present disclosure.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (8)
1. A power balance control apparatus, the control apparatus comprising:
the receiving device is used for receiving the output power of each of a plurality of execution units, and the execution units are powered by a power source;
control means for performing the following operations:
comparing the output power of each execution unit with the set power of each execution unit;
when an execution unit with output power larger than corresponding set power exists in the execution units, adjusting parameters of the execution unit to enable the output power of the execution unit to be smaller than the set power of the execution unit;
under the condition that the output power of all execution units in the execution units is smaller than the corresponding set power, calculating the sum of the output power of the execution units, and comparing the sum of the output power with a total power set value; and
adjusting parameters of some execution units in the plurality of execution units so that the sum of the output powers is less than the total power setting value when the sum of the output powers is greater than the total power setting value,
the set power of each execution unit is a proportion of rated output power of each execution unit, and the total power set value is a proportion of rated output power of the power source.
2. The power balance control apparatus according to claim 1,
each execution unit is assigned a priority;
the partial execution units are determined according to the respective priorities of all execution units.
3. The power balance control apparatus of claim 2 wherein the priority of the portion of the execution units is lower than the priority of the other execution units within the plurality of execution units.
4. A power balance control method, the control method comprising:
receiving output power of each of a plurality of execution units, wherein the execution units are powered by a power source;
comparing the output power of each execution unit with the set power of each execution unit;
when an execution unit with output power larger than corresponding set power exists in the execution units, adjusting parameters of the execution unit to enable the output power of the execution unit to be smaller than the set power of the execution unit;
under the condition that the output power of all execution units in the execution units is smaller than the corresponding set power, calculating the sum of the output power of the execution units, and comparing the sum of the output power with a total power set value; and
adjusting parameters of some execution units in the plurality of execution units so that the sum of the output powers is less than the total power setting value when the sum of the output powers is greater than the total power setting value,
the set power of each execution unit is a proportion of rated output power of each execution unit, and the total power set value is a proportion of rated output power of the power source.
5. The power balance control method according to claim 4,
each execution unit is assigned a priority;
the partial execution units are determined according to the respective priorities of all execution units.
6. The method of claim 5, wherein the priority of the portion of the execution units is lower than the priority of other execution units within the plurality of execution units.
7. A power balance control system, the system comprising:
a power source;
a plurality of execution units powered by the power source;
power detection means for detecting output power of each of the plurality of execution units; and
the power balance control device according to any one of claims 1-3.
8. A working machine, characterized in that the working machine comprises a power balance control system according to claim 7.
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| CN201611107845.6A CN106647385B (en) | 2016-12-06 | 2016-12-06 | Power balance control equipment, method and system and engineering machinery |
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| CN201611107845.6A CN106647385B (en) | 2016-12-06 | 2016-12-06 | Power balance control equipment, method and system and engineering machinery |
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| CN106647385B true CN106647385B (en) | 2019-12-31 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112230567B (en) * | 2020-10-29 | 2023-04-28 | 江苏鼎盛重工有限公司 | Control system and control method for tire type container gantry crane |
| CN117341535B (en) * | 2023-12-04 | 2024-02-06 | 四川鼎鸿智电装备科技有限公司 | Intelligent electric engineering machinery energy management method and system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10196606A (en) * | 1996-12-27 | 1998-07-31 | Shin Caterpillar Mitsubishi Ltd | Controller for hydraulic pump |
| CN101109332A (en) * | 2007-09-18 | 2008-01-23 | 三一重工股份有限公司 | Power controller and method for hydraulic power system |
| CN101278131A (en) * | 2005-09-30 | 2008-10-01 | 卡特彼勒公司 | Multi-pump control system and method |
| CN101297083A (en) * | 2005-10-31 | 2008-10-29 | 株式会社小松制作所 | Control device of work machine |
| CN101799022A (en) * | 2009-02-06 | 2010-08-11 | 徐州重型机械有限公司 | Multi-pump work control method, device and system and crane |
-
2016
- 2016-12-06 CN CN201611107845.6A patent/CN106647385B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10196606A (en) * | 1996-12-27 | 1998-07-31 | Shin Caterpillar Mitsubishi Ltd | Controller for hydraulic pump |
| CN101278131A (en) * | 2005-09-30 | 2008-10-01 | 卡特彼勒公司 | Multi-pump control system and method |
| CN101297083A (en) * | 2005-10-31 | 2008-10-29 | 株式会社小松制作所 | Control device of work machine |
| CN101109332A (en) * | 2007-09-18 | 2008-01-23 | 三一重工股份有限公司 | Power controller and method for hydraulic power system |
| CN101799022A (en) * | 2009-02-06 | 2010-08-11 | 徐州重型机械有限公司 | Multi-pump work control method, device and system and crane |
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