CN106647837A - Method and controller for controlling hydraulic system, and machine - Google Patents
Method and controller for controlling hydraulic system, and machine Download PDFInfo
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- CN106647837A CN106647837A CN201710048215.4A CN201710048215A CN106647837A CN 106647837 A CN106647837 A CN 106647837A CN 201710048215 A CN201710048215 A CN 201710048215A CN 106647837 A CN106647837 A CN 106647837A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The application relates to the field of advanced manufacturing equipment and discloses a method and controller for controlling a hydraulic system, and a machine. The method comprises: obtaining engine speed; determining a control mode for controlling the power of the hydraulic system according to the engine speed, wherein the control mode comprises a limit load control mode and a torque matching control mode; determining whether a current control mode is consistent with the determined control mode; if yes, continuing using the current control mode to control the power of the hydraulic system; and if not, performing smooth transition from the current control mode to the determined control mode. The speed and torque compound control method solves engine stall under a limit load condition, and realizes the power matching between the hydraulic system and the engine under a non-limit load condition.
Description
Technical field
The present invention relates to advanced manufacturing set field, in particular it relates to a kind of method, control for controlling hydraulic system
Device and machinery.
Background technology
When mutation load is born, its engine-hydraulic system power is matched some engineering machinery (such as rotary drilling rig)
Control process is divided into Part I transient process and Part II steady-state process.In Part I transient process, engine turns
Speed fluctuates, when 100% (referred to as power limit load operating mode) of the close constant engine load of mutation load, by plan
Slightly control variables discharge of main pump or hydraulic main valve opening, change hydraulic system necessary flow, and then change engine loading mutation
Gradient, prevents engine misses, over-emitting black exhaust, this process to be referred to as high-point load control；And in Part II steady-state process, send out
Motivation stabilization of speed, at this moment control variables discharge of main pump or hydraulic main valve opening, change hydraulic system necessary flow, and then change
Engine loading, allows the optimum oil consumption state that engine is operated under current rotating speed, realizes that steady state power is matched.
Application publication number discloses a kind of container face crane limit for the Chinese patent application of CN101857175A
The control system and its control method of load, it adopts engine present speed percentage load to build the limit as feedback quantity and carries
Lotus control system, control object is hydraulic system hydraulic main valve opening.When present speed percentage load is less than setting value, plus
Big hydraulic main valve aperture；When present speed percentage load is more than setting value, reduce hydraulic main valve aperture, it is therefore an objective to will be current
Speed-load percentage is controlled near setting value.
Application publication number discloses a kind of matching excavator power control system for the Chinese patent application of CN102021925A
System and method.Application publication number discloses a kind of electric-control motor and variable delivery hydraulic for the Chinese patent application of CN102505996A
The power matching system and method for main pump.This two patents application builds power match control using engine speed as feedback quantity
System processed, control object is variable discharge of main pump.When the difference of actual engine speed and no-load speed is larger, increase main pump
Control electric current reduces main pump absorbed power；When the difference of actual engine speed and no-load speed is less, then reduce main pump control
Electric current processed increases main pump absorbed power.
Application publication number discloses a kind of based on the compound control of moment of torsion and rotating speed for the Chinese patent application of CN105402039A
The rotary drilling rig power matching method of system, it adopts engine speed to build power match control system as feedback quantity with moment of torsion
System, when actual engine speed and moment of torsion larger with target difference, increases main pump control electric current and reduces main pump absorbed power；Make
Engine does not stop working, not over-emitting black exhaust.
However, prior art is suffered from the drawback that.
Firstth, in transient process, the moment of torsion index (present speed percentage load) of engine cannot be accurately reflected to be sent out
The torsional response characteristic of motivation, therefore the high-point load control carried out according to engine present speed percentage load, ignore
Torque responsive problem, be necessarily unable to reach preferable control effect.
Fig. 1 is machinery engine torque and speed change curves in the overall process for bear load.As shown in figure 1, B and C
The interval of composition is stabilization time (occurring in transient process), when whole C is interval, engine speed line dramatic decrease, afterwards soon
Speed is gone up, and in engine speed dramatic decrease region, the demand load of obvious engine is significantly larger than power output demand, and works as
Front speed-load percentage maintains always 100% or so in this stage, hence it is evident that there is speed-load percentage can not be accurately true
Real reflection demand torque and it is actual everywhere between moment of torsion difference situation, therefore only according to engine present speed percentage load
The power match control for carrying out, is necessarily unable to reach preferable control effect.
Secondth, in steady-state process, engine speed cannot accurately reflect the load condition of engine, therefore according to starting
The power match control that motor speed is carried out, the load condition for ignoring, it is impossible to really make engine be operated in load matched point attached
Closely.
As shown in figure 1, it is steady-state process that D is interval, when whole D is interval, under engine speed and A intervals (Light Condition)
Unanimously, all maintain the value of a determination or so (1000rpm), and present speed percentage load is become by about the 20% of A intervals
Turn to 84% or so, hence it is evident that engine speed accurately can not truly reflect the situation of the load of demand engine in D intervals,
Therefore only power match control is carried out according to the speed of engine in steady-state process, necessarily cannot accurately makes engine work
Near load matched point.
Therefore, CN101857175A, CN102021925A and CN102505996A have only focused on transient state and steady-state process
One of both, or expect in transient state, steady-state process using unitary variant as it is whole strategy feedback quantity, ignore wink,
The difference of steady-state process, inevitably results in control effect not good.
The content of the invention
The purpose of the application is to provide a kind of method for controlling hydraulic system, controller and machinery, and it can be both
The flame-out problem for solving engine under transient process realizes the power match of hydraulic system and engine under steady-state process again.
To achieve these goals, the first aspect of the application provides a kind of method for controlling hydraulic system, the party
Method includes：Engine speed is obtained, the control for controlling the power of the hydraulic system is determined according to the engine speed
Molding formula, wherein the control model includes high-point load control pattern and moment of torsion match control pattern；Judge current control mould
Whether formula control model with determined by is consistent；If it is judged that present control mode control model one with determined by
Cause, be then continuing with the present control mode to control the power of the hydraulic system；If it is judged that the current control
Pattern control model with determined by is inconsistent, then from the present control mode be smoothly transitted into determined by control model.
Alternatively, in the high-point load control pattern, according to the engine speed and the engine speed of setting
Desired value generate the first controlled quentity controlled variable for controlling the power of the hydraulic system, and by first controlled quentity controlled variable output to institute
State hydraulic system to control the power of the hydraulic system；And in the moment of torsion match control pattern, worked as according to engine
Front speed-load percentage is generated for controlling the hydraulic pressure with the desired value of the engine present speed percentage load of setting
Second controlled quentity controlled variable of the power of system, and second controlled quentity controlled variable is exported to the hydraulic system to control the hydraulic system
Power.
Alternatively, the method also includes the controlled quentity controlled variable addition deviant to output to the hydraulic system.
Alternatively, the deviant is main pump pressure, hydraulic main valve pilot pressure, the main pump according to the hydraulic system
The power output of Pressure-flow curves and the engine is determining.
Alternatively, the determination control model includes：The engine speed is compared with the first rotary speed threshold value；Such as
Really described engine speed is more than first rotary speed threshold value, it is determined that the control model is the moment of torsion match control mould
Formula；If the engine speed is less than or equal to first rotary speed threshold value, by the engine speed and the second rotating speed
Threshold value is compared, wherein first rotary speed threshold value is more than second rotary speed threshold value；If the engine speed is more than
Second rotary speed threshold value, it is determined that the control model is the high-point load control pattern.
Alternatively, the determination control model also includes：If the engine speed is less than or equal to described first turn
Fast threshold value, the engine speed is compared with the desired value of the engine speed of the setting, wherein the setting
The desired value of engine speed is less than first rotary speed threshold value and more than second rotary speed threshold value；If the engine turns
Speed, more than the desired value of the engine speed of the setting, and used in a upper controlling cycle is the moment of torsion match control
Pattern, it is determined that the control model is the high-point load control pattern, and obtains needing the knot for being controlled pattern switching
Really.
Alternatively, the control model also includes slow-speed of revolution control model, and the determination control model also includes：If institute
Engine speed is stated less than or equal to second rotary speed threshold value, it is determined that the control model is that the slow-speed of revolution controls mould
Formula.
Alternatively, it is determined that control model be the slow-speed of revolution control model in the case of, it is defeated to the hydraulic system
Go out maximum controlled quentity controlled variable.
Alternatively, it is described from the present control mode be smoothly transitted into determined by control model include：Calculate in institute
State the first controlled quentity controlled variable of the power for being used to control the hydraulic system in present control mode；Calculate the control model determined by
In for control the hydraulic system power the second controlled quentity controlled variable；
Controlled quentity controlled variable in each controlling cycle output to the hydraulic system is determined according to below equation：
Wherein, y (i) represents the controlled quentity controlled variable in i-th controlling cycle output to the hydraulic system, and A represents described first
Controlled quentity controlled variable, B represents second controlled quentity controlled variable, tiThe length of i-th controlling cycle is represented, G represents engine and hydraulic system energy
The maximum output controlled quentity controlled variable slip for bearing.
Alternatively, engine has dynamic mode and PTO speed-regulating functions, the desired value base of the engine speed of the setting
Set in the PTO gears of the engine；And the desired value base of the engine present speed percentage load of the setting
The PTO gears of dynamic mode, the engine and the universal characteristic tables of data of the engine in the engine is setting
It is fixed.
The second aspect of the application provides a kind of controller for controlling hydraulic system, and the controller includes：Control
Mode decision module, is configured to obtain engine speed and according to the engine speed determining for controlling the hydraulic pressure
The control model of the power of system, wherein the control model includes high-point load control pattern and moment of torsion match control pattern；
And controlled quentity controlled variable output module, it is configured to：Receive the control model that the control model determining module determines；Judge current control
Whether molding formula control model with determined by is consistent；If it is judged that present control mode control model with determined by
Unanimously, then it is continuing with the present control mode to control the power of the hydraulic system；If it is judged that the current control
Molding formula control model with determined by is inconsistent, then from the present control mode be smoothly transitted into determined by control mould
Formula.
Alternatively, the controller also includes：High-point load control module, is configured to obtain the engine speed simultaneously
Power for controlling the hydraulic system is generated according to the desired value of the engine speed and the engine speed of setting
First controlled quentity controlled variable；Moment of torsion match control module, is configured to obtain engine present speed percentage load and according to described
Motivation present speed percentage load is generated for controlling with the desired value of the engine present speed percentage load of setting
State the second controlled quentity controlled variable of the power of hydraulic system；The controlled quentity controlled variable output module is further configured to：In the high-point load control
First controlled quentity controlled variable is exported in pattern to the hydraulic system to control the power of the hydraulic system；In moment of torsion matching
Second controlled quentity controlled variable is exported in control model to the hydraulic system to control the power of the hydraulic system；And from institute
State present control mode be smoothly transitted into determined by during control model according to first controlled quentity controlled variable and second control
Amount determines output to the controlled quentity controlled variable for controlling the power of the hydraulic system of the hydraulic system.
Alternatively, the controller also includes offset setting module, is configured to：Obtain the main pump pressure of the hydraulic system
The power output of power and hydraulic main valve pilot pressure and the engine；It is main pump pressure according to the hydraulic system, described
The power output of hydraulic main valve pilot pressure, the Pressure-flow curves of main pump and the engine is determining deviant；It is described
Controlled quentity controlled variable output module is further configured to will be to be output in first controlled quentity controlled variable, second controlled quentity controlled variable and the controlled quentity controlled variable
To one of the hydraulic system plus exporting the hydraulic system again after the deviant.
Alternatively, the control model determining module is configured to：The engine speed is entered with the first rotary speed threshold value
Row compares；If the engine speed is more than first rotary speed threshold value, it is determined that the control model is the moment of torsion
With control model；If the engine speed be less than or equal to first rotary speed threshold value, by the engine speed with
Second rotary speed threshold value is compared, wherein first rotary speed threshold value is more than second rotary speed threshold value；And if described
Motivation rotating speed is more than second rotary speed threshold value, it is determined that the control model is the high-point load control pattern.
Alternatively, the control model determining module is further configured to：If the engine speed is less than or equal to institute
The first rotary speed threshold value is stated, the engine speed is compared with the desired value of the engine speed of the setting, wherein institute
The desired value of engine speed of setting is stated less than first rotary speed threshold value and more than second rotary speed threshold value；And if
The engine speed, more than the desired value of the engine speed of the setting, and used in a upper controlling cycle is described
Moment of torsion match control pattern, it is determined that the control model is the high-point load control pattern, and obtains needs and be controlled
The result of pattern switching.
Alternatively, the control model determining module is further configured to：If the engine speed is less than or equal to institute
State the second rotary speed threshold value, it is determined that the control model is the slow-speed of revolution control model；And the controlled quentity controlled variable output module
It is further configured to receive the slow-speed of revolution control model, to the hydraulic system Maximum Power Output controlling value.
Alternatively, engine has dynamic mode and PTO speed-regulating functions, and the high-point load control module is further configured to
The desired value of the engine speed of the setting is set based on the PTO gears of the engine；And the moment of torsion matching control
Molding block is further configured to based on the dynamic mode of the engine, the PTO gears of the engine and the engine
Universal characteristic tables of data is setting the desired value of the engine present speed percentage load of the setting.
The third aspect of the application provides a kind of machinery, including the above-mentioned controller for controlling hydraulic system.
By above-mentioned technical proposal, using rotating speed, moment of torsion composite control method, both solved and started under ultimate load state
The flame-out problem of machine, realizes hydraulic system and power match of the engine under non-ultimate load state again.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Accompanying drawing is, for providing a further understanding of the present invention, and to constitute the part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is machinery engine torque and speed change curves in the overall process for bear load；
Fig. 2 shows speed, present speed percentage load and the relation between stabilization time；
Fig. 3 is the structured flowchart for controlling the controller of hydraulic system provided according to presently filed embodiment；
Fig. 4 can be the signal of the first application scenarios using the controller provided according to presently filed embodiment
Figure；
Fig. 5 is the control of the controller provided according to presently filed embodiment applied in application scenarios in the diagram
Tactful schematic diagram；
Fig. 6 can be the signal of second application scenarios using the controller provided according to presently filed embodiment
Figure；
Fig. 7 can be the signal of the third application scenarios using the controller provided according to presently filed embodiment
Figure；
Fig. 8 is the flow chart for controlling the method for hydraulic system provided according to presently filed embodiment；
Fig. 9 is in the method for controlling hydraulic system according to presently filed embodiment offer illustrated in Fig. 8
Determine the flow chart of control model step；And
Figure 10 is in the method for controlling hydraulic system according to presently filed embodiment offer illustrated in Fig. 8
The flow chart of the step of controlled quentity controlled variable is determined according to control model.
Description of reference numerals
The control model determining module of 10 controller 11
The high-point load control module of 12 controlled quentity controlled variable output module 13
The offset setting module of 14 moment of torsion match control module 15
The hydraulic main valve of 20 main pump 30
41 engine 42ECU
The hydraulic actuator of 50 pressure sensor 60
70 dynamic modes and PTO GSS Gear Select Switch
Specific embodiment
The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The specific embodiment stated is merely to illustrate and explains the present invention, is not limited to the present invention.
The term " falling speed " mentioned in this application refers to (or minimum turn of the lower maximum (top) speed of engine mutation load
Speed) with load changing before rated speed difference and rated speed ratio percentage.
The term " present speed percentage load " mentioned in this application is referred under present engine rotating speed, actual to send out
Motivation torque (command torque) and the ratio of maximum effectively command torque.
The term " stabilization time " mentioned in this application refer to from engine speed mutation to engine speed again
A period of time till stablizing in the range of defined unsteady degree of rvolution.
Fig. 2 shows speed, present speed percentage load and the relation between stabilization time.
Engine misses, over-emitting black exhaust or fall speed it is larger be inherently due to engine output torque with load need
Ask moment of torsion to mismatch the phenomenon for causing engine irregular working, be generally that the demand torque of load is big within a period of time
In the output torque of engine.It is usually expressed as two kinds of reasons：
(1), the output torque maximum rate of growth of engine and loading demand moment of torsion growth rate are mismatched, and normally behave as needing
Ask moment of torsion growth rate within a period of time more than the output torque maximum rate of growth, cause engine misses, over-emitting black exhaust or fall speed
Larger phenomenon.
(2), hydraulic system demand torque causes engine misses, over-emitting black exhaust more than the peak torque for starting function to export
Or fall fast larger phenomenon.
In order to prevent the generation of the phenomenon such as flame-out, while engine long time service is made in economic work area, need to be by real
When control engine or hydraulic system parameters and make engine under the very big operating mode of load change, be unlikely to stop working, over-emitting black exhaust or
It is larger that person falls speed；When loading relatively steady, function is started to be operated in optimal economic operation interval.This whole process claims
For the power match of engine-hydraulic system.
According to foregoing description, realizing the power match of engine-hydraulic system can have two ways, a kind of real-time adjustment
The parameter of engine, but it is generally with PTO if engine is the BBG with autoelectrinic speed regulator
(i.e. when the load, engine has certain holding engine speed not with load change to the engine of speed-regulating function
Ability), it is contemplated that engine carries in itself speed regulation capacity, and this mode is not applied to.In view of broader range of application, the application
Embodiment adopt alternatively：By controlling hydraulic system parameters come the fan-out capability of real-time matching engine, make to send out
Motivation is unlikely to stop working, over-emitting black exhaust or to fall speed larger under the load very big operating mode of change；When loading relatively steady, send out
Motivation can be operated in optimal economic operation interval.
Therefore, presently filed embodiment can pass through the parameter (for example, the control electric current of main pump) of adjustment hydraulic system,
Make engine match in real time with the moment of torsion of hydraulic system protect engine hydraulic system demand power change it is violent when,
Be unlikely to stop working, over-emitting black exhaust or to fall speed larger；When hydraulic system demand power is relatively steady, function is started to be operated in most preferably
In economic work is interval.
Fig. 3 is the structured flowchart for controlling the controller 10 of hydraulic system provided according to presently filed embodiment.
With reference to Fig. 3, in presently filed embodiment, there is provided a kind of controller 10 for controlling hydraulic system, the controller 10
Can include：
Control model determining module 11, may be configured to acquisition engine speed is used for according to engine speed to determine
The control model of the power of control hydraulic system, the wherein control model can include that high-point load control pattern and moment of torsion are matched
Control model；And
Controlled quentity controlled variable output module 12, may be configured to：
Receive the control model that control model determining module 11 determines；
Judge whether present control mode control model with determined by is consistent；
If it is judged that present control mode control model with determined by is consistent, then present control mode is continuing with
The power of control hydraulic system；
If it is judged that present control mode control model with determined by is inconsistent, then it is smoothed from present control mode
Control model is crossed to determined by.
In the further embodiment of the application, controller 10 can also include：
High-point load control module 13, may be configured to obtain engine speed and according to engine speed and setting
The desired value of engine speed generates the first controlled quentity controlled variable for controlling the power of hydraulic system；
Moment of torsion match control module 14, may be configured to obtain engine present speed percentage load and according to starting
Machine present speed percentage load is generated for controlling hydraulic pressure with the desired value of the engine present speed percentage load of setting
Second controlled quentity controlled variable of the power of system；
Controlled quentity controlled variable output module 12 can be configured to：
The first controlled quentity controlled variable is exported in high-point load control pattern to hydraulic system to control the power of hydraulic system；
The second controlled quentity controlled variable is exported in moment of torsion match control pattern to hydraulic system to control the power of hydraulic system；And
According to the first controlled quentity controlled variable and the second control during control model determined by being smoothly transitted into from present control mode
Amount processed determines output to the controlled quentity controlled variable (that is, interim process control amount) for controlling the power of hydraulic system of hydraulic system.
In the application embodiment, high-point load control module 13 and moment of torsion match control module 14 can be using tradition
Pid control mode, but it will be appreciated by those skilled in the art that can also be using other feedback controls.
Specifically, controlled quentity controlled variable output module 12 can be determined in each controlling cycle output to hydraulic pressure according to below equation
The controlled quentity controlled variable of system：
Wherein, y (i) represents the controlled quentity controlled variable in i-th controlling cycle output to hydraulic system, and A represents the first controlled quentity controlled variable, B
Represent the second controlled quentity controlled variable, tiThe length of i-th controlling cycle is represented, the maximum output controlled quentity controlled variable that G represents system and can bear is reduced
Rate.
In an embodiment of the application, controller 10 can also include offset setting module 15, be configured to：
Obtain the main pump pressure of hydraulic system and the power output of hydraulic main valve pilot pressure and engine 41；
Main pump pressure, hydraulic main valve pilot pressure, the Pressure-flow curves of main pump 20 according to hydraulic system and start
The power output of machine 41 is determining deviant；
Controlled quentity controlled variable output module 12 can be configured to will be defeated in the first controlled quentity controlled variable, the second controlled quentity controlled variable and controlled quentity controlled variable
Go out to one of hydraulic system plus exporting hydraulic system again after deviant.
In the further embodiment of the application, control model determining module 11 may be configured to：
Engine speed is compared with the first rotary speed threshold value；
If engine speed is more than the first rotary speed threshold value, it is determined that control model is moment of torsion match control pattern；
If engine speed is less than or equal to the first rotary speed threshold value, engine speed is carried out with the second rotary speed threshold value
Relatively, wherein the first rotary speed threshold value is more than the second rotary speed threshold value；And
If engine speed is more than the second rotary speed threshold value, it is determined that control model is high-point load control pattern.
In the application further embodiment, control model determining module 11 can be configured to：
If engine speed is less than or equal to the first rotary speed threshold value, by engine speed and the engine speed of setting
Desired value is compared, wherein the desired value of the engine speed for setting is less than the first rotary speed threshold value and more than the second rotating speed threshold
Value；And
If engine speed is used in a upper controlling cycle more than the desired value of the engine speed of setting
Moment of torsion match control pattern, it is determined that control model is high-point load control pattern, and obtains needing to be controlled pattern switching
Result.
In the further embodiment of the application, control model determining module 11 can be configured to：If started
Machine rotating speed is less than or equal to the second rotary speed threshold value, it is determined that control model is slow-speed of revolution control model；And
Controlled quentity controlled variable output module 12 can be configured to receive slow-speed of revolution control model, and to hydraulic system maximum work is exported
Rate controlling value.
In presently filed embodiment, the engine 41 for referring to can have dynamic mode and PTO speed-regulating functions, at this
In the case of kind, high-point load control module 13 can be configured to the PTO gears based on engine 41 to set the setting
Engine speed desired value；And moment of torsion match control module 14 can be configured to based on the power mould of engine 41
The universal characteristic tables of data of formula, the PTO gears of engine 41 and engine 41 is setting the engine present speed of the setting
The desired value of percentage load.The universal characteristic tables of data of engine 41 can be known and can be pre-stored in controller 10
In (such as in the memory (not shown) of controller 10).
Control model determining module 11, controlled quentity controlled variable output module 12, high-point load control module 13, torsion in controller 10
Match by moment control module 14 and offset setting module 15 can pass through the side of software, hardware, firmware or these any combination
Formula is implementing.The example of controller 10 can include but is not limited to general processor, application specific processor, conventional processors, numeral
One or more microprocessors, controller, micro-control that signal processor (DSP), multi-microprocessor are associated with DSP core
Device processed, special IC (ASIC), field programmable gate array (FPGA) circuit, the integrated circuit of any other type
(IC), state machine etc..
Fig. 4 can be the signal of the first application scenarios using the controller 10 provided according to presently filed embodiment
Figure.Fig. 5 is the control strategy of the controller 10 provided according to presently filed embodiment applied in application scenarios in the diagram
Schematic diagram.In the first application scenarios, engine 41 is connected with the main pump 20 of hydraulic system, for dynamic to the output of main pump 20
Power.Main pump 20 is connected by hydraulic main valve 30 with hydraulic actuator 60.Pressure sensor 50 is used to detect the outlet pressure of main pump 20
With the pilot pressure of hydraulic main valve 30.If hydraulic main valve 30 is using electric proportional pilot valve, it is also possible to use pilot valve control electric current
Replace pilot pressure.Controller 10 can be connected by CAN with the ECU 42 of engine 41.Controller 10 can for example lead to
Cross CAN to be connected with the ECU 42 of engine 41, can in real time obtain engine speed, present speed percentage load, start
The state parameters such as the power output of machine 41.In the application scenarios, engine 41 can have dynamic mode and PTO speed-regulating functions.
Controller 10 for example can be obtained by On-off signal passage and artificially arranged (such as by the dynamic mode in Fig. 4 and PTO shelves
Position selecting switch 70) dynamic mode and PTO gears.Controller 10 for example can obtain pressure and pass by analog input channel
The main pump outlet pressure value and hydraulic main valve pilot pressure value of the measurement of sensor 50.Controller 10 can be for example logical by PWM outputs
Realize that hydraulic system moment of torsion is adjusted to the rear pump control electric current of main pump 20 in road.In the application scenarios, for controlling hydraulic system
The controlled quentity controlled variable (output control amount) of power is pump electric current of the output to main pump 20.High-point load control block in Fig. 5 can be corresponded to
High-point load control amount output module 12 in Fig. 3, the main pump predetermined current block that adjusts in Fig. 5 can correspond in Fig. 3
Offset setting module 15, the control model determining module that can correspond in system wink, stable state automatic decision block in Fig. 3 in Fig. 5
Moment of torsion match control block in 11, Fig. 5 can correspond to moment of torsion match control module 14 in Fig. 3, and the autonomous selection in Fig. 5
And seamlessly transit the controlled quentity controlled variable output module 12 that module can correspond in Fig. 3.
High-point load control block shown in Figure 5, such as the high-point load control module 13 of the controller 10 shown in Fig. 3
PTO gear signals can be received from dynamic mode and PTO GSS Gear Select Switch 70, calculate engine 41 corresponding with selected gear
Rotating speed desired value, compare the difference with actual speed, high-point load control module 13 can be according to sending out for obtaining from ECU 42
Motivation tach signal calculates the corresponding control electric current value of the main pump 20 for output to hydraulic system with rotating speed desired value.
In presently filed embodiment, high-point load control desired value can for example be set in the tachometer value of engine PTO settings
94%～98%, PTO gear is higher, and desired value value is lower；PTO gears are lower, and desired value value is higher.Control targe is unsuitable
It is too high or too low, set too high, PTO speed governing is acted on and is easily caused speed overshoot simultaneously with high-point load control；Control targe sets
Too low, engine speed falls speed, and excessive to cause Control platform to be deteriorated even flame-out.When actual engine speed is less than control targe
When (desired value), traditional PID control can be started, output control amount is pump current value.
Regulation main pump predetermined current block shown in Figure 5, such as the offset setting module 15 of the controller 10 shown in Fig. 3
Suitable default electricity can be calculated by the main pump pressure that obtains from pressure sensor 50 and hydraulic main valve pilot pressure information
Flow valuve.The size of this pre-set current value typically can be rule of thumb taken under the load pressure of respective pump, at full capacity output current
The certain percentage of value, such as 50%.The effect for adjusting main pump predetermined current is to make control starting point fast approaching target control
Value, shortens control interval, improves control accuracy.It is by receiving Pump Pressure Signal, hydraulic main valve to adjust main pump predetermined current
Pilot pressure signal etc., according to the Pressure-flow curves and the power output of engine 41 of main pump 20, takes engine-hydraulic pressure system
Current value when one percentage (such as halfload (50%)) of system load is exported is the predetermined current of the regulation main pump 20 of system.
The Pressure-flow curves of main pump 20 are known.But, it will be understood by those skilled in the art that in the not regulation main pump 20
Predetermined current (deviant) in the case of can also implement the application embodiment offer control program.
Moment of torsion match control block shown in Figure 5, such as the moment of torsion match control module 14 of the controller 10 shown in Fig. 3
The present speed of engine 41 can be set according to information such as dynamic mode, PTO gears and Engine Universal Characteristics tables of data
Percentage load.Moment of torsion match control module 14 can be according to the present speed percentage load of the engine of setting and reality
Engine speed percentage load information, calculates the corresponding control electric current value of the main pump 20 for output to hydraulic system.
Here moment of torsion match control can be according to actual engine speed percentage load and the present speed of the engine of setting
Difference between percentage load, the control electric current of main pump 20 is exported with suitable traditional PID control strategy.
System wink stable state decision block shown in Figure 5, such as the control model determining module of the controller 10 shown in Fig. 3
11 for example can obtain engine speed from ECU 42, and the responsive state that analysis is judged residing for engine 41 is transient state or steady
State.
Specifically, in presently filed embodiment, control model determining module 11 can perform following operation：
Engine speed information is obtained, judges whether the actual speed of engine 41 is big less than or equal to high rotating speed threshold values
It is little, if it is judged that being otherwise it is determined that carrying out moment of torsion match control, it is determined that required control model is moment of torsion matching control
Molding formula；Wherein high rotating speed threshold values can typically take 98% or so of PTO setting speeds, and slow-speed of revolution threshold values hereafter typically can be with
Take the 80% of PTO setting speeds.
If above-mentioned judged result is yes, the size of comparison engine actual speed and engine target rotating speed, such as
Fruit actual speed is more than rotating speed of target, and the last cycle is moment of torsion match control pattern, then judge to need switching control pattern, is entered
Limit by row load is controlled.Control model needed for determining in this case is high-point load control pattern.
If actual engine speed is less than or equal to engine target rotating speed, and actual speed is more than slow-speed of revolution threshold values,
Then judge using rotating speed to be controlled as target, that is, carry out high-point load control.Control model needed for determining in this case
It is high-point load control pattern.
If actual engine speed is less than or equal to slow-speed of revolution threshold values, judge to enter slow-speed of revolution pattern, it is determined that required
Control model is slow-speed of revolution control model, in the slow-speed of revolution control model, the control electric current of main pump 20 is set into maximum.
Required control model determined above is exported to controlled quentity controlled variable output module 12.
Shown autonomous selection and block is seamlessly transitted in Figure 5, such as the controlled quentity controlled variable output mould of the controller 10 shown in Fig. 3
Block 12 can be received from high-point load control module 13, offset setting module 15 (adjusting main pump predetermined current), control model
The control result and determination result of determining module 11 (system wink, stable state automatic decision) and moment of torsion match control module 14, generates
For smoothing the pump electric current output of control main pump 20.
Specifically, in presently filed embodiment, controlled quentity controlled variable output module 12 can perform following operation：
The determination result of control model determining module 11 (in wink lower state decision block) output is received, current control is judged
Whether the control model with determined by is consistent for pattern, and (high-point load control pattern under present control mode is calculated if consistent
Or moment of torsion match control pattern) the pump current value for arriving main pump 20 is exported, will high-point load control module 13 or moment of torsion matching
Control module 14 is generated or the controlled quentity controlled variable (current value) that exports is superimposed upon and adjusts the predetermined current that main pump predetermined current block is calculated
Value is then output to main pump 20.
If present control mode is inconsistent with the control model for determining, switching control pattern is needed, now calculate and work as
Output electricity of the output to output under output current value control model with determined by of main pump 20 to main pump 20 under front control model
Flow valuve.
According to the above-mentioned current value exported under control model with determined by present control mode, with current changing rate not
For the purpose of more than system requirements, the slip of electric current is controlled, makes output not be mutated to realize putting down to the electric current of main pump 20
Slip over and cross.
Specifically, above-mentioned formula (1) can be applied mechanically and determines the control that the hydraulic system is arrived in each controlling cycle output
Amount (that is, interim process control amount) processed：
In the application scenarios, y (i) can represent the current value in i-th controlling cycle output to main pump 20, and A can be with
Output under present control mode is represented to the current value of main pump 20, B can represent determined by under control model output to main pump
20 current value, tiThe length of i-th controlling cycle is represented, G represents system (system that engine 41 and hydraulic system are constituted)
The maximum current slip that can be born.
For example, it is assumed that the length of controlling cycle is 10ms, present control mode is moment of torsion match control and moment of torsion matching control
The controlled quentity controlled variable of molding block 14 is 500mA, and the control model for determining is high-point load control pattern, and high-point load control pattern
Controlled quentity controlled variable is 400mA, then output is 500-G*10 (mA) to the current value of main pump 20 in this controlling cycle, and wherein G is to be
The maximum current slip that system can bear, its unit can be mA/ms.Then the current value can be superimposed upon regulation main pump pre-
If together main pump 20 (that is, 500-G*10+ pre-set current values) is arrived in output after the pre-set current value that current block is calculated.
Using seamlessly transitting, the mutation that can avoid the controlled quentity controlled variable in switching control pattern brings system to shake, it is to avoid be
System shake causes control effect not good.
Fig. 6 can be the signal of second application scenarios using the controller 10 provided according to presently filed embodiment
Figure.Control strategy in the first application scenarios illustrated in the application scenarios illustrated in Fig. 6 and Fig. 4 and Fig. 5 is essentially identical, area
Zhi Shi not be that the application scenarios illustrated in Fig. 6 can be applicable to that by controlling hydraulic main valve 30 power of hydraulic system can be controlled
In the case of, the control object of controller 10 can be the amount of opening of hydraulic main valve 30 in the application scenarios, therefore controller
The controlled quentity controlled variable of 10 (controlled quentity controlled variable output modules 12) output is valve control electric current of the output to hydraulic main valve 30, and this also can be realized and Fig. 4
With the same or analogous control effect of the electric current of control main pump 20 shown in Fig. 5.
Fig. 7 can be the signal of the third application scenarios using the controller 10 provided according to presently filed embodiment
Figure.Control strategy in the first application scenarios illustrated in the application scenarios illustrated in Fig. 7 and Fig. 4 and Fig. 5 is essentially identical, area
Zhi Shi not be main pump 20 that the application scenarios illustrated in Fig. 7 can be applicable to hydraulic system be Power Control pump situation, pass through
Controlling the power of the Power Control pump can control the power of hydraulic system.The control object of controller 10 in the application scenarios
Can be the power control signal of main pump 20, therefore the controlled quentity controlled variable of controller 10 (controlled quentity controlled variable output module 12) output is that output is arrived
The power control signal of main pump 20, this also can be realized and controlling shown in the electric current of main pump 20 or Fig. 6 shown in Fig. 4 and Fig. 5
The same or analogous control effect of control valve control electric current.
Fig. 8 is the flow chart for controlling the method for hydraulic system provided according to presently filed embodiment.Such as Fig. 8 institutes
Show, according to presently filed embodiment, there is provided a kind of method for controlling hydraulic system, the method can include：
Obtain engine speed；
The control model for controlling the power of hydraulic system is determined according to engine speed, wherein control model includes
High-point load control pattern and moment of torsion match control pattern；
Judge whether present control mode control model with determined by is consistent；
If it is judged that present control mode control model with determined by is consistent, then present control mode is continuing with
The power of control hydraulic system；
If it is judged that present control mode control model with determined by is inconsistent, then it is smoothed from present control mode
Control model is crossed to determined by.
Wherein, in high-point load control pattern, according to the desired value life of engine speed and the engine speed of setting
Into the first controlled quentity controlled variable of the power for being used to control hydraulic system, and the first controlled quentity controlled variable is exported to hydraulic system to control hydraulic pressure system
The power of system；And
It is currently fast with the engine of setting according to engine present speed percentage load in moment of torsion match control pattern
The desired value of degree percentage load generates the second controlled quentity controlled variable for controlling the power of hydraulic system, and the second controlled quentity controlled variable is exported
To hydraulic system controlling the power of hydraulic system.
High-point load control pattern and moment of torsion match control pattern can adopt PID control.
In the optional embodiment of the application, the method can also include controlling the hydraulic system using deviant
Power.That is, the controlled quentity controlled variable addition deviant to output to the hydraulic system.The deviant can be for example above-mentioned
The pre-set current value of the regulation main pump 20 described with reference to Fig. 4 and Fig. 5, with reference to the default electricity of the regulation hydraulic main valve 30 of Fig. 6 descriptions
Flow valuve, or the power control signal values of the regulation main pump 20 with reference to Fig. 7 descriptions.
In presently filed embodiment, deviant can be main pump pressure, the hydraulic main valve according to the hydraulic system
The power output of pilot pressure, the Pressure-flow curves of main pump 20 and the engine 41 determining, the pressure of main pump 20
Power-flow curve can be known.
Fig. 9 is in the method for controlling hydraulic system according to presently filed embodiment offer illustrated in Fig. 8
Determine the flow chart of control model step.As shown in figure 9, above-mentioned determination control model can include：
Engine speed is compared with the first rotary speed threshold value (high rotary speed threshold value)；
If engine speed is more than the first rotary speed threshold value, it is determined that control model is moment of torsion match control pattern；
If engine speed is less than or equal to the first rotary speed threshold value, and engine speed is (low with the second rotary speed threshold value
Rotary speed threshold value) it is compared, wherein the first rotary speed threshold value is more than the second rotary speed threshold value；And
If the engine speed is more than second rotary speed threshold value, it is determined that the control model is limit load
Lotus control model.
During above-mentioned engine speed and the first rotary speed threshold value and the second rotary speed threshold value are compared, can also add
Enter the step of being compared with the desired value of the engine speed of setting.Specifically, if engine speed is less than or equal to
First rotary speed threshold value, engine speed is compared with the desired value of the engine speed of setting, wherein the engine for setting
The desired value of rotating speed is less than the first rotary speed threshold value and more than the second rotary speed threshold value；And
If engine speed is used in a upper controlling cycle more than the desired value of the engine speed of setting
Moment of torsion match control pattern, it is determined that control model is high-point load control pattern, and obtains needing to be controlled pattern switching
Result.
Determine that control model also includes：If engine speed is less than or equal to the second rotary speed threshold value, it is determined that control mould
Formula is slow-speed of revolution control model.
It is determined that control model be slow-speed of revolution control model in the case of, to hydraulic system Maximum Power Output controlling value
(for example, pump current value, valve control current value or pump power control signal value).
In the method, from present control mode be smoothly transitted into determined by control model can include：
Calculate the first controlled quentity controlled variable of the power for being used to control hydraulic system in present control mode；
Calculate in the control model determined by for controlling the second controlled quentity controlled variable of the power of hydraulic system；
Controlled quentity controlled variable (that is, interim process control in each controlling cycle output to hydraulic system is determined according to above-mentioned formula (1)
Amount)：
Wherein, y (i) represents the controlled quentity controlled variable in i-th controlling cycle output to hydraulic system, and A represents the first controlled quentity controlled variable, B
Represent the second controlled quentity controlled variable, tiRepresent the length of i-th controlling cycle, G represent system (engine and hydraulic system constitute be
System) the maximum output controlled quentity controlled variable slip that can bear.
Using seamlessly transitting, the mutation that can avoid the controlled quentity controlled variable in switching control pattern brings system to shake, it is to avoid be
System shake causes control effect not good.
Figure 10 is in the method for controlling hydraulic system according to presently filed embodiment offer illustrated in Fig. 8
The flow chart of the step of controlled quentity controlled variable is determined according to control model.As shown in Figure 10, it is determined that after control model, judging current control
Whether molding formula control model with determined by is consistent；If consistent, calculate under present control mode for controlling hydraulic pressure system
First controlled quentity controlled variable of the power of system；If present control mode control model with determined by is inconsistent, calculates and controlled currently
For controlling the first controlled quentity controlled variable of the power of hydraulic system in molding formula, calculate in the control model determined by for controlling liquid
Second controlled quentity controlled variable of the power of pressure system, according to formula (1) controlled quentity controlled variable in each controlling cycle output to hydraulic system is determined
(that is, interim process control amount).Explanation is needed exist for, above-mentioned deviant (pre-set current value as escribed above) is being applied
In the case of, if calculate in the first controlled quentity controlled variable A and the second controlled quentity controlled variable B in formula (1) not accounting for the deviant, calculating
Go out after after controlled quentity controlled variable the controlled quentity controlled variable is superimposed with deviant and export hydraulic system again.If calculating the first controlled quentity controlled variable A
With the deviant is already had accounted in the second controlled quentity controlled variable B, then calculate after controlled quentity controlled variable without being superimposed the deviant again.
In addition, in some embodiments of the application, engine 41 can have dynamic mode and PTO speed-regulating functions,
The desired value of the engine speed of setting can be set based on the PTO gears of engine 41；And the engine of setting is current
The desired value of speed-load percentage can be based on dynamic mode, the PTO gears of the engine 41 and the institute of engine 41
State the universal characteristic tables of data of engine 41 to set.
It will be understood by those skilled in the art that the side for providing with reference to the embodiment of Fig. 8 to Figure 10 descriptions in this application
The controller 10 that method can be provided by the embodiment described with reference to Fig. 3 is performed, and be can be applicable to reference to Fig. 4 to Fig. 7 descriptions
In three kinds of application scenarios.
In an embodiment of the application, a kind of machinery is additionally provided, the machinery can include embodiment of above
The controller for controlling hydraulic system of middle offer.
The such scheme that presently filed embodiment is provided can have following any one or more advantages：
1st, using rotating speed, moment of torsion composite control method, putting out under power limit load state (transient process) had both been solved
Fiery problem, realizes hydraulic system and power match of the engine under non-ultimate load state (steady-state process) again.
2nd, do not interfere engine PTO speed-regulating functions, throttle is not applied to go beyond one's commission control, it is to avoid Throttle Opening Control and PTO tune
The controlling dead error that the coupling of both speed is produced.
3rd, it is power match control (steady-state process) is complete at one with power limit load (transient process) control fusion
Control strategy in, simplify control program and improve control reliability.
In addition, the scheme that the application embodiment is provided has extensive adaptability, it is applicable to using electric control pump not
The machinery of same type, such as agricultural machinery, fire-fighting machinery, other special-purpose vehicles etc., as long as according to host parameter reasonable disposition control
Parameter processed, just can obtain suitable control performance.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, but, the present invention is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the present invention, various letters can be carried out to technical scheme
Monotropic type, these simple variants belong to protection scope of the present invention.
It is further to note that each particular technique feature described in above-mentioned specific embodiment, in not lance
In the case of shield, can be combined by any suitable means.In order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy is no longer separately illustrated.
Additionally, can also be combined between a variety of embodiments of the present invention, as long as it is without prejudice to this
The thought of invention, it should equally be considered as content disclosed in this invention.
Claims (18)
1. a kind of method for controlling hydraulic system, it is characterised in that the method includes：
Obtain engine speed；
The control model for controlling the power of the hydraulic system is determined according to the engine speed, wherein the control
Pattern includes high-point load control pattern and moment of torsion match control pattern；
Judge whether present control mode control model with determined by is consistent；
If it is judged that present control mode control model with determined by is consistent, then the current control mould is continuing with
Formula is controlling the power of the hydraulic system；And
If it is judged that present control mode control model with determined by is inconsistent, then it is flat from the present control mode
Slide control model determined by being transitioned into.
2. method according to claim 1, it is characterised in that in the high-point load control pattern, according to described
The desired value of motivation rotating speed and the engine speed of setting generates the first controlled quentity controlled variable for controlling the power of the hydraulic system,
And first controlled quentity controlled variable is exported to the hydraulic system to control the power of the hydraulic system；And
It is currently fast with the engine of setting according to engine present speed percentage load in the moment of torsion match control pattern
The desired value of degree percentage load generates the second controlled quentity controlled variable for controlling the power of the hydraulic system, and described second is controlled
Amount processed is exported to the hydraulic system to control the power of the hydraulic system.
3. method according to claim 2, it is characterised in that the method also includes the control to output to the hydraulic system
Amount processed adds deviant.
4. method according to claim 3, it is characterised in that the deviant is the main pump pressure according to the hydraulic system
The power output of power, hydraulic main valve pilot pressure, the Pressure-flow curves of main pump and the engine is determining.
5. method according to claim 1, it is characterised in that the determination control model includes：
The engine speed is compared with the first rotary speed threshold value；
If the engine speed is more than first rotary speed threshold value, it is determined that the control model is moment of torsion matching control
Molding formula；
If the engine speed is less than or equal to first rotary speed threshold value, by the engine speed and the second rotating speed
Threshold value is compared, wherein first rotary speed threshold value is more than second rotary speed threshold value；And
If the engine speed is more than second rotary speed threshold value, it is determined that the control model is the ultimate load control
Molding formula.
6. method according to claim 5, it is characterised in that the determination control model also includes：
If the engine speed is less than or equal to first rotary speed threshold value, by the engine speed and the setting
The desired value of engine speed is compared, wherein the desired value of the engine speed of the setting is less than the first rotating speed threshold
It is worth and more than second rotary speed threshold value；And
If the engine speed is more than the desired value of the engine speed of the setting, and used in a upper controlling cycle
Be the moment of torsion match control pattern, it is determined that the control model is the high-point load control pattern, and is needed
It is controlled the result of pattern switching.
7. method according to claim 5, it is characterised in that the control model also includes slow-speed of revolution control model, institute
Stating determination control model also includes：
If the engine speed is less than or equal to second rotary speed threshold value, it is determined that the control model is described low turn
Fast control model.
8. method according to claim 7, it is characterised in that it is determined that control model be the slow-speed of revolution control model
In the case of, export maximum controlled quentity controlled variable to the hydraulic system.
9. method according to claim 1, it is characterised in that it is described from the present control mode be smoothly transitted into really
Fixed control model includes：
Calculate the first controlled quentity controlled variable of the power for being used to control the hydraulic system in the present control mode；
Calculate in the control model determined by for controlling the second controlled quentity controlled variable of the power of the hydraulic system；
Controlled quentity controlled variable in each controlling cycle output to the hydraulic system is determined according to below equation：
Wherein, y (i) represents the controlled quentity controlled variable in i-th controlling cycle output to the hydraulic system, and A represents first control
Amount, B represents second controlled quentity controlled variable, tiThe length of i-th controlling cycle is represented, G represents engine and the hydraulic system energy
The maximum output controlled quentity controlled variable slip for bearing.
10. method according to claim 2, it is characterised in that engine has dynamic mode and PTO speed-regulating functions, institute
The desired value for stating the engine speed of setting is set based on the PTO gears of the engine；And the engine of the setting
The desired value of present speed percentage load is based on the dynamic mode of the engine, the PTO gears of the engine and institute
State the universal characteristic tables of data of engine to set.
11. a kind of controllers for controlling hydraulic system, it is characterised in that the controller includes：
Control model determining module, is configured to obtain engine speed and according to the engine speed determining for controlling
The control model of the power of the hydraulic system, wherein the control model includes high-point load control pattern and moment of torsion matching control
Molding formula；And
Controlled quentity controlled variable output module, is configured to：
Receive the control model that the control model determining module determines；
Judge whether present control mode control model with determined by is consistent；
If it is judged that present control mode control model with determined by is consistent, then the current control mould is continuing with
Formula is controlling the power of the hydraulic system；And
If it is judged that present control mode control model with determined by is inconsistent, then it is flat from the present control mode
Slide control model determined by being transitioned into.
12. controllers according to claim 11, it is characterised in that the controller also includes：
High-point load control module, is configured to obtain the engine speed and according to the engine speed and sending out for setting
The desired value of motivation rotating speed generates the first controlled quentity controlled variable for controlling the power of the hydraulic system；
Moment of torsion match control module, is configured to obtain engine present speed percentage load and current according to the engine
Speed-load percentage is generated for controlling the hydraulic pressure system with the desired value of the engine present speed percentage load of setting
Second controlled quentity controlled variable of the power of system；
The controlled quentity controlled variable output module is further configured to：
First controlled quentity controlled variable is exported in the high-point load control pattern to the hydraulic system to control the hydraulic pressure system
The power of system；
Second controlled quentity controlled variable is exported in the moment of torsion match control pattern to the hydraulic system to control the hydraulic pressure system
The power of system；And
According to first controlled quentity controlled variable and institute during control model determined by being smoothly transitted into from the present control mode
Stating the second controlled quentity controlled variable determines output to the controlled quentity controlled variable for controlling the power of the hydraulic system of the hydraulic system.
13. controllers according to claim 12, it is characterised in that the controller also includes offset setting module, quilt
It is configured to：
Obtain the main pump pressure of the hydraulic system and the power output of hydraulic main valve pilot pressure and the engine；And
Main pump pressure, the hydraulic main valve pilot pressure, the Pressure-flow curves of main pump and institute according to the hydraulic system
State the power output of engine to determine deviant；
The controlled quentity controlled variable output module is further configured in first controlled quentity controlled variable, second controlled quentity controlled variable and the controlled quentity controlled variable
It is to be output to one of the hydraulic system plus exporting the hydraulic system again after the deviant.
14. controllers according to claim 11, it is characterised in that the control model determining module is configured to：
The engine speed is compared with the first rotary speed threshold value；
If the engine speed is more than first rotary speed threshold value, it is determined that the control model is moment of torsion matching control
Molding formula；
If the engine speed is less than or equal to first rotary speed threshold value, by the engine speed and the second rotating speed
Threshold value is compared, wherein first rotary speed threshold value is more than second rotary speed threshold value；And
If the engine speed is more than second rotary speed threshold value, it is determined that the control model is the ultimate load control
Molding formula.
15. controllers according to claim 14, it is characterised in that the control model determining module is further configured to：
If the engine speed is less than or equal to first rotary speed threshold value, by the engine speed and the setting
The desired value of engine speed is compared, wherein the desired value of the engine speed of the setting is less than the first rotating speed threshold
It is worth and more than second rotary speed threshold value；And
If the engine speed is more than the desired value of the engine speed of the setting, and used in a upper controlling cycle
Be the moment of torsion match control pattern, it is determined that the control model is the high-point load control pattern, and is needed
It is controlled the result of pattern switching.
16. controllers according to claim 14, it is characterised in that the control model determining module is further configured to：
If the engine speed is less than or equal to second rotary speed threshold value, it is determined that the control model is the slow-speed of revolution control
Molding formula；And
The controlled quentity controlled variable output module is further configured to receive the slow-speed of revolution control model, maximum to hydraulic system output
Power control value.
17. controllers according to claim 12, it is characterised in that engine has dynamic mode and PTO speed-regulating functions,
The engine that the high-point load control module is further configured to the PTO gears based on the engine to set the setting turns
The desired value of speed；And the moment of torsion match control module be further configured to based on the engine dynamic mode, described
The PTO gears of motivation and the universal characteristic tables of data of the engine are loaded come the engine present speed for setting the setting
The desired value of percentage.
A kind of 18. machineries, it is characterised in that include according to any one in claim 11 to 17 for controlling hydraulic pressure
The controller of system.
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| CN110375916A (en) * | 2019-08-14 | 2019-10-25 | 广西玉柴机器股份有限公司 | The test method of digger operating device and engine load |
| CN113090248A (en) * | 2019-12-23 | 2021-07-09 | 中联重科股份有限公司 | Control method and device of rotary drilling rig and rotary drilling rig |
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| CN107083789A (en) * | 2017-06-19 | 2017-08-22 | 柳州柳工挖掘机有限公司 | Industrial wheeled equipment walking feed speed control system |
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| CN114182780A (en) * | 2021-12-17 | 2022-03-15 | 潍柴动力股份有限公司 | Excavator control method, device and system and storage medium |
| CN117027650A (en) * | 2023-10-09 | 2023-11-10 | 江苏谷登重型机械科技股份有限公司 | Small and medium-sized automatic drilling horizontal directional drilling machine |
| CN117027650B (en) * | 2023-10-09 | 2024-01-23 | 江苏谷登重型机械科技股份有限公司 | Small and medium-sized automatic drilling horizontal directional drilling machine |
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