CN106740855B - A kind of power distribution control method and device of mobile operation vehicle - Google Patents
A kind of power distribution control method and device of mobile operation vehicle Download PDFInfo
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- CN106740855B CN106740855B CN201611238410.5A CN201611238410A CN106740855B CN 106740855 B CN106740855 B CN 106740855B CN 201611238410 A CN201611238410 A CN 201611238410A CN 106740855 B CN106740855 B CN 106740855B
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- 230000008569 process Effects 0.000 description 6
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1886—Controlling power supply to auxiliary devices
- B60W30/1888—Control of power take off [PTO]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/44—Tracked vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0616—Position of fuel or air injector
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Control Of Transmission Device (AREA)
Abstract
The power distribution control method and device of mobile operation vehicle provided by the invention, there is a PID controller (anti-stall controller) respectively for running gear and equipment, realize anti-stall control when running gear or equipment work independently, and the power distribution when running gear and equipment work at the same time.It can guarantee to move at the same time when running gear and equipment, but when engine output is inadequate, so that the demand power of running gear and equipment all decreases but guarantees that two parts can also all work, rather than make wherein a side stop completely, avoid a side and stop completely but the generation of the load of another party greatly the case where leading to engine misses.
Description
Technical field
The present invention relates to the control fields of mobile operation vehicle, more specifically to a kind of function of mobile operation vehicle
Rate control method and device.
Background technique
Mobile operation vehicle includes excavator, loading machine etc..There are running gear and equipment are same for mobile operation vehicle
When the case where working, at this moment to guarantee that the output power of engine meets the demand power of equipment and running gear without putting out
Fire.Existing anti-stall control mode is to be greater than engine in the demand power summation for detecting running gear and equipment
Peak power output when, reduce the demand power of running gear and equipment a wherein side.But existing anti-extinguishing fire control
Mode processed is easy to appear, and the side for reducing demand power stops completely, and the load of another party greatly leads to engine misses
The case where.
Summary of the invention
In view of this, the present invention proposes the power distribution control method and device of a kind of mobile operation vehicle, row to be realized
When walking system and equipment work at the same time, purpose that engine does not stop working.
To achieve the goals above, it is proposed that scheme it is as follows:
A kind of power distribution control method of mobile operation vehicle, comprising:
Obtain the rotating speed of target and actual speed of the engine；
The rotating speed of target is subtracted into the actual speed, obtains the first difference；
Judge whether first difference is greater than and preset fast threshold value, if so, by first difference subtract it is described fall
Fast threshold value obtains the second difference；
Using second difference as the input parameter of the first PID controller, the power decreasing of running gear is calculated
Amount；
Using second difference as the input parameter of the second PID controller, the power decreasing of equipment is calculated
Amount；
According to the working condition of the running gear and the equipment, walk accordingly adjustment factor and work are obtained
Adjustment factor；
The power decreasing amount of the running gear is multiplied with the walking adjustment factor, obtains the running gear
Power decreasing amount after distribution；
The power decreasing amount of the equipment is multiplied with the work adjustment factor, obtains the equipment
Power decreasing amount after distribution.
Preferably, the working condition according to the running gear and the equipment obtains walking accordingly and adjust
Save coefficient and work adjustment factor, comprising:
If the running gear is in running order, and the equipment is in idle condition, then sets walking and adjust
Coefficient is 1, and sets the work adjustment factor as zero；
If the running gear is in idle condition, and the equipment is in running order, then sets walking and adjust
Coefficient is zero, and sets the work adjustment factor as 1；
If the running gear and the equipment are in working condition, it is calculated according to preset rules described
Walking adjustment factor and the work adjustment factor.
Preferably, if the running gear and the equipment are in working condition, according to preset rules
The walking adjustment factor and the work adjustment factor is calculated, specifically includes:
If the running gear and the equipment are in working condition, the demand function of the running gear is obtained
Rate；
Judge whether the demand power of the running gear is less than default first power threshold；
If so, setting walking adjustment factor as the first coefficient value；
If it is not, then judging whether the demand power of the running gear is greater than default second power threshold, second function
Rate threshold value is greater than first power threshold；
If so, setting walking adjustment factor as the second coefficient value, second coefficient value is greater than first coefficient value,
The value range of first coefficient value and second coefficient value is 0~1；
If it is not, then set walking adjustment factor as the product of the demand power of the running gear and proportionality coefficient, it is described
Proportionality coefficient is the ratio of first coefficient value and first power threshold；
Work adjustment factor is set as 1- walking adjustment factor.
Preferably, if the running gear and the equipment are in working condition, according to preset rules
The walking adjustment factor and the work adjustment factor is calculated, specifically includes:
If the running gear and the equipment are in working condition, the row comprising walking demand speed is obtained
Walk instruction；
Judge whether the walking demand speed is less than default First Speed threshold value；
If so, setting walking adjustment factor as the first coefficient value；
If it is not, then judging whether the walking demand speed is greater than default second speed threshold value, the second speed threshold value
Greater than the First Speed threshold value；
If so, setting walking adjustment factor as the second coefficient value, second coefficient value is greater than first coefficient value,
The value range of first coefficient value and second coefficient value is 0~1；
If it is not, then set walking adjustment factor as the product of the walking demand speed and proportionality coefficient, the ratio system
Number is the ratio of first coefficient value and the First Speed threshold value；
Work adjustment factor is set as 1- walking adjustment factor.
A kind of power distribution control device of mobile operation vehicle, comprising:
Revolving speed acquiring unit, for obtaining the rotating speed of target and actual speed of the engine；
First computing unit obtains the first difference for the rotating speed of target to be subtracted the actual speed；
Judging unit presets fast threshold value for judging whether first difference is greater than, and calculates if so, executing second
Unit；
Second computing unit, for by first difference subtract it is described fall fast threshold value, obtain the second difference；
First control unit, for row to be calculated using second difference as the input parameter of the first PID controller
The power decreasing amount of walking system；
Second control unit, for work to be calculated using second difference as the input parameter of the second PID controller
Make the power decreasing amount of device；
Adjustment factor unit obtains corresponding for the working condition according to the running gear and the equipment
Walking adjustment factor and work adjustment factor；
Walking power allocation unit, for by the power decreasing amount of the running gear and the walking adjustment factor
It is multiplied, the power decreasing amount after obtaining the running gear distribution；
Operating power allocation unit, for by the power decreasing amount of the equipment and the work adjustment factor
It is multiplied, the power decreasing amount after obtaining the equipment distribution.
Preferably, the adjustment factor unit, specifically includes:
First adjustment factor unit, if it is in running order for the running gear, and the equipment is in sky
Not busy state then sets walking adjustment factor as 1, and sets the work adjustment factor as zero；
Second adjustment factor unit, if being in idle condition for the running gear, and the equipment is in work
Make state, then sets walking adjustment factor as zero, and set the work adjustment factor as 1；
Third adjustment factor unit is pressed if being in working condition for the running gear and the equipment
The walking adjustment factor and the work adjustment factor is calculated according to preset rules.
Preferably, the third adjustment factor unit, comprising:
Power obtains subelement and obtains if being in working condition for the running gear and the equipment
The demand power of the running gear；
First judgment sub-unit, for judging whether the demand power of the running gear is less than default first power-threshold
Value, if so, the first setting subelement is executed, if it is not, then executing the second judgment sub-unit；
First setting subelement, for setting walking adjustment factor as the first coefficient value；
Second judgment sub-unit, for judging whether the demand power of the running gear is greater than default second power-threshold
Value, second power threshold are greater than first power threshold, if so, the second setting subelement is executed, if it is not, then executing
Third sets subelement；
Second setting subelement, for setting walking adjustment factor as the second coefficient value, second coefficient value is greater than institute
State the first coefficient value, the value range of first coefficient value and second coefficient value is 0~1；
Third set subelement, for set walk adjustment factor as the product of the demand power and proportionality coefficient, institute
State the ratio that proportionality coefficient is first coefficient value and first power threshold；
4th setting subelement, for setting work adjustment factor as 1- walking adjustment factor.
Preferably, the third adjustment factor unit, comprising:
Order obtains subelement and obtains if being in working condition for the running gear and the equipment
Travel commands comprising demand speed of walking；
Third judgment sub-unit, for judging whether the walking demand speed is less than default First Speed threshold value, if so,
The 5th setting subelement is then executed, if it is not, then executing the 4th judgment sub-unit；
5th setting subelement, for setting walking adjustment factor as the first coefficient value；
4th judgment sub-unit, it is described for judging whether the walking demand speed is greater than default second speed threshold value
Second speed threshold value is greater than the First Speed threshold value, if so, the 6th setting subelement of setting, if it is not, then setting the 7th is set
Stator unit；
6th setting subelement, for setting walking adjustment factor as the second coefficient value, second coefficient value is greater than institute
State the first coefficient value, the value range of first coefficient value and second coefficient value is 0~1；
7th setting subelement, for set adjustment factor multiplying as the walking demand speed and proportionality coefficient of walking
Product, the proportionality coefficient are the ratio of first coefficient value and the First Speed threshold value；
8th setting subelement, for setting work adjustment factor as 1- walking adjustment factor.
Compared with prior art, technical solution of the present invention has the advantage that
The power distribution control method and device for the mobile operation vehicle that above-mentioned technical proposal provides, for running gear and
Equipment has a PID controller (anti-stall controller) respectively, realizes when running gear or equipment work independently
Anti-stall control, and the power distribution when running gear and equipment work at the same time.Can guarantee when running gear and
Equipment simultaneously operation, but when engine output is inadequate, so that the demand power of running gear and equipment has
Reduce but guarantee that two parts can also all work, rather than make wherein a side stop completely, avoid a side stop completely but
The generation for the case where load of another party greatly leads to engine misses.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow chart of the power distribution control method of mobile operation vehicle provided in an embodiment of the present invention；
Fig. 2 is the flow chart of the method for a kind of walking adjustment factor provided in an embodiment of the present invention and the adjustment factor that works；
Fig. 3 is the process of the method for another walking adjustment factor provided in an embodiment of the present invention and the adjustment factor that works
Figure；
Fig. 4 is a kind of power distribution control device of mobile operation vehicle provided in an embodiment of the present invention；
Fig. 5 is a kind of schematic diagram of third adjustment factor unit provided in an embodiment of the present invention；
Fig. 6 is the schematic diagram of another third adjustment factor unit provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Hydraulic travel system: the hydrostatic drive system of closed circuit is made of hydraulic pump and hydraulic motor.Hydraulic pump is inhaled
The power of transmitting-receiving motivation converts it into hydraulic energy, and hydraulic energy transfer at kinetic energy and is passed through speed change gear band motor-car by hydraulic motor
Or crawler belt operating walking transmission system.
Hydraulic work device: including the hydraulic part that is made of work oil pump, hydraulic valve, oil cylinder and hydraulic motor etc. and by
The equipment of the compositions such as swing arm, scraper bowl, supporting leg.The power of engine is converted to linearly operating and the horse of oil cylinder by hydraulic part
The movement of oil cylinder or motor is converted to the movement needs of real work by the revolution movement reached, equipment.
Anti-stall control: when the bearing power of vehicle is more than the maximum power that engine can be provided, engine speed
It can continue to decline and finally stop working, this is unallowable in engineering machine in working process.Prevented by the adjusting to load
The only control function of engine misses claims anti-stall control.
Electronic control unit (ECU, Electronic Control Unit), for engine control, HYDRAULIC CONTROL SYSTEM, whole
The electronic controller of vehicle control etc., also abbreviation controller.
Engine speed setting value: the rotating speed of target of engine, engine in the process of running can be according to the variations of load
Distributive value is adjusted, maintains actual speed on target set point as far as possible.
CAN:Controller Area Network, each electronic controller carry out the side of serial data communication by bus
Formula.
PID controller: (Proportion Integration Differentiation, proportional integral differential control
Device), it is made of proportional unit P, integral unit I and differentiation element D.It is set by tri- parameters of Kp, Ki and Kd.PID control
Device is to carry out bias adjustment to entire control system according to PID control principle, to make the actual value and setting value of controlled variable
Unanimously.
The present invention is to carry out power distribution for the mobile operation vehicle of application hydraulic travel system and hydraulic work device
The explanation of control.The walking pressure of system pressure of the mobile operation vehicle including electronic control unit, for measuring hydraulic travel system
Sensor, for measure the variable in hydraulic travel system walking hydraulic pump discharge capacity walking angle sensor, for setting
The grip of engine target rotating speed, the speed probe for measuring actual engine speed, for obtaining travel commands
Handle or pedal, the handle for obtaining work order.Wherein, electronic control unit can also carry out CAN with engine controller
Communication for sending the rotating speed of target of engine to engine controller, and receives the relevant information from engine controller,
Such as the actual speed of engine.
Referring to described in Fig. 1, for a kind of power distribution control method of mobile operation vehicle provided in an embodiment of the present invention
Flow chart, this method comprises:
Step S11: the rotating speed of target and actual speed of the engine are obtained；
The actual speed of engine is directly obtained by speed probe or engine is obtained by engine controller
Actual speed.Pass through the rotating speed of target for the signal acquisition engine that grip generates.
Step S12: the rotating speed of target is subtracted into the actual speed, obtains the first difference；
Step S13: judging whether first difference is greater than and preset fast threshold value, if so, S14 is thened follow the steps, if it is not,
Then follow the steps S11；
Step S14: by first difference subtract it is described fall fast threshold value, obtain the second difference；
Step S15: using second difference as the input parameter of the first PID controller, running gear is calculated
Power decreasing amount；
Step S16: using second difference as the input parameter of the second PID controller, equipment is calculated
Power decreasing amount；
An anti-stall controller (i.e. PID controller) is respectively set for equipment and running gear.It will calculate
Running gear is calculated respectively as the input parameter of the first PID controller and the second PID controller in the second difference arrived
The power decreasing amount of power decreasing amount and equipment reduces bearing power, so that engine is no longer by closed-loop control
The case where fall'sing speed, avoiding engine misses generation.
For different engine and type of vehicle, the parameter of the first PID controller and the second PID controller (Kp, Ki and
It Kd) may be different.After the engine and type of vehicle of application determine, by experimental method, the first PID controller and the are obtained
The optimal parameter of two PID controllers.And then anti-stall control may be implemented.
Step S17: according to the working condition of the running gear and the equipment, obtaining walking accordingly adjusts system
Number and work adjustment factor；
May determine that whether running gear is in running order by travel commands, work may determine that by work order
Whether device is in running order.Equipment whether working condition judgement, can also pass through detection equipment liquid
Pressure in pressure system judges, because the pressure of the hydraulic system of equipment only maintains one when equipment attonity
A very low value, is acted once equipment is in running order, and the pressure of hydraulic system will rise, therefore work as hydraulic pressure system
When the pressure of system is greater than a certain setting pressure threshold, that is, think that equipment is in running order.
Specifically, if the running gear is in running order, and the equipment is in idle condition, then sets row
Walking adjustment factor is 1, and sets the work adjustment factor as zero；If the running gear is in idle condition, and the work
It is in running order to make device, then sets walking adjustment factor as zero, and set the work adjustment factor as 1；If the row
Walking system and the equipment are in working condition, then the walking adjustment factor and institute are calculated according to preset rules
Work adjustment factor is stated, the walking adjustment factor and the work adjustment factor add up to 1.
Step S18: the power decreasing amount of the running gear is multiplied with the walking adjustment factor, is obtained described
Power decreasing amount after running gear distribution；
Step S19: the power decreasing amount of the equipment is multiplied with the work adjustment factor, is obtained described
Power decreasing amount after equipment distribution.
Power decreasing amount specifically can be set to percentage parameter.The corresponding tune of power decreasing amount corresponding in this way
Save after multiplication or a percentages, by 100% subtract after the percentages again with original travel commands packet
The walking demand speed contained is multiplied to obtain final walking demand speed, the final walking demand speed of control mobile operation vehicle
It is mobile.For example, the walking demand speed that original travel commands include is 8km/h, the power decreasing after the distribution being calculated
Amount be 25%, obtain so final walking demand speed be 6km/h, such mobile operation vehicle will be according to the speed of 6km/h
Degree traveling.
Why engine is turned round speed during operation, serious to cause to stop working, and is because the demand power of load is super
Crossed the maximum power under the current goal revolving speed that engine can be provided, for example, equipment dig suddenly arrived boulder or
Person's wheel has run into barrier etc..Once the demand power of load is down to the maximum work that can be provided equal to or less than engine
Rate, engine speed will keep the case where even rising, no longer fall speed, avoid engine misses generation.
The power distribution control method of above-mentioned mobile operation vehicle provided in this embodiment is filled for running gear and work
Setting respectively has a PID controller, realizes anti-stall control when running gear or equipment work independently, and in Running System
Power distribution when system and equipment work at the same time.It can guarantee to move at the same time when running gear and equipment, but send out
When motivation output power is inadequate, so that the demand power of running gear and equipment all decreases but guarantees two parts all also
Can work, rather than make wherein a side stop completely, avoid that a side stops completely but the load of another party greatly causes to send out
The generation of the flame-out situation of motivation.
If the running gear and the equipment are in working condition, are walked and adjusted according to vehicle state computation
Coefficient and the work adjustment factor are saved, carries out the distribution of different capacity according to different requirements,.
It is shown in Figure 2, for a kind of method of walking adjustment factor and the adjustment factor that works provided in an embodiment of the present invention
Flow chart, this method comprises:
Step S21: if the running gear and the equipment are in working condition, the running gear is obtained
Demand power；
The demand power of hydraulic travel system can be calculated by the following formula and obtain:
In formula, p1For the system pressure (MPa) that walking pressure sensor measures, q1The row measured for walking angle sensor
It measures (ml/r), n1For the revolving speed (rpm) of the variable walking hydraulic pump in hydraulic travel system.Row of variables in hydraulic travel system
It is identical as the actual speed of engine or have fixed transmission ratio to walk hydraulic pump, therefore, according to the actual speed of engine
The revolving speed of variable walking hydraulic pump in hydraulic travel system is calculated.
Step S22: judging whether the demand power of the running gear is less than default first power threshold, if so, holding
Row step S23, if it is not, thening follow the steps S24.
First power threshold can be a preset fixed value；It is also possible to be calculated by presetting relational expression
It arrives, for example, setting the first power threshold as the 40% of the peak power output of engine, in the maximum work output for obtaining engine
After rate, the first power threshold can be calculated, and then execute step S22.
Step S23: walking adjustment factor is set as the first coefficient value.
First coefficient value is fixed value of the preset value between 0~1.For example, can be 0.4.
Step S24: judge whether the demand power of the running gear is greater than default second power threshold, second function
Rate threshold value is greater than first power threshold, if so, S25 is thened follow the steps, if it is not, then executing S26.
Second power threshold can be a preset fixed value；It is also possible to be calculated by presetting relational expression
It arrives, for example, setting the second power threshold as the 70% of the peak power output of engine, in the maximum work output for obtaining engine
After rate, the second power threshold can be calculated.
Step S25: walking adjustment factor is set as the second coefficient value, second coefficient value is greater than first coefficient
The value range of value, first coefficient value and second coefficient value is 0~1.
Second coefficient value is fixed value of the preset value between 0~1.For example, can be 0.7.First
The setting of coefficient value and the second coefficient value can be set according to the degree of priority of walking and work, for example, running gear
Need of work preferentially guarantees that then the setting of the first coefficient value and the second coefficient value can be appropriate less than normal, and then running gear
Power decreasing amount it is less than normal, therefore, running gear can obtain more engine powers；Similarly, if the work of equipment
To make to need preferential guarantee, then the setting of the first coefficient value and the second coefficient value can be appropriate bigger than normal, and then running gear
Power decreasing amount is bigger than normal, and therefore, equipment can obtain more engine powers.
Step S26: set walking adjustment factor as the product of the demand power of the running gear and proportionality coefficient, it is described
Proportionality coefficient is the ratio of first coefficient value and first power threshold.
I.e. when the demand power of running gear is in the range of the first power threshold and the second power threshold, walking is adjusted
There are proportional relationships between coefficient and the demand power of running gear.The demand power of running gear is multiplied with proportionality coefficient
The value of walking adjustment factor can be obtained.
Step S27: work adjustment factor is set as 1- walking adjustment factor.
Power distribution principle is that the sum of walking adjustment factor and work adjustment factor are 1, therefore, is adjusted walking is calculated
After saving coefficient, the value of work adjustment factor can be obtained by subtracting walking adjustment factor for 1.
It is shown in Figure 3, for the side of another walking adjustment factor and the adjustment factor that works provided in an embodiment of the present invention
The flow chart of method, wherein step S33, S35, S37 are identical as step S23, S25, S27 respectively, this method comprises:
Step S31: if the running gear and the equipment are in working condition, obtaining includes walking demand
The travel commands of speed.
The demand power of running gear is replaced to carry out the meter of walking adjustment factor and the adjustment factor that works according to travel commands
It calculates.
Step S32: judging whether the walking demand speed is less than default First Speed threshold value, if so, thening follow the steps
S33, if it is not, thening follow the steps S34.
First Speed threshold value can be a preset fixed value；It is also possible to be calculated by presetting relational expression
It arrives, for example, setting the 40% of the max speed that First Speed threshold value can be provided as the current goal revolving speed of engine, is sent out obtaining
After the current goal revolving speed of motivation, First Speed threshold value can be calculated, and then execute step S32.
Step S33: walking adjustment factor is set as the first coefficient value.
Step S34: judge whether the walking demand speed is greater than default second speed threshold value, the second speed threshold value
Greater than the First Speed threshold value, if so, S35 is thened follow the steps, if it is not, thening follow the steps S35.
Second speed threshold value can be a preset fixed value；It is also possible to be calculated by presetting relational expression
It arrives, for example, setting the 70% of the max speed that second speed threshold value can be provided as the current goal revolving speed of engine, is sent out obtaining
After the current goal revolving speed of motivation, second speed threshold value can be calculated.
Step S35: walking adjustment factor is set as the second coefficient value, second coefficient value is greater than first coefficient
The value range of value, first coefficient value and second coefficient value is 0~1.
Step S36: set walking adjustment factor as the product of the walking demand speed and proportionality coefficient, the ratio system
Number is the ratio of first coefficient value and the First Speed threshold value.
I.e. when the walking demand speed that travel commands include is in the range of First Speed threshold value and second speed threshold value,
There are proportional relationships between the walking demand speed that walking adjustment factor and travel commands include.The row for including by travel commands
Walk demand speed be multiplied with proportionality coefficient can be obtained walking adjustment factor value.
Step S37: work adjustment factor is set as 1- walking adjustment factor.
For the various method embodiments described above, for simple description, therefore, it is stated as a series of action combinations, but
Be those skilled in the art should understand that, the present invention is not limited by the sequence of acts described because according to the present invention, certain
A little steps can be performed in other orders or simultaneously.
Following is apparatus of the present invention embodiment, can be used for executing embodiment of the present invention method.For apparatus of the present invention reality
Undisclosed details in example is applied, embodiment of the present invention method is please referred to.
It is shown in Figure 4, a kind of power distribution control device of mobile operation vehicle, the dress are provided for the embodiment of the present invention
It is set to a part of electronic control unit, which includes:
Revolving speed acquiring unit 11, for obtaining the rotating speed of target and actual speed of the engine；
First computing unit 12 obtains the first difference for the rotating speed of target to be subtracted the actual speed；
Judging unit 13 presets fast threshold value for judging whether first difference is greater than, if so, executing the second meter
Calculate unit 14；
Second computing unit 14, for by first difference subtract it is described fall fast threshold value, obtain the second difference；
First control unit 15, for being calculated using second difference as the input parameter of the first PID controller
The power decreasing amount of running gear；
Second control unit 16, for being calculated using second difference as the input parameter of the second PID controller
The power decreasing amount of equipment；
Adjustment factor unit 17 obtains corresponding for the working condition according to the running gear and the equipment
Walking adjustment factor and work adjustment factor；
Walking power allocation unit 18, for the power decreasing amount of the running gear and the walking to be adjusted system
Number is multiplied, the power decreasing amount after obtaining the running gear distribution；
Operating power allocation unit 19, for the power decreasing amount of the equipment and the work to be adjusted system
Number is multiplied, the power decreasing amount after obtaining the equipment distribution.
The power distribution control device of mobile operation vehicle provided in this embodiment, for running gear and equipment point
Do not have a PID controller (anti-stall controller), realize anti-stall control when running gear or equipment work independently,
And the power distribution when running gear and equipment work at the same time.It can guarantee to work as running gear and equipment simultaneously
Movement, but when engine output is inadequate, so that the demand power of running gear and equipment all decreases but guarantees
Two parts can also all work, rather than make wherein a side stop completely, avoid a side and stop completely but the load of another party
The generation for the case where greatly leading to engine misses.
The adjustment factor unit 17, specifically includes:
First adjustment factor unit, if it is in running order for the running gear, and the equipment is in sky
Not busy state then sets walking adjustment factor as 1, and sets the work adjustment factor as zero；
Second adjustment factor unit, if being in idle condition for the running gear, and the equipment is in work
Make state, then sets walking adjustment factor as zero, and set the work adjustment factor as 1；
Third adjustment factor unit is pressed if being in working condition for the running gear and the equipment
The walking adjustment factor and the work adjustment factor is calculated according to preset rules.
Shown in Figure 5, third adjustment factor unit may include:
Power obtains subelement 21 and obtains if being in working condition for the running gear and the equipment
Take the demand power of the running gear；
First judgment sub-unit 22, for judging whether the demand power of the running gear is less than default first power-threshold
Value, if so, the first setting subelement 23 is executed, if it is not, then executing the second judgment sub-unit 24；
First setting subelement 23, for setting walking adjustment factor as the first coefficient value；
Second judgment sub-unit 24, for judging whether the demand power of the running gear is greater than default second power-threshold
Value, second power threshold are greater than first power threshold, if so, the second setting subelement 25 is executed, if it is not, then holding
Row third sets subelement 26；
Second setting subelement 25, for setting walking adjustment factor as the second coefficient value, second coefficient value is greater than
The value range of first coefficient value, first coefficient value and second coefficient value is 0~1；
Third set subelement 26, for set walk adjustment factor as the product of the demand power and proportionality coefficient,
The proportionality coefficient is the ratio of first coefficient value and first power threshold；
4th setting subelement 27, for setting work adjustment factor as 1- walking adjustment factor.
Shown in Figure 6, third adjustment factor unit may include:
Order obtains subelement 31 and obtains if being in working condition for the running gear and the equipment
Take the travel commands comprising walking demand speed；
Third judgment sub-unit 32, for judging whether the walking demand speed is less than default First Speed threshold value, if
It is then to execute the 5th setting subelement 33, if it is not, then executing the 4th judgment sub-unit 34；
5th setting subelement 33, for setting walking adjustment factor as the first coefficient value；
4th judgment sub-unit 34, for judging whether the walking demand speed is greater than default second speed threshold value, institute
Second speed threshold value is stated greater than the First Speed threshold value, if so, the 6th setting subelement 35 of setting, if it is not, then setting the
Seven setting subelements 36；
6th setting subelement 35, for setting walking adjustment factor as the second coefficient value, second coefficient value is greater than
The value range of first coefficient value, first coefficient value and second coefficient value is 0~1；
7th setting subelement 36, for set adjustment factor multiplying as the walking demand speed and proportionality coefficient of walking
Product, the proportionality coefficient are the ratio of first coefficient value and the First Speed threshold value；
8th setting subelement 37, for setting work adjustment factor as 1- walking adjustment factor.
For device embodiment, since it essentially corresponds to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not
In the case where making the creative labor, it can understand and implement.
Herein, relational terms such as first and second and the like be used merely to by an entity or operation with it is another
One entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this reality
Relationship or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
To the above description of disclosed embodiment of this invention, it can be realized professional and technical personnel in the field or use this
Invention.Various modifications to these embodiments will be readily apparent to those skilled in the art, institute herein
The General Principle of definition can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore,
The present invention will not be limited to the embodiments shown herein, and is to fit to special with principles disclosed herein and novelty
The consistent widest scope of point.
Claims (4)
1. a kind of power distribution control method of mobile operation vehicle characterized by comprising
Obtain the rotating speed of target and actual speed of engine；
The rotating speed of target is subtracted into the actual speed, obtains the first difference；
Judge whether first difference is greater than and preset fast threshold value, if so, by first difference subtract it is described fall fast threshold
Value, obtains the second difference；
Using second difference as the input parameter of the first PID controller, the power decreasing amount of running gear is calculated；
Using second difference as the input parameter of the second PID controller, the power decreasing amount of equipment is calculated；
According to the working condition of the running gear and the equipment, walk accordingly adjustment factor and work adjusting are obtained
Coefficient；
The power decreasing amount of the running gear is multiplied with the walking adjustment factor, obtains the running gear distribution
Power decreasing amount afterwards；
The power decreasing amount of the equipment is multiplied with the work adjustment factor, obtains the equipment distribution
Power decreasing amount afterwards；
The working condition according to the running gear and the equipment obtains walk accordingly adjustment factor and work
Adjustment factor, comprising:
If the running gear is in running order, and the equipment is in idle condition, then sets walking adjustment factor
It is 1, and sets the work adjustment factor as zero；
If the running gear is in idle condition, and the equipment is in running order, then sets walking adjustment factor
It is zero, and sets the work adjustment factor as 1；
If the running gear and the equipment are in working condition, the walking is calculated according to preset rules
Adjustment factor and the work adjustment factor；
If the running gear and the equipment are in working condition, it is calculated according to preset rules described
Walking adjustment factor and the work adjustment factor, specifically include:
If the running gear and the equipment are in working condition, the demand power of the running gear is obtained；
Judge whether the demand power of the running gear is less than default first power threshold；
If so, setting walking adjustment factor as the first coefficient value；
If it is not, then judging whether the demand power of the running gear is greater than default second power threshold, second power-threshold
Value is greater than first power threshold；
If so, setting walking adjustment factor as the second coefficient value, second coefficient value is greater than first coefficient value, described
The value range of first coefficient value and second coefficient value is 0~1；
If it is not, then set walking adjustment factor as the product of the demand power of the running gear and proportionality coefficient, the ratio
Coefficient is the ratio of first coefficient value and first power threshold；
Work adjustment factor is set as 1- walking adjustment factor.
2. if the method according to claim 1, wherein the running gear and the equipment are located
In working condition, then the walking adjustment factor and the work adjustment factor is calculated according to preset rules, specifically includes:
If the running gear and the equipment are in working condition, obtain the walking comprising walking demand speed and refer to
It enables；
Judge whether the walking demand speed is less than default First Speed threshold value；
If so, setting walking adjustment factor as the first coefficient value；
If it is not, then judging whether the walking demand speed is greater than default second speed threshold value, the second speed threshold value is greater than
The First Speed threshold value；
If so, setting walking adjustment factor as the second coefficient value, second coefficient value is greater than first coefficient value, described
The value range of first coefficient value and second coefficient value is 0~1；
If it is not, then setting walking adjustment factor as the product of the walking demand speed and proportionality coefficient, the proportionality coefficient is
The ratio of first coefficient value and the First Speed threshold value；
Work adjustment factor is set as 1- walking adjustment factor.
3. a kind of power distribution control device of mobile operation vehicle characterized by comprising
Revolving speed acquiring unit, for obtaining the rotating speed of target and actual speed of engine；
First computing unit obtains the first difference for the rotating speed of target to be subtracted the actual speed；
Judging unit presets fast threshold value for judging whether first difference is greater than, if so, executing second calculates list
Member；
Second computing unit, for by first difference subtract it is described fall fast threshold value, obtain the second difference；
First control unit, for Running System to be calculated using second difference as the input parameter of the first PID controller
The power decreasing amount of system；
Second control unit, for work dress to be calculated using second difference as the input parameter of the second PID controller
The power decreasing amount set；
Adjustment factor unit is walked accordingly for the working condition according to the running gear and the equipment
Adjustment factor and work adjustment factor；
Walking power allocation unit, for by the power decreasing amount of the running gear and the walking adjustment factor phase
Multiply, the power decreasing amount after obtaining the running gear distribution；
Operating power allocation unit, for by the power decreasing amount of the equipment and the work adjustment factor phase
Multiply, the power decreasing amount after obtaining the equipment distribution；
The adjustment factor unit, specifically includes:
First adjustment factor unit, if it is in running order for the running gear, and the equipment is in idle shape
State then sets walking adjustment factor as 1, and sets the work adjustment factor as zero；
Second adjustment factor unit, if being in idle condition for the running gear, and the equipment is in work shape
State then sets walking adjustment factor as zero, and sets the work adjustment factor as 1；
Third adjustment factor unit, if working condition is in for the running gear and the equipment, according to pre-
If the walking adjustment factor and the work adjustment factor is calculated in rule；
The third adjustment factor unit, comprising:
Power obtains subelement, if being in working condition for the running gear and the equipment, obtain described in
The demand power of running gear；
First judgment sub-unit, for judging whether the demand power of the running gear is less than default first power threshold, if
It is then to execute the first setting subelement, if it is not, then executing the second judgment sub-unit；
First setting subelement, for setting walking adjustment factor as the first coefficient value；
Second judgment sub-unit, for judging whether the demand power of the running gear is greater than default second power threshold, institute
The second power threshold is stated greater than first power threshold, if so, the second setting subelement is executed, if it is not, then executing third
Set subelement；
Second setting subelement, for set walking adjustment factor as the second coefficient value, second coefficient value is greater than described the
The value range of one coefficient value, first coefficient value and second coefficient value is 0~1；
Third set subelement, for set walk adjustment factor as the product of the demand power and proportionality coefficient, the ratio
Example coefficient is the ratio of first coefficient value and first power threshold；
4th setting subelement, for setting work adjustment factor as 1- walking adjustment factor.
4. device according to claim 3, which is characterized in that the third adjustment factor unit, comprising:
Order obtains subelement, if being in working condition for the running gear and the equipment, acquisition includes
The travel commands of walking demand speed；
Third judgment sub-unit, for judging whether the walking demand speed is less than default First Speed threshold value, if so, holding
Row the 5th sets subelement, if it is not, then executing the 4th judgment sub-unit；
5th setting subelement, for setting walking adjustment factor as the first coefficient value；
4th judgment sub-unit, for judging whether the walking demand speed is greater than default second speed threshold value, described second
Threshold speed is greater than the First Speed threshold value, if so, the 6th setting subelement of setting, if it is not, then the 7th setting of setting
Unit；
6th setting subelement, for set walking adjustment factor as the second coefficient value, second coefficient value is greater than described the
The value range of one coefficient value, first coefficient value and second coefficient value is 0~1；
7th setting subelement, for setting walking adjustment factor as the product of the walking demand speed and proportionality coefficient, institute
State the ratio that proportionality coefficient is first coefficient value and the First Speed threshold value；
8th setting subelement, for setting work adjustment factor as 1- walking adjustment factor.
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| CN109578570B (en) * | 2018-12-17 | 2020-05-19 | 安徽江淮汽车集团股份有限公司 | Flameout prevention control method for transmission |
| CN113002325B (en) * | 2021-02-23 | 2022-08-23 | 潍柴动力股份有限公司 | Control method and device for double-side motor-driven vehicle |
| CN113898489A (en) * | 2021-10-27 | 2022-01-07 | 北谷电子有限公司 | Handle proportion and power matching composite control based method and platform |
| CN114718143B (en) * | 2022-04-14 | 2023-05-23 | 山东临工工程机械有限公司 | Load power control method of hydrostatic loader and hydrostatic loader |
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| CN200961233Y (en) * | 2006-10-23 | 2007-10-17 | 长安大学 | Self-adaptive control device for engineered machine power |
| EP2857603A1 (en) * | 2013-10-03 | 2015-04-08 | Hitachi Construction Machinery Co., Ltd. | Work vehicle |
| CN105307888A (en) * | 2014-01-15 | 2016-02-03 | 株式会社小松制作所 | Work vehicle, and work vehicle control method |
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|---|---|---|---|---|
| CN200961233Y (en) * | 2006-10-23 | 2007-10-17 | 长安大学 | Self-adaptive control device for engineered machine power |
| EP2857603A1 (en) * | 2013-10-03 | 2015-04-08 | Hitachi Construction Machinery Co., Ltd. | Work vehicle |
| CN105307888A (en) * | 2014-01-15 | 2016-02-03 | 株式会社小松制作所 | Work vehicle, and work vehicle control method |
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