CN107083789A - Industrial wheeled equipment walking feed speed control system - Google Patents
Industrial wheeled equipment walking feed speed control system Download PDFInfo
- Publication number
- CN107083789A CN107083789A CN201710465461.XA CN201710465461A CN107083789A CN 107083789 A CN107083789 A CN 107083789A CN 201710465461 A CN201710465461 A CN 201710465461A CN 107083789 A CN107083789 A CN 107083789A
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- electric current
- controller
- control
- control electric
- adjusting device
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The present invention relates to industrial wheeled equipment walking feed speed control system, to solve the problem of rate of change of controller output control electric current in existing industrial wheeled equipment walking feed speed control system can not be adjusted；A kind of formula engineering machinery walking feed speed control system is provided, including controller, engine, the electric control acceleration pedal for controlling engine throttle, hydraulic pump driven by the engine, the main control valve being connected between hydraulic pump and running motor, the response speed gear adjusting device for being connected and being selected with multiple gears with controller, controller makes the desired value of controller output control electric current with the electric signal of the electric control acceleration pedal output received, is provided with controller and respectively keeps off corresponding control electric current rate of change with response speed gear adjusting device；Control electric current is adjusted to desired value by controller according to control electric current rate of change determined by response speed gear adjusting device from currency.The acceleration and deceleration response time of the present invention is adjustable, meets different drive demands.
Description
Technical field
The present invention relates to a kind of industrial wheeled equipment, more specifically to a kind of walking acceleration and deceleration of industrial wheeled equipment
Control system.
Background technology
The industrial wheeled equipment of walking, such as wheel excavator, the walking of loading machine are driven using hydraulic motor at present
Control is general to control walking by gas pedal, and gas pedal is divided into two kinds of mechanical gas pedal and electric control acceleration pedal.Machine
Tool gas pedal controls engine speed and running gear to realize machine walking function by mechanical structure；Electric control acceleration pedal will
Pedal position is converted to electric signal access controller, and controls engine speed and running gear to realize machine by controller
The walking function of device.In electricity-controlling throttle control machine walking process, controller determines to control according to the stroke of electricity-controlling throttle stroke
The desired value of device output control electric current processed, the control electric current of controller output is adjusted to desired value from currency, is according to fixation
Rate of change change output control electric current to adjust.The rate of change of control electric current is uncontrollable, and changeless control
Current changing rate is for different manipulators, and some feel its low-response, and some manipulators feel fast again, therefore this is fixed
The rate of change of control electric current can not meet the demand of different clients.
The content of the invention
The technical problem to be solved in the present invention is for being controlled in existing industrial wheeled equipment walking feed speed control system
The problem of rate of change of device output control electric current can not be adjusted, and a kind of controller output control electric current is provided regulation may be selected
Industrial wheeled equipment walking feed speed control system.
The present invention is such for the technical scheme for realizing its purpose：A kind of industrial wheeled equipment walking acceleration and deceleration is provided
System processed, including controller, engine, the electric control acceleration pedal for controlling engine throttle, hydraulic pump driven by the engine, company
It is connected on the main control valve between hydraulic pump and running motor；Characterized by further comprising be connected and selected with multiple gears with controller
The response speed gear adjusting device selected, the controller determines institute according to the electric signal of the electric control acceleration pedal output received
The desired value of controller output control electric current is stated, is provided with the controller each with the response speed gear adjusting device
Keep off corresponding control electric current rate of change；The controller changes according to control electric current determined by response speed gear adjusting device
Control electric current is adjusted to desired value by rate from currency.
In above-mentioned industrial wheeled equipment walking feed speed control system, the main control valve is magnetic valve, the controller
Electromagnetic control coil of the current output terminal directly with the main control valve is connected.Or also include walking proportion magnetic valve, the master
Control valve is guide's pilot operated valve device, and the electromagnetic control coil of the current output terminal of the controller and the walking proportion magnetic valve connects
Connect, the walking proportion magnetic valve is connected in the guide's oil circuit of the main control valve.
In above-mentioned industrial wheeled equipment walking feed speed control system, the response speed gear adjusting device includes accelerating
Gear module, when the controller export control electric current be less than driving critical value when and control electric current desired value be more than control
During the currency of electric current, the control electric current of the controller output is according to default fixed control electric current rate of change output control electricity
Stream；When the control electric current that the controller is exported is more than driving critical value and the desired value of control electric current is more than control electric current
During currency, the controller adjusts the control of output according to control electric current rate of change determined by response speed gear adjusting device
Electric current processed.
In above-mentioned industrial wheeled equipment walking feed speed control system, the response speed gear adjusting device also includes subtracting
Speed gear position module, when the desired value of the controller output control electric current is less than the currency of control electric current, the controller
According to the control electricity of control electric current rate of change adjustment output determined by deceleration gear module in response speed gear adjusting device
Stream.
In above-mentioned industrial wheeled equipment walking feed speed control system, the response speed gear adjusting device is engineering machine
Monitoring display device on tool, or other data signals or input device of analog signal.
The present invention compared with prior art, with advantages below：Enter on the basis of original electricity-controlling throttle steps on walking scheme
Row is improved, and structure need not be changed, and does not increase cost, and user can select different plus-minuss by response speed gear adjusting device
Fast performance options make machine obtain different acceleration and deceleration performances, simple to operate, compared to the machine of fixed acceleration and deceleration performance, adapt to
More operating modes, can meet client's demand different to machine acceleration and deceleration performance.
Brief description of the drawings
Fig. 1 is the control block diagram of industrial wheeled equipment walking feed speed control system of the present invention.
Fig. 2 is in response to the deceleration gear module Operation interface diagram of speed threshold adjusting means.
Fig. 3 is in response to the acceleration gear module Operation interface diagram of speed threshold adjusting means.
Fig. 4 is the change curve of controller output control electric current when wheel machine accelerates.
Fig. 5 is the change curve of controller output control electric current when wheel machine slows down.
Parts title and sequence number in figure：
Electric control acceleration pedal 1, monitoring display device 2, controller 3, engine 4, hydraulic pump 5, walking proportion magnetic valve 6, master
Control valve 7, running motor 8.
Embodiment
Illustrate specific embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, the industrial wheeled equipment such as wheel excavator in the present embodiment, it is driven by walk motor with hydraulic pressure,
Industrial wheeled equipment walking feed speed control system includes controller 3, engine 4, controls the electricity-controlling throttle of engine throttle to step on
Plate 1, the hydraulic pump 5 driven by engine 4, the main control valve 7 being connected between hydraulic pump 5 and running motor 8, monitoring display device 2,
Walking proportion magnetic valve 6；
In the present embodiment, main control valve 7 is guide's pilot operated valve device, control electric current output end and the walking ratio electricity of controller 3
The electromagnetic control coil connection of magnet valve 6, walking proportion magnetic valve 6 is connected in the guide's oil circuit of main control valve 7.
Monitoring display device 2 accelerates gear module as response speed gear adjusting device, inside it by being provided with, and such as schemes
Shown in 3, accelerate to be provided with " fast ", " standard ", " slow " three response speed gears in gear module, wherein " standard " gear is suitable
The control electric current rate of change set in existing wheel machine.
In the present embodiment, controller detects the formation of electric control acceleration pedal with certain frequency, and according to its acquisition
Electric signal calculates the desired value for being converted to the control electric current that controller should should be exported in subsequent time, when the mesh of control electric current
When scale value is more than currency, then mean that machine accelerates.Conversely, then meaning that machine slows down.
Controller output control electric current driving walking proportion magnetic valve 6 causes master control valve events, when control electric current is less than certain
During one value, main control valve will not be acted, and only when control electric current is more than or equal to the value, main control valve just starts action, and the value is usual
Referred to as drive critical value.
In this embodiment, as shown in figure 4, when the controller export control electric current be less than driving critical value when, now
Controller output electric current be not enough to by walk proportion magnetic valve 6 so that machine act, now no matter accelerate gear module without
By selection " fast ", " standard ", " slow " three any one response speed gear, control electric current is all according to fixed control electric current
Rate of change is changed (by the straight line of origin in Fig. 4).When the electric current that machine is in accelerating mode and controller output is more than
When driving critical value, the control electric current rate of change of controller then according to selected by accelerating gear module corresponding to response speed gear
Control electric current is adjusted to desired value from currency.Control electric current rate of change shows as the slope of straight line in Fig. 4.For example control
Electric current is taken time most short, " standard " gear takes second place, and " slow " gear is spent from when driving critical value to be adjusted to a certain value from " fast " gear
Time is most long.
Similarly, as shown in Fig. 2 response speed gear adjusting device can also include deceleration gear module, when controller is defeated
When the desired value for going out control electric current is less than the currency of control electric current, controller is electric according to being controlled determined by deceleration gear module
The control electric current of rheology rate adjustment output.As shown in figure 5, by control electric current from a certain value be reduced to zero when, select it is " fast " keep off,
The time spent in " standard " gear, " slow " gear, is different.
In the present invention, driver can be according to the driving habit of oneself, by meeting oneself in the setting of monitoring display device 2
The acceleration of driving habit and the corresponding gear that slows down, improve operating efficiency and driver comfort.
In the present invention, main control valve can also be magnetic valve, and when main control valve is magnetic valve, the control electric current of controller is defeated
Go out between holding and be connected with the electromagnetic control coil of main control valve, realize the direct control of controller and main control valve.
The present invention is improved on the basis of original electricity-controlling throttle steps on walking scheme, and structure need not be changed, and not increased
Cost, user can select different acceleration and deceleration performance options machine is obtained different add by response speed gear adjusting device
Decelerability, it is simple to operate, compared to the machine of fixed acceleration and deceleration performance, more operating modes are adapted to, client can be met to machine
The different demand of device acceleration and deceleration performance.
Claims (6)
- The feed speed control system 1. a kind of industrial wheeled equipment is walked, including controller, engine, the electricity for controlling engine throttle Control throttle pedal, hydraulic pump driven by the engine, the main control valve being connected between hydraulic pump and running motor；It is characterized in that Also include the response speed gear adjusting device for being connected and being selected with multiple gears with controller, the controller is according to reception To the electric signal of electric control acceleration pedal output determine the desired value of the controller output control electric current, in the controller It is provided with and respectively keeps off corresponding control electric current rate of change with the response speed gear adjusting device；The controller is according to response speed Control electric current is adjusted to desired value by control electric current rate of change determined by degree gear adjusting device from currency.
- The feed speed control system 2. industrial wheeled equipment according to claim 1 is walked, it is characterised in that the main control valve For magnetic valve, the electromagnetic control coil of the current output terminal of the controller directly with the main control valve is connected.
- The feed speed control system 3. industrial wheeled equipment according to claim 1 is walked, it is characterised in that also including walking Proportion magnetic valve, the main control valve is guide's pilot operated valve device, the current output terminal of the controller and the walking proportion magnetic valve Electromagnetic control coil connection, it is described walking proportion magnetic valve be connected in the guide's oil circuit of the main control valve.
- The feed speed control system 4. industrial wheeled equipment according to any one of claim 1 to 3 is walked, it is characterised in that When the controller export control electric current be less than driving critical value when and control electric current desired value be more than control electric current work as During preceding value, the control electric current of the controller output is according to default fixed control electric current rate of change output control electric current；Work as institute State controller output control electric current be more than driving critical value when and control electric current desired value be more than control electric current currency When, the controller adjusts the control electricity of output according to control electric current rate of change determined by response speed gear adjusting device Stream.
- The feed speed control system 5. industrial wheeled equipment according to claim 4 is walked, it is characterised in that the response speed Spending gear adjusting device includes accelerating gear module and deceleration gear module, when the desired value of the controller output control electric current Less than control electric current currency when, the controller is determined according to deceleration gear module in response speed gear adjusting device Control electric current rate of change adjustment output control electric current.
- The feed speed control system 6. industrial wheeled equipment according to claim 1 is walked, it is characterised in that the response speed It is the monitoring display device in engineering machinery to spend gear adjusting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710465461.XA CN107083789B (en) | 2017-06-19 | 2017-06-19 | Walking acceleration and deceleration control system for wheel type engineering machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710465461.XA CN107083789B (en) | 2017-06-19 | 2017-06-19 | Walking acceleration and deceleration control system for wheel type engineering machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107083789A true CN107083789A (en) | 2017-08-22 |
| CN107083789B CN107083789B (en) | 2020-02-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710465461.XA Active CN107083789B (en) | 2017-06-19 | 2017-06-19 | Walking acceleration and deceleration control system for wheel type engineering machinery |
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| Country | Link |
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| CN (1) | CN107083789B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004116706A (en) * | 2002-09-27 | 2004-04-15 | Hitachi Constr Mach Co Ltd | Travelling controller for hydraulic driven vehicle and hydraulic driven vehicle |
| JP2006077427A (en) * | 2004-09-08 | 2006-03-23 | Hitachi Constr Mach Co Ltd | Wheel type hydraulic excavator |
| CN104227634A (en) * | 2013-06-09 | 2014-12-24 | 南京德朔实业有限公司 | Impact type fastening tool and control method thereof |
| CN106545045A (en) * | 2016-11-08 | 2017-03-29 | 柳州柳工挖掘机有限公司 | Wheel excavator starting control method |
| CN106647837A (en) * | 2017-01-20 | 2017-05-10 | 中联重科股份有限公司 | Method for controlling a hydraulic system, controller and machine |
-
2017
- 2017-06-19 CN CN201710465461.XA patent/CN107083789B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004116706A (en) * | 2002-09-27 | 2004-04-15 | Hitachi Constr Mach Co Ltd | Travelling controller for hydraulic driven vehicle and hydraulic driven vehicle |
| JP2006077427A (en) * | 2004-09-08 | 2006-03-23 | Hitachi Constr Mach Co Ltd | Wheel type hydraulic excavator |
| CN104227634A (en) * | 2013-06-09 | 2014-12-24 | 南京德朔实业有限公司 | Impact type fastening tool and control method thereof |
| CN106545045A (en) * | 2016-11-08 | 2017-03-29 | 柳州柳工挖掘机有限公司 | Wheel excavator starting control method |
| CN106647837A (en) * | 2017-01-20 | 2017-05-10 | 中联重科股份有限公司 | Method for controlling a hydraulic system, controller and machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107083789B (en) | 2020-02-25 |
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