CN107178114B - A kind of hydraulic crawler excavator severe duty control system - Google Patents

A kind of hydraulic crawler excavator severe duty control system Download PDF

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Publication number
CN107178114B
CN107178114B CN201710441568.0A CN201710441568A CN107178114B CN 107178114 B CN107178114 B CN 107178114B CN 201710441568 A CN201710441568 A CN 201710441568A CN 107178114 B CN107178114 B CN 107178114B
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module
signal
control
main pump
pressure
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CN107178114A (en
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李志鹏
秦家升
费树辉
王飞
郑杨
高达
历娜
刘洋
张孝天
赵振飞
居世昊
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XCMG Excavator Machinery Co Ltd
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XCMG Excavator Machinery Co Ltd
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    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20Drives; Control devices
    • E02F9/2058Electric or electro-mechanical or mechanical control devices of vehicle sub-units

Abstract

The invention discloses a kind of hydraulic crawler excavator severe duty control systems, including signal acquisition module, signal processing module, display module, drive control module and execution module.Hydraulic crawler excavator severe duty control system provided by the invention, acquire nine handle travel signals in real time by signal acquisition module, nine SERVO CONTROL pressure signals, first Pump Pressure Signal and the second Pump Pressure Signal are simultaneously sent to the expected estimation of signal processing module progress power, according to power demand and its variation tendency, dynamic corrections are carried out by absorption power of the drive control module to main pump, on-line control is carried out to the working status parameter of engine simultaneously, the output power of engine power system is set to be able to satisfy the demand of main pump, ensure working efficiency of the excavator under severe duty, excavator dynamic realtime of dynamical system output and main pump power demand under varying load working condition is realized to match, promote digging efficiency, solve the problems, such as lack of cutting force.

Description

A kind of hydraulic crawler excavator severe duty control system
Technical field
The present invention relates to hydraulic crawler excavator electrichydraulic control fields, and in particular to a kind of hydraulic crawler excavator severe duty control system System.
Background technique
The main use occasion of excavator product is the heavy dutys operations such as mine, is since mine operation mainly excavates medium The high density material such as stone has the characteristics that job load weight, and there are digging efficiencies with load for traditional excavator control mode Lotus increases the very fast problem that decays.
In addition, the power match principle of traditional main pump and engine be by the output power of excavator it is discrete be divided into it is multiple Gear, each gear correspond to corresponding power, select corresponding gear by the experience of operator, and then according to preset Power parameter works.But it prejudges, but is selected by subjective consciousness intermediate due to part operation personnel and without operating condition Easily there is lack of cutting force problem to meet the purpose of economy under case of heavy load in gear.
Traditional power match is a kind of approximate constant power control, when the absorption power of main pump is less than Engine Limit power When, it is worked with current pressure, maximum stream flow;When the absorption power of main pump is greater than Engine Limit power, controlled by ESS The absorption power of main pump to the maximum power for being reduced to engine can be provided is prevented engine overload by mode processed, guarantees hair Dynamic power output.
Reinforcement function is also equipped on excavator, for improving the Heavy-load Characteristic of excavator, but in actual use, portion Divide operator that can not rationally utilize the function.
Summary of the invention
The present invention provides a kind of hydraulic crawler excavator severe duty control system, with solve main pump existing in the prior art with The power of engine is not adapted to and the speed need that the problem of lack of cutting force, meet under case of heavy load under hydraulic crawler excavator severe duty Fuel economy in the case of summation underloading.
To achieve the above object, the technical solution adopted by the present invention are as follows:
A kind of hydraulic crawler excavator severe duty control system, including execution module, execution module include main pump and engine, Main pump includes the first main pump and the second main pump, further includes:
Signal acquisition module, including electric control handle, main pump pressure sensor and SERVO CONTROL pressure sensor, are respectively used to Handle travel signal, Pump Pressure Signal and the SERVO CONTROL pressure signal of acquisition excavator operator in real time;
Signal processing module is connected with signal acquisition module output end, for receiving the signal of signal acquisition module transmission And handled to obtain operating condition assessed value, signal processing module carries out fuzzy control processing according to operating condition assessed value and exports correspondence Control signal;
Drive control module is connected, for receiving at signal with signal processing module output end and execution module input terminal The control signal of reason module output simultaneously drives execution module to make corresponding response, including the control of electromagnetic pressure-decreasing module, engine Module and hydraulic booster module, be respectively used to that real-time online adjusts main pump absorbs power, the running parameter of engine and hydraulic Reinforcement signal;
The calculating process of the operating condition assessed value the following steps are included:
Signal processing module is successively filtered and weights to the handle travel signal detected in a detection unit flat , then the efficiency expectation of operator is judged, assignment obtains corresponding efficiency desired value between 0-100%, together When signal processing module also the SERVO CONTROL pressure signal detected in a detection unit is successively filtered and is weighted it is flat The expectation of the efficiency of operator is judged afterwards, assignment obtains corresponding efficiency desired value between 0-100%, in selection The greater in two assignment is stated as desired value;
The Pump Pressure Signal detected in one detection unit is successively filtered and is weighted flat by signal processing module , it calculates the power demand obtained when heavy duty is excavated and current severe duty rank is judged, assigned between 0-100% Value, obtains severe duty rank decision content;
Desired value obtained above and severe duty rank decision content are weighted and averaged, operating condition assessed value is obtained;
The process of fuzzy control processing the following steps are included:
When G is greater than X, signal processing module outputs control signals to electromagnetic pressure-decreasing module, promotes the absorption power of main pump;
When G is greater than Y, signal processing module outputs control signals to engine control module, on-line tuning engine Running parameter;
When G is greater than Z, signal processing module outputs control signals to hydraulic booster module, starts boost mode, online to adjust Save hydraulic booster signal;
Wherein, G is operating condition assessed value, and X, Y and Z are respectively and electromagnetic pressure-decreasing module, engine control module and hydraulic increasing The corresponding heavily loaded policy threshold of power module.
Further, the signal processing module is to the nine SERVO CONTROL pressure signals detected in a detection unit The efficiency expectation of operator is judged after being filtered and being weighted and averaged, it is as follows to judge formula:
Ej=Pj/Pjmax
Wherein, PjFor the weighting pressure value of nine SERVO CONTROL pressure signals, PjmaxThe maximum that can be provided for servo-system Pressure, EjFor the efficiency desired value of operator, EjValue be 0-100%.
Further, the signal processing module carries out the nine handle travel signals detected in a detection unit The efficiency expectation of operator is judged after filtering and weighted average, it is as follows to judge formula:
Ej=Pj/Pjmax
Wherein, PjFor the weighting pressure value of nine handle travel signals, PjmaxFor the maximum pressure that system can be provided, Ej For the efficiency desired value of operator, EjValue be 0-100%.
Further, the Pump Pressure Signal includes the first Pump Pressure Signal and the second Pump Pressure Signal, described Signal processing module filters the first Pump Pressure Signal and the second Pump Pressure Signal that detect in a detection unit Wave and weighted average, the judgement formula of the severe duty rank are as follows:
EP=P12/Pmax
Wherein, P12For the weighting pressure value of the first Pump Pressure Signal and the second Pump Pressure Signal, PmaxFor main pump institute energy The maximum pressure of offer, EPFor severe duty rank decision content, EPValue be 0-100%.
Further, the absorption function that correction module adjusts main pump is calculated using PID during the fuzzy control processing Rate, the adjusting formula that the PID calculates correction module are as follows:
E (t)=KP×S(t)+KI×∑S(t)+Kd[S(t)-S(t-1)]+E0
Wherein, E (t) is the absorption power adjustment value of main pump, KPFor proportionality coefficient, S (t), which is that t moment engine is practical, to be turned The difference of speed and setting speed, KIFor integration time constant, KdFor derivative time constant, E0To absorb power reference value.
Further, the main pump pressure sensor include the first main pump pressure sensor for being integrated on the first main pump and The second main pump pressure sensor being integrated on the second main pump, the first main pump pressure sensor and the second main pump pressure sensor point The pressure signal of the first main pump and the pressure signal of the second main pump Yong Yu not be acquired, the electromagnetic pressure-decreasing module is that ratio electromagnetism subtracts Pressure valve.
It further, further include display module, the display module is connected with signal processing module, is used for signal processing The information real-time perfoming of module output shows that the signal processing module carries out sliding average filter using moving average filter Wave.
Further, the SERVO CONTROL pressure sensor is installed on the pilot line of excavator, the engine control Molding block is integrated on engine, and the hydraulic booster module is integrated on excavator main valve.
Further, the processing method of the signal processing module includes arithmetic mean method, FUZZY ALGORITHMS FOR CONTROL or karr One of graceful filtered method is several.
Compared with prior art, the invention has the following advantages that
The invention discloses a kind of hydraulic crawler excavator severe duty control systems, including signal acquisition module, signal processing Module, display module, drive control module and execution module.Hydraulic crawler excavator severe duty control system provided by the invention, Acquire nine handle travel signals, nine SERVO CONTROL pressure signals, the first main pump pressure letter in real time by signal acquisition module Number and the second Pump Pressure Signal and be sent to signal processing module and carry out the expected estimation of power, obtain operating condition assessed value, signal Processing module carries out fuzzy control processing according to operating condition assessed value and exports corresponding control signal to drive control module, passes through Driving execution module driving execution module makes corresponding response, the absorption according to power demand and its variation tendency, to main pump Power carries out dynamic corrections, while carrying out on-line control to the working status parameter of engine, makes the defeated of engine power system Power is able to satisfy the demand of main pump out, it is ensured that working efficiency of the excavator under severe duty realizes excavator in varying load The dynamic realtime of dynamical system output and main pump power demand matches under working condition, promotes digging efficiency, efficiently solves digging Dig powerless problem.
Detailed description of the invention
Fig. 1 is system hardware block diagram of the invention;
Fig. 2 is the data processing block figure of signal processing module of the present invention;
Fig. 3 is the work flow diagram of signal processing module of the present invention.
Specific embodiment
The present invention will be further explained combined with specific embodiments below.
As shown in Figure 1-3, a kind of hydraulic crawler excavator severe duty control system, including signal acquisition module, signal processing Module, display module, drive control module and execution module, execution module include the main pump and engine of electrical connection, main pump packet The first main pump and the second main pump are included, signal acquisition module includes that electric control handle, main pump pressure sensor and SERVO CONTROL pressure pass Sensor, electric control handle are used to manipulate excavator and carry out movement and in real time the handle travel signal of acquisition excavator operator and pass It send to signal processing module and is handled, main pump pressure sensor includes that the first main pump pressure sensor and the second main pump pressure pass Sensor, the first main pump pressure sensor and the second main pump pressure sensor are integrated in respectively on the first main pump and the second main pump, the One main pump pressure sensor is handled for acquiring the pressure signal of the first main pump in real time and being sent to signal processing module, the Two main pump pressure sensors are handled for acquiring the pressure signal of the second main pump in real time and being sent to signal processing module, are watched Clothes control pressure sensor is installed on the pilot line of excavator, for acquiring SERVO CONTROL pressure signal in real time and being sent to Signal processing module is handled, and pilot line is used to collect the hydraulic handle signal of excavator operator and completes corresponding Excavator movement, drive control module includes electromagnetic pressure-decreasing module, engine control module and hydraulic booster module, electromagnetic pressure-decreasing Module carries out the absorption power that real-time online adjusts the first main pump and the second main pump, engine control using ratio electromagnetic relief pressure valve Module is integrated on engine, adjusts the revolving speed request of engine by engine control module real-time online, speed change rate is requested And the running parameters such as external characteristic curve, hydraulic booster module are integrated on excavator main valve, are believed for on-line control hydraulic booster Number, realize the pressure that hydraulic system is improved in the short time, excavator main valve is for distributing hydraulic flow direction.
Electric control handle, main pump pressure sensor and SERVO CONTROL pressure sensor pass through conducting wire and signal processing module respectively Input terminal is connected, and signal processing module output end, which is electrical connected with display module and passes through drive control module, is electrically connected execution mould Block, signal processing module are used for handle travel signal, Pump Pressure Signal and SERVO CONTROL pressure signal etc. to real-time reception Multinomial hydraulic system signal carries out data processing and carries out real-time display by display module, takes corresponding heavy duty strategy, point Not Qu Dong electromagnetic pressure-decreasing module, engine control module and hydraulic booster module carry out the absorption power of on-line control main pump, hair The running parameter and hydraulic booster signal of motivation, Pump Pressure Signal include that the first Pump Pressure Signal and the second main pump pressure are believed Number, data processing method includes one of arithmetic mean method, FUZZY ALGORITHMS FOR CONTROL or kalman filter method or several, Signal processing module by collected handle travel signal and SERVO CONTROL pressure signal to the efficiency of operator it is expected into Row is judged, and efficiency expectation assignment between 0-100%, signal processing module is by collected Pump Pressure Signal to current weight It carries operating condition rank and carries out judge and the assignment between 0-100%, by that will be used to embody the desired handle row of operator's efficiency Journey signal and SERVO CONTROL pressure signal are combined with the Pump Pressure Signal for embodying actual condition situation and then are obtained outer The power demand of load realizes the output power of dynamic realtime matching engine.
Fig. 2 is the data processing block figure of signal processing module, and Fig. 3 is the work flow diagram of signal processing module, signal The input signal of processing module include nine handle travel signals, nine SERVO CONTROL pressure signals and Pump Pressure Signal, nine A handle travel signal and nine SERVO CONTROL pressure signals include that swing arm rises, swing arm declines, put outside dipper, in dipper Receipts, scraper bowl are put outside, receive in scraper bowl, left lateral is walked, right lateral is walked and turns round signal, and handle travel and SERVO CONTROL pressure embody operation The efficiency of personnel it is expected that main pump pressure embodies actual condition situation, and signal processing module carries out at data the comprehensive of the two Reason obtains operating condition assessed value, carries out fuzzy control processing and respectively output correspondence using FUZZY ALGORITHMS FOR CONTROL according to operating condition assessed value Control signal to drive control module electromagnetic pressure-decreasing module, engine control module and hydraulic booster module, and then drive Execution module makes corresponding response, the absorption power of main pump is adjusted by ratio electromagnetic relief pressure valve real-time online, by starting Machine control module real-time online adjusts the running parameters such as the revolving speed request, speed change rate request and external characteristic curve of engine, passes through Hydraulic booster module starts boost mode, and real-time online adjusts hydraulic booster signal, realizes and adjusts main pump in real time and start motor-driven The relevant parameter of Force system, and then under the premise of guaranteeing the fuel economy of excavator light duty, realize excavator in weight It carries the dynamic realtime under operating condition between engine power output and outer load power demand to match, improves excavator heavy duty efficiency.
The calculating process of operating condition assessed value the following steps are included:
Using a working cycles as detection unit, signal processing module is to nine handles detected in a detection unit Stroke signal carries out moving average filter by moving average filter first, filters interference data, is then weighted and averaged, The efficiency expectation of operator is judged again, assignment obtains corresponding efficiency desired value, synchronous signal between 0-100% Processing module is also carried out the nine SERVO CONTROL pressure signals detected in a detection unit by moving average filter Filtering is weighted and averaged after filtering interference data, then is judged and between 0-100% the efficiency expectation of operator Assignment obtains corresponding efficiency desired value, choose the greater in above-mentioned two assignment as desired value and it is subsequent calculate according to According to the desired judge formula of efficiency is as follows:
Ej=Pj/PjmaxFormula one
Wherein, work as PjFor the weighting pressure value of nine handle travel signals, PjmaxThe maximum pressure that can be provided for corresponding system Power, EjFor the efficiency desired value of operator, EjValue be 0-100%;Work as PjFor the weighting of nine SERVO CONTROL pressure signals Pressure value, PjmaxFor the maximum pressure that servo-system can be provided, EjFor the efficiency desired value of operator, EjValue be 0- 100%;
Signal processing module believes the first Pump Pressure Signal detected in a detection unit and the second main pump pressure Number by moving average filter carry out moving average filter, filter its interfere data after be weighted and averaged, calculating weighed Power demand when excavating is carried, and current severe duty rank is judged, obtains severe duty rank decision content, is judged public Formula is as follows:
EP=P12/PmaxFormula two
Wherein, P12For the weighting pressure value of the first Pump Pressure Signal and the second Pump Pressure Signal, PmaxFor main pump institute energy The maximum pressure of offer, EPFor severe duty rank decision content, EPValue be 0-100%;
Desired value obtained above and severe duty rank decision content are weighted and averaged, obtain a 0-100% it Between numerical value, which is operating condition assessed value, and is calculated as G.
In the excavator course of work, because main pump pressure jump is big, directly calculating will cause tactful erroneous judgement, therefore need to be to the One Pump Pressure Signal and the second Pump Pressure Signal carry out moving average filter, filter its mutation value, improve testing precision.
The calculation formula for the Weighted Average Algorithm that signal processing module uses are as follows:
Z=∑ (xi×wi)÷∑(wi) formula three
Wherein, xiFor each collection value, WiFor the corresponding weight of each collection value, WiIt can be preset according to actual needs, Z is weighted average.
As shown in table 1, fuzzy control table is used to characterize the variation tendency and variation error of operating condition assessed value.
Table 1
Wherein, E indicates deviation, and EC indicates that change of error, P indicate that just N indicates negative, and B indicates big, and in M expression, S is indicated Small, L indicates big, and Z indicates 0.
Heavily loaded policy threshold is distinguished correspondingly with electromagnetic pressure-decreasing module, engine control module and hydraulic booster module It is calculated as X, Y and Z, user can be preset respectively by actual demand, the fuzzy control treatment process of signal processing module Include:
When operating condition assessed value G is greater than X, signal processing module outputs control signals to electromagnetic pressure-decreasing module, linear to be promoted The absorption power of main pump;
When operating condition assessed value G is greater than Y, signal processing module outputs control signals to engine control module, online to adjust The running parameter for motivation of haircuting;
When operating condition assessed value G is greater than Z, signal processing module outputs control signals to hydraulic booster module, starting pressurization Mode, on-line control hydraulic booster signal;
For above-mentioned response process, several points need to be described as follows:
Excavator system has the characteristics that load sudden change is big, pressure data is non-linear and time variation, is improving main pump Correction module should be calculated using PID when absorbing power to be limited, the absorption function that correction module adjusts main pump is calculated by PID Rate, under the premise of meeting main pump power peak use rate, avoid engine excessively falls speed, and PID calculates the tune of correction module It is as follows to save formula:
E (t)=KP×S(t)+KI×∑S(t)+Kd[S(t)-S(t-1)]+E0Formula four
Wherein, E (t) is the absorption power adjustment value of main pump, KPFor proportionality coefficient, S (t), which is that t moment engine is practical, to be turned The difference of speed and setting speed, KIFor integration time constant, KdFor derivative time constant, E0To absorb power reference value;
Signal processing module is joined by the work that CAN communication mode drives engine control module to adjust engine Number promotes the revolving speed of engine and the governor control characteristics of modification engine, provides biggish power and revolving speed convenient for engine;
Opening boost mode need to prescribe a time limit, to avoid damage hydraulic system, after boost mode is opened 8 seconds, boost mode It is automatically closed, guard time is 8 seconds, without output within the time of setting protection;
Threshold value meets X < Y < Z < 1, and multiple control strategy is not interfere with each other, synchronous to carry out.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims (9)

1. a kind of hydraulic crawler excavator severe duty control system, including execution module, the execution module includes main pump and starts Machine, the main pump include the first main pump and the second main pump, which is characterized in that further include:
Signal acquisition module, including electric control handle, main pump pressure sensor and SERVO CONTROL pressure sensor are respectively used in real time Acquire handle travel signal, Pump Pressure Signal and the SERVO CONTROL pressure signal of excavator operator;
Signal processing module is connected with signal acquisition module, for receiving the signal of signal acquisition module transmission and being handled Operating condition assessed value is obtained, signal processing module carries out fuzzy control processing according to operating condition assessed value and exports corresponding control letter Number;
Drive control module is connected with signal processing module and execution module, for receiving the control of signal processing module output Signal simultaneously drives execution module to make corresponding response, including electromagnetic pressure-decreasing module, engine control module and hydraulic booster mould Block is respectively used to the running parameter and hydraulic booster signal for absorbing power, engine that real-time online adjusts main pump;
The calculating process of the operating condition assessed value the following steps are included:
Signal processing module is successively filtered and is weighted and averaged to the handle travel signal detected in a detection unit, with The efficiency expectation of operator is judged afterwards, assignment obtains corresponding efficiency desired value, synchronous signal between 0-100% Processing module is right after also the SERVO CONTROL pressure signal detected in a detection unit is successively filtered and is weighted and averaged The efficiency expectation of operator is judged, and assignment obtains corresponding efficiency desired value between 0-100%, chooses above-mentioned two The greater in assignment is as final efficiency desired value;
The Pump Pressure Signal detected in one detection unit is successively filtered and is weighted and averaged by signal processing module, meter It calculates the power demand obtained when heavy duty is excavated and current severe duty rank is judged, the assignment between 0-100% obtains Severe duty rank decision content;
Desired value obtained above and severe duty rank decision content are weighted and averaged, operating condition assessed value is obtained;
The process of fuzzy control processing the following steps are included:
When G is greater than X, signal processing module outputs control signals to electromagnetic pressure-decreasing module, promotes the absorption power of main pump;
When G is greater than Y, signal processing module outputs control signals to engine control module, the work of on-line tuning engine Parameter;
When G is greater than Z, signal processing module outputs control signals to hydraulic booster module, starts boost mode, on-line control liquid Press reinforcement signal;
Wherein, G is operating condition assessed value, and X, Y and Z are respectively and electromagnetic pressure-decreasing module, engine control module and hydraulic booster mould The corresponding heavily loaded policy threshold of block.
2. a kind of hydraulic crawler excavator severe duty control system according to claim 1, which is characterized in that at the signal It manages after module is filtered and is weighted and averaged to the nine SERVO CONTROL pressure signals detected in a detection unit to operation The efficiency expectation of personnel is judged, and it is as follows to judge formula:
Ej=Pj/Pjmax
Wherein, PjFor the weighting pressure value of nine SERVO CONTROL pressure signals, PjmaxThe maximum pressure that can be provided for servo-system Power, EjFor the efficiency desired value of operator, EjValue be 0-100%.
3. a kind of hydraulic crawler excavator severe duty control system according to claim 1, which is characterized in that at the signal It manages after module is filtered and is weighted and averaged to the nine handle travel signals detected in a detection unit to operator Efficiency expectation judged, judge formula it is as follows:
Ej=Pj/Pjmax
Wherein, PjFor the weighting pressure value of nine SERVO CONTROL pressure signals, PjmaxThe maximum pressure that can be provided for servo-system Power, EjFor the efficiency desired value of operator, EjValue be 0-100%.
4. a kind of hydraulic crawler excavator severe duty control system according to claim 1, which is characterized in that the main pump pressure Force signal includes the first Pump Pressure Signal and the second Pump Pressure Signal, and the signal processing module is in a detection unit The first Pump Pressure Signal and the second Pump Pressure Signal detected is filtered and is weighted and averaged, the severe duty rank Judgement formula are as follows:
EP=P12/Pmax
Wherein, P12For the weighting pressure value of the first Pump Pressure Signal and the second Pump Pressure Signal, PmaxjIt can be mentioned for main pump The maximum pressure of confession, EpFor severe duty rank decision content, EpValue be 0-100%.
5. a kind of hydraulic crawler excavator severe duty control system according to claim 1, which is characterized in that the Fuzzy Control The absorption power that correction module adjusts main pump is calculated using PID during system processing, the PID calculates the adjusting of correction module Formula is as follows:
E (t)=KP×S(t)+KI×∑S(t)+Kd[S(t)-S(t-1)]+E0
Wherein, E(t)For the absorption power adjustment value of main pump, KpFor proportionality coefficient, S(t)For t moment actual engine speed and setting The difference of revolving speed, KtFor integration time constant, KdFor derivative time constant, E0To absorb power reference value.
6. a kind of hydraulic crawler excavator severe duty control system according to claim 1, which is characterized in that the main pump pressure Force snesor includes the first main pump pressure sensor being integrated on the first main pump and the second main pump being integrated on the second main pump Pressure sensor, the first main pump pressure sensor and the second main pump pressure sensor are respectively used to the pressure letter of the first main pump of acquisition Number and the second main pump pressure signal, the electromagnetic pressure-decreasing module be ratio electromagnetic relief pressure valve.
7. a kind of hydraulic crawler excavator severe duty control system according to claim 1, which is characterized in that further include display Module, the display module are connected with signal processing module, and the information real-time perfoming for exporting signal processing module is shown, The signal processing module carries out moving average filter using moving average filter.
8. a kind of hydraulic crawler excavator severe duty control system according to claim 1, which is characterized in that the servo control Pressing pressure sensor is installed on the pilot line of excavator, and the engine control module is integrated on engine, the liquid Pressure reinforcement module is integrated on excavator main valve.
9. a kind of hydraulic crawler excavator severe duty control system according to claim 1, which is characterized in that at the signal The processing method for managing module includes one of arithmetic mean method, FUZZY ALGORITHMS FOR CONTROL or kalman filter method or several Kind.
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CN109358549B (en) * 2018-11-01 2020-11-03 三一重机有限公司 Intelligent control method and device for excavator
CN110258709B (en) * 2019-07-08 2021-07-30 山重建机有限公司 Method for automatically matching different working conditions of excavator
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