CN107587546B - A kind of control method improving hydraulic crawler excavator revolution energy saving - Google Patents

A kind of control method improving hydraulic crawler excavator revolution energy saving Download PDF

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Publication number
CN107587546B
CN107587546B CN201710801204.9A CN201710801204A CN107587546B CN 107587546 B CN107587546 B CN 107587546B CN 201710801204 A CN201710801204 A CN 201710801204A CN 107587546 B CN107587546 B CN 107587546B
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China
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flow
main pump
virtual
pressure signal
control
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CN201710801204.9A
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Chinese (zh)
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CN107587546A (en
Inventor
王绪通
汤中连
闫春艳
马鑫
耿家文
杨晓磊
郑华
孙本强
孙忠永
李志鹏
郑杨
李会超
王春磊
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徐州徐工挖掘机械有限公司
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Publication of CN107587546A publication Critical patent/CN107587546A/en
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Abstract

The invention discloses a kind of control methods of raising hydraulic crawler excavator revolution energy saving, and when carrying out excavator revolution operation, control main pump flow is consistent with rotary motor demand volume.By simulating the demand volume of rotary motor, the flow of real-time control main pump reduces the energy loss that overflow generates in revolution speed-change process.The control method includes the links such as target flow calculating, the calculating of virtual flow rate calculation, main pump electric current, main pump flow control.In revolution accelerator, the demand volume by simulating rotary motor reduces the energy loss that overfueling generates and eliminates reversed fuel feeding during reversed turning, reduces energy loss.

Description

A kind of control method improving hydraulic crawler excavator revolution energy saving

Technical field

The present invention relates to a kind of control methods of raising hydraulic crawler excavator revolution energy saving, belong to hydraulic crawler excavator technology neck Domain.

Background technique

Revolution is one of the main actions during excavator operation, and the capacity usage ratio improved in turning course can have Effect improves the energy saving of excavator.In the revolution operation of general excavator, hydraulic system and control system are according to operation handle Output signal determines the flow that supplies to rotary motor of main pump, actual since hydraulic crawler excavator is got on the bus huge rotary inertia The flow that rotational speed can not be supplied with main pump at once matches, but in the long period under acceleration or deceleration state. When excavator is in revolution acceleration mode, stream needed for flow provided by hydraulic system often substantially exceeds rotary motor Amount, the flow beyond part flow back to radiator and fuel tank after generating heat by overflow valve, generate huge energy dissipation;When right Excavator carry out reverse turn operation when, hydraulic system provide flow and rotary motor needed for direction of the traffic on the contrary, and with revolution The flow of motor discharge passes through overflow valve together, can also generate huge energy dissipation.

Summary of the invention

Purpose: in order to overcome the deficiencies in the prior art, the present invention provides a kind of raising hydraulic crawler excavator rotary joint Can property control method, can when excavator turns round, control main pump be allowed to the flow provided and rotational speed realizes real-time Match, reduces the energy dissipation that overflow generates.

Technical solution: in order to solve the above technical problems, the technical solution adopted by the present invention are as follows:

A kind of control method improving hydraulic crawler excavator revolution energy saving, it is characterised in that: controller receives pilot handle Pressure signal, and target flow, virtual flow, main pump electric current are successively calculated according to pilot handle pressure signal, controller is defeated Main pump current control main pump flow out;

Excavator turns round in operating process, and controller calculates target flow according to pilot handle pressure signal, due to behaviour Make similar, it is assumed that target flow when to right-hand rotation is positive, and target flow when turning round to the left is negative, according to target flow and empty The difference of quasi- flow modifies virtual flow, and virtual flow is for actual flow needed for simulating rotary motor;

If virtual flow is identical as target flow symbol, pass through virtual flow, engine speed, main pump maximum pump discharge Calculate the swash plate pivot angle and main pump electric current of main pump;If virtual flow is different from target flow symbol, main pump electricity is set Stream is 0, and last controller passes through the output flow of main pump current control main pump.

The control method for improving hydraulic crawler excavator revolution energy saving, it is characterised in that: the pilot handle pressure Force signal includes left rotation pressure signal, right-hand rotation pressure signal;

When left rotation pressure signal and right-hand rotation pressure signal are all 0, target flow 0;

When left rotation pressure signal is greater than 0, target flow is directly proportional to left rotation pressure signal;

When right-hand rotation pressure signal is greater than 0, target flow is directly proportional to right-hand rotation pressure signal.

Further, if target flow is greater than 0, when right-hand rotation pressure signal is greater than 0 when left rotation pressure signal is greater than 0 Target flow is less than 0;If target flow is less than 0 when left rotation pressure signal is greater than 0, mesh when right-hand rotation pressure signal is greater than 0 It marks flow and is greater than 0.

The control method for improving hydraulic crawler excavator revolution energy saving, it is characterised in that: when virtual flow and target When flow is inconsistent, virtual flow moves closer to target flow at any time.

Further, virtual flow versus time single order can be led.

The control method for improving hydraulic crawler excavator revolution energy saving, it is characterised in that: when virtual flow and target When flow symbol is identical, by engine speed, main pump maximum pump discharge, virtual flow rate calculation main pump electric current, when virtual flow with When target flow symbol is opposite, main pump electric current is 0.

The control method for improving hydraulic crawler excavator revolution energy saving, it is characterised in that:

The main pump, variable pumpage is by current control, and when electric current is 0, discharge capacity is minimum value, and discharge capacity and electric current are just It is related.

The control method for improving hydraulic crawler excavator revolution energy saving, which is characterized in that specific as follows:

When pilot handle is turned round in operation, controller receives the pressure signal of pilot handle, and this pressure when calculating The target flow Q that the corresponding rotary motor of signal is finally reached0, there are difference DELTA Q between target flow and virtual flow at this time; Rotary motor drives hydraulic crawler excavator upper frame part to carry out revolution acceleration under the driving of hydraulic system pressure simultaneously, turns round horse The demand volume pace of change reached can be expressed asWherein t is the time;There are virtual flows inside controller simultaneously The calculating function of pace of changeAnd reduce as far as possibleWithBetween difference, over time, Q2Move closer to Q0, virtual flow can largely simulate the demand volume of rotary motor at this time;

If Q0With Q2Symbol is identical, then illustrates that virtual flow and demand volume direction and goal direction of the traffic are identical, this When controller control main pump output flow it is identical with virtual flow and consistent with the demand volume of rotary motor, so flow Amount will not be wasted by overflow valve, achieve the purpose that reduce flow waste;

If Q0With Q2Symbol is different, then illustrate virtual flow and demand volume direction and goal direction of the traffic on the contrary, this When main pump output flow can flow through overflow valve generate waste, so setting 0 for main pump electric current at this time, main pump flow reaches most It is small, achieve the purpose that reduce flow waste.

The utility model has the advantages that the control method provided by the invention for improving hydraulic crawler excavator revolution energy saving, utilizes pilot handle Pressure signal calculates virtual flow, for actual flow needed for simulating rotary motor, and passes through engine speed, target stream Amount, virtual flow, main pump maximum pump discharge calculate the control electric current of main pump, realize the control to main pump output flow, reduce The waste of main pump flow improves revolution energy saving.

Detailed description of the invention

Fig. 1 is control flow chart of the invention.

Specific embodiment

The present invention will be further explained combined with specific embodiments below.

As shown in Figure 1, turning round the control method of energy saving for a kind of raising hydraulic crawler excavator, which includes target The links such as flow rate calculation, virtual flow rate calculation, the calculating of main pump electric current, main pump flow control.Controller receives pilot handle pressure Signal, and target flow, virtual flow, main pump electric current, controller output master are successively calculated according to pilot handle pressure signal Pump current control main pump flow.

The pilot handle pressure signal, including left revolution pilot pressure signal, right-hand rotation pilot pressure signal;

The target flow, when left rotation pressure signal and right-hand rotation pressure signal are all 0, target flow 0, when When left rotation pressure signal is greater than 0, target flow is directly proportional to left rotation pressure signal, when right-hand rotation pressure signal is greater than 0, Target flow is directly proportional to right-hand rotation pressure signal.Further, if target flow is greater than 0 when left rotation pressure signal is greater than 0, Target flow is less than 0 when right-hand rotation pressure signal is greater than 0, right if target flow is less than 0 when left rotation pressure signal is greater than 0 Target flow is greater than 0 when rotation pressure signal is greater than 0.

The virtual flow, when virtual flow and target flow are inconsistent, virtual flow moves closer to mesh at any time Mark flow.Further, virtual flow versus time single order can be led.

The main pump electric current, it is maximum by engine speed, main pump when virtual flow is identical as target flow symbol Discharge capacity, virtual flow rate calculation main pump electric current, when virtual flow is opposite with target flow symbol, main pump electric current is 0.

The main pump, variable pumpage is by current control, and when electric current is 0, discharge capacity is minimum value, and discharge capacity and electric current are just It is related.

Excavator turns round in operating process, and controller calculates target flow according to pilot handle pressure signal, due to behaviour Make similar, it is assumed that target flow when to right-hand rotation is positive, and target flow when turning round to the left is negative, according to target flow and empty The difference of quasi- flow modifies virtual flow, and the virtual flow is for actual flow needed for simulating rotary motor.If virtual stream Amount is identical as target flow symbol, then is put by the swash plate that virtual flow, engine speed, main pump maximum pump discharge calculate main pump Angle and main pump electric current set main pump electric current as 0, last controller leads to if virtual flow is different from target flow symbol Cross the output flow of main pump current control main pump.

When pilot handle is turned round in operation, controller receives the pressure signal of pilot handle, and this pressure when calculating The target flow Q that the corresponding rotary motor of signal is finally reached0, there are difference DELTA Q between target flow and virtual flow at this time. Rotary motor drives hydraulic crawler excavator upper frame part to carry out revolution acceleration under the driving of hydraulic system pressure simultaneously, turns round horse The demand volume pace of change reached can be expressed asWherein t is the time.There are virtual flows inside controller simultaneously The calculating function of pace of changeAnd reduce as far as possibleWithBetween difference, over time, Q2Move closer to Q0, virtual flow can largely simulate the demand volume of rotary motor at this time.

If Q0With Q2Symbol is identical, then illustrates that virtual flow and demand volume direction and goal direction of the traffic are identical, this When controller control main pump output flow it is identical with virtual flow and consistent with the demand volume of rotary motor, so flow Amount will not be wasted by overflow valve, achieve the purpose that reduce flow waste.

If Q0With Q2Symbol is different, then illustrate virtual flow and demand volume direction and goal direction of the traffic on the contrary, this When main pump output flow can flow through overflow valve generate waste, so setting 0 for main pump electric current at this time, main pump flow reaches most It is small, achieve the purpose that reduce flow waste.

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 (8)

1. a kind of control method for improving hydraulic crawler excavator revolution energy saving, it is characterised in that: controller receives pilot handle pressure Force signal, and target flow, virtual flow, main pump electric current, controller output are successively calculated according to pilot handle pressure signal Main pump current control main pump flow;
Excavator turns round in operating process, and controller calculates target flow according to pilot handle pressure signal, it is assumed that returns to the right Target flow when turning is positive, and target flow when turning round to the left is negative, and is modified according to the difference of target flow and virtual flow Virtual flow, virtual flow is for actual flow needed for simulating rotary motor;
If virtual flow is identical as target flow symbol, calculated by virtual flow, engine speed, main pump maximum pump discharge The swash plate pivot angle and main pump electric current of main pump out;If virtual flow is different from target flow symbol, set main pump electric current as 0, last controller passes through the output flow of main pump current control main pump.
2. the control method according to claim 1 for improving hydraulic crawler excavator revolution energy saving, it is characterised in that: described Pilot handle pressure signal includes left rotation pressure signal, right-hand rotation pressure signal;
When left rotation pressure signal and right-hand rotation pressure signal are all 0, target flow 0;
When left rotation pressure signal is greater than 0, target flow is directly proportional to left rotation pressure signal;
When right-hand rotation pressure signal is greater than 0, target flow is directly proportional to right-hand rotation pressure signal.
3. the control method according to claim 2 for improving hydraulic crawler excavator revolution energy saving, it is characterised in that: if left return Target flow is greater than 0 when turning pressure signal greater than 0, then target flow is less than 0 when right-hand rotation pressure signal is greater than 0;If Zuo Huizhuan Target flow is less than 0 when pressure signal is greater than 0, then target flow is greater than 0 when right-hand rotation pressure signal is greater than 0.
4. the control method according to claim 1 for improving hydraulic crawler excavator revolution energy saving, it is characterised in that: when virtual When flow and target flow are inconsistent, virtual flow moves closer to target flow at any time.
5. the control method according to claim 1 for improving hydraulic crawler excavator revolution energy saving, it is characterised in that: virtual stream Amount can lead time single order.
6. the control method according to claim 1 for improving hydraulic crawler excavator revolution energy saving, it is characterised in that: when virtual When flow is identical as target flow symbol, by engine speed, main pump maximum pump discharge, virtual flow rate calculation main pump electric current, when When virtually flow is opposite with target flow symbol, main pump electric current is 0.
7. the control method according to claim 1 for improving hydraulic crawler excavator revolution energy saving, it is characterised in that:
The main pump, variable pumpage is by current control, and when electric current is 0, discharge capacity is minimum value, discharge capacity and electric current positive It closes.
8. the control method according to claim 1 for improving hydraulic crawler excavator revolution energy saving, which is characterized in that specifically such as Under:
When pilot handle is turned round in operation, controller receives the pressure signal of pilot handle, and this pressure signal when calculating The target flow Q that corresponding rotary motor is finally reached0, there are difference DELTA Q between target flow and virtual flow at this time;Simultaneously Rotary motor drives hydraulic crawler excavator upper frame part to carry out revolution acceleration under the driving of hydraulic system pressure, rotary motor Demand volume pace of change is expressed asWherein t is the time;There are virtual changes in flow rate speed inside controller simultaneously The calculating function of degreeAnd reduceWithBetween difference, over time, Q2Move closer to Q0, The demand volume of virtual flow simulation rotary motor at this time;
If Q0With Q2Symbol is identical, then illustrates that virtual flow and demand volume direction and goal direction of the traffic are identical, this time control The flow of device control main pump output processed is identical as virtual flow and consistent with the demand volume of rotary motor, so flow is not It can be wasted by overflow valve, achieve the purpose that reduce flow waste;
If Q0With Q2Symbol is different, then illustrates virtual flow and demand volume direction and goal direction of the traffic on the contrary, leading at this time The output flow of pump can flow through overflow valve and generate waste, so setting 0 for main pump electric current at this time, main pump flow reaches minimum, Achieve the purpose that reduce flow waste.
CN201710801204.9A 2017-09-07 2017-09-07 A kind of control method improving hydraulic crawler excavator revolution energy saving CN107587546B (en)

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Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102587444B (en) * 2012-03-07 2014-07-30 浙江大学 Oil hybrid system for excavator with energy differential recovery
KR20140002296A (en) * 2012-06-29 2014-01-08 현대중공업 주식회사 Flow control device for excavator operated by electrical signal
CN103775435B (en) * 2014-01-09 2015-11-04 浙江大学 The pilot system of leading type load control valve
KR101978475B1 (en) * 2014-09-03 2019-05-15 현대건설기계 주식회사 Method for controlling work of excavator
WO2016093393A1 (en) * 2014-12-10 2016-06-16 볼보 컨스트럭션 이큅먼트 에이비 Hydraulic circuit of construction equipment
CN204677544U (en) * 2014-12-19 2015-09-30 上海电气液压气动有限公司 A kind of closed type hydraulic pump clockwise and anticlockwise load-sensitive pilot system

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