CN108571481A - The separately adjustable slow control strategy of oil inlet and oil return of the electro-hydraulic running gear of heavy vehicle - Google Patents
The separately adjustable slow control strategy of oil inlet and oil return of the electro-hydraulic running gear of heavy vehicle Download PDFInfo
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- CN108571481A CN108571481A CN201810062776.4A CN201810062776A CN108571481A CN 108571481 A CN108571481 A CN 108571481A CN 201810062776 A CN201810062776 A CN 201810062776A CN 108571481 A CN108571481 A CN 108571481A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
- F15B11/0423—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in" by controlling pump output or bypass, other than to maintain constant speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/06—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6656—Closed loop control, i.e. control using feedback
Abstract
The present invention provides a kind of separately adjustable slow control strategy of oil inlet and oil return of the electro-hydraulic running gear of heavy vehicle, speed control and over-running load are inhibited into two problem decouplings, it is adjusted by the volumetric void fraction for variable pump of walking in system in-line, adjust the discharge capacity of variable pump, and change variable pump output flow, realize drive motor rotating speed speed regulating control；Deviation based on actual speed and expectation rotating speed, system, which is designed, by acceleration planner it is expected acceleration, and it is inputted for slow adjusting control device with the acceleration of system reality output and desired acceleration bias, via controller calculates and outputs the control signal of Electric-hydraulic proportional pressure control valve, it is controlled to adjust by the pressure of the Electric-hydraulic proportional pressure control valve in system oil return road, realize that speed limit oil return line back-pressure continuously accurately controls to adjust, the drag torque generated by back pressure in drive motor is set to be balanced with the driving torque that vehicle entirety sliding force generates, realize that drive motor speed governing slowly controls.
Description
Technical field
The invention belongs to engineering truck driving and control technology fields.It is related to a kind of braking system and control method, specifically
It is separately adjustable slow to be related to a kind of oil inlet and oil return of multiaxis hydrostatic driveline heavy vehicle electro-hydraulic running gear under lasting negative value load
Control strategy.
Background technology
Closed model pump control motor hydrostatic driveline system is widely used in the heavy type such as flat car, tunnel duct piece vehicle and removes haulage vehicle
It drives in running gear, there is good power performance and control performance, and can realize stepless speed regulation, be always heavy engineering
Main type of drive used by vehicle.Heavy engineering vehicle in long range descending operating mode, by brake continuous braking come
Over-running load (such as vehicle entirety sliding force) is balanced, brake fever is serious, for a long time using brake efficiency being made to fail,
The braking ability degradation for leading to primary brake system, causes security hidden trouble.When therefore to ensure heavy vehicle descending still
So there is speed-regulating function and can at the uniform velocity travel, need a kind of auxiliary continuous braking scheme.Current heavy vehicle is about slow system
Dynamic scheme, including fluid power auxiliary braking, current vortex auxiliary braking, engine auxiliary braking etc..However it is many in engineering construction
Heavy goods vehicle is influenced by mounting structure and safety, and the use of fluid power auxiliary braking and current vortex braking is limited
System, in addition engine braking brake force is limited, and can not carry out real-time control.
The electro-hydraulic slow control of vehicle is to coordinate the method for control, the progress to electro-hydraulic running gear by flow system flow pressure
Governing speed and steady speed controlled control realizes that the flatness of speed of service when vehicle descending controls.Slowly control refers in over-running load to vehicle
In the case of realize car speed controlled and even running, briefly make running velocity controlled and flat in prescribed limit
Surely.Realize speed smoothly on condition that the driving force of controlled device must be enable to inhibit over-running load in speed control.However,
All there is a little deficiencies for the electro-hydraulic retarder brake technical solution used at present：
1) common four-way inlet and outlet linkage proportioning valve and servo valve can control controlled device in over-running load
Smooth motion, but need to turn down small valve and be open that valve control actuating unit is made to be operated in Section II, IV quadrants, there are inhibition over-running loads
With the coupled problem of motion control, valve port restriction loss is big, and fever is serious.
2) over-running load is balanced by brake continuous braking, brake fever is serious, in lower long slope operating mode long-time
Using that braking ability can be caused to fail, interval repeats Brake Energy improves this problem to a certain extent, but Steady speed is bad.
4) pump rate controlling degree is adjusted and electric-hydraulic proportion balances valve regulation backpressure schemes, can press down speed control and over-running load
System two problems decoupling, when lower long slope, need not use brake slow, by arranging balanced valve convenient for arrangement on oil return line
Cooler carries out pressure cooling, and valve control adjusts back pressure fast response time, and this scheme of shortcoming can not recycle descending potential energy.
5) pump controls governing speed and slowly pumps slow scheme, and descending potential energy can be passed through engine loading and other hydraulic pressure
Remainder after circuit absorbs transfers to slow system further to absorb, and slow pump can give accumulator accumulation of energy and driving cooling wind
Fan hydraulic motor, control element are electricity liquid ratio relief valves, although this scheme has recycled part descending potential energy, but structure group
It at complexity, is especially difficult to carry out when to be strict with to retracting device impost, in addition response speed compares balanced valve
Scheme is slow.
6) decoupling that speed control and over-running load inhibit may be implemented in the separately adjustable scheme of bivalve, and system composition is simple,
Fast response time.The program and accumulator combination can also give cooling circuit fuel feeding, partially recycled descending energy.Shortcoming is
Restriction loss is serious, and the relatively pump control of system capacity rate adjusts low.
Invention content
Aiming at the deficiencies in the prior art, a kind of multiaxis hydrostatic driveline heavy vehicle of present invention offer is in lasting negative value
The separately adjustable slow control strategy of the oil inlet and oil return of electro-hydraulic running gear under load is independently controlled based on system oil inlet and oil return road flow pressure
System is adjusted, and speed control and over-running load are inhibited two problem decouplings, pass through the volume for variable pump of walking in system in-line
It controls to adjust and realizes drive motor rotating speed speed regulating control, the electric-hydraulic proportion pressure of valve group is balanced by two-way proportional in system oil return road
Force control valve realizes that back-pressure continuous adaptive controls to adjust, make in drive motor the drag torque caused by back pressure with again
The driving torque balance that type vehicle entirety sliding force generates, realizes that drive motor speed governing slowly controls.By electro-hydraulic when lower long slope
The slow of retarder control system adjusts the flatness control realized to vehicle rotating speed, avoids and is generated heat using brake because of long-time
Caused by security risk, improve the governing speed and steady speed controlled control performance of the electro-hydraulic running gear of heavy vehicle, reduce and vehicle is driven
The Control requirements for the person of sailing.
Technical scheme is as follows：
A kind of separately adjustable slow control strategy of oil inlet and oil return of the electro-hydraulic running gear of heavy vehicle is made in lasting negative value load
Under (such as lower long slope operating mode), the slow control strategy of the electro-hydraulic running gear of heavy vehicle is based on system oil inlet and oil return road flow pressure
Independent control is adjusted, and speed control and over-running load are inhibited two problem decouplings, pass through variable pump of walking in system in-line
Volumetric void fraction adjust, adjust the discharge capacity of variable pump, realize drive motor rotating speed speed regulating control.Based on current system actual speed
And it is expected that the deviation of rotating speed designs current system by acceleration planner it is expected acceleration, while passing through system oil return road
The Electric-hydraulic proportional pressure control valve of middle two-way proportional balance valve group realizes that back-pressure continuous adaptive controls to adjust, and makes driving horse
The drag torque caused by back pressure is balanced with the driving torque that heavy vehicle entirety sliding force generates on, realizes drive motor
Speed governing slowly controls.
The slow control strategy is adjusted by the volumetric void fraction for variable pump of walking in system in-line, with system output
Actual speed and default it is expected the deviation of rotating speed device input quantity in order to control, calculate and output walking through rotational speed regulation controller and become
The real-time control input of amount pump, adjusts the discharge capacity of variable pump, and then change the output flow of pump, realizes drive motor rotating speed speed governing
Control.
The slow control strategy passes through the electric-hydraulic proportion pressure to two-way proportional balance valve group in the slow oil return line of system
Control valve continuously adjusts, and oil return line back-pressure is made to follow continuous adjustment, to make drive motor hindered caused by back pressure
Certain acceleration is generated under the collective effect for the driving torque that power torque is generated with vehicle entirety sliding force；Simultaneously with system reality
The current acceleration of border output and desired acceleration bias are slow adjusting control device input quantity, through backpressure regulation buffering controller
The real-time control input for calculating and outputting Electric-hydraulic proportional pressure control valve, the pressure control by Electric-hydraulic proportional pressure control valve are adjusted
Section obtains in oil return line and slowly adjusts required back-pressure, to realize that drive motor slowly controls.
Deviation of the slow control strategy based on current system actual speed and expectation rotating speed, passes through acceleration planner
Expectation acceleration planning algorithm design current system and it is expected acceleration, wherein it is expected acceleration by expectation acceleration base value and
It is expected that acceleration dynamic value two parts form, it is expected that acceleration base value depends on desired travel condition of vehicle, at the uniform velocity speed stabilizing travels
When be set as 0, it is expected that acceleration dynamic value synthesis rotating speed deviation depending on.
The Running System of the heavy vehicle includes engine, transfer case, shaft coupling, traveling pump, slippage pump, filter, overflows
Flow valve, two-way proportional balance valve group, drive motor, reduction box, wheel, various respective sensor devices and control device etc..It is double
Include hydraulic flush valve, Electric-hydraulic proportional pressure control valve, several check valves and throttle orifice to proportional balancing method valve group.
Further, two-way proportional balance valve group is arranged on the electro-hydraulic running gear oil return line of heavy vehicle, by right
Electric-hydraulic proportional pressure control valve continuously adjusts in two-way proportional balance valve group, and system oil return road back-pressure is made continuously accurately to adjust
Section realizes that the electro-hydraulic running gear of heavy vehicle slowly controls, while carrying out pressure cooling in system oil return road arrangement cooler, makes
The temperature of the high temperature hydraulic oil generated due to Electric-hydraulic proportional pressure control valve throttles and controls reduces, to make system hydraulic fluid temperature
It is effectively controlled.
Detailed process is as follows：
1) when vehicle travels on level land or climbing operating mode, closed type hydraulic system energy all is from engine, passes through
Transfer case is transferred to walking variable pump, and output pressure fluid enters drive motor by check valve, and two-way proportional balances in valve group
Hydraulic flush valve is poor according to spool both ends oil circuit pressure, and adjust automatically change-over valve core operating position is switched to the upper work of valve
The fluid of position, drive motor discharge enters Electric-hydraulic proportional pressure control valve by reversal valve, will by controlling current input signal
Electric-hydraulic proportional pressure control valve keeps opening aperture maximum, and running gear oil return line back pressure reaches minimum guard value, motor is made to obtain
Maximum driving torque is obtained, system throttles loss is made to be preferably minimized.It is expected with the current rotating speed of system reality output and default
The real-time control that the deviation of rotating speed calculates and outputs walking variable pump for the input of speed adjusting control device through rotational speed regulation controller is defeated
Enter, and then the discharge capacity by continuously adjusting walking variable pump realizes system volume speed regulating control, makes to act in drive motor
Torque is in dynamic balance state, realizes the governing speed and steady speed controlled control of heavy vehicle running gear.
2) when vehicle travels on descending or long descending operating mode, closed type hydraulic system energy is removed to be energized from engine
Outside, the sliding force that portion of energy is generated from vehicle under self gravitation effect, energy pass through transfer case, are transferred to walking variable
Pump, output pressure fluid enter drive motor by check valve, at this point, hydraulic flush valve is according to valve in two-way proportional balance valve group
Core both ends oil circuit pressure is poor, adjust automatically change-over valve core operating position.
Deviation of the slow control of the electro-hydraulic running gear of heavy vehicle based on current system actual speed and expectation rotating speed, leads to
The expectation acceleration planning algorithm for crossing acceleration planner designs current system expectation acceleration.
With the influence of vehicle weight potential energy, retarder brake system pressure quickly increases, backpressure regulation buffering controller base
It is continuous to export Electric-hydraulic proportional pressure control valve input control letter in the currently practical acceleration of vehicle and desired acceleration bias signal
Number, by making Electric-hydraulic proportional pressure control valve valve port opening become as low as appropriate opening degree, obtain in retarder brake system oil return road
It is slow to adjust required back-pressure, while rotational speed regulation controller being coordinated to reduce walking variable pumpage, to make to act on
The torque for the driving torque that the drag torque caused by back pressure in drive motor is generated with vehicle entirety sliding force remains flat
Weighing apparatus state makes vehicle continue the traveling that remains a constant speed, to realize the slow speed regulating control of vehicle.
Advantageous effect：The present invention improves the walking of hydrostatic driveline vehicle hydraulic since valve control adjusts back pressure fast response time
System control performance, and driving efficiency when improving vehicle driver's lower long slope
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram that two-way proportional of the present invention balances valve group.
Fig. 3 is the operation principle schematic diagram of the present invention.
In figure, 1- engines；2- transfer cases；3- shaft couplings；4- walking variable pumps；5- slippage pumps；6- filters；7- overflows
Valve；The circuits 8- check valve；9- coolers；10- Electric-hydraulic proportional pressure control valves；11- hydraulic flush valves；12- drive motors；13-
Reduction box；14- wheels；15- two-way proportionals balance valve group；16- route check valves.
Specific implementation mode
The present invention is described below with reference to specific embodiments.It will be appreciated by those skilled in the art that these embodiments are only
For illustrating the present invention, do not limit the scope of the invention in any way.
The separately adjustable slow control strategy of oil inlet and oil return of the electro-hydraulic running gear of heavy vehicle, as shown in Figure 1, the heavy goods vehicles
Electro-hydraulic running gear includes engine 1, transfer case 2, shaft coupling 3, walking variable pump 4, slippage pump 5, filter 6, overflow valve
7, two-way proportional balance valve group 15, drive motor 12, reduction box 13 and wheel 14, electrical control dress.
In conjunction with shown in Fig. 2, it includes hydraulic flush valve 11,10 and of Electric-hydraulic proportional pressure control valve that two-way proportional, which balances valve group 15,
Several circuit check valves 8.
In above structure, the output torque of engine 1 is transmitted to brake fluid system by transfer case 2, passes through shaft coupling 3
Driving walking variable pump 4, fuel tank output hydraulic pressure oil enter drive motor 12 by either route check valve 16；Two-way proportional balanced valve
Group 15 is arranged on oil return line, and installs cooler 9 and carry out pressure cooling；
Wherein, when that there are oil circuit pressures at the spool both ends of hydraulic flush valve 11 is poor, make automatically thereon working position be in connection
State, drive motor export fluid and enter Electric-hydraulic proportional pressure control valve 10 by hydraulic flush valve 11, and output fluid is through pressure
Walking 4 oil suction chamber of variable pump is entered by circuit check valve 8 after adjusting, overflow fluid enters oil after then being cooled down by cooler 9
Case.
As shown in figure 3, control device includes rotational speed regulation controller, backpressure regulation buffering controller, walking variable pump turn
Liquid in fast sensor, walking variable pump pressure sensor, drive motor speed probe, motor pressure sensor and backpressure circuit
Pressure oil temperature sensor；Control device is for acquiring each sensor signal and realizing slow control process；By controlling in-line
The volumetric void fraction of middle walking variable pump 4, which is adjusted, realizes 12 rotating speed speed regulating control of drive motor；It is flat to control two-way proportional in oil return line
The valve group 15 that weighs realizes that back-pressure continuous adaptive controls to adjust, make in drive motor 12 drag torque caused by back pressure with
The driving torque balance that heavy vehicle entirety sliding force generates, realizes the slow control of drive motor.
It holds, walking variable pump speed probe is installed in the output of transfer case 2 to the connecting shaft of walking variable pump 4, instead
Feedback walking variable pump tach signal；Positioned at the walking variable pump pressure sensor of walking 4 import and export of variable pump, output walking becomes
Amount pump inlet and outlet pressure signal, feeds back to the rotational speed regulation controller of brake fluid system, to obtain pump control space velocity control
The input control quantity of system；
It holds, motor pressure sensor arrangement obtains the imported oil of drive motor in 12 import and export of drive motor
Pressure at mouthful, meanwhile, motor rotary speed is exported by the speed probe on drive motor output shaft, the sensor output letter
Number it is sent to backpressure regulation controller, the pressure for obtaining voltage ratio pressure-control valve adjusts input control quantity.
Embodiment 1
When vehicle travels on level land or climbing operating mode, closed type hydraulic system energy all is from engine, through excessive
Dynamic case is transferred to walking variable pump, and output pressure fluid enters drive motor by check valve, and two-way proportional balances liquid in valve group
Press flushing valve poor according to spool both ends oil circuit pressure, adjust automatically change-over valve core operating position, the fluid of drive motor discharge
Enter Electric-hydraulic proportional pressure control valve by reversal valve, is kept Electric-hydraulic proportional pressure control valve by controlling current input signal
The aperture that is open is maximum, and running gear oil return line back pressure reaches minimum guard value, and motor is made to obtain maximum driving torque T=Δs pDm,
System throttles loss is set to be preferably minimized.Discharge capacity by continuously adjusting walking variable pump realizes system volume speed regulating control, makes work
It is in dynamic balance state with the torque in drive motor, rotating speed it is expected with the actual speed of system output and default
Device input quantity, the real-time control that walking variable pump is calculated and outputted through rotational speed regulation controller input deviation in order to control, adjust variable
The discharge capacity of pump, and then change the output flow of pump, realize that the governing speed and steady speed controlled control of heavy vehicle running gear maintains vehicle at the uniform velocity
Traveling.At this point, vehicle to run system mainly realizes that vehicle is governing speed and steady speed controlled by the volumetric void fraction of walk variable pump and drive motor
Control.
Δ p=pA-pB
In formula, pAFor drive motor inlet pressure, pBFor retarder brake system pressure, Δ p is drive motor inlet and outlet pressure
Difference, DmFor drive motor discharge capacity, J is drive motor rotary inertia, BmFor drive motor viscous damping coefficient, ωmFor drive motor
Actual speed, TGFor total outer load torque.
Embodiment 2
When vehicle travels on descending or long descending operating mode, closed type hydraulic system energy except from engine energize in addition to,
The downslide driving force that portion of energy is generated from vehicle under self gravitation effect, energy pass through transfer case, are transferred to walking and become
Amount pump, output pressure fluid enters drive motor by check valve, at this point, two-way proportional balance in valve group hydraulic flush valve according to
Spool both ends oil circuit pressure is poor, adjust automatically change-over valve core operating position.
Deviation of the slow control of the electro-hydraulic running gear of heavy vehicle based on current system actual speed and expectation rotating speed, leads to
The expectation acceleration planning algorithm for crossing acceleration planner designs current system expectation acceleration alphamd。
αmd=αbase+Kad*(ωmd-ωm)
It is expected that acceleration alphamdIt is made of expectation acceleration base value and desired acceleration dynamic value two parts, wherein it is expected to accelerate
It spends base value and depends on desired travel condition of vehicle, at the uniform velocity speed stabilizing is set as 0 when driving, it is expected that acceleration dynamic value integrates rotating speed deviation
Depending on.
a)αmdFor the desired base value of acceleration, acceleration desired value when being running gear stable speed operation.
b)Kad*(ωmd-ωm) it is the desired dynamic value of pressure, depending on comprehensive each motor rotary speed deviation.
At this point, by system in-line walk variable pump volumetric void fraction adjust, with the actual speed of system output with
Default it is expected the deviation device input quantity in order to control of rotating speed, and the real-time of walking variable pump is calculated and outputted through rotational speed regulation controller
Control input adjusts the discharge capacity of variable pump, and then changes the output flow of pump, realizes drive motor rotating speed speed regulating control as vehicle
The mate-assist of the slow speed stabilizing control of running gear.
With the influence of vehicle weight potential energy, retarder brake system pressure quickly increases, by system oil return Lu Zhongshuan
It is continuously adjusted to the Electric-hydraulic proportional pressure control valve of proportional balancing method valve group, back-pressure is made to follow continuous adjustment, to make driving
The driving torque that motor is generated in the drag torque caused by back pressure and vehicle entirety sliding force generates one under obtaining collective effect
Fixed acceleration.It is inputted as backpressure regulation buffering controller using the current acceleration of system reality output and desired acceleration bias
Controlled quentity controlled variable, via controller calculates and outputs Electric-hydraulic proportional pressure control valve real-time control input signal, by making electric-hydraulic proportion pressure
Control valve valve port opening becomes as low as appropriate opening degree, and the control of retarder brake system pressure is made to obtain in oil return line appropriately sized
It is slow to adjust required back-pressure, realize that drive motor slowly controls, to make heavy vehicle continue the traveling that remains a constant speed.
In formula, T0For engineering transportation vehicle descending when because gravitional force generate downslide torque.
Claims (8)
1. a kind of separately adjustable slow control strategy of oil inlet and oil return of electro-hydraulic running gear of heavy vehicle, it is characterised in that：Persistently bear
It is worth under load effect (such as lower long slope operating mode), the slow control strategy of the electro-hydraulic running gear of heavy vehicle is based on system oil inlet and oil return road
Flow pressure independent control is adjusted, and speed control and over-running load are inhibited two problem decouplings, pass through row in system in-line
The volumetric void fraction for walking variable pump is adjusted, and adjusts the discharge capacity of variable pump, to change variable pump output flow, realizes that drive motor turns
Fast speed regulating control；Deviation based on current system actual speed and expectation rotating speed, current system is designed by acceleration planner
System it is expected acceleration, and is that slow adjusting control device is defeated with desired acceleration bias with the current acceleration of system reality output
Enter, via controller calculates and outputs the control signal of Electric-hydraulic proportional pressure control valve, passes through the electric-hydraulic proportion pressure in system oil return road
The pressure of force control valve controls to adjust, and realizes that speed limit oil return line back-pressure continuously accurately controls to adjust, make in drive motor by
Drag torque caused by system back pressure is balanced with the driving torque that heavy vehicle entirety sliding force generates, and realizes drive motor tune
Fast slow control.
2. control strategy as described in claim 1, it is characterised in that：The slow control strategy passes through row in system in-line
The volumetric void fraction for walking variable pump is adjusted, and with the deviation of the actual speed of system output and default expectation rotating speed, device is defeated in order to control
Enter amount, the real-time control that walking variable pump is calculated and outputted through rotational speed regulation controller inputs, and adjusts the discharge capacity of variable pump, Jin Ergai
Become the output flow of pump, realizes drive motor rotating speed speed regulating control.
3. control strategy as described in claim 1, it is characterised in that：The slow control strategy passes through to the slow oil return of system
The Electric-hydraulic proportional pressure control valve of two-way proportional balance valve group continuously adjusts in road, and oil return line back-pressure is made to follow continuous tune
It is whole, to make the common of driving torque that drive motor generates with vehicle entirety sliding force in the drag torque caused by back pressure
Effect is lower to generate certain acceleration；It is simultaneously slow adjust with the current acceleration of system reality output and desired acceleration bias
Controller input quantity is saved, the real-time control that Electric-hydraulic proportional pressure control valve is calculated and outputted through backpressure regulation buffering controller inputs,
Pressure by Electric-hydraulic proportional pressure control valve controls to adjust, and obtains in oil return line and slowly adjusts required back-pressure, to
Realize that drive motor slowly controls.
4. control strategy as described in claim 1, it is characterised in that：The slow control strategy is based on practical turn of current system
Speed and the deviation for it is expected rotating speed design current system by the expectation acceleration planning algorithm of acceleration planner and it is expected to accelerate
Degree, wherein it is expected that acceleration is made of expectation acceleration base value and desired acceleration dynamic value two parts, it is expected that acceleration base value
Depending on it is expected that travel condition of vehicle, at the uniform velocity speed stabilizing are set as 0 when driving, it is expected that depending on acceleration dynamic value synthesis rotating speed deviation.
5. control strategy as described in claim 1, it is characterised in that：The Running System of heavy vehicle include engine, transfer case,
It is shaft coupling, traveling pump, slippage pump, filter, overflow valve, two-way proportional balance valve group, drive motor, reduction box, wheel, various
Respective sensor device and control device etc..Two-way proportional balance valve group include hydraulic flush valve, Electric-hydraulic proportional pressure control valve,
Several check valves and throttle orifice.
6. control strategy as claimed in claim 5, it is characterised in that：By two-way proportional balance valve group setting in heavy vehicle electricity
On liquid running gear speed limit oil return line, is continuously adjusted, made by balancing Electric-hydraulic proportional pressure control valve in valve group to two-way proportional
System oil return road back-pressure is continuously accurately adjusted, and realizes that the electro-hydraulic running gear of heavy vehicle slowly controls, while being returned in system
Oil circuit arrangement cooler carries out pressure cooling, makes the high temperature hydraulic oil generated due to Electric-hydraulic proportional pressure control valve throttles and controls
Temperature reduces, to make system hydraulic fluid temperature be effectively controlled.
7. control strategy as claimed in claim 5, it is characterised in that：When vehicle travels on level land or climbing operating mode, close
Formula hydraulic system energy all is from engine, by transfer case, is transferred to walking variable pump, output pressure fluid is by unidirectional
Valve enters drive motor, and hydraulic flush valve is poor according to spool both ends oil circuit pressure in two-way proportional balance valve group, and adjust automatically is changed
To valve core operating position, the fluid of drive motor discharge enters Electric-hydraulic proportional pressure control valve by reversal valve, passes through control
Electric-hydraulic proportional pressure control valve is kept opening aperture maximum by current input signal, and running gear oil return line back pressure reaches minimum peace
Total head makes motor obtain maximum driving torque, and then system throttles loss is made to be preferably minimized；By continuously adjusting walking variable pump
Discharge capacity realize system volume speed regulating control, make to act on the torque in drive motor and be in dynamic balance state, realize heavy type
The governing speed and steady speed controlled control of vehicle to run system.
8. control strategy as claimed in claim 5, it is characterised in that：When vehicle travels on descending or long descending operating mode,
Closed type hydraulic system energy from engine in addition to energizing, downslide that portion of energy is generated from vehicle under self gravitation effect
Power, energy pass through transfer case, are transferred to walking variable pump, output pressure fluid enters drive motor by check valve；In vehicle
Under the influence of gravitional force, retarder brake system oil return road back-pressure quickly increases, and backpressure regulation buffering controller is based on working as
The slow state of vehicle in front continuously exports Electric-hydraulic proportional pressure control valve input control signal, by making Electric-hydraulic proportional pressure control valve
Valve port opening becomes as low as appropriate opening degree, makes the control of retarder brake system pressure appropriately sized, while coordinating rotational speed regulation control
Device processed reduces walking variable pumpage, whole to make to act on the drag torque caused by back pressure in drive motor and vehicle
The torque for the driving torque that body sliding force generates maintains equilibrium state, so that vehicle is continued the traveling that remains a constant speed, to realize vehicle
Slow speed regulating control.
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| CN201810062776.4A CN108571481B (en) | 2018-01-23 | 2018-01-23 | Oil inlet and return independent regulation retarding control strategy of heavy vehicle electro-hydraulic traveling system |
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| CN114412849A (en) * | 2021-12-07 | 2022-04-29 | 浙江大学 | Control method of loading rotary system of large-inertia rotary drilling rig with independently controlled load port |
| CN117072505A (en) * | 2023-10-18 | 2023-11-17 | 山河智能特种装备有限公司 | Stokehold equipment and energy-saving hydraulic walking closed system thereof |
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Effective date of registration: 20210208 Address after: 450064 No.1, Minghui Road, Mazhai Industrial Park, Erqi District, Zhengzhou City, Henan Province Patentee after: ZHENGZHOU NEW DAFANG HEAVY INDUSTRIES & TECHNOLOGY Co.,Ltd. Address before: 100083 No. 37, Haidian District, Beijing, Xueyuan Road Patentee before: BEIHANG University |