CN108571481B - Oil inlet and return independent regulation retarding control strategy of heavy vehicle electro-hydraulic traveling system - Google Patents
Oil inlet and return independent regulation retarding control strategy of heavy vehicle electro-hydraulic traveling system Download PDFInfo
- Publication number
- CN108571481B CN108571481B CN201810062776.4A CN201810062776A CN108571481B CN 108571481 B CN108571481 B CN 108571481B CN 201810062776 A CN201810062776 A CN 201810062776A CN 108571481 B CN108571481 B CN 108571481B
- Authority
- CN
- China
- Prior art keywords
- control
- electro
- hydraulic
- speed
- valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- 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 invention provides an oil inlet and return independent regulation retarding control strategy of a heavy vehicle electrohydraulic traveling system, which decouples two problems of speed control and negative load inhibition, adjusts the displacement of a variable pump through the volume control regulation of a traveling variable pump in an oil inlet path of the system, changes the output flow of the variable pump and realizes the speed regulation control of the rotating speed of a driving motor; based on the deviation between the actual rotating speed and the expected rotating speed, the expected acceleration of the system is designed through an acceleration planner, the deviation between the actual output acceleration of the system and the expected acceleration is used as the input of a speed-regulating controller, the control signal of an electro-hydraulic proportional pressure control valve is resolved and output through the controller, the continuous and accurate control and regulation of the back pressure of the speed-limiting oil return path are realized through the pressure control and regulation of the electro-hydraulic proportional pressure control valve in the oil return path of the system, the resistance torque generated by the back pressure on a driving motor is balanced with the driving torque generated by the integral glide force of the vehicle, and the speed-regulating and speed-slowing control.
Description
Technical Field
The invention belongs to the technical field of engineering vehicle driving and control. The patent refers to the field of 'control or regulating systems and its monitoring or testing arrangements'.
Background
The hydrostatic driving system of the closed pump control motor is widely applied to driving and traveling systems of heavy transport vehicles such as flat cars, tunnel segment cars and the like, has good dynamic performance and control performance, can realize stepless speed regulation, and is always a main driving mode adopted by heavy engineering vehicles. When a heavy engineering vehicle is in a long-distance downhill working condition, negative load (such as the overall downward sliding force of the vehicle) is balanced by continuously braking through the brake, the brake generates heat seriously, and the braking efficiency is declined after long-time use, so that the braking performance of a main braking system is seriously reduced, and the potential safety hazard problem is caused. Therefore, in order to ensure that the heavy vehicle still has the speed regulation function and can run at a constant speed when going downhill, an auxiliary continuous braking scheme is needed. Current heavy vehicles rely on creep braking schemes including hydrodynamic assisted braking, eddy current assisted braking, engine assisted braking, and the like. However, many heavy transport vehicles in construction are affected by installation structure and safety, the use of hydraulic auxiliary braking and eddy current braking is limited, and engine braking force is limited and cannot be controlled in real time.
The vehicle electrohydraulic retarding control is to control the speed regulation and the speed stabilization of an electrohydraulic traveling system by a method of system flow and pressure coordination control, so as to realize the smoothness control of the running speed of the vehicle when going downhill. The vehicle creep control means that controlled and smooth running of the vehicle speed is achieved under a negative load condition, simply, the vehicle running speed is controlled and made smooth within a prescribed range. The precondition for achieving smooth speed is that the driving force of the controlled object must be able to suppress negative-value loads at the time of speed control. However, the currently adopted electro-hydraulic retarding braking technical solutions all have some disadvantages:
1) the common four-way inlet-outlet linkage proportional valve and the servo valve can control a controlled object to move stably under the condition of negative load, but a small valve opening needs to be closed to enable a valve control power mechanism to work in quadrants II and IV, so that the coupling problem of inhibiting negative load and motion control exists, the throttling loss of a valve opening is large, and heat is serious.
2) Negative load is balanced by continuous braking of the brake, the brake generates heat seriously, braking performance is declined when the brake is used for a long time under a long slope working condition, and intermittent repeated braking can improve the problem to a certain extent, but the speed stability is not good.
4) The pump control speed regulation and the electro-hydraulic proportional balance valve backpressure regulation scheme can decouple the speed control problem and the negative load inhibition problem, a brake is not needed for retarding when the vehicle descends a long slope, a balance valve is arranged on an oil return path, a cooler is convenient to arrange for forced cooling, the response speed of the valve control backpressure regulation is high, and the downhill potential energy cannot be recovered.
5) The scheme of pump control speed regulation and retarding of the retarding pump is characterized in that the downhill potential energy can be further absorbed by a retarding system through the engine load and the rest part of the downhill potential energy absorbed by other hydraulic circuits, the retarding pump can store energy for an energy accumulator and drive a hydraulic motor for a cooling fan, and a control element is an electro-hydraulic proportional overflow valve.
6) The double-valve independent regulation scheme can realize the decoupling of speed control and negative load inhibition, and has simple system composition and high response speed. The scheme and the energy accumulator are combined to supply oil to the cooling circuit and partially recover downhill energy. The defects are that the throttling loss is serious, and the energy rate of the system is lower than that of pump control regulation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an independent adjusting and retarding control strategy for oil inlet and return oil of an electro-hydraulic traveling system of a multi-axle hydrostatic driving heavy vehicle under a continuous negative load, which is based on the independent control and adjustment of the flow pressure of an oil inlet and return circuit of the system, decouples the two problems of speed control and negative load suppression, realizes the speed regulation control of the rotating speed of a driving motor through the volume control and adjustment of a traveling variable pump in the oil inlet circuit of the system, realizes the continuous self-adaptive control and adjustment of back pressure through an electro-hydraulic proportional pressure control valve of a bidirectional proportional balancing valve group in the oil return circuit of the system, balances the resistance torque generated by the back pressure on the driving motor and the driving torque generated by the integral glide force of the heavy vehicle, and realizes the. The smoothness control of the rotating speed of the vehicle is realized through the retarding regulation of the electro-hydraulic retarding control system when the vehicle descends a long slope, the potential safety hazard caused by the heating of a brake used for a long time is avoided, the speed regulation and stabilization control performance of the electro-hydraulic traveling system of the heavy vehicle is improved, and the operating requirement on a vehicle driver is reduced.
The technical scheme of the invention is as follows:
under the action of continuous negative load (such as long slope working condition), the retarding control strategy of the heavy vehicle electro-hydraulic traveling system is based on independent control and adjustment of flow pressure of a system oil inlet and return path, so that two problems of speed control and negative load inhibition are decoupled, and the displacement of a variable pump is adjusted through volume control and adjustment of the traveling variable pump in an oil inlet path of the system, so that the rotating speed regulation control of a driving motor is realized. The method comprises the steps of designing the expected acceleration of a current system through an acceleration planner, and realizing continuous self-adaptive control and regulation of backpressure pressure through an electro-hydraulic proportional pressure control valve of a bidirectional proportional balancing valve bank in a return oil path of the system, so that the resistance torque generated by backpressure on a driving motor is balanced with the driving torque generated by the integral glide force of the heavy vehicle, and the speed regulation and the retarding control of the driving motor are realized.
The retarding control strategy is controlled and adjusted through the volume of the walking variable pump in the oil inlet path of the system, the deviation between the actual rotating speed output by the system and the set expected rotating speed of the system is taken as the input quantity of the controller, the real-time control input of the walking variable pump is resolved and output by the rotating speed adjusting controller, the displacement of the variable pump is adjusted, the output flow of the pump is changed, and the rotating speed adjusting control of the driving motor is realized.
The retarding control strategy continuously adjusts the electro-hydraulic proportional pressure control valve of a bidirectional proportional balance valve group in a retarding oil return path of the system to continuously adjust the back pressure of the oil return path, so that a driving motor generates a certain acceleration under the combined action of a resistance torque generated by back pressure and a driving torque generated by the integral glide force of a vehicle; meanwhile, the deviation of the current acceleration and the expected acceleration which are actually output by the system is used as the input quantity of the retarding control controller, the real-time control input of the electro-hydraulic proportional pressure control valve is output through resolving by the backpressure control retarding controller, and the backpressure pressure required by retarding control in the oil return path is obtained through pressure control regulation of the electro-hydraulic proportional pressure control valve, so that retarding control of the driving motor is realized.
The slow speed control strategy is based on the deviation of the actual rotating speed and the expected rotating speed of the current system, the expected acceleration of the current system is designed through an expected acceleration planning algorithm of an acceleration planner, wherein the expected acceleration consists of an expected acceleration basic value and an expected acceleration dynamic value, the expected acceleration basic value depends on the running state of an expected vehicle, the expected acceleration basic value is set to be 0 when the vehicle runs at a constant speed and a stable speed, and the expected acceleration dynamic value is determined by the comprehensive rotating speed deviation.
The traveling system of the heavy vehicle comprises an engine, a transfer case, a coupling, a traveling pump, an oil replenishing pump, a filter, an overflow valve, a bidirectional proportional balance valve bank, a driving motor, a reduction gearbox, wheels, various corresponding sensor devices, a control device and the like. The bidirectional proportional balancing valve group comprises a hydraulic flushing valve, an electro-hydraulic proportional pressure control valve, a plurality of one-way valves and a throttling hole.
Furthermore, the two-way proportional balance valve group is arranged on an oil return path of the heavy vehicle electro-hydraulic traveling system, back pressure of the system oil return path is continuously and accurately adjusted by continuously adjusting an electro-hydraulic proportional pressure control valve in the two-way proportional balance valve group, the slow speed control of the heavy vehicle electro-hydraulic traveling system is realized, and meanwhile, a cooler is arranged on the system oil return path for forced cooling, so that the temperature of high-temperature hydraulic oil generated by throttling control of the electro-hydraulic proportional pressure control valve is reduced, and the temperature of the system hydraulic oil is effectively controlled.
The specific process is as follows:
1) when the vehicle runs on flat ground or in a climbing working condition, the energy of the closed hydraulic system is completely from the engine, the energy is transmitted to the traveling variable pump through the transfer case, output pressure oil enters the driving motor through the one-way valve, the hydraulic flushing valve in the two-way proportional balancing valve set automatically adjusts the working position of the valve core of the reversing valve according to the pressure difference of oil passages at two ends of the valve core, the working position is switched to the upper working position of the valve, the oil discharged by the driving motor enters the electro-hydraulic proportional pressure control valve through the reversing valve, the opening of the electro-hydraulic proportional pressure control valve is kept to be maximum through a control current input signal, the back pressure of an oil return passage of the traveling system reaches a minimum safety value, the motor obtains maximum driving. The deviation between the current rotating speed actually output by the system and the expected rotating speed set by the system is used as the input of the speed adjusting controller, the real-time control input of the traveling variable pump is calculated and output by the speed adjusting controller, and the displacement speed adjusting control of the system is realized by continuously adjusting the displacement of the traveling variable pump, so that the torque acting on the driving motor is in a dynamic balance state, and the speed adjusting and stabilizing control of the traveling system of the heavy vehicle is realized.
2) When the vehicle runs on a downhill or long downhill working condition, the energy of the closed hydraulic system is supplied by an engine, part of the energy is supplied by the downward sliding force generated by the vehicle under the action of the gravity of the vehicle, the energy is transmitted to a walking variable pump through a transfer case, output pressure oil enters a driving motor through a one-way valve, and at the moment, a hydraulic flushing valve in the two-way proportional balancing valve set automatically adjusts the working position of a valve core of the reversing valve according to the pressure difference of oil circuits at two ends of the valve core.
The retarding control of the heavy vehicle electro-hydraulic traveling system is based on the deviation of the actual rotating speed and the expected rotating speed of the current system, and the expected acceleration of the current system is designed through an expected acceleration planning algorithm of an acceleration planner.
The method comprises the steps that the pressure of a retarding brake system is rapidly increased along with the influence of gravitational potential energy of a vehicle, a backpressure regulating retarding controller continuously outputs an input control signal of an electro-hydraulic proportional pressure control valve based on a deviation signal of the current actual acceleration and the expected acceleration of the vehicle, the backpressure pressure required by retarding regulation in an oil return path of the retarding brake system is obtained by reducing the opening degree of a valve port of the electro-hydraulic proportional pressure control valve to a proper opening degree, and the displacement of a walking variable pump is reduced by matching with a rotating speed regulating controller, so that the moment of resistance torque generated by the backpressure acting on a driving motor and driving torque generated by the integral glide force of the vehicle is kept in a balanced state, the vehicle is continuously kept in a constant-speed running state, and the retarding speed regulation control of the vehicle.
Has the advantages that: the invention has high response speed of valve control to adjust back pressure, improves the control performance of the hydraulic traveling system of the hydrostatic drive vehicle, and improves the operation efficiency of the vehicle driver when descending a long slope
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the bidirectional proportional balancing valve set of the present invention.
Fig. 3 is a schematic diagram of the working principle of the present invention.
In the figure, 1-engine; 2-a transfer case; 3, coupling; 4-a walking variable pump; 5-oil supplement pump; 6-a filter; 7-an overflow valve; 8-a loop check valve; 9-a cooler; 10-electro-hydraulic proportional pressure control valve; 11-a hydraulic flush valve; 12-a drive motor; 13-reduction gearbox; 14-a wheel; 15-a bidirectional proportional balancing valve bank; 16-route check valve.
Detailed Description
The invention is illustrated below with reference to specific examples. It will be understood by those skilled in the art that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention in any way.
An oil inlet and return independent adjustment retarding control strategy of a heavy vehicle electro-hydraulic traveling system is shown in figure 1, and the heavy vehicle electro-hydraulic traveling system comprises an engine 1, a transfer case 2, a coupler 3, a traveling variable pump 4, an oil replenishing pump 5, a filter 6, an overflow valve 7, a bidirectional proportional balancing valve group 15, a driving motor 12, a reduction gearbox 13, wheels 14 and an electric control device.
Referring to fig. 2, the two-way proportional balancing valve set 15 includes a hydraulic flushing valve 11, an electro-hydraulic proportional pressure control valve 10 and a plurality of loop check valves 8.
In the structure, the output torque of the engine 1 is transmitted to a hydraulic braking system through the transfer case 2, the traveling variable pump 4 is driven through the coupler 3, and hydraulic oil output by the oil tank enters the driving motor 12 through the double-inlet one-way valve 16; the bidirectional proportional balance valve group 15 is arranged on the oil return path, and a cooler 9 is arranged for forced cooling;
when oil way pressure difference exists at two ends of a valve core of the hydraulic flushing valve 11, the upper working position of the hydraulic flushing valve is automatically in a communicated state, oil output by the driving motor enters the electro-hydraulic proportional pressure control valve 10 through the hydraulic flushing valve 11, the output oil enters an oil inlet cavity of the traveling variable pump 4 through the loop check valve 8 after pressure regulation, and overflow oil enters an oil tank after being cooled by the cooler 9.
As shown in fig. 3, the control device includes a speed regulation controller, a back pressure regulation and retarding controller, a walking variable pump speed sensor, a walking variable pump pressure sensor, a driving motor speed sensor, a motor pressure sensor and a hydraulic oil temperature sensor in a back pressure loop; the control device is used for acquiring signals of each sensor and realizing a retarding control process; the speed regulation control of the rotating speed of the driving motor 12 is realized by controlling the volume control regulation of the walking variable pump 4 in the oil inlet path; the bidirectional proportional balance valve group 15 in the control oil return path realizes continuous adaptive control and adjustment of backpressure, so that the resistance torque generated by backpressure on the driving motor 12 is balanced with the driving torque generated by the integral glide force of the heavy vehicle, and the slow speed control of the driving motor is realized.
On the bearing, a walking variable pump rotating speed sensor is arranged on a connecting shaft output by the transfer case 2 to the walking variable pump 4 to feed back a walking variable pump rotating speed signal; the pressure sensors of the walking variable pump are positioned at the inlet and the outlet of the walking variable pump 4, output pressure signals of the inlet and the outlet of the walking variable pump and feed back the pressure signals to a rotating speed adjusting controller of the hydraulic braking system, so that input control quantity of pump control volume speed control is obtained;
and meanwhile, the rotating speed of the motor is output through a rotating speed sensor on an output shaft of the driving motor, and an output signal of the sensor is transmitted to a back pressure regulation controller to obtain a pressure regulation input control quantity of the voltage proportional pressure control valve.
Example 1
When the vehicle runs on flat ground or in a climbing working condition, the energy of the closed hydraulic system is completely transmitted from the engine and transmitted to the traveling variable pump through the transfer case, output pressure oil enters the driving motor through the one-way valve, the hydraulic flushing valve in the two-way proportional balancing valve set automatically adjusts the working position of the valve core of the reversing valve according to the pressure difference of oil passages at two ends of the valve core, the oil discharged by the driving motor enters the electro-hydraulic proportional pressure control valve through the reversing valve, the electro-hydraulic proportional pressure control valve is kept at the maximum opening degree through a control current input signal, and the oil returned by the traveling system is transmitted to theThe back pressure of the road reaches the minimum safe value, so that the motor obtains the maximum driving torque T as delta pDmAnd the throttling loss of the system is reduced to the minimum. The displacement of the traveling variable pump is continuously adjusted to realize the volume speed regulation control of the system, so that the torque acting on the driving motor is in a dynamic balance state, the deviation between the actual rotating speed output by the system and the expected rotating speed set by the system is taken as the input quantity of the controller, the real-time control input of the traveling variable pump is calculated and output by the rotating speed regulation controller, the displacement of the variable pump is regulated, the output flow of the pump is further changed, and the speed regulation and speed stabilization control of the traveling system of the heavy vehicle is realized to maintain the uniform-speed traveling of the vehicle. At the moment, the vehicle running system mainly realizes the speed regulation and speed stabilization control of the vehicle through the volume control of the running variable pump and the driving motor.
Δp＝pA-pB
In the formula, pATo drive the motor inlet pressure, pBFor retarding brake system pressure, Δ p is the drive motor inlet and outlet differential pressure, DmTo drive motor displacement, J is drive motor moment of inertia, BmTo drive the viscous damping coefficient, omegamFor driving the actual speed of the motor, TGIs the total external load torque.
Example 2
When the vehicle runs on a downhill or long downhill working condition, the energy of the closed hydraulic system is supplied by an engine, part of the energy is from the gliding driving force generated by the vehicle under the action of the gravity of the vehicle, the energy is transmitted to a walking variable pump through a transfer case, output pressure oil enters a driving motor through a one-way valve, and at the moment, a hydraulic flushing valve in the two-way proportional balancing valve set automatically adjusts the working position of a valve core of the reversing valve according to the pressure difference of oil ways at two ends of the valve core.
The retarding control of the heavy-duty vehicle electrohydraulic traveling system is based on the deviation of the actual rotating speed and the expected rotating speed of the current system, and the expected acceleration α of the current system is designed through an expected acceleration planning algorithm of an acceleration plannermd。
αmd＝αbase+Kad*(ωmd-ωm)
Desired acceleration αmdThe system consists of an expected acceleration basic value and an expected acceleration dynamic value, wherein the expected acceleration basic value depends on the expected vehicle running state, is set to be 0 when the vehicle runs at a constant speed and a steady speed, and is determined by integrating the rotation speed deviation with the expected acceleration dynamic value.
a)αmdThe expected base value of the acceleration is the expected acceleration value when the walking system runs at a steady speed.
b)Kad*(ωmd-ωm) The desired dynamic value of the pressure is determined by integrating the rotational speed deviation of each motor.
At the moment, through the volume control and adjustment of the traveling variable pump in the system oil inlet path, the deviation between the actual rotating speed output by the system and the set expected rotating speed of the system is taken as the input quantity of the controller, the real-time control input of the output traveling variable pump is resolved by the rotating speed adjusting controller, the displacement of the variable pump is adjusted, the output flow of the pump is further changed, and the rotating speed adjusting control of the driving motor is taken as the auxiliary coordination of the slow speed stabilizing control of the vehicle traveling system.
The pressure of the retarding braking system is quickly increased along with the influence of the gravitational potential energy of the vehicle, and the back pressure is continuously adjusted by continuously adjusting an electro-hydraulic proportional pressure control valve of a bidirectional proportional balance valve group in a system oil return path, so that the driving motor generates certain acceleration under the combined action of the resistance torque generated by the back pressure and the driving torque generated by the integral glide force of the vehicle. The deviation of the current acceleration and the expected acceleration which are actually output by the system is used as the input control quantity of the back pressure regulation retarding controller, the controller is used for resolving and outputting real-time control input signals of the electro-hydraulic proportional pressure control valve, the opening degree of a valve port of the electro-hydraulic proportional pressure control valve is reduced to a proper opening degree, the pressure of the retarding brake system is controlled to be a proper size, the back pressure required by retarding regulation in an oil return path is obtained, the retarding control of a driving motor is realized, and the heavy vehicle is enabled to continuously keep running at a constant speed.
In the formula, T0The slip torque is generated by the gravitational potential energy when the engineering transport vehicle goes downhill.
Claims (7)
1. Heavy vehicle electricity liquid traveling system advance oil return independent control slow speed control strategy, its characterized in that: under the action of continuous negative load, a retarding control strategy of the heavy vehicle electro-hydraulic traveling system is independently controlled and adjusted based on the flow pressure of the oil inlet and return paths of the system, so that two problems of speed control and negative load inhibition are decoupled, and the displacement of a variable pump is adjusted through the volume control and adjustment of a traveling variable pump in the oil inlet path of the system, so that the output flow of the variable pump is changed, and the speed regulation control of the rotating speed of a driving motor is realized; based on the deviation between the actual rotating speed and the expected rotating speed of the current system, the expected acceleration of the current system is designed through an acceleration planner, the deviation between the current acceleration and the expected acceleration which are actually output by the system is input into a slow speed regulation controller, the control signal of an electro-hydraulic proportional pressure control valve is resolved and output through the controller, the continuous and accurate control and regulation of the back pressure of a speed-limiting oil return path are realized through the pressure control regulation of the electro-hydraulic proportional pressure control valve in a system oil return path, the resistance torque generated by the system back pressure on a driving motor is balanced with the driving torque generated by the integral glide force of a heavy vehicle, the speed regulation and slow speed control of the driving motor are realized, the back pressure of the oil return path is continuously regulated through the electro-hydraulic proportional pressure control valve of a bidirectional proportional balancing valve group in the slow speed return path of the system, the back pressure of the oil return path is continuously regulated, and the resistance torque generated by the back pressure Generating a certain acceleration by using the lower pressure; meanwhile, the deviation of the current acceleration and the expected acceleration which are actually output by the system is used as the input quantity of the retarding control controller, the real-time control input of the electro-hydraulic proportional pressure control valve is output through resolving by the backpressure control retarding controller, and the backpressure pressure required by retarding control in the oil return path is obtained through pressure control regulation of the electro-hydraulic proportional pressure control valve, so that retarding control of the driving motor is realized.
2. The heavy-duty vehicle electro-hydraulic traveling system oil inlet and return independent regulation retarding control strategy as claimed in claim 1, wherein: the retarding control strategy is controlled and adjusted through the volume of the walking variable pump in the oil inlet path of the system, the deviation between the actual rotating speed output by the system and the set expected rotating speed of the system is taken as the input quantity of the controller, the real-time control input of the walking variable pump is resolved and output by the rotating speed adjusting controller, the displacement of the variable pump is adjusted, the output flow of the pump is changed, and the rotating speed adjusting control of the driving motor is realized.
3. The heavy-duty vehicle electro-hydraulic traveling system oil inlet and return independent regulation retarding control strategy as claimed in claim 1, wherein: the slow speed control strategy is based on the deviation of the actual rotating speed and the expected rotating speed of the current system, the expected acceleration of the current system is designed through an expected acceleration planning algorithm of an acceleration planner, wherein the expected acceleration consists of an expected acceleration basic value and an expected acceleration dynamic value, the expected acceleration basic value depends on the running state of an expected vehicle, the expected acceleration basic value is set to be 0 when the vehicle runs at a constant speed and a stable speed, and the expected acceleration dynamic value is determined by the comprehensive rotating speed deviation.
4. The heavy-duty vehicle electro-hydraulic traveling system oil inlet and return independent regulation retarding control strategy as claimed in claim 1, wherein: the traveling system of the heavy vehicle comprises an engine, a transfer case, a coupler, a traveling pump, an oil replenishing pump, a filter, an overflow valve, a bidirectional proportional balance valve group, a driving motor, a reduction gearbox, wheels, corresponding sensor devices and a control device, wherein the bidirectional proportional balance valve group comprises a hydraulic flushing valve, an electro-hydraulic proportional pressure control valve, a plurality of one-way valves and a throttling hole.
5. The heavy-duty vehicle electro-hydraulic traveling system oil inlet and return independent regulation retarding control strategy of claim 4, characterized in that: the two-way proportional balancing valve group is arranged on a speed-limiting oil return path of an electro-hydraulic traveling system of a heavy vehicle, back pressure of the oil return path of the system is continuously and accurately adjusted by continuously adjusting an electro-hydraulic proportional pressure control valve in the two-way proportional balancing valve group, the slow speed control of the electro-hydraulic traveling system of the heavy vehicle is realized, and meanwhile, a cooler is arranged on the oil return path of the system for forced cooling, so that the temperature of high-temperature hydraulic oil generated by throttling control of the electro-hydraulic proportional pressure control valve is reduced, and the temperature of the hydraulic oil of the system is effectively controlled.
6. The heavy-duty vehicle electro-hydraulic traveling system oil inlet and return independent regulation retarding control strategy of claim 4, characterized in that: when the vehicle runs on flat ground or in a climbing working condition, the energy of a closed hydraulic system is completely transmitted from an engine, the energy is transmitted to a traveling variable pump through a transfer case, output pressure oil enters a driving motor through a one-way valve, a hydraulic flushing valve in a two-way proportional balancing valve set automatically adjusts the working position of a valve core of a reversing valve according to the pressure difference of oil ways at two ends of the valve core, the oil discharged by the driving motor enters an electro-hydraulic proportional pressure control valve through the reversing valve, the electro-hydraulic proportional pressure control valve is kept to be maximum in opening degree through a control current input signal, the back pressure of an oil return path of the traveling system reaches a minimum safety value, the motor obtains maximum driving torque, and the throttling loss of the; the system volume speed regulation control is realized by continuously regulating the displacement of the traveling variable pump, so that the torque acting on the driving motor is in a dynamic balance state, and the speed regulation and stabilization control of the traveling system of the heavy vehicle is realized.
7. The heavy-duty vehicle electro-hydraulic traveling system oil inlet and return independent regulation retarding control strategy of claim 4, characterized in that: when the vehicle runs on a downhill or a long downhill working condition, the energy of the closed hydraulic system is supplied by the engine, part of the energy is supplied by the downward sliding force generated by the vehicle under the action of the gravity of the vehicle, the energy is transmitted to the traveling variable pump through the transfer case, and the output pressure oil enters the driving motor through the one-way valve; under the influence of the gravitational potential energy of the vehicle, the backpressure of an oil return path of the retarding brake system is quickly increased, the backpressure regulating retarding controller continuously outputs an input control signal of the electro-hydraulic proportional pressure control valve based on the current retarding state of the vehicle, the pressure of the retarding brake system is controlled to be in a proper size by reducing the opening degree of a valve port of the electro-hydraulic proportional pressure control valve to a proper opening degree, and meanwhile, the displacement of a traveling variable pump is reduced by matching with a rotating speed regulating controller, so that the resistance torque generated by the backpressure acting on a driving motor and the torque of the driving torque generated by the integral glide force of the vehicle are kept in a balanced state, the vehicle is continuously kept to run at a constant speed, and the retarding speed regulation control of the vehicle is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108571481A CN108571481A (en) | 2018-09-25 |
| CN108571481B true CN108571481B (en) | 2020-03-13 |
Family
ID=63576612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810062776.4A Active CN108571481B (en) | 2018-01-23 | 2018-01-23 | Oil inlet and return independent regulation retarding control strategy of heavy vehicle electro-hydraulic traveling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108571481B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110435423B (en) * | 2019-06-28 | 2021-04-02 | 中冶宝钢技术服务有限公司 | Speed control method for static pressure driven vehicle downhill |
| CN110744999B (en) * | 2019-10-28 | 2021-06-25 | 江苏军源装备制造有限公司 | Hydraulic differential control system for vehicle |
| CN111595594B (en) * | 2020-06-01 | 2021-07-09 | 山东省农业机械科学研究院 | Tractor traction load mobile test system and method |
| CN112758850B (en) * | 2020-12-31 | 2022-12-20 | 南通中远海运船务工程有限公司 | Hydraulic transformer controller and winch system of deep water dynamic positioning crude oil conveying device |
| CN114412849B (en) * | 2021-12-07 | 2023-01-13 | 浙江大学 | Control method of loading rotary system of large-inertia rotary drilling rig with independently controlled load port |
| CN117072505B (en) * | 2023-10-18 | 2024-02-13 | 山河智能特种装备有限公司 | Stokehold equipment and energy-saving hydraulic walking closed system thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6299523A (en) * | 1985-10-26 | 1987-05-09 | Hitachi Constr Mach Co Ltd | Oil-pressure controller for wheel-type oil-pressure shovel |
| DE3543030A1 (en) * | 1985-12-05 | 1987-06-11 | Schrupp Gmbh | Control valve arrangement, in particular for the control of a contaminated flow of pressure medium |
| CN1759229A (en) * | 2003-03-10 | 2006-04-12 | 贝克休斯公司 | A method and apparatus for pumping quality control through formation rate analysis |
| CN101182827A (en) * | 2006-11-14 | 2008-05-21 | 夏嘉琪 | Double pumps displacement water turbine speed regulating means |
| CN104100584A (en) * | 2014-06-30 | 2014-10-15 | 陕西宏远航空锻造有限责任公司 | Speed control system and method for movable crossbeam of hydraulic forging press |
| CN105156391A (en) * | 2015-09-17 | 2015-12-16 | 徐州工业职业技术学院 | Composite variable pump and hydraulic control system using composite variable pump |
| CN106949105A (en) * | 2017-04-07 | 2017-07-14 | 北京航空航天大学 | The two-way proportional balanced valve and its application system in a kind of over-running load speed limit loop |
-
2018
- 2018-01-23 CN CN201810062776.4A patent/CN108571481B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6299523A (en) * | 1985-10-26 | 1987-05-09 | Hitachi Constr Mach Co Ltd | Oil-pressure controller for wheel-type oil-pressure shovel |
| DE3543030A1 (en) * | 1985-12-05 | 1987-06-11 | Schrupp Gmbh | Control valve arrangement, in particular for the control of a contaminated flow of pressure medium |
| CN1759229A (en) * | 2003-03-10 | 2006-04-12 | 贝克休斯公司 | A method and apparatus for pumping quality control through formation rate analysis |
| CN101182827A (en) * | 2006-11-14 | 2008-05-21 | 夏嘉琪 | Double pumps displacement water turbine speed regulating means |
| CN104100584A (en) * | 2014-06-30 | 2014-10-15 | 陕西宏远航空锻造有限责任公司 | Speed control system and method for movable crossbeam of hydraulic forging press |
| CN105156391A (en) * | 2015-09-17 | 2015-12-16 | 徐州工业职业技术学院 | Composite variable pump and hydraulic control system using composite variable pump |
| CN106949105A (en) * | 2017-04-07 | 2017-07-14 | 北京航空航天大学 | The two-way proportional balanced valve and its application system in a kind of over-running load speed limit loop |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108571481A (en) | 2018-09-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108571481B (en) | Oil inlet and return independent regulation retarding control strategy of heavy vehicle electro-hydraulic traveling system | |
| EP1828618B1 (en) | Hydraulic drive system | |
| CN100473878C (en) | Drive device with continuous changeable ration and control method thereof | |
| CN101978196B (en) | An electronic controller for a continuously variable transmission and a method of control of a continuously variable transmission | |
| JPH0522105B2 (en) | ||
| JPS6329648B2 (en) | ||
| JP2009079757A (en) | Hydraulic vehicle clutch mechanism and method | |
| CN106542448A (en) | A kind of hydraulic closed system, hydraulic closed walking and hoisting system | |
| CN102844590B (en) | For the equipment of accommodating fluid to stepless speed variator | |
| JP2017094809A (en) | Suspension device | |
| JPS62209263A (en) | Total pressure compensator controller for large number of fluid load | |
| US9222486B2 (en) | Engine augmentation of hydraulic control system | |
| US10578212B2 (en) | Hydrostatic traction drive and vehicle with such a hydrostatic traction drive | |
| CN109538554A (en) | Automobile, hydraulic system and its control method | |
| CN105508322B (en) | Pump control type hydrodynamic retarding system and its control method | |
| CN104832630A (en) | Variable displacement transmission pump and controller with adaptive control | |
| CN108930786B (en) | Method for controlling a hydrostatic drive | |
| CN110725817A (en) | High-energy-efficiency control method of servo system for independently adjusting electrohydraulic position at inlet and outlet based on proportional overflow valve | |
| CN101111684B (en) | Hydraulic drive system | |
| US11913544B2 (en) | Method for controlling a continuously variable transmission and a transmission equipped with a control system for implementing said method | |
| WO2011104532A2 (en) | Variator traction control arrangement | |
| Lei et al. | Constant speed control method of hydraulic retarder based on fuzzy PID | |
| Parlapanis et al. | Feed-Forward Control of a Construction Vehicle's Hydro-Mechanical Powertrain to Prevent Engine Stalling | |
| CN106402063A (en) | Walking control valve assembly, hydraulic closed type walking system and overhead operation platform car | |
| Martelli et al. | Series, Parallel, and Hybrid Series-Parallel Hydrostatic Transmission Architectures for Ground Locomotion |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
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 |
|
| TR01 | Transfer of patent right |