CN109372832B - Energy consumption optimization method for bivariate hydraulic system under working condition change - Google Patents

Energy consumption optimization method for bivariate hydraulic system under working condition change Download PDF

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CN109372832B
CN109372832B CN201811572632.XA CN201811572632A CN109372832B CN 109372832 B CN109372832 B CN 109372832B CN 201811572632 A CN201811572632 A CN 201811572632A CN 109372832 B CN109372832 B CN 109372832B
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CN109372832A (en
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黄海鸿
唐运先
金瑞
李磊
刘志峰
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Hefei Polytechnic University
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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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • 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
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F15B2211/20553—Type of pump variable capacity with pilot circuit, e.g. for controlling a swash plate
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
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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
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    • F15B2211/665—Methods of control using electronic components
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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
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Abstract

The invention discloses a method for optimizing energy consumption of a bivariate hydraulic system under the condition of working condition change, which establishes a hydraulic cylinder displacement, hydraulic loop pressure and hydraulic loop flow database through experiments; aiming at a hydraulic system in operation, searching and acquiring the pressure and flow requirements of a hydraulic circuit under corresponding working conditions in a database according to displacement information received by a sensor; the rotating speed of the motor and the displacement of the pump are adjusted through the controller, so that the pressure and the flow of an output hydraulic circuit of the pump meet the requirements of the pressure and the flow of the hydraulic circuit under corresponding working conditions; when the working condition changes, the optimal motor acceleration obtained by calculation according to the system energy consumption optimization method is controlled by the controller to change the motor to the required speed of the next working condition at the optimal acceleration, and meanwhile, the pump displacement is adjusted to reach the required displacement. The invention controls the rotating speed, the pump displacement and the acceleration of the motor at the adjacent working condition points under each working condition according to the requirement of the lowest energy, and furthest ensures that the energy consumption of the hydraulic machine is the lowest in the continuous operation.

Description

Energy consumption optimization method for bivariate hydraulic system under working condition change
Technical Field
The invention relates to a method for optimizing energy consumption of a double-variable hydraulic system under the condition of working condition change, which is used for controlling the rotating speed, the pump displacement and the acceleration of a motor at an adjacent working condition point under each working condition according to the requirement of the lowest energy, and furthest ensuring the lowest energy consumption of a hydraulic machine in the continuous operation process.
Background
With the wide application of high-power hydraulic equipment, the energy loss caused by the mismatch of the installed power and the actual load power is increasingly obvious. The application of the variable speed motor and the variable pump can adjust the output power of the driving unit according to the change of the load, thereby realizing the matching of the output power and the load power and further reducing the energy consumption of the power input end.
The servo motor drives the proportional variable pump to realize the matching of output power and load power, but the configuration of different states of the two variable units has obvious influence on the efficiency of the whole driving unit, so that the problem that how to improve the efficiency of the whole driving unit under the condition of ensuring the power matching is solved.
The patent document with the publication number of CN104179735B and the publication date of 2016, 3, and 30 discloses an energy matching control method for a hydraulic system, which realizes matching of load demand and energy input of the hydraulic system and ensures that a motor is in a high-efficiency state at any working point by extracting the actual optimal frequency of a variable frequency motor and the actual inclination angle of a proportional variable pump at any working point of the hydraulic system from a system database. However, although the method ensures that the driving system has higher efficiency under each static working condition, the method cannot ensure that the efficiency of the driving system is also higher when the working condition changes, and cannot ensure that the energy consumption of the whole system is the lowest in the operation process.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method for optimizing the energy consumption of a double-variable hydraulic system under the condition of working condition change, so that the rotating speed, the pump displacement and the acceleration of a motor at an adjacent working condition point under each working condition are controlled according to the minimum energy requirement, and the minimum energy consumption of a hydraulic machine in the continuous operation process is ensured to the greatest extent.
The invention adopts the following technical scheme for solving the technical problems:
the invention relates to a method for optimizing energy consumption of a bivariate hydraulic system under the condition of working condition change, wherein the bivariate hydraulic system comprises the following steps: the hydraulic control system comprises a hydraulic driving unit consisting of a variable-speed motor and a variable pump, a hydraulic cylinder driven by the hydraulic driving unit, and a controller for controlling the rotating speed of the variable-speed motor and the displacement of the variable pump; the method is characterized in that: setting sensors respectively used for detecting the pressure of a hydraulic circuit, the flow of the hydraulic circuit, the rotating speed of a variable speed motor, the input power of the variable speed motor, the displacement of a hydraulic cylinder and the load force borne by the hydraulic cylinder; the energy consumption optimization method of the bivariate hydraulic system under the condition of working condition change comprises the following steps: firstly, establishing a database of hydraulic cylinder displacement, hydraulic circuit pressure and hydraulic circuit flow in an experimental mode; aiming at a hydraulic system in operation, searching and acquiring hydraulic loop pressure and hydraulic loop flow requirements under corresponding working conditions in a database according to hydraulic cylinder displacement information received by a sensor; the rotating speed of the motor and the displacement of the pump are adjusted through the controller, so that the pressure and the flow of an output hydraulic circuit of the pump meet the requirements of the pressure and the flow of the hydraulic circuit under corresponding working conditions; when the working condition changes, the optimal motor acceleration obtained by calculation according to the system energy consumption optimization method is controlled by the controller to change the motor to the required speed of the next working condition at the optimal acceleration, and meanwhile, the pump displacement is adjusted to reach the required displacement.
The method for optimizing the energy consumption of the bivariate hydraulic system under the condition of working condition change is also characterized by comprising the following steps of:
step 1, according to the technological requirements of a hydraulic system, respectively acquiring and obtaining the mapping relation among the displacement s, the hydraulic loop pressure p and the hydraulic loop flow Q of a hydraulic cylinder (3) under each working condition in the forming process of the double-variable hydraulic system by using a sensor, establishing a database of the mapping relation among the displacement s, the hydraulic loop pressure p and the hydraulic loop flow Q under each working condition in the forming process of the double-variable hydraulic system, and calibrating the displacement of the initial point of each working condition change in the forming process of the double-variable hydraulic system;
step 2, acquiring the actual displacement of the hydraulic cylinder (3) under the actual working condition in real time by using the sensor;
if the actual displacement of the hydraulic cylinder (3) under the actual working condition obtained by collection is the displacement of the starting point of the ith working condition change, recording the actual displacement as siFor the actual displacement siMatching in a database to obtain the actual displacement siMapped hydraulic circuit pressure piAnd hydraulic circuit flow QiAccording to the hydraulic circuit pressure piAnd hydraulic circuit flow QiObtaining the acceleration of the variable speed motor (1) in the change process of the ith working condition, the rotating speed of the variable speed motor (1) in the (i + 1) th working condition and the displacement of the variable pump (2) in the (i + 1) th working condition according to the energy consumption optimization result of the double-variable hydraulic system;
the energy consumption optimization result of the bivariate hydraulic system is obtained according to the following process:
step 2.1 obtaining the constant array k by means of experimentsijAnd bij
Under the working condition i, the pressure of the hydraulic circuit ispiHydraulic circuit flow of QiIf the working condition is I, the different stages of the rotating speed of the variable speed motor and the displacement V of the variable pumpijSatisfies the relationship shown in the formula (1):
Figure BDA0001915940910000021
in the formula (1), a natural number i represents the working condition, a natural number j represents the rotating speed series of the variable speed motor, and n representsijRepresenting j-level rotating speed of a variable speed motor in a working condition i by VijCharacterization and variable speed motor speed nijThe displacement of the variable displacement pump corresponding to the relation shown in the formula (1);
calculating and obtaining the driving efficiency eta of the hydraulic driving unit of the variable speed motor under the j-level rotating speed in the working condition i by the formula (2)ij：
Figure BDA0001915940910000022
In the formula (2), PinThe actual input power of the variable speed motor is detected and obtained by a power meter;
constant array k obtained by the formula (3) and the formula (4) under different working conditions and different rotating speed levels of the variable speed motorijAnd bij：
Figure BDA0001915940910000023
m is the mass of the piston and rod of the hydraulic cylinder, A is the area of the pressure oil inflow cavity in the hydraulic cylinder, K is the inclination angle change rate of the swash plate of the variable displacement pump, c is the viscous damping coefficient of the hydraulic oil in the hydraulic cylinder, and FijThe load force borne by the hydraulic cylinder;
step 2.2 Using the constant array k obtained in step 2.1ijAnd bijAnd (3) optimizing energy consumption:
step 2.2.1, theoretical value P of input power of variable speed motort-inCharacterized by the formula (5), the rotation speed of the variable speed motor satisfies the formula (6):
n(i+1)l＝nij+aijtij (6)
with n(i+1)lCharacterizing the l-level rotating speed of a variable speed motor in a working condition i + 1;
with aijCharacterizing the speed n of a variable speed motorijTo a speed of rotation n(i+1)lAcceleration of (2);
with tijCharacterizing the speed n of a variable speed motorijTo a speed of rotation n(i+1)lAcceleration time of (d);
with WijCharacterizing the speed n of a variable speed motorijTo a speed of rotation n(i+1)lEnergy consumption of (2);
then there are:
Figure BDA0001915940910000032
from speed n for variable speed motorsijTo a speed of rotation n(i+1)lSetting an energy consumption optimization model as shown in formula (8):
Figure BDA0001915940910000033
min Wijcharacterizing the speed n of a variable speed motorijTo a speed of rotation n(i+1)lMinimum energy consumption of;
amaxmaximum acceleration allowed for a variable speed motor;
tmaxthe maximum acceleration time of the variable speed motor under the process requirement of each working condition of the hydraulic system is obtained;
energy consumption W is obtained by calculation using formula (7) and formula (8)ijAcceleration a of the variable speed motor at minimumij' and acceleration time tij'; according to formula (7) wherein kijAnd the corresponding speed n of the variable speed motor is obtained by the formula (3)ijAccording to the rotation speed n of the variable speed motorijThe rotating speed n of the variable speed motor is obtained by the formula (1)ijCorresponding variable pump displacement Vij；
Step 2.2.2, comparing the minimum values of the energy consumption of the change process from all different speed stages of the variable speed motor in the working condition i to all different speed stages of the variable speed motor in the working condition i +1 to obtain the minimum energy consumption W from the working condition i to the working condition i +1iAnd with said minimum energy consumption WiThe optimal acceleration a of the variable speed motor corresponding to the working condition i +1iOptimum speed n of variable speed motor under condition iiAnd the optimum rotating speed n of the variable speed motoriOptimum displacement V of corresponding variable displacement pumpi；
And 2.2.3, repeating the step 2.2.1 and the step 2.2.2 to obtain the optimal rotating speed of the variable speed motor, the optimal displacement of the variable pump and the optimal acceleration of the motor between adjacent working conditions in all the working conditions.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, a database of mapping relations among displacement, hydraulic circuit pressure and hydraulic circuit flow in one-to-one correspondence is established according to the forming process of the double-variable hydraulic system, and the state information of the system is more easily reflected through the displacement of the hydraulic cylinder, so that accurate control is realized.
2. The invention starts from the forming process of the double-variable hydraulic system, and controls the rotating speed of each working condition, the pump displacement and the acceleration of the motor under the adjacent working conditions according to the minimum energy requirement, thereby not only ensuring that the driving unit has higher efficiency under any working condition, but also furthest ensuring that the energy consumption of the hydraulic machine is the lowest in the continuous operation process.
Drawings
FIG. 1 is a schematic diagram of a bivariate hydraulic system according to the present invention;
FIG. 2 is a flow chart of energy consumption optimization control according to the present invention;
reference numbers in the figures: the device comprises a variable speed motor 1, a variable pump 2, a hydraulic cylinder 3, a data acquisition card 4, a power meter 5, an upper computer 6, a controller 7, a pressure sensor 8, a flow sensor 9, a speed sensor 10, a displacement sensor 11 and a force sensor 12.
Detailed Description
Referring to fig. 1, the bivariate hydraulic system in the present embodiment includes: a hydraulic drive unit constituted by a shift motor 1 and a variable pump 2, a hydraulic cylinder 3 driven by the hydraulic drive unit, and a controller 7 for controlling the rotational speed of the shift motor 1 and the displacement of the variable pump 2; providing sensors, including: the hydraulic control system comprises a pressure sensor 8 for detecting the pressure of a hydraulic circuit, a flow sensor 9 for detecting the flow of the hydraulic circuit, a speed sensor 10 for detecting the rotating speed of the variable speed motor 1, a power meter 5 for detecting the input power of the variable speed motor 1, a displacement sensor 11 for detecting the displacement of the hydraulic cylinder 3, a force sensor 12 for detecting the load force applied to the hydraulic cylinder 3, a data acquisition card 4 for acquiring the detection signals of the sensors, and an upper computer 6 for processing the acquired signals and outputting control signals to a controller 7.
The energy consumption optimization method of the bivariate hydraulic system under the condition of working condition change in the embodiment comprises the following steps: firstly, establishing a database of hydraulic cylinder displacement, hydraulic circuit pressure and hydraulic circuit flow in an experimental mode; aiming at a hydraulic system in operation, searching and acquiring hydraulic loop pressure and hydraulic loop flow requirements under corresponding working conditions in a database according to hydraulic cylinder displacement information received by a sensor; the rotating speed of the motor and the displacement of the pump are adjusted through the controller, so that the pressure and the flow of an output hydraulic circuit of the pump meet the requirements of the pressure and the flow of the hydraulic circuit under corresponding working conditions; when the working condition changes, the optimal motor acceleration obtained by calculation according to the system energy consumption optimization method is controlled by the controller to change the motor to the required speed of the next working condition at the optimal acceleration, and meanwhile, the pump displacement is adjusted to reach the required displacement.
Referring to fig. 2, the energy consumption optimization method of the bivariate hydraulic system in the specific implementation is performed according to the following steps:
step 1, according to the technological requirements of a hydraulic system, a sensor is used for acquiring mapping relations among displacement s, hydraulic circuit pressure p and hydraulic circuit flow Q of a hydraulic cylinder 3 under various working conditions in the forming process of the double-variable hydraulic system respectively, a database of the mapping relations among the displacement s, the hydraulic circuit pressure p and the hydraulic circuit flow Q under various working conditions in the forming process of the double-variable hydraulic system is established, a motor and a pump are controlled conveniently according to displacement information of a starting point of various working conditions in the forming process of the hydraulic system, and the displacement of the starting point of various working conditions in the forming process of the double-variable hydraulic system is calibrated.
Step 2, acquiring the actual displacement of the hydraulic cylinder under the actual working condition in real time by using a sensor;
if the actual displacement of the hydraulic cylinder under the actual working condition obtained by collection is the displacement of the starting point of the ith working condition change, recording the actual displacement as siFor the actual displacement siMatching in the database to obtain the actual displacement siMapped hydraulic circuit pressure piAnd hydraulic circuit flow QiAccording to the hydraulic circuit pressure piAnd hydraulic circuit flow QiObtaining the acceleration of the variable speed motor 1 in the change process of the ith working condition, the rotating speed of the variable speed motor 1 in the (i + 1) th working condition and the displacement of the variable pump 2 in the (i + 1) th working condition according to the energy consumption optimization result of the double-variable hydraulic system, and controlling the motor and the pump to operate according to the optimized result; if the collected displacement is not the displacement of the starting point of the working condition change, the displacement sensor continues to collect data, and the system still operates according to the original state.
The energy consumption optimization result of the double-variable hydraulic system is obtained according to the following process:
step 2.1 obtaining the constant array k by means of experimentsijAnd bij
Under the working condition i, the pressure of the hydraulic circuit is piHydraulic circuit flow of QiIf the working condition is I, the different stages of the rotating speed of the variable speed motor and the displacement V of the variable pumpijSatisfies the relationship shown in the formula (1):
Figure BDA0001915940910000051
in the formula (1), a natural number i represents the working condition, a natural number j represents the rotating speed series of the variable speed motor,with nijRepresenting j-level rotating speed of a variable speed motor in a working condition i by VijCharacterization and variable speed motor speed nijThe displacement of the variable displacement pump corresponding to the relation shown in the formula (1);
calculating and obtaining the driving efficiency eta of the hydraulic driving unit of the variable speed motor under the j-level rotating speed in the working condition i by the formula (2)ij：
Figure BDA0001915940910000052
In the formula (2), PinThe actual input power of the variable speed motor is detected and obtained by a power meter;
constant array k obtained by the formula (3) and the formula (4) under different working conditions and different rotating speed levels of the variable speed motorijAnd bij：
Figure BDA0001915940910000053
Figure BDA0001915940910000054
In the formulas (3) and (4), m is the mass of the piston and rod of the hydraulic cylinder, A is the area of the pressure oil inflow cavity in the hydraulic cylinder, K is the inclination angle change rate of the swash plate of the variable displacement pump, c is the viscosity damping coefficient of the hydraulic oil in the hydraulic cylinder, and FijThe load force borne by the hydraulic cylinder;
step 2.2 Using the constant array k obtained in step 2.1ijAnd bijAnd (3) optimizing energy consumption:
step 2.2.1, theoretical value P of input power of variable speed motort-inCharacterized by the formula (5), the rotation speed of the variable speed motor satisfies the formula (6):
Figure BDA0001915940910000061
n(i+1)l＝nij+aijtij (6)
with n(i+1)lCharacterizing the l-level rotating speed of a variable speed motor in a working condition i + 1;
with aijCharacterizing the speed n of a variable speed motorijTo a speed of rotation n(i+1)lAcceleration of (2);
with tijCharacterizing the speed n of a variable speed motorijTo a speed of rotation n(i+1)lAcceleration time of (d);
with WijCharacterizing the speed n of a variable speed motorijTo a speed of rotation n(i+1)lEnergy consumption of (2);
then there are:
from speed n for variable speed motorsijTo a speed of rotation n(i+1)lThe process of (3) is shown in formula (5)ijThe smaller the input power Pt-inSmaller but aiThe smaller the acceleration time t from the working point to the next working pointiThe longer, the more energy is consumed, so the energy consumption optimization model characterized by equation (8) is set:
Figure BDA0001915940910000063
min Wijcharacterizing the speed n of a variable speed motorijTo a speed of rotation n(i+1)lMinimum energy consumption of;
amaxmaximum acceleration allowed for a variable speed motor;
tmaxthe maximum acceleration time of the variable speed motor is the maximum acceleration time of the variable speed motor under the process requirement of each working condition of the hydraulic system;
energy consumption W is obtained by calculation using formula (7) and formula (8)ijAcceleration a of the variable speed motor at minimumij' and acceleration time tij'; according to formula (7) wherein kijAnd the corresponding speed n of the variable speed motor is obtained by the formula (3)ijAccording to the rotation speed n of the variable speed motorijThe rotating speed n of the variable speed motor is obtained by the formula (1)ijCorresponding variable pump displacement Vij；
Step 2.2.2, all different rotations of the variable speed motor in the working condition i are performedComparing the minimum energy consumption values of all different speed stages of the speed-changing motor in the speed stage number to the working condition i +1 to obtain the minimum energy consumption W of the working condition i to the working condition i +1iAnd with a minimum energy consumption WiThe optimal acceleration a of the variable speed motor corresponding to the working condition i +1iOptimum speed n of variable speed motor under condition iiAnd the optimum rotating speed n of the variable speed motoriOptimum displacement V of corresponding variable displacement pumpi；
And 2.2.3, repeating the step 2.2.1 and the step 2.2.2 to obtain the optimal rotating speed of the variable speed motor, the optimal displacement of the variable pump and the optimal acceleration of the motor between adjacent working conditions in all the working conditions.

Claims (2)

1. A method for optimizing energy consumption of a bivariate hydraulic system under working condition change comprises the following steps: the hydraulic control system comprises a hydraulic drive unit consisting of a variable speed motor (1) and a variable pump (2), a hydraulic cylinder (3) driven by the hydraulic drive unit, and a controller (7) for controlling the rotating speed of the variable speed motor (1) and the displacement of the variable pump (2); the method is characterized in that: arranging sensors respectively used for detecting the pressure of a hydraulic circuit, the flow of the hydraulic circuit, the rotating speed of a variable speed motor (1), the input power of the variable speed motor (1), the displacement of a hydraulic cylinder (3) and the load force borne by the hydraulic cylinder (3); the energy consumption optimization method of the bivariate hydraulic system under the condition of working condition change comprises the following steps: firstly, establishing a database of hydraulic cylinder displacement, hydraulic circuit pressure and hydraulic circuit flow in an experimental mode; aiming at a hydraulic system in operation, searching and acquiring hydraulic loop pressure and hydraulic loop flow requirements under corresponding working conditions in a database according to hydraulic cylinder displacement information received by a sensor; the rotating speed of the motor and the displacement of the pump are adjusted through the controller, so that the pressure and the flow of an output hydraulic circuit of the pump meet the requirements of the pressure and the flow of the hydraulic circuit under corresponding working conditions; when the working condition changes, the optimal motor acceleration obtained by calculation according to the system energy consumption optimization method is controlled by the controller to change to the required speed of the next working condition at the optimal acceleration, and meanwhile, the pump displacement is adjusted to reach the required displacement;
the system energy consumption optimization method comprises the following steps of obtaining an energy consumption optimization result of the bivariate hydraulic system:
step (1): obtaining constant array k by means of experimentijAnd bij
Under the working condition i, the pressure of the hydraulic circuit is piHydraulic circuit flow of QiIf the working condition is I, the different stages of the rotating speed of the variable speed motor and the displacement V of the variable pumpijSatisfies the relationship shown in the formula (1):
Figure FDA0002254108150000011
in the formula (1), a natural number i represents the working condition, a natural number j represents the rotating speed series of the variable speed motor, and n representsijRepresenting j-level rotating speed of a variable speed motor in a working condition i by VijCharacterization and variable speed motor speed nijThe displacement of the variable displacement pump corresponding to the relation shown in the formula (1);
calculating and obtaining the driving efficiency eta of the hydraulic driving unit of the variable speed motor under the j-level rotating speed in the working condition i by the formula (2)ij：
In the formula (2), PinThe actual input power of the variable speed motor is detected and obtained by a power meter;
constant array k obtained by the formula (3) and the formula (4) under different working conditions and different rotating speed levels of the variable speed motorijAnd bij：
Figure FDA0002254108150000013
Figure FDA0002254108150000014
m is the mass of the piston and rod of the hydraulic cylinder, A is the area of the pressure oil inflow cavity in the hydraulic cylinder, K is the inclination angle change rate of the swash plate of the variable displacement pump, and c is the viscosity resistance of the hydraulic oil in the hydraulic cylinderCoefficient of damping, FijThe load force borne by the hydraulic cylinder;
step (2): using the constant array k obtained in step 1ijAnd bijAnd (3) optimizing energy consumption:
step (2.1), theoretical value P of input power of variable speed motort-inCharacterized by the formula (5), the rotation speed of the variable speed motor satisfies the formula (6):
Figure FDA0002254108150000021
n(i+1)l＝nij+aijtij (6)
with n(i+1)lCharacterizing the l-level rotating speed of a variable speed motor in a working condition i + 1;
with aijCharacterizing the speed n of a variable speed motorijTo a speed of rotation n(i+1)lAcceleration of (2);
with tijCharacterizing the speed n of a variable speed motorijTo a speed of rotation n(i+1)lAcceleration time of (d);
with WijCharacterizing the speed n of a variable speed motorijTo a speed of rotation n(i+1)lEnergy consumption of (2);
then there are:
Figure FDA0002254108150000022
from speed n for variable speed motorsijTo a speed of rotation n(i+1)lSetting an energy consumption optimization model as shown in formula (8):
Figure FDA0002254108150000023
min Wijcharacterizing the speed n of a variable speed motorijTo a speed of rotation n(i+1)lMinimum energy consumption of;
amaxmaximum acceleration allowed for a variable speed motor;
tmaxunder the process requirements of all working conditions of the hydraulic systemMaximum acceleration time of the variable speed motor;
energy consumption W is obtained by calculation using formula (7) and formula (8)ijAcceleration a of the variable speed motor at minimumij' and acceleration time tij'; according to formula (7) wherein kijAnd the corresponding speed n of the variable speed motor is obtained by the formula (3)ijAccording to the rotation speed n of the variable speed motorijThe rotating speed n of the variable speed motor is obtained by the formula (1)ijCorresponding variable pump displacement Vij；
Step (2.2), comparing the minimum energy consumption values of the change process from all different rotation speed levels of the variable speed motor in the working condition i to all different rotation speed levels of the variable speed motor in the working condition i +1 to obtain the minimum energy consumption W from the working condition i to the working condition i +1iAnd with said minimum energy consumption WiThe optimal acceleration a of the variable speed motor corresponding to the working condition i +1iOptimum speed n of variable speed motor under condition iiAnd the optimum rotating speed n of the variable speed motoriOptimum displacement V of corresponding variable displacement pumpi；
And (2.3) repeating the step (2.1) and the step (2.2) to obtain an energy consumption optimization result of the double-variable hydraulic system, wherein the energy consumption optimization result is the optimal rotating speed of the variable speed motor, the optimal displacement of the variable pump and the optimal acceleration of the motor between adjacent working conditions in all the working conditions.
2. The method for optimizing the energy consumption of the bivariate hydraulic system under the condition of changing the working conditions as claimed in claim 1 is characterized by comprising the following steps of:
step 1, according to the technological requirements of a hydraulic system, respectively acquiring and obtaining the mapping relation among the displacement s, the hydraulic loop pressure p and the hydraulic loop flow Q of a hydraulic cylinder (3) under each working condition in the forming process of the double-variable hydraulic system by using a sensor, establishing a database of the mapping relation among the displacement s, the hydraulic loop pressure p and the hydraulic loop flow Q under each working condition in the forming process of the double-variable hydraulic system, and calibrating the displacement of the initial point of each working condition change in the forming process of the double-variable hydraulic system;
step 2, acquiring the actual displacement of the hydraulic cylinder (3) under the actual working condition in real time by using the sensor;
if the actual displacement of the hydraulic cylinder (3) under the actual working condition obtained by collection is the displacement of the starting point of the ith working condition change, recording the actual displacement as siFor the actual displacement siMatching in a database to obtain the actual displacement siMapped hydraulic circuit pressure piAnd hydraulic circuit flow QiAccording to the hydraulic circuit pressure piAnd hydraulic circuit flow QiAnd obtaining the acceleration of the variable speed motor (1) in the change process of the ith working condition, the rotating speed of the variable speed motor (1) in the (i + 1) th working condition and the displacement of the variable pump (2) in the (i + 1) th working condition according to the energy consumption optimization result of the double-variable hydraulic system.
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