CN110131058B - Power matching control method and device - Google Patents
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- CN110131058B CN110131058B CN201910476982.4A CN201910476982A CN110131058B CN 110131058 B CN110131058 B CN 110131058B CN 201910476982 A CN201910476982 A CN 201910476982A CN 110131058 B CN110131058 B CN 110131058B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
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Abstract
The invention provides a power matching control method and a device, wherein the method comprises the following steps: the method comprises the steps of obtaining a real-time pressure value of a hydraulic pump of mechanical equipment, inputting the pressure value into a differential control algorithm to obtain a first current value of a pump electromagnetic valve, obtaining a real-time rotating speed of an engine in the mechanical equipment, inputting the real-time rotating speed into a PID control algorithm to obtain a second current value of the pump electromagnetic valve, conducting weighted summation on the first current value of the pump electromagnetic valve and the second current value of the pump electromagnetic valve to obtain a target current value of the pump electromagnetic valve, controlling the pump displacement of the hydraulic pump according to the obtained target current value of the pump electromagnetic valve, and further controlling the power of the hydraulic pump. The device coordinates and controls the pump discharge capacity of the hydraulic pump through a real-time pressure value and a real-time rotating speed, and adjusts the pump discharge capacity of the hydraulic pump when the pressure value changes or the rotating speed exceeds a set value, so that the power of the hydraulic pump is controlled, and the power matching of an engine and the hydraulic pump is realized.
Description
Technical Field
The present invention relates to the field of device control technologies, and in particular, to a power matching control method and apparatus.
Background
In industry, large mechanical equipment such as excavators are very common, and often a hydraulic pump is selected as a power element, which is driven by power supplied from an engine, and the driven power element sucks oil from a hydraulic oil tank, and generates pressure by squeezing the oil in a sealed cavity, and the pressure discharges a pre-intake oil amount from the hydraulic pump. The discharged oil quantity is the unit of pump discharge capacity, and the pump discharge capacity refers to the volume of oil discharged by one rotation of a pump shaft of the hydraulic pump.
During the operation of the hydraulic pump, if the power is larger than the maximum power provided by the engine, the engine may be stalled or even stalled. In order to avoid this, it is necessary to control the power of the hydraulic pump not to exceed the maximum power of the engine, and this power control may be called power matching control.
The existing power matching control method is to continuously acquire the rotating speed of an engine, monitor whether the rotating speed falling speed condition exceeds a set maximum falling speed value or not, and adjust the power of a hydraulic pump if the rotating speed falling speed condition exceeds the set maximum falling speed value. However, this control method has at least the following disadvantages: the time delay exists in the rotating speed acquisition process, so that the power matching control process is not timely enough, and the normal operation of mechanical equipment is influenced.
Disclosure of Invention
In view of this, the embodiment of the present invention provides a power matching control method to implement real-time control of the power of a hydraulic pump, and in addition, the present invention also provides a power matching control apparatus to implement the application and implementation of the above method in practice.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:
in a first aspect, the present invention provides a power matching control method, including:
obtaining a real-time pressure value of a hydraulic pump of mechanical equipment;
inputting the real-time pressure value into a pressure differential control algorithm to obtain a first current value of the pump electromagnetic valve;
obtaining a real-time rotating speed of an engine of the mechanical equipment;
inputting the real-time rotating speed into a PID control algorithm to obtain a second current value of the pump electromagnetic valve;
weighting and summing the first current value of the pump electromagnetic valve and the second current value of the pump electromagnetic valve to obtain a target current value of the pump electromagnetic valve;
and controlling the pump discharge capacity of the hydraulic pump according to the target current value of the pump electromagnetic valve so as to control the power of the hydraulic pump.
In a second aspect, the present invention provides a power matching control apparatus, including:
the pressure value acquisition module is used for acquiring a real-time pressure value of a hydraulic pump of mechanical equipment;
the pump electromagnetic valve first current value acquisition module is used for inputting the real-time pressure value into a pressure differential control algorithm to acquire a pump electromagnetic valve first current value;
the rotating speed acquisition module is used for acquiring the real-time rotating speed of an engine of the mechanical equipment;
the pump electromagnetic valve second current value acquisition module is used for inputting the real-time rotating speed into a PID control algorithm to obtain a pump electromagnetic valve second current value;
the pump electromagnetic valve target current value acquisition module is used for weighting and summing the first current value of the pump electromagnetic valve and the second current value of the pump electromagnetic valve to obtain a target current value of the pump electromagnetic valve;
and the pump displacement control module is used for controlling the pump displacement of the hydraulic pump according to the target current value of the pump electromagnetic valve so as to control the power of the hydraulic pump.
According to the technical scheme, the method comprises the steps of obtaining a real-time pressure value of a hydraulic pump of mechanical equipment, inputting the pressure value into a differential control algorithm to obtain a first current value of a pump electromagnetic valve, obtaining a real-time rotating speed of an engine in the mechanical equipment, inputting the real-time rotating speed into a PID control algorithm to obtain a second current value of the pump electromagnetic valve, carrying out weighted summation on the first current value of the pump electromagnetic valve and the second current value of the pump electromagnetic valve to obtain a target current value of the pump electromagnetic valve, controlling the pump displacement of the hydraulic pump according to the obtained target current value of the pump electromagnetic valve, and further controlling the power of the hydraulic pump. According to the method, the pump displacement of the hydraulic pump is coordinately controlled through a real-time pressure value and a real-time rotating speed, and when the pressure value changes or the rotating speed exceeds a set value, the pump displacement of the hydraulic pump is adjusted, so that the power of the hydraulic pump is controlled, and the power matching of an engine and the hydraulic pump is realized.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 shows a flow chart of a power matching control method provided by the present invention;
FIG. 2 is a schematic diagram illustrating obtaining a first current value for a pump solenoid according to the present invention;
FIG. 3 is a schematic diagram illustrating obtaining a second current value of a pump solenoid according to the present invention;
FIG. 4 is a schematic diagram illustrating obtaining a target current value for a pump solenoid valve according to the present invention;
FIG. 5 is a schematic diagram illustrating a first current value output provided by the present invention for controlling a pump solenoid;
fig. 6 shows a schematic structural diagram of a power matching control apparatus provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
During the operation of the mechanical equipment, a hydraulic pump is required to provide power for operation support, the hydraulic pump is driven by an engine in the mechanical equipment, and when the power provided by the engine cannot meet the power required by the hydraulic pump, the engine can be in failure, such as speed drop and even flameout.
In the prior art, there is a solution that the rotational speed of an engine is collected on a CAN (Controller Area Network) bus, and when the engine stall speed exceeds a certain preset value, a PID Controller is started to adjust the power of a hydraulic pump. However, when the mechanical equipment runs, the rotating speed of the engine changes rapidly, the rotating speed on the CAN bus is updated slowly, and the power of the hydraulic pump cannot be adjusted in time according to the rotating speed acquired on the CAN bus, so that the power matching fails.
To this end, referring to fig. 1, an embodiment of the present invention provides a power matching control method to implement real-time control of hydraulic pump power of a mechanical device, which specifically includes steps S101 to S106.
S101: and acquiring a real-time pressure value of a hydraulic pump of the mechanical equipment.
Specifically, when the mechanical equipment is in operation, such as an excavator performing an excavating operation, the load of the excavator is in a varying state, and the load is proportional to the pressure value of the hydraulic pump in the excavator. The working state of the mechanical equipment is monitored only by monitoring the change of the load in the mechanical equipment, and corresponding real-time pressure values are acquired.
It should be noted that the pressure value collected can be obtained by the pressure sensor, and the real-time pressure value of the hydraulic pump collected by the pressure sensor can be obtained by the invention. Specifically, the pressure sensor is arranged on the high-pressure port side of the hydraulic pump, so that the real-time collection of the pressure value of the hydraulic pump is realized. Compared with CAN bus signals, the pressure sensor has no delay and CAN reflect the pressure value of the hydraulic pump in real time.
S102: and inputting the real-time pressure value into a pressure differential control algorithm to obtain a first current value of the pump electromagnetic valve.
Specifically, before the real-time pressure value is input into the pressure differential control algorithm, the real-time pressure value may be filtered through a filter to obtain a real-time pressure value with a reasonable value, and the filtering process may be filtering in any implementation manner, which is not specifically described herein.
And inputting the filtered real-time pressure value into a pressure differential control algorithm, and processing the filtered pressure value by the pressure differential control algorithm. The processing of the pressure differential control algorithm is shown in fig. 2, and includes: the real-time pressure value at the current moment is differed from the pressure value at the previous moment to obtain the variation of the pressure value; the method comprises the steps of obtaining a current working gear, determining a differential coefficient corresponding to the working gear according to the current working gear, and multiplying the variation of pressure by the differential coefficient to obtain a product result, wherein the product result is a first current value of the pump electromagnetic valve corresponding to the pressure value.
S103: and obtaining the real-time rotating speed of the engine of the mechanical equipment.
Specifically, there may be two implementations of obtaining the real-time rotational speed of the engine:
first, the real-time rotation speed of the engine is acquired from a CAN (Controller Area Network) bus.
The mechanical equipment is provided with a plurality of modules which are controlled by an electronic control unit, the control process is to read data or parameters reported by each module from the CAN, and the electronic control unit executes the corresponding module to perform relevant operations according to the read data or parameters. Therefore, the real-time rotating speed of the engine CAN be directly obtained from the CAN bus.
And secondly, acquiring the real-time rotating speed of the engine acquired by the rotating speed sensor. The rotating speed sensor is arranged in the engine, and the rotating speed in the engine is acquired in real time. Compared with the prior art, the method has the advantages that: data on the CAN bus is reported once at intervals, timeliness is lacked, the rotating speed sensor collects the rotating speed of the engine in real time, and timeliness is high.
Compared with the first acquisition method, the second acquisition method has higher timeliness by adopting the rotating speed sensor to acquire the rotating speed.
S104: and inputting the real-time rotating speed into a PID control algorithm to obtain a second current value of the pump electromagnetic valve.
Specifically, the real-time rotation speed is input into a PID (proportional integral derivative) control algorithm, wherein the PID control algorithm must be operated in a closed-loop control system, the set rotation speed is input into the PID control algorithm at the same time of inputting the real-time rotation speed, and the principle of the algorithm is to compare the real-time rotation speed with the set rotation speed and generate a second current value of the pump solenoid valve according to the comparison result. Wherein the set rotation speed is obtained according to the hand throttle signal.
Specifically, as shown in fig. 3, the PID control algorithm subtracts the actual rotation speed of the engine (i.e., the real-time rotation speed in this step) from the set rotation speed of the engine to obtain a rotation speed difference, and then inputs the rotation speed difference to the P controller, the I controller, and the D controller, respectively. The P controller uses the gain parameter to carry out proportional operation on the rotation speed difference value to obtain a current value; the I controller uses the gain parameter to carry out integral operation on the rotating speed difference value to obtain a current value; and D, the controller performs differential operation on the rotation speed difference value by using the gain parameter and the time constant to obtain a current value. And adding the current values of the three controllers to obtain a total current value. Comparing the total current value with 0, and outputting the larger value, which is called the second current value (i.e. the second current value of the pump electromagnetic valve in this step)
It should be noted that the second current value of the pump solenoid valve is obtained by using real-time rotation speed calculation, and then the second current value of the pump solenoid valve is used for adjusting the pump displacement, so as to prevent the engine from over-speeding.
S105: and carrying out weighted summation on the first current value of the pump electromagnetic valve and the second current value of the pump electromagnetic valve to obtain the target current value of the pump electromagnetic valve.
Specifically, the pump solenoid target current value is obtained by weighted summation of a pump solenoid first current value and a pump solenoid second current value. The first current value of the pump electromagnetic valve is obtained by monitoring the pressure value of the mechanical equipment. The pump solenoid first current value is related to the rate of pressure change, the faster the pressure change, the higher the value. The first current value of the pump electromagnetic valve is an index for controlling the target current value of the pump electromagnetic valve; the second current value of the pump solenoid valve is obtained by monitoring the rotating speed of the engine. And along with the change of the falling speed value, the second current value of the pump solenoid valve also changes. When the falling speed is small, the second current value does not change along with the rotating speed. The pump solenoid second current value is another index of the target current value for controlling the pump solenoid.
Thus, there are two independent control mechanisms: firstly, the falling speed is within the set value, the target current value of the pump electromagnetic valve is controlled by the pressure value, under the condition, when the load of mechanical equipment is changed, the pressure value of the hydraulic pump is changed along with the change of the first current value of the pump electromagnetic valve, so that the change of the target current value of the pump electromagnetic valve is influenced, secondly, the pressure value is unchanged, the target current value of the pump electromagnetic valve is controlled by the rotating speed, under the condition, when the falling speed of the rotating speed of the engine exceeds a certain set value, the second current value of the pump electromagnetic valve is changed, further, the target current value of the pump electromagnetic valve is influenced, thirdly, the rotating speed and the pressure value are changed, and the generated first current value of the pump electromagnetic valve and the second current value of the pump electromagnetic valve control the target current value of the pump electromagnetic valve together.
S106: and controlling the pump discharge capacity of the hydraulic pump according to the target current value of the pump electromagnetic valve so as to control the power of the hydraulic pump.
Specifically, the pump displacement of the hydraulic pump is adjusted according to the target current value of the pump electromagnetic valve, the corresponding relation between the target current value of the pump electromagnetic valve and the pump displacement of the hydraulic pump is that the larger the target current value of the pump electromagnetic valve is, the smaller the pump displacement is, and the pump displacement is adjusted according to the relation in a numerical interval. If the target current value of the pump electromagnetic valve is larger than a set value a and smaller than another set value b, the larger the target current value of the pump electromagnetic valve is, the smaller the pump displacement is. When the target current value of the pump solenoid valve is less than a, or when the pump displacement of the hydraulic pump is greater than b, the pump displacement is not changed. In addition, the pump solenoid target current value may have a correspondence relationship with a specific value of the pump displacement.
It should be noted that, the product of the pump displacement and the pressure of the hydraulic pump is in a direct proportion relation with the power of the hydraulic pump, so that the power of the hydraulic pump can be indirectly adjusted by adjusting the pump displacement of the hydraulic pump, and when the power provided by the engine cannot meet the power required by the hydraulic pump, the pump displacement of the hydraulic pump is reduced according to the target current of the pump electromagnetic valve under the condition, so that the power required by the hydraulic pump is reduced.
According to the technical scheme, the method comprises the steps of obtaining a real-time pressure value of a hydraulic pump of mechanical equipment, inputting the pressure value to a differential control algorithm to obtain a first current value of a pump electromagnetic valve, obtaining a real-time rotating speed of an engine in the mechanical equipment, inputting the real-time rotating speed to a PID control algorithm to obtain a second current value of the pump electromagnetic valve, carrying out weighted summation on the first current value of the pump electromagnetic valve and the second current value of the pump electromagnetic valve to obtain a target current value of the pump electromagnetic valve, and controlling the pump displacement of the hydraulic pump according to the obtained target current value of the pump electromagnetic valve so as to control the power of the hydraulic pump. According to the method, the pump displacement of the hydraulic pump is coordinately controlled through a real-time pressure value and a real-time rotating speed, and when the pressure value changes or the rotating speed exceeds a set value, the pump displacement of the hydraulic pump is adjusted, so that the power of the hydraulic pump is controlled, and the power matching of an engine and the hydraulic pump is realized.
The existing control scheme reads the engine speed from the CAN bus and controls the pump displacement only according to the engine speed. Due to the delay in reading data on the CAN bus, power control of the hydraulic pump is not timely enough. In addition, during the operation of the mechanical equipment, the load changes rapidly, the pressure of the hydraulic pump also rises very rapidly, and if the engine speed is updated too slowly, namely the input signal of the controller is delayed, the regulation of the hydraulic pump can be delayed, and even flameout can be caused. In order to avoid the problem of data reading delay of the CAN bus, a rotating speed sensor CAN be additionally arranged to acquire a real-time rotating speed signal, but the control cost is increased. In addition, the existing control scheme only carries out intervention and adjustment by a controller after the engine stall speed exceeds a set range value, and can not effectively eliminate the problem of mechanical equipment action jitter caused by load fluctuation in the engine power range.
However, the power matching control scheme provided by the invention not only can acquire the rotating speed of the engine, but also can acquire the real-time pressure of the hydraulic pump, and controls the power of the hydraulic pump according to the comprehensive condition of the two values. The power of the hydraulic pump can be adjusted as long as one parameter change condition in the two parameters meets the condition, so that the delay influence in the scheme of adjusting only by one rotating speed parameter can be eliminated to a certain extent, and the timeliness of power matching control is further improved. When the pressure is used for regulation, the differential controller can quickly increase the current of the pump (reduce the displacement of the pump) after the pressure is increased, and the trend that the pressure is continuously increased is restrained; after the pressure is reduced, the derivative controller may decrease the pump current (increase the pump displacement), thereby effecting an adjustment of the pump displacement. In addition, the scheme can monitor the change of the pressure and adjust the pump discharge capacity of the hydraulic pump according to the change of the pressure, so that the problem of mechanical equipment action jitter caused by frequent change of the load can be effectively solved.
In one example, step S105: the method specifically comprises the following steps of carrying out weighted summation on a first current value of the pump electromagnetic valve and a second current value of the pump electromagnetic valve:
determining a working gear and a working mode of mechanical equipment, and determining a weight coefficient (the weight coefficient can also be called as a MAP coefficient) corresponding to the working gear and the working mode; determining the MAP coefficient as a weighted value of a second current value of the pump electromagnetic valve, and determining the difference between the value 1 and the MAP coefficient as a weighted value of a first current value of the pump electromagnetic valve; and according to the two weighted values, carrying out weighted summation on the first current value of the pump electromagnetic valve and the second current value of the pump electromagnetic valve.
Specifically, the current working position and working mode of the mechanical equipment are determined, taking an excavator as an example, a general excavator is divided into 10 positions, and the current working position of the equipment can be determined. In addition, for example, the excavator has a fast mode and an economy mode as the operation modes, and a driver can select a certain operation mode as the current operation mode through an instrument or a potentiometer. In addition, a weighting coefficient MAP curve is calibrated in the mechanical equipment in advance, the curve comprises X, Y axes and Z axes, the X axis and the Y axis respectively represent a working position and a working mode, different working positions and different working modes correspond to different MAPs, and therefore a value of the Z axis, namely the MAP coefficient, is determined in the weighting coefficient MAP curve according to the current working mode and the current working position.
And determining the MAP coefficient corresponding to the current working gear and the working mode according to the current working gear and the working mode. The MAP coefficient is a value greater than 0 and less than 1, indicating the occupancy. And respectively determining the weighted values of the two current values of the electromagnetic valve according to the MAP coefficients. The method comprises the following specific steps:
referring to fig. 3, the MAP coefficient may be determined as a weighted value of the pump solenoid second current value, that is, a ratio of the pump solenoid second current value to the pump solenoid target current value is a MAP coefficient, and a difference between a value 1 and the MAP coefficient may be determined as a weighted value of the pump solenoid first current value, that is, a ratio of the pump solenoid first current value to the pump solenoid target current value is a difference between the value 1 and the MAP coefficient.
The weighted sum is performed according to the two weight values, as shown in fig. 3, specifically as follows: multiplying the second current value of the pump electromagnetic valve calculated in the step by an MAP coefficient to obtain a first product result; and multiplying the first current value of the pump electromagnetic valve calculated in the step by the difference between the value 1 and the MAP coefficient to obtain a second product result, and adding the first product result and the second product result to obtain the target current value of the pump electromagnetic valve.
Alternatively, the MAP coefficient may be a weighted value of the first pump solenoid current value, that is, the ratio of the first pump solenoid current value to the target pump solenoid current value is the MAP coefficient, and the value 1-MAP coefficient may be a weighted value of the second pump solenoid current value, that is, the ratio of the second pump solenoid current value to the target pump solenoid current value is the difference between the value 1 and the MAP coefficient.
Performing weighted summation according to the two weight values, specifically as follows: multiplying the first current value of the pump electromagnetic valve calculated in the step by a numerical MAP coefficient to obtain a first product result; and multiplying the second current value of the pump electromagnetic valve calculated in the step by the difference of the numerical value 1-MAP coefficient to obtain a second product result, and adding the first product result and the second product result to obtain the target current value of the pump electromagnetic valve.
In one example, to prevent the pressure differentiator from adjusting all the time, the enable condition adjusts the pump solenoid first current value calculated by the pressure differentiator.
Therefore, the power matching control method may further include: after obtaining a first current value of the pump electromagnetic valve, judging whether the load rate of the engine is greater than a preset load rate value; if not, the first current value of the pump electromagnetic valve is set to be 0.
Specifically, referring to fig. 4, the real-time pressure value is input into the pressure differential control algorithm, a first current value of the pump solenoid valve is obtained, and after the first current value of the pump solenoid valve is obtained, the first current value of the pump solenoid valve is output and controlled. The control process specifically comprises the following steps: inputting a first current value of a pump electromagnetic valve into a control module, receiving a preset load rate value by the control module, acquiring the load rate of an engine in real time, judging whether the load rate of the engine is greater than the preset load rate value or not by the control module under the control condition, and if the acquired load rate of the engine is greater than or equal to the preset load rate value, indicating that the engine is in a preset working state such as an excavation state, and outputting the first current value of the pump electromagnetic valve; if the obtained load factor of the engine is smaller than the preset load factor value, the engine is not in a preset working state, and at the moment, a first current value of the pump electromagnetic valve is set to be 0 and output. Setting 0 means that in this case it is not necessary to adjust the pump displacement of the hydraulic pump by means of the pressure value. It can be understood that the judgment of whether the engine is in the preset working state is obtained by the magnitude relation between the preset load rate and the load rate of the engine. Therefore, in practical applications, what kind of operating state of the engine is to be controlled is preset, and a corresponding preset load factor value in the operating state is preset.
It should be noted that the control module may be integrated into the differential controller, or may be a separate module, which is not specifically described herein.
Referring to fig. 6, an embodiment of the present invention further provides a power matching control apparatus, which specifically includes: a pressure value obtaining module 601, a pump solenoid valve first current value obtaining module 602, a rotating speed obtaining module 603, a pump solenoid valve second current value obtaining module 604, a pump solenoid valve target current value obtaining module 605, and a pump displacement control module 606, wherein:
the pressure value obtaining module 601 is configured to obtain a real-time pressure value of a hydraulic pump of the mechanical device.
The pump solenoid valve first current value obtaining module 602 is configured to input the real-time pressure value into a pressure differential control algorithm to obtain a pump solenoid valve first current value.
A rotation speed obtaining module 603, configured to obtain a real-time rotation speed of an engine of the mechanical device.
And a second current value obtaining module 604 for the pump solenoid valve, configured to input the real-time rotation speed into a PID control algorithm, so as to obtain a second current value of the pump solenoid valve.
And a pump solenoid target current value obtaining module 605, configured to perform weighted summation on the first current value of the pump solenoid and the second current value of the pump solenoid to obtain a pump solenoid target current value.
And a pump displacement control module 606, configured to control a pump displacement of the hydraulic pump according to a target current value of the pump solenoid valve, so as to control power of the hydraulic pump.
According to the technical scheme, the device obtains the real-time pressure value of the hydraulic pump of the mechanical equipment, inputs the pressure value to the differential control algorithm to obtain the first current value of the pump electromagnetic valve, then obtains the real-time rotating speed of the engine in the mechanical equipment, inputs the real-time rotating speed to the PID control algorithm to obtain the second current value of the pump electromagnetic valve, then carries out weighted summation on the first current value of the pump electromagnetic valve and the second current value of the pump electromagnetic valve to obtain the target current value of the pump electromagnetic valve, and controls the pump displacement of the hydraulic pump according to the obtained target current value of the pump electromagnetic valve so as to control the power of the hydraulic pump. The device coordinates and controls the pump discharge capacity of the hydraulic pump through a real-time pressure value and a real-time rotating speed, and adjusts the pump discharge capacity of the hydraulic pump when the pressure value changes or the rotating speed exceeds a set value, so that the power of the hydraulic pump is controlled, and the power matching of an engine and the hydraulic pump is realized.
In one example, the pressure value obtaining module is configured to obtain a real-time pressure value of a hydraulic pump of a mechanical device, and includes: and the pressure value acquisition module is specifically used for acquiring the real-time pressure value of the hydraulic pump acquired by the pressure sensor.
In one example, the speed acquisition module, configured to acquire a real-time speed of an engine of the mechanical device, includes: the rotating speed acquisition module is specifically used for acquiring the real-time rotating speed of the engine acquired by the rotating speed sensor; or, the real-time rotating speed of the engine is obtained from the controller local area network bus.
In one example, the module for obtaining a target current value of a pump solenoid valve is configured to perform weighted summation on a first current value of the pump solenoid valve and a second current value of the pump solenoid valve to obtain a target current value of the pump solenoid valve, and includes: the pump electromagnetic valve target current value acquisition module is specifically used for determining a working gear and a working mode of the mechanical equipment and determining an MAP coefficient corresponding to the working gear and the working mode; determining the MAP coefficient as a weighted value of a second current value of the pump solenoid valve, and determining a difference between a value 1 and the MAP coefficient as a weighted value of a first current value of the pump solenoid valve; and according to the two weighted values, carrying out weighted summation on the first current value of the pump electromagnetic valve and the second current value of the pump electromagnetic valve.
In one example, the power matching control apparatus further includes: and a load rate judging module. The load rate judging module is used for judging whether the load rate of the engine is greater than a preset load rate value after obtaining a first current value of the pump electromagnetic valve; and if not, setting the first current value of the pump electromagnetic valve to be 0.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A power matching control method, comprising:
obtaining a real-time pressure value of a hydraulic pump of mechanical equipment;
inputting the real-time pressure value into a pressure differential control algorithm to obtain a first current value of the pump electromagnetic valve;
obtaining a real-time rotating speed of an engine of the mechanical equipment;
inputting the real-time rotating speed into a PID control algorithm to obtain a second current value of the pump electromagnetic valve;
weighting and summing the first current value of the pump electromagnetic valve and the second current value of the pump electromagnetic valve to obtain a target current value of the pump electromagnetic valve;
controlling the pump discharge capacity of the hydraulic pump according to the target current value of the pump electromagnetic valve so as to control the power of the hydraulic pump;
the weighted summation of the first current value of the pump solenoid valve and the second current value of the pump solenoid valve comprises: determining a working gear and a working mode of the mechanical equipment, and determining a weight coefficient corresponding to the working gear and the working mode; determining the weight coefficient as a weight value of a first current value of the pump solenoid valve, and determining a difference between a value 1 and the weight coefficient as a weight value of a second current value of the pump solenoid valve; and according to the two weighted values, carrying out weighted summation on the first current value of the pump electromagnetic valve and the second current value of the pump electromagnetic valve.
2. The power matching control method of claim 1, wherein the obtaining a real-time pressure value of a hydraulic pump comprises:
and acquiring the real-time pressure value of the hydraulic pump acquired by the pressure sensor.
3. The power matching control method of claim 1, wherein said obtaining a real-time rotational speed of an engine comprises:
acquiring the real-time rotating speed of the engine acquired by a rotating speed sensor; or,
and acquiring the real-time rotating speed of the engine from the controller local area network bus.
4. The power matching control method according to claim 1, further comprising, after obtaining the pump solenoid first current value:
judging whether the load rate of the engine is greater than a preset load rate value or not;
and if not, setting the first current value of the pump electromagnetic valve as 0.
5. A power matching control apparatus, comprising:
the pressure value acquisition module is used for acquiring a real-time pressure value of a hydraulic pump of mechanical equipment;
the pump electromagnetic valve first current value acquisition module is used for inputting the real-time pressure value into a pressure differential control algorithm to acquire a pump electromagnetic valve first current value;
the rotating speed acquisition module is used for acquiring the real-time rotating speed of an engine of the mechanical equipment;
the pump electromagnetic valve second current value acquisition module is used for inputting the real-time rotating speed into a PID control algorithm to obtain a pump electromagnetic valve second current value;
the pump electromagnetic valve target current value acquisition module is used for weighting and summing the first current value of the pump electromagnetic valve and the second current value of the pump electromagnetic valve to obtain a target current value of the pump electromagnetic valve;
the pump displacement control module is used for controlling the pump displacement of the hydraulic pump according to the target current value of the pump electromagnetic valve so as to control the power of the hydraulic pump;
the pump solenoid valve target current value obtaining module is configured to perform weighted summation on the pump solenoid valve first current value and the pump solenoid valve second current value to obtain a pump solenoid valve target current value, and includes: the pump electromagnetic valve target current value acquisition module is specifically used for determining a working gear and a working mode of the mechanical equipment and determining an MAP coefficient corresponding to the working gear and the working mode; determining the MAP coefficient as a weighted value of a second current value of the pump solenoid valve, and determining a difference between a value 1 and the MAP coefficient as a weighted value of a first current value of the pump solenoid valve; and according to the two weighted values, carrying out weighted summation on the first current value of the pump electromagnetic valve and the second current value of the pump electromagnetic valve.
6. The power matching control device of claim 5, wherein the pressure value obtaining module is configured to obtain a real-time pressure value of a hydraulic pump of a mechanical apparatus, and comprises:
and the pressure value acquisition module is specifically used for acquiring the real-time pressure value of the hydraulic pump acquired by the pressure sensor.
7. The power matching control device of claim 5, wherein the rotation speed obtaining module is configured to obtain a real-time rotation speed of an engine of the mechanical equipment, and comprises:
the rotating speed acquisition module is specifically used for acquiring the real-time rotating speed of the engine acquired by the rotating speed sensor; or, the real-time rotating speed of the engine is obtained from the controller local area network bus.
8. The power matching control device according to claim 5, further comprising: a load rate judging module;
the load rate judging module is used for judging whether the load rate of the engine is greater than a preset load rate value after obtaining a first current value of the pump electromagnetic valve; and if not, setting the first current value of the pump electromagnetic valve to be 0.
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| CN110905672B (en) * | 2019-11-28 | 2022-04-01 | 徐州徐工基础工程机械有限公司 | Real-time power matching method of hydraulic system adapting to different rotating speeds of engine |
| CN112128170B (en) * | 2020-10-15 | 2022-06-24 | 潍柴动力股份有限公司 | Self-learning control method and device of hydraulic system |
| CN113898489A (en) * | 2021-10-27 | 2022-01-07 | 北谷电子有限公司 | Handle proportion and power matching composite control based method and platform |
| CN114045897B (en) * | 2021-11-17 | 2023-06-02 | 江苏徐工工程机械研究院有限公司 | Load abrupt change speed-drop control method and system for positive flow system and excavator |
| CN115380700B (en) * | 2022-10-28 | 2023-05-09 | 潍柴雷沃智慧农业科技股份有限公司 | Self-adaptive control system and method for engine power of combine harvester |
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