CN110258709B - Method for automatically matching different working conditions of excavator - Google Patents
Method for automatically matching different working conditions of excavator Download PDFInfo
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- CN110258709B CN110258709B CN201910607802.1A CN201910607802A CN110258709B CN 110258709 B CN110258709 B CN 110258709B CN 201910607802 A CN201910607802 A CN 201910607802A CN 110258709 B CN110258709 B CN 110258709B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
Abstract
The invention discloses a method for automatically matching different working conditions of an excavator, which is based on the data of an excavator electronic handle, a positive flow hydraulic pump, a full-electric control main valve and an engine ECU, the invention effectively solves the problem that a user needs to continuously select different power modes to obtain better matching and operability under different working conditions, automatically identifies the current working condition of the excavator, presets parameters such as the set rotating speed of the engine, the output power of a hydraulic pump, the flow distribution ratio of the whole machine and the like under different working conditions, the corresponding working condition mode can be manually selected, the automatic mode can be selected, and the system automatically identifies the working condition and automatically matches the corresponding working condition mode.
Description
Technical Field
The invention relates to the technical field of excavators, in particular to a method for automatically matching different working conditions of an excavator.
Background
The excavator plays a very important role in the mechanical industry, is widely applied to earthwork construction, and is mainly used for buildings, transportation, water conservancy infrastructure, war industry and the like. In engineering machinery industry equipment such as excavating equipment, hoisting equipment, road surface mechanical equipment, shovel soil transportation equipment and the like, the utilization rate of the excavating machinery is always in the front row, according to statistics, the excavating machinery undertakes approximately two thirds of earth and stone excavation work, and in the process of high-speed development in China, the workload of infrastructure construction and repair is very large, and the demand on the excavating machinery is greatly increased.
The excavator is a multifunctional engineering machine, the operation contents include excavation, loading, ditching, landfill, renovation, transportation, crushing, flat ground and the like, the encountered operation objects are various and have large changes, and the use modes and requirements of different operation environments are different: sometimes, the maximum operation amount is pursued, the maximum power is required to be exerted, and strong excavation is carried out; sometimes emphasizing fuel economy, having low production efficiency requirements, and carrying out general excavation and loading work; sometimes, attention is paid to precision and safety, fine work and fine adjustment work are carried out, in order to adapt to different work environments and use working conditions, control is carried out according to the working conditions and the use requirements, an engine and a hydraulic pump are optimally set according to the work working conditions and the use requirements, the opening of an engine valve and the discharge capacity of the hydraulic pump are controlled, and meanwhile, a main valve and a hydraulic motor are required to be set and controlled so as to adapt to the requirements of different work working conditions.
The invention discloses a hydraulic excavator, which mainly comprises a heavy load mode, an economic mode, a light load mode and a breaking hammer mode, wherein when the excavator works under different working conditions, a manipulator selects the power mode more fuzzily, and the problems of power matching and poor operability effect frequently occur.
Therefore, the method for automatically identifying the current working condition environment, presetting the engine rotating speed, the hydraulic pump output power and the whole machine flow distribution ratio under different working conditions, and improving the whole machine energy efficiency ratio, the operation coordination and the intelligent degree of the excavator by manually and automatically selecting the corresponding working condition modes is the problem to be solved by the inventor.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a method for automatically matching different working conditions for an excavator, which can realize the functions of automatically identifying the current working condition environment, presetting the rotating speed of an engine, the output power of a hydraulic pump and the flow distribution ratio of the whole excavator under different working conditions, and improving the energy efficiency ratio, the operation coordination and the intelligent degree of the whole excavator by manually and automatically selecting corresponding working condition modes.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for automatically matching different working conditions of an excavator is characterized in that the working condition environment where the excavator is located is judged and recognized through comprehensive curve analysis and time statistics of data based on the data of an electronic handle, a positive flow hydraulic pump, a fully-electrically-controlled main valve and an engine ECU (electronic control Unit), and a power controller automatically matches the rotating speed, the power and the opening parameter of the main valve according to a preset environment mode, so that the power matching of the excavator is intelligent;
the method comprises two main parts, namely the excavator automatically identifies working conditions and the complete machine matching of different working condition environments, the excavator comprehensively judges and identifies the working condition environment of the excavator according to data such as the operation displacement of a pilot electronic handle, the pressure and the flow of a hydraulic pump, the load rate of an engine and the like, a power controller automatically matches the working condition mode according to the preset engine rotating speed, the output power of the hydraulic pump and the valve flow distribution ratio, and the operation coordination of the excavator is further improved.
Further, in order to realize the automatic identification of the working condition of the excavator, the power controller collects data such as the operation displacement of the electronic handle, the pressure and the current of the hydraulic pump, the rotating speed and the load rate of the engine and the like, and the current working condition environment is calculated through the complex logical operation of the three data and the time, and a comprehensive logical judgment algorithm distributed with different priorities and a statistical algorithm for continuous operation of pilot operation are adopted.
Further, in order to realize the complete machine matching under different working conditions, for different working conditions, the power controller outputs different engine rotating speeds, hydraulic pump output power and full electric control valve flow distribution ratios so as to realize the optimal matching of the working conditions, and a matching mode suitable for the current working conditions is output through a complex logic algorithm and a control strategy, so that the complete machine energy efficiency ratio, the operation coordination and the intelligent degree are effectively improved.
The invention has the beneficial effects that:
1. the invention effectively solves the problem that a user needs to continuously select different power modes to obtain better matching and operability under different working conditions, and various curves are generated for comprehensive analysis by acquiring data of a pilot electronic handle, a hydraulic pump pressure, current, engine rotating speed, load and the like of the excavator, so that the current working condition of the excavator is automatically identified.
2. The invention presets parameters such as set rotating speed of the engine, output power of the hydraulic pump, flow distribution ratio of the whole machine and the like under different working conditions through a large number of standard working condition tests, and provides a plurality of standard working condition modes for users.
3. The invention can manually select the corresponding working condition mode, can select the automatic mode, and the system automatically identifies the working condition and automatically matches the corresponding working condition mode.
Drawings
FIG. 1 is a structural diagram of the excavator for automatically identifying the working condition.
FIG. 2 is a structural diagram of the excavator working condition control structure.
Description of reference numerals: 1-a pilot electronic handle; 2-an engine; 3-a positive flow pump; 4-a power controller; 5-EPC full electric control valve.
Detailed Description
The invention will now be further illustrated by reference to specific examples, which are intended to be illustrative only and not to limit the scope of the invention. Further, it should be understood that various changes and modifications of the present invention may be made by those skilled in the art after reading the teachings of the present invention, and such equivalents may fall within the scope of the invention as defined in the appended claims.
Referring to fig. 1 to 2, the invention relates to an excavator working condition automatic identification structure diagram and an excavator working condition control structure diagram, and a method for automatically matching different working conditions of an excavator, wherein the method is based on an excavator electronic handle, a positive flow hydraulic pump, a full-electric main valve and engine ECU data, and judges and identifies the working condition environment of the excavator through comprehensive curve analysis and time statistics of the data, and a power controller 4 automatically matches the rotating speed, the power and the opening parameter of the main valve according to a preset environment mode, so that the excavator power matching is intelligent;
the method comprises two main parts, namely the excavator automatically identifies working conditions and the complete machine matching of different working condition environments, the excavator comprehensively judges and identifies the working condition environment of the excavator according to data such as the operation displacement of a pilot electronic handle, the pressure and the flow of a hydraulic pump, the load rate of an engine 2 and the like, a power controller 4 automatically matches the working condition mode according to the preset distribution ratio of the rotating speed of the engine 2, the output power of the hydraulic pump and the flow of a valve, and the operation coordination of the excavator is further improved.
In order to realize the automatic identification of the working condition of the excavator, the power controller 4 acquires data such as the operation displacement of the electronic handle, the pressure and the current of the hydraulic pump, the rotating speed and the load rate of the engine 2 and the like, and the current working condition environment is calculated through the complex logical operation of the three data and the time, and a comprehensive logical judgment algorithm distributed by different priorities and a statistical algorithm for continuous operation of pilot operation are adopted.
In order to realize complete machine matching under different working conditions, the power controller 4 outputs different engine 2 rotating speeds, hydraulic pump output powers and full electric control valve flow distribution ratios under different working conditions so as to realize optimal matching of the working conditions, and outputs a matching mode suitable for the current working conditions through a complex logic algorithm and a control strategy, so that the complete machine energy efficiency ratio, the operation coordination and the intelligent degree are effectively improved.
The power controller 4 collects displacement data of the pilot electronic handle, data of the rotating speed and the load rate of the engine 2, data of the pressure of the positive flow pump 3 and control current of the proportional valve in real time, the power controller 4 carries out quantitative analysis on the collected data, analyzes the relation between the displacement data of the pilot electronic handle and time, the data distribution relation between the pressure of the positive flow pump 3 and the control current, and analyzes the data distribution relation between the dropping rate and the load rate of the engine 2, and the power controller 4 adopts the comprehensive logic algorithm to automatically identify the action matching degree and the soil quality condition of the excavator and summarizes the action matching degree and the soil quality condition into a certain preset working condition.
The method comprises the steps of selecting a common working condition environment of the excavator to carry out a large number of tests, determining the relation between a pilot electronic handle and proportional valve current of a positive flow pump 3, the relation between pilot electronic handle displacement and EPC full-electric control valve 5 opening degree, the relation between a working condition and the rotating speed of an engine 2 and the output power of the positive flow pump 3, determining the optimal logical operation relation of an executing mechanism under different working conditions, guiding the relation into a power controller 4 to serve as a preset working condition control mode, wherein the preset working condition mode has self-learning capability and continuously accumulates an excavation parameter depth strengthening control strategy.
The invention effectively solves the problem that a user needs to continuously select different power modes to obtain better matching and operability under different working conditions, various curves are generated for comprehensive analysis by acquiring data of a pilot electronic handle, hydraulic pump pressure, current, the rotating speed of the engine 2, load and the like of the excavator, the current working condition of the excavator is automatically identified, parameters such as the set rotating speed of the engine 2, the output power of the hydraulic pump, the flow distribution ratio of the whole machine and the like under different working conditions are preset through a large number of standard working condition tests, a plurality of standard working condition modes are provided for the user, the corresponding working condition modes can be manually selected, the automatic mode can be selected, and the system automatically identifies the working conditions and automatically matches the corresponding working condition modes.
Claims (3)
1. A method for automatically matching different working conditions of an excavator is characterized by comprising the following steps: based on the data of an electronic handle, a positive flow hydraulic pump, a fully electrically controlled main valve and an engine ECU (electronic control Unit) of the excavator, judging and identifying the working condition environment of the excavator through comprehensive curve analysis and time statistics of the data, and automatically matching the rotating speed, the power and the opening parameter of the main valve by a power controller according to a preset environment mode to enable the power matching of the excavator to be intelligent;
the method comprises two main parts, namely the excavator automatically identifies working conditions and the complete machine matching of different working condition environments, the excavator comprehensively judges and identifies the working condition environment of the excavator according to data such as the operation displacement of a pilot electronic handle, the pressure and the flow of a hydraulic pump, the load rate of an engine and the like, a power controller automatically matches the working condition mode according to the preset engine rotating speed, the output power of the hydraulic pump and the valve flow distribution ratio, and the operation coordination of the excavator is further improved.
2. The method for automatically matching different working conditions of the excavator according to claim 1, wherein the method comprises the following steps: in order to realize the automatic identification of the working condition of the excavator, the power controller collects data such as the operation displacement of the electronic handle, the pressure and the current of the hydraulic pump, the rotating speed and the load rate of the engine and the like, and the current working condition environment is calculated through the complex logical operation of the three data and the time, and a comprehensive logical judgment algorithm distributed with different priorities and a statistical algorithm for continuous operation of pilot operation are adopted.
3. The method for automatically matching different working conditions of the excavator according to claim 1, wherein the method comprises the following steps: in order to realize the complete machine matching under different working conditions, for different working conditions, the power controller outputs different engine rotating speeds, hydraulic pump output power and full electric control valve flow distribution ratios so as to realize the optimal matching of the working conditions, and outputs a matching mode suitable for the current working conditions through a complex logic algorithm and a control strategy, thereby effectively improving the complete machine energy efficiency ratio, the operation coordination and the intelligent degree.
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| CN110905034B (en) * | 2019-12-04 | 2022-06-07 | 三一重机有限公司 | Intelligent working condition matching method for excavator and intelligent working condition matching system for excavator |
| CN111021461B (en) * | 2019-12-31 | 2022-05-03 | 三一重机有限公司 | Excavator debugging method |
| CN111255006A (en) * | 2020-01-20 | 2020-06-09 | 广西玉柴重工有限公司 | Excavator hydraulic pump and engine integrated synchronous control method and device |
| CN111441416A (en) * | 2020-05-07 | 2020-07-24 | 金华深联网络科技有限公司 | Excavator operation control method and system |
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| CN115012469A (en) * | 2022-04-19 | 2022-09-06 | 徐州徐工矿业机械有限公司 | Intelligent control system and method for hydraulic excavator without gear control and with self-adaptive working condition |
| CN116025023B (en) * | 2023-02-06 | 2023-06-16 | 徐州徐工挖掘机械有限公司 | Breaking hammer control method and device, breaking hammer system and storage medium |
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