CN110307096A - The control method of dynamical system, the control system of dynamical system and engineering machinery - Google Patents
The control method of dynamical system, the control system of dynamical system and engineering machinery Download PDFInfo
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- CN110307096A CN110307096A CN201910580093.2A CN201910580093A CN110307096A CN 110307096 A CN110307096 A CN 110307096A CN 201910580093 A CN201910580093 A CN 201910580093A CN 110307096 A CN110307096 A CN 110307096A
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- engine
- speed
- revolving speed
- regulating mode
- dynamical system
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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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention provides a kind of control method of dynamical system, the control system of dynamical system and engineering machinery, wherein the control method of dynamical system includes the first flow for obtaining the first speed-regulating mode and oil pump of engine；First revolving speed operation of the control engine to match with first flow；Obtain the maximum characteristic parameter of the load characteristic parameter and engine of engine under the first revolving speed；Determine that load characteristic parameter is greater than or equal to maximum characteristic parameter；The revolving speed of engine is adjusted according to the first speed-regulating mode；Judge whether to receive switching command；If so, parsing switching command to obtain the second speed-regulating mode of engine；First speed-regulating mode and the second speed-regulating mode are compared；The revolving speed of engine is adjusted according to comparing result.The control method of dynamical system provided by the invention can make the revolving speed of engine realize adjusting according to different speed-regulating modes, meet the speed demand that various complicated open lower loads change to the maximum extent, it is ensured that dynamical system can operate normally.
Description
Technical field
The present invention relates to technical field of engineering machinery, control method, Yi Zhongdong in particular to a kind of dynamical system
The control system of Force system and a kind of engineering machinery.
Background technique
Currently, the engine energy-saving control of concrete pump mainly uses two kinds of control modes: one is the fixations in oil pump
Engine is arranged under discharge capacity to run with fixed rotating speed；Another kind is to obtain engine output to adjust engine to be suitble to
Revolving speed operation.However the first control mode cannot achieve according to load change adjust engine speed, if engine continuous with
When high revolving speed is run, then oil consumption is higher, if the fixed rotating speed setting of engine is lower, is easy in the case where loading higher situation
It is flame-out；When the load of engineering machinery variation is frequent, under second of control mode, the revolving speed of engine will be adjusted ceaselessly
Speed, revolving speed is fluctuated, influences the safe application performance of engine.
Summary of the invention
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
For this purpose, the first aspect of the invention is, a kind of control method of dynamical system is proposed.
The second aspect of the invention is, proposes a kind of control system of dynamical system.
The third aspect of the invention is, proposes a kind of engineering machinery.
In view of this, according to the first aspect of the invention, providing a kind of control method of dynamical system, dynamical system
Including engine and oil pump driven by the engine, the control method of dynamical system includes: the first speed regulation mould for obtaining engine
The first flow of formula and oil pump；First revolving speed operation of the control engine to match with first flow；Obtain the negative of engine
Carry the maximum characteristic parameter of characteristic parameter and engine under the first revolving speed；It is maximum special to determine that load characteristic parameter is greater than or equal to
Levy parameter；The revolving speed of engine is adjusted according to the first speed-regulating mode；Judge whether to receive switching command；If so, parsing switching
It instructs to obtain the second speed-regulating mode of engine；First speed-regulating mode and the second speed-regulating mode are compared；According to comparison
As a result the revolving speed of engine is adjusted.
The control method of dynamical system provided by the invention, wherein dynamical system includes engine and driven by the engine
Oil pump, the control method of dynamical system include the first speed-regulating mode for obtaining engine, obtain the first flow of oil pump, control hair
Then motivation obtains the load characteristic parameter and engine of engine with the first revolving speed operation to match with first flow
Maximum characteristic parameter under the first revolving speed then shows at this time when load characteristic parameter is greater than or equal to maximum characteristic parameter
The revolving speed of engine and the flow of oil pump are not able to satisfy the power demand of load, are needed at this time according to the first speed-regulating mode to hair
The revolving speed of motivation is adjusted, and comprehensively considers user to the flow demand of oil pump, the minimum speed and highest for limiting engine turn
Speed, so that engine works in economic fuel-efficient and low noise region, so that energy consumption is effectively reduced, so that engine
Revolving speed meet the needs of load, it is ensured that can work normally with the equipment of the dynamical system.When engine is in the first speed regulation
After mode has been carried out rotational speed regulation, judge whether to receive switching command, which refers to the speed-regulating mode of engine
Whether need to switch.If receiving switching command, which is parsed to obtain the second of engine the tune
Fast mode, the second speed-regulating mode are different from the first speed-regulating mode.Then the first speed-regulating mode and the second speed-regulating mode are carried out pair
Than adjusting the revolving speed of engine according to comparing result.After engine realizes that revolving speed is reconciled according to the first speed-regulating mode, if connecing
Switching command is received, then determines whether engine will be again according to the comparing result of the first speed-regulating mode and the second speed-regulating mode
Revolving speed is adjusted, adjusts, meets to the maximum extent various so that the revolving speed of engine can be realized according to different speed-regulating modes
The speed demand of the open lower load variation of complexity, it is ensured that dynamical system can operate normally.The first flow of oil pump can be use
The flow of oil pump can be arranged in family setting, i.e. user by flow input signal device (toggle switch).Engine can basis
The first flow of oil pump carries out linear scale step-less adjustment, so that the revolving speed of engine reaches first to match with first flow
Revolving speed, wherein the revolving speed of engine can increase with the flow of oil pump and be increased, and reduce with the reduction of the flow of oil pump.Specifically
Ground, engine are CAN bus electric-control motor (CAN, Controller Area Network, controller local area network), power
System can obtain the permitted maximum feature ginseng of the external characteristic curve under the characteristic parameter feedback of engine, current rotating speed in real time
Number, and energy consumption and noise to consider engine are changed according to the load of engine, engine can be automatically adjusted to most preferably
Revolving speed, so that engine enhances the adaptive faculty that operating condition changes.
In addition, the control method of the dynamical system in the above-mentioned technical proposal provided according to the present invention, can also have as
Lower additional technical feature:
In the above-mentioned technical solutions, it is preferable that the step of revolving speed of engine is adjusted according to comparing result, comprising: when the
The priority of two speed-regulating modes is higher than the priority of the first speed-regulating mode, and the revolving speed of engine is adjusted according to the second speed-regulating mode；
When the priority of the second speed-regulating mode is lower than the priority of the first speed-regulating mode, according to turning for the first speed-regulating mode adjusting engine
Speed.
In the technical scheme, the step of adjusting the revolving speed of engine according to comparing result includes: when the second speed-regulating mode
Priority be higher than the first speed-regulating mode priority, according to the second speed-regulating mode adjust engine revolving speed, when second adjust
The priority of mode is lower than the priority of the first speed-regulating mode, can be continued to adjust turning for engine according to the first speed-regulating mode
Speed.The priority of first speed-regulating mode and the second speed-regulating mode can be preset.I.e. when engine is with the tune of higher priority
When fast mode is run, even if then receiving switching command, and when the priority of the speed-regulating mode in switching command is lower, send out at this time
Motivation still carries out rotational speed regulation with the speed-regulating mode of higher priority.However, when the priority of the speed-regulating mode in switching command
When higher, then adjustment engine is run at this time with the speed-regulating mode of higher priority, and then is realized more effective to engine speed
Adjusting control.
In any of the above-described technical solution, it is preferable that the speed-regulating mode of engine includes manual governing mode and automatic tune
Fast mode；The priority of manual governing mode is higher than the priority of automatic speed-regulating mode.
In the technical scheme, speed-regulating mode includes manual governing mode and automatic speed-regulating mode.When user chooses manually
Speed-regulating mode, then user can adjust the revolving speed of engine, and then by toggle switch on the basis of the first revolving speed to be promoted
The ability to work of engine.When user chooses automatic speed-regulating mode, then dynamical system can be automatically adjusted by CAN bus and be started
The revolving speed of machine, so that engine is run with reasonable fixed rotating speed, it is ensured that equipment can work normally.It is worth noting that adjusting
Manual governing mode and automatic speed-regulating mode in fast mode can exist simultaneously.When engine is run with automatic speed-regulating mode
When, if manual governing mode is intervened, engine will carry out rotational speed regulation with the higher manual governing mode of priority at this time.
In any of the above-described technical solution, it is preferable that when the first speed-regulating mode is automatic speed-regulating mode, adjusted according to first
Fast mode adjusts the step of revolving speed of engine, comprising: according to the load characteristic of the universal characteristic curve of engine and engine
Parameter calculates the second revolving speed, and the second revolving speed is greater than or equal to the first revolving speed；Control engine is run with the second revolving speed.
In the technical scheme, it when the first speed-regulating mode is automatic speed-regulating mode, is then adjusted according to the first speed-regulating mode
The step of revolving speed of engine, specifically includes: can be according to the universal characteristic curve of engine and the load characteristic parameter of engine
Calculate the second revolving speed, the second revolving speed is greater than the first revolving speed, control engine is run with the second revolving speed, to meet the power of equipment
Demand.When the load characteristic parameter of engine is greater than or equal to maximum characteristic parameter, i.e. the output power of dynamical system at this time
The power demand of equipment is no longer satisfied, then first control engine is run with the second revolving speed for being different from the first revolving speed, in turn
The power output of engine is promoted, to meet equipment dynamic demand.
In any of the above-described technical solution, it is preferable that when the second speed-regulating mode is manual governing mode, adjusted according to second
Fast mode adjusts the step of revolving speed of engine, comprising: receives regulating command；The revolving speed of engine is adjusted according to regulating command.
In the technical scheme, it when the second speed-regulating mode is manual governing mode, is then adjusted according to the second speed-regulating mode
The step of revolving speed of engine, specifically includes: receiving regulating command, which can be what user was manually entered, Jin Ergen
It is adjusted according to revolving speed of the information in regulating command to engine.Specifically, user can be realized manual by toggle switch
Adjust the revolving speed of engine.
In any of the above-described technical solution, it is preferable that first revolving speed fortune of the control engine to match with first flow
Capable step, comprising: the flow and hair of oil pump are calculated according to the external characteristic curve of the universal characteristic curve of engine and engine
Matching relationship between the revolving speed of motivation；The first revolving speed is calculated according to first flow and matching relationship；Engine is controlled with first
Revolving speed operation.
In the technical scheme, control engine with match with first flow the first revolving speed the step of specifically include:
It is calculated according to the external characteristic curve of the universal characteristic curve of engine and engine between the flow of oil pump and the revolving speed of engine
Matching relationship, wherein the universal characteristic curve of engine mainly reflects the oil under different engine speed and loading condition
Consumption rate.The external characteristic curve of engine refers to the feelings that engine can be made to issue maximum power under the best working condition of engine
The engine speed characteristic curve come is measured under condition.It can be obtained by the distinctive universal characteristic curve of engine and external characteristic curve
The matching relationship between the flow of oil pump and the revolving speed of engine is obtained, and then according to the first flow of oil pump and the matching relationship meter
The first revolving speed for obtaining engine is calculated, and then controls engine and is run with the first revolving speed.
In any of the above-described technical solution, it is preferable that determine that load characteristic parameter is greater than or equal to maximum characteristic parameter
After step, before the step of the revolving speed of the first speed-regulating mode adjusting engine, the control method of dynamical system further include:
Detect the duration that load characteristic parameter is greater than or equal to maximum characteristic parameter；When determining that duration is greater than or equal to default
It is long.
In the technical scheme, after determining that load characteristic parameter is greater than or equal to maximum characteristic parameter, according to first
Before speed-regulating mode adjusts the step of revolving speed of engine, the control method of dynamical system further includes that detection load characteristic parameter is big
In or equal to maximum characteristic parameter duration, judge whether duration is greater than preset duration, be greater than when duration or
When equal to preset duration, then it can determine that the power output of dynamical system is unsatisfactory for the demand of equipment, it is therefore necessary to adjust engine
Revolving speed meets the power demand of equipment to obtain biggish power output.And when duration is less than preset duration, then
It can determine that the power demand of equipment is unstable, therefore the revolving speed of engine can be enabled constant, continuation is run with the first revolving speed, together
Shi Chixu detection load characteristic parameter is greater than or equal to the duration of maximum characteristic parameter and is started with determining a need for adjusting
The revolving speed of machine adjusts the power output of dynamical system.
In any of the above-described technical solution, it is preferable that characteristic parameter includes following any: torque, power, distributive value；
The control method of dynamical system further include: when load characteristic parameter is less than maximum characteristic parameter, control engine is with the first revolving speed
Operation.
In the technical scheme, the control method of dynamical system further include: when load characteristic parameter is less than maximum feature ginseng
Number then shows that the flow of the revolving speed of engine and oil pump meets the power demand loaded at this time, and the revolving speed of engine is constant at this time,
Still with the operation of the first revolving speed.
Further, characteristic parameter includes following any: torque, power, distributive value.That is, available hair
Load torque/bearing power/load distributive value of motivation, while obtaining peak torque/maximum of the engine under the first revolving speed
Power/maximum distributive value, and then load torque is compared with peak torque, bearing power and maximum power are compared
Or load distributive value and maximum distributive value are compared, according to the speed-regulating mode of comparison result and engine come to engine
Revolving speed is adjusted.Specifically, peak torque be engine peak torque of external characteristic curve permission when run with the first revolving speed,
Maximum power be engine using the first revolving speed run when external characteristic curve allow maximum power, maximum distributive value as engine with
The maximum distributive value that external characteristic curve allows when first revolving speed is run.
The control method of dynamical system further include: show the flow of oil pump and the revolving speed of engine, and then be convenient for engine
Know the real-time status of dynamical system.It is contemplated that ground, can also show the load characteristic parameter of engine, i.e., load torque,
Bearing power or load distributive value.
According to the second aspect of the invention, a kind of control system of dynamical system is provided, dynamical system includes starting
Machine and oil pump driven by the engine, the control system of dynamical system include: first acquisition unit, are configured to obtain engine
First speed-regulating mode；Second acquisition unit is configured to obtain the first flow of oil pump；Control unit is configured to control engine
With the first revolving speed operation to match with first flow；Third acquiring unit obtains the load characteristic parameter of engine and starts
Maximum characteristic parameter of the machine under the first revolving speed；Control unit is also used to determine that load characteristic parameter is greater than or equal to maximum feature
Parameter adjusts the revolving speed of engine according to the first speed-regulating mode；Judging unit is configured to judge whether to receive switching command；
Resolution unit is configured to parsing switching command to obtain the second speed-regulating mode of engine；Control unit is also used to adjust to first
Fast mode is compared with the second speed-regulating mode, and the revolving speed of engine is adjusted according to comparing result.
The control system of dynamical system provided by the invention, wherein dynamical system includes engine and driven by the engine
Oil pump, the control system of dynamical system include: first acquisition unit, be configured to obtain engine the first speed-regulating mode, second
Acquiring unit is configured to obtain the first flow of oil pump, and control unit is used to control engine the to match with first flow
The operation of one revolving speed, third acquiring unit are configured to the load characteristic parameter for obtaining engine and engine under the first revolving speed
Maximum characteristic parameter, control unit is also used to then show this when load characteristic parameter is greater than or equal to maximum characteristic parameter
When engine revolving speed and the flow of oil pump be not able to satisfy the power demand of load, needed at this time according to the first speed-regulating mode pair
The revolving speed of engine is adjusted, and comprehensively considers user to the flow demand of oil pump, limits the minimum speed and highest of engine
Revolving speed, so that engine works in economic fuel-efficient and low noise region, so that energy consumption is effectively reduced, so as to start
The revolving speed of machine meets the needs of load, it is ensured that the equipment with the dynamical system can work normally.When engine is adjusted first
After fast mode has been carried out rotational speed regulation, judge whether to receive switching command, which refers to the speed regulation mould of engine
Whether formula, which needs, switches.If receiving switching command, which is parsed to obtain the second of engine
Speed-regulating mode, the second speed-regulating mode are different from the first speed-regulating mode.Then the first speed-regulating mode and the second speed-regulating mode are carried out
Comparison, the revolving speed of engine is adjusted according to comparing result.After engine realizes that revolving speed is reconciled according to the first speed-regulating mode, if
Switching command is received, then determines whether engine will be again according to the comparing result of the first speed-regulating mode and the second speed-regulating mode
Secondary adjusting revolving speed, is adjusted so that the revolving speed of engine can be realized according to different speed-regulating modes, is met to the maximum extent each
The speed demand that the complicated open lower load of kind changes, it is ensured that dynamical system can operate normally.The first flow of oil pump can be
The flow of oil pump can be arranged in user setting, i.e. user by flow input signal device (toggle switch).Engine can root
Linear scale step-less adjustment is carried out according to the first flow of oil pump, so that the revolving speed of engine reaches the to match with first flow
One revolving speed, wherein the revolving speed of engine can increase with the flow of oil pump and be increased, and reduce with the reduction of the flow of oil pump.Specifically
Ground, engine are CAN bus electric-control motor (CAN, Controller Area Network, controller local area network), power
System can obtain the permitted maximum feature ginseng of the external characteristic curve under the characteristic parameter feedback of engine, current rotating speed in real time
Number, and energy consumption and noise to consider engine are changed according to the load of engine, engine can be automatically adjusted to most preferably
Revolving speed, so that engine enhances the adaptive faculty that operating condition changes.
According to the third aspect of the present invention, a kind of engineering machinery is provided comprising provided in above-mentioned technical proposal
Dynamical system control system.
Engineering machinery provided by the invention, the control system of the dynamical system including any of the above-described technical solution, therefore have
There are whole beneficial effects of the control system of the dynamical system, details are not described herein.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 shows the flow chart of the control method of dynamical system according to one embodiment of present invention；
Fig. 2 shows the flow charts of the control method of middle dynamical system according to another embodiment of the invention；
Fig. 3 shows the flow chart of the control method of dynamical system according to still another embodiment of the invention；
Fig. 4 shows the block diagram of the control system of dynamical system according to one embodiment of present invention.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
Referring to control method, the dynamical system of the dynamical system of Fig. 1 to Fig. 4 description according to some embodiments of the invention
Control system and engineering machinery.
The embodiment of first aspect present invention provides a kind of control method of dynamical system, and dynamical system includes engine
With oil pump driven by the engine.
Fig. 1 shows the flow chart of the control method of the dynamical system of one embodiment of the invention, as shown in Figure 1, the party
Method includes:
S102 obtains the first speed-regulating mode of engine and the first flow of oil pump；
S104, the first revolving speed operation for controlling engine to match with first flow；
S106 obtains the maximum characteristic parameter of the load characteristic parameter and engine of engine under the first revolving speed；
S108 determines that load characteristic parameter is greater than or equal to maximum characteristic parameter；
S110 adjusts the revolving speed of engine according to the first speed-regulating mode；
S112 judges whether to receive switching command；
S114, if so, parsing switching command to obtain the second speed-regulating mode of engine；
S116 compares the first speed-regulating mode and the second speed-regulating mode；
S118 adjusts the revolving speed of engine according to comparing result.
The control method of dynamical system provided by the invention, wherein dynamical system includes engine and driven by the engine
Oil pump, the control method of dynamical system include the first speed-regulating mode for obtaining engine, obtain the first flow of oil pump, control hair
Then motivation obtains the load characteristic parameter and engine of engine with the first revolving speed operation to match with first flow
Maximum characteristic parameter under the first revolving speed then shows at this time when load characteristic parameter is greater than or equal to maximum characteristic parameter
The revolving speed of engine and the flow of oil pump are not able to satisfy the power demand of load, are needed at this time according to the first speed-regulating mode to hair
The revolving speed of motivation is adjusted, and comprehensively considers user to the flow demand of oil pump, the minimum speed and highest for limiting engine turn
Speed, so that engine works in economic fuel-efficient and low noise region, so that energy consumption is effectively reduced, so that engine
Revolving speed meet the needs of load, it is ensured that can work normally with the equipment of the dynamical system.When engine is in the first speed regulation
After mode has been carried out rotational speed regulation, judge whether to receive switching command, which refers to the speed-regulating mode of engine
Whether need to switch.If receiving switching command, which is parsed to obtain the second of engine the tune
Fast mode, the second speed-regulating mode are different from the first speed-regulating mode.Then the first speed-regulating mode and the second speed-regulating mode are carried out pair
Than adjusting the revolving speed of engine according to comparing result.After engine realizes that revolving speed is reconciled according to the first speed-regulating mode, if connecing
Switching command is received, then determines whether engine will be again according to the comparing result of the first speed-regulating mode and the second speed-regulating mode
Revolving speed is adjusted, adjusts, meets to the maximum extent various so that the revolving speed of engine can be realized according to different speed-regulating modes
The speed demand of the open lower load variation of complexity, it is ensured that dynamical system can operate normally.The first flow of oil pump can be use
The flow of oil pump can be arranged in family setting, i.e. user by flow input signal device (toggle switch).Engine can basis
The first flow of oil pump carries out linear scale step-less adjustment, so that the revolving speed of engine reaches first to match with first flow
Revolving speed, wherein the revolving speed of engine can increase with the flow of oil pump and be increased, and reduce with the reduction of the flow of oil pump.Specifically
Ground, engine are CAN bus electric-control motor (CAN, Controller Area Network, controller local area network), power
System can obtain the permitted maximum feature ginseng of the external characteristic curve under the characteristic parameter feedback of engine, current rotating speed in real time
Number, and energy consumption and noise to consider engine are changed according to the load of engine, engine can be automatically adjusted to most preferably
Revolving speed, so that engine enhances the adaptive faculty that operating condition changes.
Fig. 2 shows the flow charts of the control method of the dynamical system of another embodiment of the present invention, as shown in Fig. 2, should
Method includes:
S202 obtains the first speed-regulating mode of engine and the first flow of oil pump；
S204, the first revolving speed operation for controlling engine to match with first flow；
S206 obtains the maximum characteristic parameter of the load characteristic parameter and engine of engine under the first revolving speed；
S208 determines that load characteristic parameter is greater than or equal to maximum characteristic parameter；
S210 adjusts the revolving speed of engine according to the first speed-regulating mode；
S212 judges whether to receive switching command；
S214, if so, parsing switching command to obtain the second speed-regulating mode of engine；
S216 compares the first speed-regulating mode and the second speed-regulating mode；
S218, when the priority of the second speed-regulating mode is higher than the priority of the first speed-regulating mode, according to the second speed-regulating mode
Adjust the revolving speed of engine；
S220, when the priority of the second speed-regulating mode is lower than the priority of the first speed-regulating mode, according to the first speed-regulating mode
Adjust the revolving speed of engine.
In this embodiment, the step of adjusting the revolving speed of engine according to comparing result includes: when the second speed-regulating mode
Priority is higher than the priority of the first speed-regulating mode, and the revolving speed of engine is adjusted according to the second speed-regulating mode, when the second adjusting mould
The priority of formula is lower than the priority of the first speed-regulating mode, can continue the revolving speed for adjusting engine according to the first speed-regulating mode.
The priority of first speed-regulating mode and the second speed-regulating mode can be preset.I.e. when engine is with the speed regulation mould of higher priority
When formula is run, even if then receiving switching command, and when the priority of the speed-regulating mode in switching command is lower, engine at this time
Rotational speed regulation is still carried out with the speed-regulating mode of higher priority.However, when the priority of the speed-regulating mode in switching command is higher
When, then adjustment engine is run at this time with the speed-regulating mode of higher priority, and then is realized and more effectively adjusted to engine speed
Section control.
In any of the above-described embodiment, it is preferable that the speed-regulating mode of engine includes manual governing mode and automatic speed regulation
Mode；The priority of manual governing mode is higher than the priority of automatic speed-regulating mode.
In this embodiment, speed-regulating mode includes manual governing mode and automatic speed-regulating mode.It is adjusted manually when user chooses
Fast mode, then user can adjust the revolving speed of engine, and then by toggle switch on the basis of the first revolving speed to promote hair
The ability to work of motivation.When user chooses automatic speed-regulating mode, then dynamical system can automatically adjust engine by CAN bus
Revolving speed so that engine is run with reasonable fixed rotating speed, it is ensured that equipment can work normally.It is worth noting that speed regulation
Manual governing mode and automatic speed-regulating mode in mode can exist simultaneously.When engine is run with automatic speed-regulating mode,
If manual governing mode is intervened, engine will carry out rotational speed regulation with the higher manual governing mode of priority at this time.
In any of the above-described embodiment, it is preferable that when the first speed-regulating mode is automatic speed-regulating mode, according to the first speed regulation
The step of revolving speed of mode tuning engine, comprising: joined according to the load characteristic of the universal characteristic curve of engine and engine
Number calculates the second revolving speed, and the second revolving speed is greater than or equal to the first revolving speed；Control engine is run with the second revolving speed.
In this embodiment, it when the first speed-regulating mode is automatic speed-regulating mode, is then adjusted and is sent out according to the first speed-regulating mode
The step of revolving speed of motivation, specifically includes: can according to the load characteristic parameter of the universal characteristic curve of engine and engine come
The second revolving speed is calculated, the second revolving speed is greater than the first revolving speed, and control engine is run with the second revolving speed, to meet the power need of equipment
It asks.When the load characteristic parameter of engine is greater than or equal to maximum characteristic parameter, i.e., the output power of dynamical system has been at this time
It is not able to satisfy the power demand of equipment, then first control engine is run with the second revolving speed for being different from the first revolving speed, Jin Erti
The power output of engine is risen, to meet equipment dynamic demand.
In any of the above-described embodiment, it is preferable that when the second speed-regulating mode is manual governing mode, according to the second speed regulation
The step of revolving speed of mode tuning engine, comprising: receive regulating command；The revolving speed of engine is adjusted according to regulating command.
In this embodiment, it when the second speed-regulating mode is manual governing mode, is then adjusted and is sent out according to the second speed-regulating mode
The step of revolving speed of motivation, specifically includes: receiving regulating command, which can be what user was manually entered, and then basis
The revolving speed of engine is adjusted in information in regulating command.Specifically, user can be realized by toggle switch and be adjusted manually
Save the revolving speed of engine.
In any of the above-described embodiment, it is preferable that first revolving speed operation of the control engine to match with first flow
The step of, comprising: according to the external characteristic curve of the universal characteristic curve of engine and engine calculate oil pump flow with start
Matching relationship between the revolving speed of machine；The first revolving speed is calculated according to first flow and matching relationship；Engine is controlled with first turn
Speed operation.
In this embodiment, control engine with match with first flow the first revolving speed the step of specifically include: root
It is calculated between the flow of oil pump and the revolving speed of engine according to the universal characteristic curve of engine and the external characteristic curve of engine
Matching relationship, wherein the universal characteristic curve of engine mainly reflects the oil consumption under different engine speed and loading condition
Rate.The external characteristic curve of engine refers to the case where engine can be made to issue maximum power under the best working condition of engine
Under measure come engine speed characteristic curve.It can be obtained by the distinctive universal characteristic curve of engine and external characteristic curve
Matching relationship between the flow of oil pump and the revolving speed of engine, and then calculated according to the first flow of oil pump and the matching relationship
It obtains the first revolving speed of engine, and then controls engine and run with the first revolving speed.
In any of the above-described embodiment, it is preferable that determine that load characteristic parameter is greater than or equal to the step of maximum characteristic parameter
After rapid, before the step of the revolving speed of the first speed-regulating mode adjusting engine, the control method of dynamical system further include: inspection
Survey the duration that load characteristic parameter is greater than or equal to maximum characteristic parameter；When determining that duration is greater than or equal to default
It is long.
In this embodiment, it after determining that load characteristic parameter is greater than or equal to maximum characteristic parameter, is adjusted according to first
Before fast mode adjusts the step of revolving speed of engine, the control method of dynamical system further includes that detection load characteristic parameter is greater than
Or the duration equal to maximum characteristic parameter, judge whether duration is greater than preset duration, when duration is greater than or waits
When preset duration, then it can determine that the power output of dynamical system is unsatisfactory for the demand of equipment, it is therefore necessary to adjust engine and turn
Speed meets the power demand of equipment to obtain biggish power output.And when duration is less than preset duration, then may be used
Determine that the power demand of equipment is unstable, therefore the revolving speed of engine can be enabled constant, continuation is run with the first revolving speed, simultaneously
Persistently detection load characteristic parameter is greater than or equal to the duration of maximum characteristic parameter to determine a need for adjusting engine
Revolving speed adjust the power output of dynamical system.
In any of the above-described embodiment, it is preferable that characteristic parameter includes following any: torque, power, distributive value；It is dynamic
The control method of Force system further include: when load characteristic parameter is less than maximum characteristic parameter, control engine is transported with the first revolving speed
Row.
In this embodiment, the control method of dynamical system further include: when load characteristic parameter is less than maximum characteristic parameter,
Then show that the flow of the revolving speed of engine and oil pump meets the power demand loaded at this time, the revolving speed of engine is constant at this time, still
It is old to be run with the first revolving speed.
Further, characteristic parameter includes following any: torque, power, distributive value.That is, available hair
Load torque/bearing power/load distributive value of motivation, while obtaining peak torque/maximum of the engine under the first revolving speed
Power/maximum distributive value, and then load torque is compared with peak torque, bearing power and maximum power are compared
Or load distributive value and maximum distributive value are compared, according to the speed-regulating mode of comparison result and engine come to engine
Revolving speed is adjusted.Specifically, peak torque be engine peak torque of external characteristic curve permission when run with the first revolving speed,
Maximum power be engine using the first revolving speed run when external characteristic curve allow maximum power, maximum distributive value as engine with
The maximum distributive value that external characteristic curve allows when first revolving speed is run.
The control method of dynamical system further include: show the flow of oil pump and the revolving speed of engine, and then be convenient for engine
Know the real-time status of dynamical system.It is contemplated that ground, can also show the load characteristic parameter of engine, i.e., load torque,
Bearing power or load distributive value.
Fig. 3 shows the flow chart of the control method of the dynamical system of one embodiment of the invention, as shown in figure 3, the party
Method includes:
S302 obtains the first speed-regulating mode of engine and the first flow of oil pump；
S304, according to the external characteristic curve of the universal characteristic curve of engine and engine calculate oil pump flow with start
Matching relationship between the revolving speed of machine；
S306 calculates the first revolving speed according to first flow and matching relationship；
S308, control engine are run with the first revolving speed；
S310 obtains the maximum characteristic parameter of the load characteristic parameter and engine of engine under the first revolving speed；
S312 determines that load characteristic parameter is greater than or equal to maximum characteristic parameter；
S314, detection load characteristic parameter are greater than or equal to the duration of maximum characteristic parameter；
S316 determines that duration is greater than or equal to preset duration；
S318, when the first speed-regulating mode is automatic speed-regulating mode, according to the universal characteristic curve and engine of engine
Load characteristic parameter calculate the second revolving speed, the second revolving speed be greater than or equal to the first revolving speed；
S320, control engine are run with the second revolving speed；
S322 judges whether to receive switching command；
S324 parses switching command to obtain the second speed-regulating mode of engine；
S326 compares the first speed-regulating mode and the second speed-regulating mode；
S328, when the priority of the second speed-regulating mode is lower than the priority of the first speed-regulating mode, execution S318；
S330, when the priority of the second speed-regulating mode is higher than the priority of the first speed-regulating mode, according to the second speed-regulating mode
Adjust the revolving speed of engine；
S332 receives regulating command when the second speed-regulating mode is manual governing mode；
S334 adjusts the revolving speed of engine according to regulating command.
According to the second aspect of the invention, a kind of control system 100 of dynamical system is provided, dynamical system includes hair
Motivation and oil pump driven by the engine, as shown in figure 4, the control system 100 of dynamical system includes:
First acquisition unit 102 is configured to obtain the first speed-regulating mode of engine；
Second acquisition unit 104 is configured to obtain the first flow of oil pump；
Control unit 108, the first revolving speed operation for being configured to control engine to match with first flow；
It is special to obtain the maximum of the load characteristic parameter and engine of engine under the first revolving speed for third acquiring unit 106
Levy parameter；
Control unit 108 is also used to determine that load characteristic parameter is greater than or equal to maximum characteristic parameter, according to the first speed regulation
The revolving speed of mode tuning engine；
Judging unit 110 is configured to judge whether to receive switching command；
Resolution unit 112 is configured to parsing switching command to obtain the second speed-regulating mode of engine；
Control unit 108 is also used to compare the first speed-regulating mode and the second speed-regulating mode, according to comparing result tune
Save the revolving speed of engine.
The control system 100 of dynamical system provided by the invention, wherein dynamical system includes engine and is driven by engine
Dynamic oil pump, the control system 100 of dynamical system include: first acquisition unit 102, are configured to obtain the first speed regulation of engine
Mode, second acquisition unit 104 are configured to obtain the first flow of oil pump, and control unit 108 is for controlling engine with the
The first revolving speed operation that one flow matches, third acquiring unit 106 are configured to obtain the load characteristic parameter of engine, and
Maximum characteristic parameter of the engine under the first revolving speed, control unit 108 are also used to be greater than or equal to most when load characteristic parameter
When big characteristic parameter, then show that the flow of the revolving speed of engine and oil pump at this time is not able to satisfy the power demand of load, at this time
It needs to be adjusted according to revolving speed of first speed-regulating mode to engine, comprehensively considers user to the flow demand of oil pump, limitation
The minimum speed and maximum speed of engine, so that engine works in economic fuel-efficient and low noise region, to have
Effect reduces energy consumption, so that the revolving speed of engine meets the needs of load, it is ensured that the equipment with the dynamical system can be just
Often work.When engine is after the first speed-regulating mode has been carried out rotational speed regulation, judge whether to receive switching command, this is cut
It changes and refers to whether the speed-regulating mode of engine needs to switch.If receiving switching command, which is carried out
It parses to obtain the second speed-regulating mode of engine, the second speed-regulating mode is different from the first speed-regulating mode.Then it is adjusted the speed to first
Mode and the second speed-regulating mode compare, and the revolving speed of engine is adjusted according to comparing result.When engine is adjusted according to first
After fast mode realizes that revolving speed is reconciled, if receiving switching command, according to the comparison of the first speed-regulating mode and the second speed-regulating mode
As a result determine whether engine will adjust revolving speed again, so that the revolving speed of engine can be real according to different speed-regulating modes
It now adjusts, meets the speed demand of various complicated open lower load variations to the maximum extent, it is ensured that dynamical system can be transported normally
Row.The first flow of oil pump can be user setting, i.e. user can be arranged by flow input signal device (toggle switch)
The flow of oil pump.Engine can carry out linear scale step-less adjustment according to the first flow of oil pump, so that the revolving speed of engine
Reach the first revolving speed to match with first flow, wherein the revolving speed of engine can increase with the flow of oil pump and be increased, with oil
The reduction of the flow of pump and reduce.Specifically, engine is CAN bus electric-control motor (CAN, Controller Area
Network, controller local area network), dynamical system can be obtained in real time under the characteristic parameter feedback of engine, current rotating speed
The permitted maximum characteristic parameter of external characteristic curve, and consider according to the load variation of engine the energy consumption of engine and make an uproar
Sound can automatically adjust engine to optimum speed, so that engine enhances the adaptive faculty that operating condition changes.
According to the third aspect of the present invention, a kind of engineering machinery is provided comprising provided in above-described embodiment
The control system of dynamical system.
Engineering machinery provided by the invention, the control system 100 of the dynamical system including any of the above-described embodiment, therefore have
There are whole beneficial effects of the control system 100 of the dynamical system, details are not described herein.
In the present invention, term " multiple " then refers to two or more, unless otherwise restricted clearly.Term " peace
Dress ", " connected ", " connection ", the terms such as " fixation " shall be understood in a broad sense, can also be with for example, " connection " may be a fixed connection
It is to be detachably connected, or be integrally connected；" connected " can be directly connected, can also be indirectly connected through an intermediary.It is right
For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of control method of dynamical system, the dynamical system includes engine and by engine-driven oil pump,
It is characterized in that, the control method of the dynamical system includes:
Obtain the first speed-regulating mode of the engine and the first flow of the oil pump；
The first revolving speed operation that the engine is controlled to match with the first flow；
Obtain the maximum characteristic parameter of the load characteristic parameter and the engine of the engine under first revolving speed；
Determine that the load characteristic parameter is greater than or equal to the maximum characteristic parameter；
The revolving speed of the engine is adjusted according to first speed-regulating mode；
Judge whether to receive switching command；
If so, parsing the switching command to obtain the second speed-regulating mode of the engine；
First speed-regulating mode and second speed-regulating mode are compared；
The revolving speed of the engine is adjusted according to comparing result.
2. the control method of dynamical system according to claim 1, which is characterized in that described to adjust institute according to comparing result
The step of stating the revolving speed of engine, comprising:
When the priority of second speed-regulating mode is higher than the priority of first speed-regulating mode, according to the second speed regulation mould
Formula adjusts the revolving speed of the engine；
When the priority of second speed-regulating mode is lower than the priority of first speed-regulating mode, according to the first speed regulation mould
Formula adjusts the revolving speed of the engine.
3. the control method of dynamical system according to claim 2, which is characterized in that
The speed-regulating mode of the engine includes manual governing mode and automatic speed-regulating mode；
The priority of the manual governing mode is higher than the priority of the automatic speed-regulating mode.
4. the control method of dynamical system according to claim 3, which is characterized in that when first speed-regulating mode is certainly
When dynamic speed-regulating mode, the described the step of revolving speed of the engine is adjusted according to first speed-regulating mode, comprising:
The second revolving speed is calculated according to the load characteristic parameter of the universal characteristic curve of the engine and the engine, described the
Two revolving speeds are greater than or equal to first revolving speed；
The engine is controlled to run with second revolving speed.
5. the control method of dynamical system according to claim 3, which is characterized in that when second speed-regulating mode is hand
When dynamic speed-regulating mode, the described the step of revolving speed of the engine is adjusted according to second speed-regulating mode, comprising:
Receive regulating command；
The revolving speed of the engine is adjusted according to the regulating command.
6. the control method of dynamical system according to any one of claim 1 to 5, which is characterized in that the control institute
The step of the first revolving speed that engine is stated to match with the first flow is run, comprising:
According to the external characteristic curve of the universal characteristic curve of the engine and the engine calculate the flow of the oil pump with
Matching relationship between the revolving speed of the engine；
First revolving speed is calculated according to the first flow and the matching relationship；
The engine is controlled to run with first revolving speed.
7. the control method of dynamical system according to any one of claim 1 to 5, which is characterized in that the determining institute
It is described according to the first speed-regulating mode tune after stating the step of load characteristic parameter is greater than or equal to the maximum characteristic parameter
Before the step of saving the revolving speed of the engine, the control method of the dynamical system further include:
Detect the duration that the load characteristic parameter is greater than or equal to the maximum characteristic parameter；
Determine that the duration is greater than or equal to preset duration.
8. the control method of dynamical system according to any one of claim 1 to 5, which is characterized in that
The characteristic parameter includes following any: torque, power, distributive value；
The control method of the dynamical system further include: when the load characteristic parameter is less than the maximum characteristic parameter, control
The engine is run with first revolving speed.
9. a kind of control system of dynamical system, the dynamical system includes engine and by engine-driven oil pump,
It is characterized in that, the control system of the dynamical system includes:
First acquisition unit is configured to obtain the first speed-regulating mode of the engine；
Second acquisition unit is configured to obtain the first flow of the oil pump；
Control unit is configured to control the engine the first revolving speed operation to match with the first flow；
Third acquiring unit, obtain the engine load characteristic parameter and the engine under first revolving speed most
Big characteristic parameter；
Described control unit is also used to determine that the load characteristic parameter is greater than or equal to the maximum characteristic parameter, according to described
First speed-regulating mode adjusts the revolving speed of the engine；
Judging unit is configured to judge whether to receive switching command；
Resolution unit is configured to parse second speed-regulating mode of the switching command to obtain the engine；
Described control unit is also used to compare first speed-regulating mode and second speed-regulating mode, is tied according to comparison
Fruit adjusts the revolving speed of the engine.
10. a kind of engineering machinery, which is characterized in that the control system including dynamical system as claimed in claim 9.
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Cited By (1)
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| CN111577475A (en) * | 2020-05-15 | 2020-08-25 | 奇瑞汽车股份有限公司 | Method and device for switching working modes of engine and storage medium |
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Application publication date: 20191008 |