CN110500190A - The adaptive engine speed gain of industrial machine - Google Patents
The adaptive engine speed gain of industrial machine Download PDFInfo
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- CN110500190A CN110500190A CN201910411236.7A CN201910411236A CN110500190A CN 110500190 A CN110500190 A CN 110500190A CN 201910411236 A CN201910411236 A CN 201910411236A CN 110500190 A CN110500190 A CN 110500190A
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- Prior art keywords
- gain
- engine speed
- threshold
- circuit
- gain setting
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Classifications
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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
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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
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/1002—Output torque
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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
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/101—Engine speed
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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
- F02D2250/00—Engine control related to specific problems or objectives
- F02D2250/18—Control of the engine output torque
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Operation Control Of Excavators (AREA)
Abstract
System and device include the memory for storing the first gain setting and the second gain setting.Second gain, which is defined, sets low gain than the first gain.Circuit is coupled to memory and is configured to receive the data of instruction engine speed and engine torque, transient response value is determined according to engine speed and engine torque, it is lower than first threshold in response to transient response value, it is set using the first gain to control engine speed, and it is higher than first threshold in response to transient response value, is set using second gain to control engine speed.
Description
Cross reference to related applications
This application claims the U.S. Provisional Patent Application No.62/672 that on May 17th, 2018 submits, 720 equity, the Shens
It please be incorporated herein by reference in their entirety.
Technical field
This disclosure relates to engine control system.More specifically, this disclosure relates to starting in industrial machine for improving
The system and method for the transient response of machine.
Background technique
Control system is usually run with proportional gain value, and the yield value is by the output amplitude in input range and control system
It is associated.In some systems, thus it is possible to vary gain is to provide the greater or lesser amplification of the input relative to output.With
The unstability of the increase of gain, control system also will increase.Systematic jitters is a Consideration of gain selection.With
Gain in control system increase, usual rise time (for example, response time) reduces, and overshoot percentage increases, and builds
Increase between immediately.Therefore, higher yield value tends to provide faster response system, but cost is lower stability.
Summary of the invention
One embodiment is related to a kind of device comprising the memory of the first gain of storage setting and the second gain setting.
Second gain, which is defined, sets low gain than the first gain.Circuit is coupled to memory and is configured to receive instruction
The data of engine speed and engine torque determine transient response value according to engine speed and engine torque, in response to
Transient response value is lower than first threshold, is set using first gain to control engine speed, and ring in response to transient state
It should be worth higher than first threshold, be set using second gain to control engine speed.
Another embodiment is related to a kind of device comprising the storage of the first gain of storage setting and the second gain setting
Device.Second gain, which is defined, sets low gain than the first gain.The device further includes user interface, is configured to ring
It should be inputted in user and the first gain setting signal or the second gain setting signal are provided, and be coupled to memory and user interface
Circuit.The circuit is configured to respond to be set using the first gain in receiving the first gain setting signal to control engine
Speed, and in response to receiving the second gain setting signal, it is set using the second gain to control engine speed.
Another embodiment is related to a kind of method, including store in memory the first gain setting, the second gain setting and
Third gain setting, wherein the second gain setting definition sets low gain, and third gain setting definition than the first gain
Low gain is set than the second gain；This method further includes the data of reception instruction engine speed and engine torque, and
Transient response value is determined according to engine speed and engine torque.This method selects the first gain selection logic, the second gain
One in selection logic or third gain selection logic.First gain selection logic includes inputting in response to user, passes through use
Family interface provides the first gain setting signal, the second gain setting signal or third gain setting signal, in response to receiving first
Gain setting signal is set to control engine speed using the first gain, in response to receiving the second gain setting signal, is utilized
Second gain sets to control engine speed, and in response to receiving the second gain setting signal, is set using third gain
To control engine speed.Second gain selection logic includes in response to transient response value lower than First Speed range threshold, benefit
It is set with the first gain to control engine speed, is higher than First Speed range threshold in response to transient response value and is lower than second
Velocity interval threshold value is set using the second gain to control engine speed, and be higher than the second speed in response to transient response value
Range threshold is spent, is set using third gain to control engine speed.Third gain selection logic includes ringing in response to transient state
It should be worth lower than the first torque region threshold and lower than the second torque region threshold, be set using the first gain to control engine speed
Degree lower than the first torque region threshold and is higher than the second torque region threshold in response to transient response value, is set using the second gain
Calmly to control engine speed, and higher than the first torque region threshold and it is lower than the second torque region in response to transient response value
Threshold value is set using third gain to control engine speed.This method further includes being patrolled according to selected gain setting selection
Collect operation vehicle motor.
From the detailed description below in conjunction with attached drawing, the tissue and mode of these and other features and its operation will become
Obviously.
Detailed description of the invention
Fig. 1 is the perspective view of machine accoding to exemplary embodiment.
Fig. 2 is the schematic diagram of the function system of the machine of Fig. 1 accoding to exemplary embodiment.
Fig. 3 is the chart for showing the engine speed of the machine of Fig. 1 accoding to exemplary embodiment at any time.
Fig. 4 is to show the machine of Fig. 1 accoding to exemplary embodiment to decline the engine speed of yield value range
Chart.
Fig. 5 is the chart for showing the undershoot compared with the engine speed of the machine of Fig. 1 accoding to exemplary embodiment.
Fig. 6 is the diagram table for showing the overshoot compared with the engine speed of the machine of Fig. 1 accoding to exemplary embodiment.
Fig. 7 is the schematic diagram of the controller of the machine of Fig. 1 accoding to exemplary embodiment.
Fig. 8 is the first logic of operation set for the machine application gain for Fig. 1 shown accoding to exemplary embodiment
Flow chart.
Fig. 9 is the figure of the second logic set for the machine application gain for Fig. 1 shown accoding to exemplary embodiment
Table.
Figure 10 is the figure of the third logic set for the machine application gain for Fig. 1 shown accoding to exemplary embodiment
Table.
Figure 11 is the chart of the distribution of the yield value in the gain table of the machine of the Fig. 1 shown accoding to exemplary embodiment.
Figure 12 is the stream for showing the adaptive gain logic selection method of the machine for Fig. 1 accoding to exemplary embodiment
Cheng Tu.
Figure 13 is the schematic diagram of the function system of the machine of Fig. 1 accoding to exemplary embodiment.
Specific embodiment
It is the relevant of the methods, devices and systems controlled for the adaptive engine speed gain of industrial machine below
The more specific description of each conception of species and implementation.Each conception of species described above and being discussed in more detail below can be to appoint
The mode of what quantity is implemented, because described concept is not limited to any specific embodiment.There is provided particular implementation and
Application is intended primarily for illustration purpose.
It is referred in a general way attached drawing, various embodiments disclosed herein is related to for improving wink during the operation of heavy equipment
The systems, devices and methods of state response.Many off-highway machines (for example, excavator or wheel loader) include stepless transmission
And and its with constant or run close to constant engine speed.A problem having already appeared includes when introducing mutation load
When (for example, fast lifting very heavy load), transient response ability reduces.In general, with engine speed and/or engine
Torque increases, and transient response is more preferable.In order at least solve the problems, such as transient response reduction, according to the disclosure, many is utilized can
It is set with the different gains in response to engine torque and/or engine speed.For example, at lower engine speeds,
Engine speed control utilizes higher gain, so as to improve transient response.The disclosure technically and valuably mentions for operator
Selective logic allows operator to determine that the appropriate gain run for machine is set, torque area logic, in response to hair
The torque operation area of motivation torque and engine speed chart or the determination on table automatically selects gain setting, and/or speed
Range logic is spent, automatically selects gain setting in response to the engine speed range determined in chart or table.
As it is used herein, gain setting may include a series of increasings used by control system, controller or circuit
Benefit value.Yield value may include the single or constant gain of the realization control action used by control system, controller or circuit
Number.In some embodiments, term gain setting and yield value may be used interchangeably, so that gain setting includes being by control
The single or constant gain value that control is realized to machine, subsystem or single component that system, controller or circuit use.In addition,
Gain setting or the yield value discussed for controlling the engine of machine is described below.In other words, gain setting or yield value
It will affect the operation of entire machine, including all subsystems or component.In some embodiments, gain setting or yield value may
Only influence the operation of some subsystems or component.For example, gain setting or yield value may influence the operation of hydraulic system, so that
Pump/motor or hydraulic power transmission are run according to gain setting or yield value.In some embodiments, gain setting can be used or increase
Beneficial value influences or controls Transmission system, after-treatment system, hydraulic system, mechanical system, other machines system or system and son
Any combination of system.
As shown in Figure 1, the machine of 20 form of excavator generally includes track 24, engine 28, driver's cabin 32 and scraper bowl 36
The tool of form.Excavator 20 moves on ground 40, and scraper bowl 36 manipulates material 44.In some structures, machine is not
Same off-highway machine comprising for manipulating the tool (for example, wheel loader) of material.For example, as needed, machine can
Including wheel, front loading device, drill bit or auger, rake, sieve and/or conveyer, hammer or other tools.In this document
Context in, consumption power that term " tool " refers to executes any of the movement other than pushing machine to move on the ground
Tool or system.For example, tool may include but be not limited to brill/auger, rake, conveyer and/or scraper bowl.
As shown in Fig. 2, engine 28 is internal combustion engine (such as bavin Water Oil Or Gas) and provides machine power output.Engine 28
It is run with engine speed and engine torque is provided.Cooling system 48 is coupled to engine 28 and mentions for the component of excavator 20
For heat exchange.Cooling system 48 includes fan 52, and fan 52 can be driven by engine 28 to move the air through cooling system
48
Control system 56 is located in the driver's cabin 32 of excavator 20, and including user interface apparatus, the user interface apparatus
Including steering wheel 60, accelerator pedal 64, control stick 68 and switch 70.Control system 56 further includes controller 72, controller 72 with
The communication of the other component of user interface apparatus and machine 20 is to realize control.In some embodiments, control stick 68 is for controlling
The operation of tool.In some embodiments, switch 70 is used for the first operating mode advanced on ground, (all for operational instrument
Such as front-end loader or excavator) the second operating mode, switch between third operating mode for loading or being promoted.In
In some embodiments, switch is or including lever, toggle switch, rotatable selector, multiple buttons, touch screen or according to need
Another man-machine interface wanted.
Work mechanism system 76 includes scraper bowl 36 and associated connecting rod.In some embodiments, work mechanism system 76
It may include the power output device (take-offs) of machine power, other component or other tools (for example, brill/auger, dragging
Vehicle, backhoe, pincers).Hydraulic system of working 80 includes motor/pump 84 and hydraulic actuator 88, and hydraulic system of working 80 is coupled to work
Make mechanical system 76 to act to 76 application of work mechanism system.Hydraulic system of working 80 can be arranged to operation element machinery system
The other component of system 76.For example, if work mechanism system 76 includes the bucket of the excavator 20 of manipulation scraper bowl 36 or another tool
Bar (boom) and arm, then other component (for example, dipper and arm) of the hydraulic system of working 80 to tool and work mechanism system 76
Power is provided.In the figure 2 example, tool includes both work mechanism system 76 and hydraulic system of working 80 or work mechanism
The part of system 76 and/or hydraulic system of working 80.In some embodiments, hydraulic system of working 80 controls the dipper of scraper bowl 36
And arm, with stretching, extension, retraction, swing and crank-motion.
In addition, as shown in Fig. 2, hydraulic system of working 80 includes steering hydraulic system 89 and hydraulic braking system 90.It turns to
Hydraulic system 89 and hydraulic braking system 90 are separately controlled, but for the purpose of this document, they are considered as entire work
Make a part of hydraulic system 80.In addition, hydraulic system of working 80 may include needing other of hydraulic power or flow of pressurized hydraulic
Component and system.
Power train 92 includes transmission device 96, and transmission device 96 receives the power from engine 28 and to four crawler belts 24
Rotary power is provided.In some embodiments, transmission device 96 is the stepless transmission (CVT) for including hydraulic motor/pump.
During the operation of excavator 20, engine 28 is usually run with fixed engine speed, which starts
Machine speed can torque demand by operator based on excavator 20 (for example, hydraulic system of working 80, steering hydraulic system 89
And/or the flow demand of hydraulic braking system 90) order.Engine loading is (for example, torsion needed for tool or power train 92
Square) sharply increase the reduction for typically resulting in engine speed.If the engine speed of Fig. 3 is to shown in time plot, start
Machine 28 undergoes increase in demand in time T1.After the torque demand at time T1, engine speed undershoot 100 is undergone, then
It is engine speed overshoot 104, engine 28 is restored to steady state engine speed 108 later.Engine speed undershoot 100 can drop
It is low can be by 28 transient response of engine that operator discovers.Reduced transient response may cause operator due to engine speed
Suddenly change and it is uneasy.It is expected that improving the transient response of engine 28 during unexpected load.
By the yield value for changing control system 56, thus it is possible to vary the transient response of engine 28.As shown in figure 4, one
In a little embodiments, the control gain value of X causes engine speed undershoot 100 to be about 150 turns (150rpm) per minute, half yield value
X/2 causes engine speed undershoot 100 to be about 200 turns (200rpm) per minute, and 2 times of yield value 2X lead to engine speed undershoot
100 about 100 turns (100rpm) per minute, and 4 times of yield value 4X cause engine speed undershoot 100 to be about 75 turns per minute
(75rpm).With the increase of gain, undershoot 100 is reduced.
In addition, the initial engine speed of engine 28 influences engine speed undershoot 100 and engine speed overshoot
104.As shown in figure 5, engine speed undershoot 100 usually reduces with the increase of engine speed.As shown in fig. 6, starting
Machine Velocity Overshoot 104 also tends to reduce with engine speed increase.In view of these discoveries, inventor, which has determined, be can use
Lower yield value realizes desired transient response at higher engine speeds.On the contrary, higher yield value can change
The transient response being apt under lower engine speed.
The controller 72 of control system 56 will discuss below in relation to Fig. 7, and since the component of Fig. 1 is shown as
Implement in excavator 20, controller 72 may be constructed such that one or more electronic control units (ECU).Controller 72 can be with
With at least one in transmission control unit, exhaust aftertreatment control unit, power train control module, engine control module etc.
A separation is included therein.
Referring now to Figure 7, showing the schematic diagram of the controller 72 of the excavator 20 of Fig. 1 accoding to exemplary embodiment.Such as
Shown in Fig. 7, controller 72 includes having processor 116 and storing the processing circuit 112 of equipment 120, there is operator to select electricity
The control system 124 on road 128, engine speed range circuit 132, torque curve area circuit 136, engine speed circuit
140, engine torque circuit 144 and calibration circuit 148 and communication interface 152.In general, controller 72 is configured to identify
And realize optimal mode gain setting or yield value.In some embodiments, optimal mode gain setting or yield value generate most
Small or minimum undershoot, minimum overshoot, the minimum stable time to steady-state operation, other factors improve engine 28 or excavate
Any factor of the transient response of machine 20 combines.
In one configuration, operator's selection circuit 128, engine speed range circuit 132, torque curve area circuit
136, engine speed circuit 140, engine torque circuit 144 and calibration circuit 148 are implemented as machine or computer-readable
Medium can be executed by the processor of such as processor 116.As described herein and other are on the way, and machine readable media promotees
Allow the reception and transmission of data into the execution of specific operation.For example, machine readable media can provide instruction (for example, life
Enable etc.) for example to obtain data.In this respect, machine readable media may include defining data acquiring frequency (or data transmission)
Programmable logic.Computer-readable medium may include can with include but is not limited to Java etc. any programming language and it is any often
The code that rule procedural (such as " C " programming language or similar programming language) is write.Computer readable program code can
To be executed on a processor or multiple teleprocessing units.In the latter case, teleprocessing unit can pass through any class
The network (for example, CAN bus etc.) of type is connected to each other.
In another arrangement, operator's selection circuit 128, engine speed range circuit 132, torque curve region electricity
Road 136, engine speed circuit 140, engine torque circuit 144 and calibration circuit 148 are implemented as hardware cell, such as
Electronic control unit.In this way, operator's selection circuit 128, engine speed range circuit 132, torque curve area circuit
136, engine speed circuit 140, engine torque circuit 144 and calibration circuit 148 can be presented as and including but not limited to locate
Manage one or more circuit blocks of circuit, network interface, peripheral equipment, input equipment, output equipment, sensor etc..One
In a little embodiments, operator's selection circuit 128, engine speed range circuit 132, torque curve area circuit 136, engine
Speed circuit 140, engine torque circuit 144 and calibration circuit 148 can be using one or more analog circuits, electronics electricity
Road (for example, integrated circuit (IC), discrete circuit, system on chip (SOC) circuit, microcontroller etc.), telecommunication circuit, mixing electricity
The form of " circuit " of road and any other type.In this respect, operator's selection circuit 128, engine speed range circuit
132, torque curve area circuit 136, engine speed circuit 140, engine torque circuit 144 and calibration circuit 148 can wrap
Include for realizing or promote any kind of component described herein for realizing operation.For example, circuit described herein may include
One or more transistors, logic gate (such as NAND, AND, NOR, OR, XOR, NOT, XNOR etc.), resistor, multiplexing
Device, register, capacitor, inductor, diode, wiring etc.).Operator's selection circuit 128, engine speed range circuit
132, torque curve area circuit 136, engine speed circuit 140, engine torque circuit 144 and calibration circuit 148 may be used also
To include programmable hardware device, such as field programmable gate array, programmable logic array, programmable logic device etc..Behaviour
Work person's selection circuit 128, engine speed range circuit 132, torque curve area circuit 136, engine speed circuit 140,
Engine torque circuit 144 and calibration circuit 148 may include one or more memory devices, can pass through operation for storing
Member's selection circuit 128, engine speed range circuit 132, torque curve area circuit 136, engine speed circuit 140, hair
The instruction that motivation torque circuit 144 and the processor for calibrating circuit 148 execute.One or more memory devices and processor
It can have identical definition relevant to the memory devices 120 and processor 116 that are provided below.Match in some hardware cells
In setting, operator's selection circuit 128, engine speed range circuit 132, torque curve area circuit 136, engine speed electricity
Road 140, engine torque circuit 144 and calibration circuit 148 can geographically disperse positions different in the machine.Substitution
Ground and as shown, operator's selection circuit 128, engine speed range circuit 132, torque curve area circuit 136, hair
Motivation speed circuit 140, engine torque circuit 144 and calibration circuit 148 can be embodied in individual unit/shell or single
In a unit/shell, it is shown as controller 72.
In the example shown, controller 72 includes the processing circuit 112 with processor 116 and memory devices 120.
Processing circuit 112 can be constructed or be configured to execute or realize described herein and operator's selection circuit 128, engine
Velocity interval circuit 132, torque curve area circuit 136, engine speed circuit 140, engine torque circuit 144 and school
The relevant instruction of quasi- circuit 148, order and/or control process.It is discribed to configure operator's selection circuit 128, engine
Velocity interval circuit 132, torque curve area circuit 136, engine speed circuit 140, engine torque circuit 144 and school
Quasi- circuit 148 is expressed as machine or computer-readable medium.However, as described above, the diagram is not intended to limit, because originally
Open to consider other embodiments, operator's selection circuit 128, engine speed range circuit 132, torque are bent in embodiment
Line area circuit 136, engine speed circuit 140, engine torque circuit 144 and calibration circuit 148 are configured as hardware list
Member or operator's selection circuit 128, engine speed range circuit 132, torque curve area circuit 136, engine speed electricity
At least one circuit in road 140, engine torque circuit 144 and calibration circuit 148 is configured as hardware cell.It is all this
A little combinations and variation are intended to and fall within the scope of the disclosure.
Processor 116 can be implemented as one or more general processors, specific integrated circuit (ASIC), one or more
Field programmable gate array (FPGA), digital signal processor (DSP), one group of processing component or other suitable electron process
Component.In some embodiments, one or more processors can be shared (for example, operator's selection circuit by multiple circuits
128, engine speed range circuit 132, torque curve area circuit 136, engine speed circuit 140, engine torque electricity
Road 144 and calibration circuit 148 may include or otherwise share identical processor, in some exemplary embodiments
In, which can execute the instruction for storing or otherwise accessing via the different zones of memory).Optionally or separately
Other places, one or more processors may be configured to execute independently of one or more coprocessors or otherwise execute
Certain operations.In other example embodiments, two or more processors can be coupled by bus with realize it is independent, parallel,
Assembly line or multithreading instruction execution.All these variations, which are intended to, to be fallen within the scope of the disclosure.120 (example of memory devices
Such as, RAM, ROM, flash memory, harddisk memory etc.) can store data by promoting various processing described herein and/or based on
Calculation machine code.Memory devices 120 can be communicatively connected to processor 116, to provide computer code to processor 116
Or instruction is to execute at least some processing described herein.In addition, memory devices 120 can be or including tangible, non-wink
The volatile memory or nonvolatile memory of state.Therefore, memory devices 120 may include database component, target generation
Code character part, script component or the information knot for supporting any other type of various activities and message structure described herein
Structure.
Memory devices 120 are configured to storage gain setting table, which sets table for machine condition and controller 72
Interior yield value is associated.In some embodiments, the storage of memory devices 120 is with the first gain selection logic (for example, operation
Member's selection logic) associated first logic gain setting table 156, with the second gain selection logic (for example, engine speed model
Enclose logic) associated second logic gain setting table 160 and with third gain selection logic (for example, torque curve region is patrolled
Volume) associated third logic gain sets table 164.In some embodiments, gain setting table 156,160,164 is stored in this
In ground memory devices 120.In some embodiments, gain setting table 156,160,164 is stored in external memory devices,
Such as networked server, diagnostic tool or another remote memory.In some embodiments, gain sets table 156,160,164
It is stored in the circuit of controller 72.For example, the first logic gain setting table 156 can store in operator's selection circuit 128
In, the second logic gain setting table 160 can store in engine speed range circuit 132 and/or third logic gain is set
Determining table 164 can store in torque curve area circuit 136.
Operator's selection circuit 128 is configured to communicate via communication interface 152 with the switch 70 of control system 56 to receive
Indicate the input of selected operating mode (for example, the first operating mode/traveling mode, the second operating mode/mining mode or the
Three operating modes/promotion/loading mode).Operator's selection circuit 128 is further configured to through inquiry the first logic gain setting
Table 156 is simultaneously implemented using gain associated with the selected operating mode setting retrieved from the first logic gain setting table 156
First gain setting selection logic.In some embodiments, operator's selection circuit 128 is configured to determine working as excavator 20
Preceding operational mode (for example, advancing, excavation or promotion/load) and by the first logic gain of inquiry set table 156 and using from
The gain associated with determining operating mode of first logic gain setting table 156 retrieval sets to apply or implement the first increasing
Benefit setting selection logic.
Engine speed range circuit 132 is configured to be communicated with engine speed circuit 140 to receive instruction engine 28
Engine speed input.Engine speed range circuit 132 is further configured to by defeated based on received engine speed
Enter determining engine speed range, the second logic gain setting table 160 of inquiry and utilizes from the second logic gain setting table
Gain associated with the determining engine speed range setting of 160 retrievals selects logic to implement the second gain setting.
Torque curve area circuit 136 is configured to be communicated with engine torque circuit 144 to receive instruction engine 28
The input of engine torque.Torque curve area circuit 136 is further configured to by based on the received engine torque input of institute
It determines engine torque region, inquiry third logic gain setting table 164 and utilizes from third logic gain setting table 164
Gain associated with the determining engine torque region setting of retrieval selects logic to implement third gain setting.
Engine speed circuit 140 is configured to receive the input from engine 28 via communication interface 152, which refers to
Show engine speed.In some embodiments, engine speed circuit 140 is configured to receive from physical sensors, virtual biography
The combined input of sensor or physics and virtual-sensor.In some embodiments, the reception of engine speed circuit 140 comes from
The input of physics engine speed sensor simultaneously handles input to generate engine speed value.
Engine torque circuit 144 is configured to receive the input from engine 28 via communication interface 152, which refers to
Show engine torque.In some embodiments, engine torque circuit 144 is configured to receive from physical sensors, virtual biography
The combined input of sensor or physics and virtual-sensor.In some embodiments, the reception of engine torque circuit 144 comes from
The input of deformeter, magnetic sensor or various virtual-sensors, and engine torque is calculated based on the input.
Calibration circuit 148 is configured to and operator's selection circuit 128, engine speed range circuit 132 and torque curve
The communication of area circuit 136 is to set selection logic, the second gain setting selection logic and third gain setting from the first gain
It selects to determine optimal mode logic in logic.In some embodiments, optimal mode logic provides minimum or minimum undershoot 100.
In some embodiments, optimal mode logic minimizes overshoot 104.In some embodiments, optimal mode logic makes
The stabilization time to steady-state operation is minimum.In some embodiments, optimal mode logic provides the undershoot 100 of optimization, overshoot 104
With stablize the time.In some embodiments, optimal mode logic is determined using weighting function, which divides highest weighting
Lowest weightings to the overshoot 104 minimized and are distributed to minimum by medium weight distribution by the undershoot 100 of dispensing minimum
The stabilization time.In some embodiments, as needed, weighting is different.In some embodiments, engine 28 is indicated
The other factors of improved transient response can be used for determining optimal mode logic.
As shown in figure 8, the first gain selection logic includes that switch 70 is manipulated to one of three positions by operator.First
Position 168 selects the first operating mode, and operator's selection circuit 128 is inquired the first logic gain setting table 156 and retrieved
The first gain setting 172 associated with the first operating mode.In some embodiments, the first operating mode is traveling mode.
In the second position 176, the second operating mode is selected, and operator's selection circuit 128 inquires the first logic gain and sets table 156
And retrieve the second gain setting 180 associated with the second operating mode.In some embodiments, the second operating mode is to excavate
Mode, and the gain of 180 definition of the second gain setting (aggressive) higher than the first gain setting 172 or more positive.
In the third place 184, third operating mode is selected, and operator's selection circuit 128 inquires the first logic gain and sets table 156
And retrieve third gain setting 188 associated with third operating mode.In some embodiments, third operating mode is to mention
Liter/loading mode, and 188 definition of third gain setting sets 180 higher or more positive gains than the second gain.
In operation, operator can influence the transient response of engine 28 by manipulation switch 70.When excavator 20
When advancing on the ground, operator can engage the first operating mode, and the first gain setting 172 will control engine 28 with
Expected transient response is provided when operator drives.When excavator 20 is excavating, operator can engage the second work
Mode, and the second gain setting 180 provides the faster response of 28 pairs of engine mutation loads.In other words, with the first gain
Setting 172 is compared, and the second gain setting 180 provides reduced undershoot 100.When excavator 20 is promoted or is loaded, operator can
To engage third operating mode, and third gain setting 188 will provide more positive gain, to mention during heavy load condition
For the quick response with reduced undershoot 100.
As shown in figure 9, the second gain selection logic includes inquiring to be stored in the second logic gain setting table 160 to start
Machine velocity interval.Engine speed range circuit 132 is based on the engine speed determined by engine speed circuit 140 and by sending out
The engine torque that motivation torque circuit 144 determines determines engine speed range.In some embodiments, engine speed model
Enclose the function that engine speed range coordinate is determined as engine speed and engine torque by circuit 132.For example, engine
Velocity interval coordinate can be (present engine speed, current engine torque).Fig. 9 shows engine speed and engine
One example of the engine speed range on torque diagram.In general, being set as engine speed increases in the second logic gain
Gain setting increases in table 160.Equally, as engine torque increases, the gain setting in the second logic gain setting table 160
Increase.Engine speed range circuit 132 inquires the second logic gain with engine speed range coordinate and sets table 160, and
Second logic gain setting table 160 returns to corresponding gain setting.In some embodiments, with the increasing of gain setting quantity
Add, yield value reduces.For example, six gain settings are shown in FIG. 9, and gain defined in gain setting -6 is minimum,
And gain increases to highest-gain defined in gain setting -1.In other words, as engine speed increases, gain setting
Quantity increases, and gain sets defined gain and reduces.At higher engine speeds, the second gain selection logic utilizes
The transient response that engine 28 inherently improves.In some embodiments, can include in the second logic gain setting table 160
Less than six gain settings or more than six gain settings.
As shown in Figure 10, third gain selection logic includes the hair that inquiry is stored in third logic gain setting table 164
Motivation torque region.Torque curve area circuit 136 is based on the engine speed determined by engine speed circuit 140 and by sending out
The engine torque that motivation torque circuit 144 determines determines engine torque region.In some embodiments, torque curve region
Engine torque area coordinate is determined as the function of engine speed and engine torque by circuit 136.For example, engine is turned round
Square area coordinate can be (present engine speed, current engine torque).Figure 10 shows engine speed and engine
One example in the engine torque region on torque chart.In general, being set as engine speed increases in third logic gain
Determine gain setting in table 164 to increase.Equally, as engine torque increases, gain is set in third logic gain setting table 164
It is fixed to increase.In some embodiments, with the increase of gain setting quantity, yield value reduces.Torque curve area circuit 136 is used
Engine torque area coordinate inquires third logic gain and sets table 164, and third logic gain setting table 164 returns accordingly
Gain setting.For example, four gain settings are shown in FIG. 10, and the gain defined in gain setting -4 is minimum
, gain setting -3 define the relatively low gain than gain setting -4, gain setting -2 defines gain more lower than gain -3
And gain setting -1 defines lower gain.In other words, as engine speed or engine torque increase, gain is set
Fixed number amount increases, and gain sets defined gain and reduces.Third gain selection logic is based in engine speed, torsion
Available plenum amount in the different zones of square curve.In addition, the gain setting in third logic gain setting table 164 can be with
Independently pipe connects, to adapt to the basic transient state ability of engine 28.In some embodiments, it can be set in third logic gain
It include less than four gain settings or more than four gain settings in table 164.
In some embodiments, it is set by the gain of the second logic gain setting table 106 and third logic gain setting table 164
The gain defined is not to be increased linearly up final gain from the first gain setting (for example, gain setting -1) to set (example
Such as, gain setting -4 or gain setting -6).On the contrary, as shown in Figure 11, gain setting number is lower, and gain enthusiasm is more quickly
It reduces.In other words, the gain inequality between gain setting -1 and gain setting -2 is likely larger than gain setting -3 and gain setting -
Gain inequality between 4.
In some embodiments, controller 72 is merely with the first gain selection logic, the second gain selection logic or third
One in gain selection logic.In some embodiments, controller 72 is selected using the first gain selection logic, the second gain
One or more of logic and/or third gain selection logic.
As shown in figure 12, calibration circuit 148 is configured to execution method 192 and determines the optimal mode gain of excavator 20
Selection logic is (for example, come the first gain selection logic, the second gain selection logic or third gain that free controller 72 utilizes
Select logic).Other than other factors, optimal mode gain selection logic can depend on the work that excavator 20 is completed
Make type or environment that excavator 20 is currently running.Method 192 can start at step 196, be divided in the beginning of excavator 20
When with new task, during operation automatically, every time excavator 20 start when or as needed in another time.In step
At 200, it is activation or unlatching that controller 72 determines that adaptive gain is characterized in.It as needed, can be by manufacturer, operation
Quotient, supervisor or other entities enable or disable adaptive gain feature.If disabling adaptive gain feature (for example, in step
It is no at 200), then method 192 proceeds to step 204, and static or constant gain value is set in controller 72.Then,
Method 192 stops at step 208, and excavator 20 is run using constant gain value.
If enabling or opening adaptive gain (for example, being yes at step 200), method 192 proceeds to step
212, and operator's selection circuit 128 applies the first gain selection logic.At step 216, runs engine 28 and send out
Motivation speed circuit 140 monitors engine speed.In some embodiments, during method 192, excavator 20 be subjected to loading or
Particular task, to provide the relevant feedback of the particular task of completion to excavator 20 during use.At step 220, school
The velocity variations and gain that the quasi- record of circuit 148 is applied by operator's selection circuit 128 are set.In some embodiments, it calibrates
Circuit 148 records the variation of engine torque or indicates another characteristic of transient response.
At step 224, engine speed range circuit 132 is using the second gain selection logic and runs excavator
20.Engine speed (or another characteristic) is monitored at step 228, and by 148 writing speed of calibration circuit at step 232
Change (or other characteristics) and selected gain setting.
At step 236, torque curve area circuit 136 is using third gain selection logic and runs excavator 20.
Engine speed (or another characteristic) is monitored at step 240, and is become at step 244 by 148 writing speed of calibration circuit
Change (or other characteristics) and selected gain setting.
At step 248, calibration circuit 148, which compares to be set by the first gain, selects logic, the second gain setting selection to patrol
It collects and the storage speed of third gain setting selection logic generation changes (or other characteristics).Selection leads to minimum or minimum speed
The selection logic of degree variation (or other characteristics), and set in controller 72 using corresponding gain.Selected gain setting
Or gain selection logic will generate optimal transient response.In some embodiments, the identification of method 192 will be in wheel loader
The gain setting selection logic used during operation, so that gain setting can change during operation and the gain by identifying
Select logic selection gain setting.In some embodiments, method 192 is selected using the first gain selection logic, the second gain
One in logic or third gain selection logic identifies that constant gain is set, and makes during the operation of excavator 20
It is set with constant gain.In some embodiments, the first gain selection logic, the second gain selection logic and third gain choosing
Select logical AND real world load or virtual while running.In some embodiments, first is iteratively tested in the feedback loop
Gain selection logic, the second gain selection logic and third gain selection logic, until identifying that optimal mode gain selection is patrolled
Volume.At step 252, stops calibration method 192 and start the normal operation of excavator 20.
Adaptive gain feature can be used for the customized tuning of special or uncommon application, and the most suitable increasing of automatic identification
Benefit.Most suitable gain, gain setting or gain selection logic improve the transient state of the engine 28 during excavator 20 is run
Response.
As shown in figure 13, excavator 20 may include the diesel engine for being mechanically connected to hydraulic pump.Hydraulic pump includes by leading
The pressurization output of distributing valve control.Selectively hydraulic fluid is provided to tool (for example, dipper, arm and scraper bowl 36) from main valve
And/or drive system (for example, to drive track 24).Then track 24 and scraper bowl 36 and ground interaction.Operator can be with
By manipulation control stick or other man-machine interfaces come control bound.Operator also manipulates the setting of other driver's cabins, such as throttle.It drives
Room setting is sailed with electricity communication to pump controller and engine control module.When engine control module communicates simultaneously with diesel engine
When controlling diesel engine, pump controller communicates with hydraulic pump and controls hydraulic pump.
For purposes of this disclosure, term " coupling " refers to that two components are either directly or indirectly connected to one another or couple and connects.This
Kind of connection substantially can be fixed or movably.For example, the transmission shaft of engine can " coupled " to transmission device expression
Mobile connection.This connection can be realized with two components or two components and any additional intermediate member.For example,
Circuit A communicably " coupled " to circuit B can indication circuit A directly communicated with circuit B (i.e. no intermediary) or with electricity
Road B indirect communication (such as passing through one or more intermediarys).
Although the various circuits with specific function are shown in FIG. 7, it should be appreciated that, controller 72 may include
For completing any amount of circuit of functions described herein.For example, the activity of circuit 128,132,136,140,144,148
It can combine with function in multiple circuits or as single circuit.It can also include the adjunct circuit with additional function.This
Outside, controller 72 can also control other activities beyond disclosure range.
As described above and in one configuration, " circuit " can be realized in machine readable media, by various types
Processor execute, such as the processor 116 of Fig. 7.For example, the circuit of the executable code identified may include that computer refers to
The one or more of order is for example organized as the physical or logic block of object, process or function.However, the circuit identified can
It executes file not needing to be physically located together, but may include the dispersion instruction for being stored in different location, when logically
When linking together, these instructions constitute circuit and realize the purpose of circuit.In fact, computer readable program code
Circuit can be single instruction perhaps multiple instructions, it might even be possible to it is distributed on several different code segments, between different programs,
And on several memory devices.Similarly, operation data can be identified and explained in circuit, and can be with any suitable
Form include operation data and the data structure inner tissue operation data in any suitable type.Operation data can be collected
As individual data collection, or can be distributed on the different location including different storage device, and can be at least partly
Only exist as the electronic signal in system or network.
Although defining term " processor " briefly above, term " processor " and " processing circuit " are intended to broad sense
It explains.In this regard and as described above, " processor " may be implemented as one or more general processors, dedicated integrated electricity
Road (ASIC), field programmable gate array (FPGA), digital signal processor (DSP) are configured to execute by memory offer
Other suitable electronic data processing components of instruction.One or more processors can take single core processor, multicore processing
The forms such as device (for example, dual core processor, three core processors, four core processors etc.), microprocessor.In some embodiments, one
A or multiple processors can be outside device, for example, one or more processors can be teleprocessing unit (for example, being based on
The processor of cloud).Preferably or additionally, one or more processors can be device inside and/or local.At this
Aspect, given circuit or its component can be arranged in local (for example, one as local server, local computer system etc.
Point) or long-range (for example, a part as remote server, such as server based on cloud).For this purpose, as described herein
" circuit " may include the component being distributed on one or more positions.
Although chart here can show the specific order and composition of method and step, the sequences of these steps can be with
It is different from discribed sequence.For example, may be performed simultaneously or be partially performed simultaneously two or more steps.Moreover, can
With the certain methods step that executes of the step of combining separation, the step of the step of combination step being executed is divided into separation, certain
The sequence of a little processes can overturn or otherwise change, thus it is possible to vary or change the property or quantity of isolated process.Root
According to alternate embodiment, the sequence or sequence of any element or device can be with change or replacement.All such modifications are intended to be wrapped
It includes in the scope of the present disclosure as defined by the appended claims.These variations will depend on selected machine readable media
With the selection of hardware system and designer.All these variations are within the scope of this disclosure.
The foregoing description to embodiment is proposed for the purpose of illustration and description.It is not intended to exhaustion or limits the disclosure
Disclosed precise forms are made as, and can modify and change according to the above instruction, or can be obtained from the disclosure
.Selection and description embodiment are the principle and its practical application in order to explain the disclosure, so that those skilled in the art can
Using various embodiments and it is suitable for the various modifications of expected special-purpose.It is not departing from such as table in appended claims
In the case where the scope of the present disclosure reached, other substitutions can be made in the design, operating condition and arrangement of embodiment, are repaired
Change, change and omits.
Therefore, the disclosure can be embodied in other specific forms in the case where without departing from its spirit or essential characteristic.
Described embodiment is considered in all respects only as illustrative and not restrictive.Therefore, the scope of the present disclosure is by institute
Attached claim rather than the description of front indicate.All changes in the meaning and scope of the equivalent of claim all will
It is included within its scope.
Claims (20)
1. a kind of device of machine characterized by comprising
Memory, the memory store the first gain setting and the second gain setting, wherein second gain setting definition
Low gain is set than the first gain；With
It is coupled to the circuit of memory, the circuit is configured to receive the data of instruction engine speed and engine torque,
Transient response value is determined according to engine speed and engine torque,
It is lower than first threshold in response to transient response value, is set using first gain to control engine speed, and
It is higher than first threshold in response to transient response value, is set using second gain to control engine speed.
2. the apparatus according to claim 1, which is characterized in that the first threshold limits threshold engine torque and threshold value
At least one of engine speed.
3. the apparatus according to claim 1, which is characterized in that the memory also stores third gain setting and the 4th and increases
Benefit setting,
Wherein third gain setting definition sets low gain than the second gain, and
Wherein the 4th gain setting definition sets low gain than third gain.
4. device according to claim 3, which is characterized in that it includes first threshold, the second threshold that the memory, which also stores,
The gain of value and third threshold value sets logic, and
Wherein the circuit is further configured to
It is higher than first threshold in response to transient response value and is lower than second threshold, is set using the second gain to control engine speed
Degree,
It is higher than second threshold in response to transient response value and is lower than third threshold value, is set using third gain to control engine speed
Degree,
It is higher than third threshold value in response to transient response value, is set using the 4th gain to control engine speed.
5. device according to claim 3, which is characterized in that it includes first threshold and the second threshold that the memory, which also stores,
The gain of value sets logic, and
Wherein the circuit is further configured to
Lower than first threshold and it is lower than second threshold in response to transient response value, is set using the first gain to control engine speed
Degree,
Lower than first threshold and it is higher than second threshold in response to transient response value, is set using the second gain to control engine speed
Degree,
It is higher than first threshold in response to transient response value and is lower than second threshold, is set using third gain to control engine speed
Degree
It is higher than first threshold in response to transient response value and is higher than second threshold, is set using the 4th gain to control engine speed
Degree.
6. the apparatus according to claim 1, which is characterized in that the circuit is configured to receive the first increasing from user interface
Beneficial setting signal or the second gain setting signal, to allow user's control to be to utilize first gain setting or described second
Gain setting,
Wherein, in response to receiving the first gain setting signal, the circuit is configured to use the first gain setting to control hair
Motivation speed, and
Wherein, in response to receiving the second gain setting signal, the circuit is configured to use the second gain setting to control hair
Motivation speed.
7. device as claimed in claim 6, which is characterized in that the memory also stores third gain setting,
Wherein the circuit is further configured to
Third gain setting signal is received from user interface, the first gain setting, the second gain are utilized when allowing user's control
Setting or third gain setting, and
In response to receiving third gain setting signal, set using third gain to control engine speed, and
Wherein, user interface provides a user the traveling mode selection corresponding to the first gain setting, sets corresponding to the second gain
Fixed mining mode and load/Lifting scheme corresponding to third gain setting.
8. device according to claim 6, which is characterized in that user interface includes control stick.
9. a kind of device characterized by comprising
Memory, the memory store the first gain setting and the second gain setting, wherein the second gain setting definition is than the
One gain sets low gain；
User interface, the user interface, which is configured to respond to input in user, provides the first gain setting signal or the second gain
Setting signal；
It is coupled to the circuit of memory and user interface, the circuit is configured to
In response to receiving the first gain setting signal, set using the first gain to control engine speed, and
In response to receiving the second gain setting signal, set using the second gain to control engine speed.
10. device according to claim 9, which is characterized in that the memory also stores third gain setting, wherein
The third gain setting definition sets low gain than second gain,
Wherein, user interface is further configured to input in response to user and provides third gain setting signal and provide a user correspondence
In the traveling mode selection of the first gain setting, corresponding to the mining mode of the second gain setting and corresponding to third gain
Load/Lifting scheme of setting.
11. device according to claim 9, which is characterized in that the memory is also stored to have and be set than the second gain
The third gain of low gain is set,
Wherein, user interface, which is further configured to input in response to user, provides third gain setting signal, and
The circuit is also structured to be set using third gain in response to receiving the first gain setting signal to control engine
Speed.
12. device as claimed in claim 11, which is characterized in that the circuit is also structured to:
Utilize the first gain selection logic comprising based on the first gain of user input selection setting, the second gain setting or the
Three gains setting, and
Include using the second gain selection logic
The data of instruction engine speed and engine torque are received,
Transient response value is determined according to engine speed and engine torque,
It is lower than First Speed range threshold in response to transient response value, is set using the first gain to control engine speed,
It is higher than First Speed range threshold in response to transient response value and is lower than second speed range threshold, utilizes the second gain
It sets to control engine speed, and
It is higher than second speed range threshold in response to transient response value, is set using third gain to control engine speed.
13. device according to claim 11, which is characterized in that the circuit is also structured to:
Using the first gain selection logic, first gain selection logic includes being set based on the first gain of user input selection
Fixed, the second gain setting or third gain setting, and
Using the second gain selection logic, second gain selection logic includes
The data of instruction engine speed and engine torque are received,
Transient response value is determined according to engine speed and engine torque,
Lower than the first torque region threshold and it is lower than the second torque region threshold in response to transient response value, is set using the first gain
It is fixed to control engine speed,
Lower than the first torque region threshold and it is higher than the second torque region threshold in response to transient response value, is set using the second gain
It is fixed to control engine speed, and
It is higher than the first torque region threshold in response to transient response value and is lower than the second torque region threshold, is set using third gain
It is fixed to control engine speed.
14. device according to claim 9, which is characterized in that the circuit is further configured to realize to include based on described
First gain selection logic of the first gain of user input selection setting or the second gain setting, utilizes at least one velocity interval
Second gain selection logic of threshold value, or utilize one in the third gain selection logic of at least one torque region threshold.
15. device according to claim 14, which is characterized in that the circuit is also structured to execute optimal mode gain
Select logic, optimal mode gain selection mode first gain selection logic, second gain selection logic and
The engine speed of the third gain selection logic influences and realizes that the optimal mode gain selection for engine operation is patrolled
Volume.
16. device as claimed in claim 14, which is characterized in that the circuit is also structured to:
Running engine according to the first gain selection logic and monitoring engine speed influences,
Running engine according to the second gain selection logic and monitoring engine speed influences,
Running engine according to third gain selection logic and monitoring engine speed influences,
It is minimized based on which of the first gain selection logic, the second gain selection logic or third gain selection logic
Engine speed declines to determine that optimal mode selects logic, and
Implement optimal mode and selects logic.
17. a kind of method characterized by comprising
The first gain setting, the second gain setting and third gain setting are stored in memory, wherein the second gain setting is fixed
Justice sets low gain than the first gain, and third gain setting definition sets low gain than the second gain；
The data of instruction engine speed and engine torque are received,
Transient response value is determined according to engine speed and engine torque,
Select one in the first gain selection logic, the second gain selection logic or third gain selection logic, first increasing
Benefit selection logic include
It is inputted in response to user, provides the first gain setting signal, the second gain setting signal or third by user interface and increase
Beneficial setting signal,
In response to receiving the first gain setting signal, set using the first gain to control engine speed,
In response to receiving the second gain setting signal, set using the second gain to control engine speed, and
In response to receiving the second gain setting signal, set using third gain to control engine speed,
Second gain selection logic includes
It is lower than First Speed range threshold in response to transient response value, is set using the first gain to control engine speed,
It is higher than First Speed range threshold in response to transient response value and is lower than second speed range threshold, is set using the second gain
It is fixed to control engine speed, and
It is higher than second speed range threshold in response to transient response value, is set using third gain to control engine speed,
Third gain selection logic includes
Lower than the first torque region threshold and it is lower than the second torque region threshold in response to transient response value, is set using the first gain
It is fixed to control engine speed,
Lower than the first torque region threshold and it is higher than the second torque region threshold in response to transient response value, is set using the second gain
It is fixed to control engine speed, and
It is higher than the first torque region threshold in response to transient response value and is lower than the second torque region threshold, is set using third gain
It is fixed to control engine speed；With
Selection logic operation vehicle motor is set according to selected gain.
18. according to the method for claim 17, which is characterized in that further include executing optimal mode gain selection logic, most
Good gain selection logic first gain selection logic, second gain selection logic and third gain choosing
The engine speed for selecting logic influences, and the gain for making engine speed reduced minimum is selected to set selection logic.
19. according to the method for claim 17, which is characterized in that user interface is provided a user to be set corresponding to the first gain
Fixed traveling mode selection, the mining mode corresponding to the second gain setting and the load corresponding to third gain setting/mention
Rising mould formula.
20. according to the method for claim 17, which is characterized in that the difference between the first gain setting and the second gain setting
Greater than the difference between the second gain setting and third gain setting.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201862672720P | 2018-05-17 | 2018-05-17 | |
| US62/672,720 | 2018-05-17 |
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| CN110500190A true CN110500190A (en) | 2019-11-26 |
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| CN201910411236.7A Pending CN110500190A (en) | 2018-05-17 | 2019-05-16 | The adaptive engine speed gain of industrial machine |
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