CN110984282A - Excavator control method based on maximum available torque of engine - Google Patents
Excavator control method based on maximum available torque of engine Download PDFInfo
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- CN110984282A CN110984282A CN201911323259.9A CN201911323259A CN110984282A CN 110984282 A CN110984282 A CN 110984282A CN 201911323259 A CN201911323259 A CN 201911323259A CN 110984282 A CN110984282 A CN 110984282A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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Abstract
The invention discloses an excavator control method based on the maximum available torque of an engine, which is characterized in that a controller calculates the actual instantaneous maximum available torque of the engine according to SPN3357 and SPN514 sent by a CAN bus, calculates the actual instantaneous maximum available power of the engine according to a fixed value of SPN544 provided by a rotating speed signal and the engine, finally calculates the instantaneous maximum available torque of a pump, and accurately calculates the current of an electromagnetic valve according to the value. The invention utilizes the maximum available torque of the engine to match the proportional electromagnetic valve current of the hydraulic pump, realizes the reasonable matching of the power of the engine and the pump, and greatly improves the performance of the excavator.
Description
Technical Field
The invention is applied to a negative flow system hydraulic excavator with an electromagnetic valve, is a method for controlling the flow of the negative flow system hydraulic excavator, and belongs to the technical field of excavators.
Background
According to the national requirements on environmental protection, energy conservation and consumption reduction, at present, higher requirements are provided for the smoke intensity, oil consumption, efficiency and operability of a hydraulic excavator, and whether the matching of an engine and a pump of a hydraulic excavator with a negative flow system reasonably determines the performances of the oil consumption efficiency, smoke intensity and the like of the excavator, and the traditional control method cannot perfectly match the relationship between the torque provided by the engine and the torque required by the pump. In the excavation working condition, when the initial torque required by the pump is larger than the initial torque provided by the engine, the negative effects of the engine speed drop, large smoke intensity and the like can be brought, so that a better current control strategy is needed, and the approximate fitting of the torque provided by the engine and the pump load torque is ensured.
In the prior art, the current of a proportional solenoid valve of a negative flow hydraulic system excavator is mostly controlled by direct loading or by sectionally loading the current value according to the pressure of a main pump. However, the prior art has the following problems:
(1) the current value can not be flexibly changed according to the change of the load by a direct current loading mode, so that the current value with high power is wasted in a low-load stage, the oil consumption is increased, and the problem of high smoke intensity is caused by overlarge current value in an initial action stage;
(2) the method for loading current by sections according to the pressure of the main pump loads current according to the pressure of the main pump, high-power current is adopted when the pressure of the main pump is large, and low-power current is adopted when the pressure of the main pump is small, can overcome the problem in the step (1), but is not the optimal choice because only the load of the hydraulic pump is considered and the available torque of an engine is ignored.
Disclosure of Invention
In accordance with the deficiencies of the prior art, the present invention provides a method for controlling an excavator based on a maximum available torque of an engine.
The invention is realized according to the following technical scheme:
an excavator control method based on the maximum available torque of an engine comprises the following steps:
the method comprises the following steps: the engine ECU calculates the values of the SPN3357 and the SPN514 according to the collected actual engine parameters;
step two: the engine ECU transmits instantaneous values of the SPN3357 and the SPN514 in real time through a CAN bus;
step three: the controller receives data through the CAN bus and decodes the data, the value of the SPN544 is a fixed value provided by an engine, and the instantaneous maximum available torque T = (SPN 3357-SPN 514) × SPN544 is obtained according to a formula;
fourthly, the rotating speed n of the engine, the power consumption rate η of the accessories of the excavator is 0.1-0.2, the maximum instantaneous available power of the engine is obtained according to a formula P =2 pi n T/60, and the maximum available power M = P (1- η) of the hydraulic system is obtained by multiplying a coefficient η;
step five: if M is smaller than the initial power of the pump, the initial current of the pump is set as the lower limit value of the current value corresponding to the minimum working power of the pump;
step six: on the contrary, if M is larger than the maximum working power set by the pump, the current of the pump electromagnetic valve is set as the current upper limit value corresponding to the maximum working power;
step seven: if M is larger than the initial power of the pump and smaller than the set maximum working power of the pump, obtaining an M instantaneous value; acquiring instantaneous pressures of the two pumps according to a pressure and flow curve of the hydraulic pump to calculate an instantaneous average pressure P; calculating instantaneous current values corresponding to the maximum available power M of the engine at the current rotating speed n and the current pressure P according to the values of M, P and n in a program;
step eight: the instantaneous current value and the feedback current value are subjected to PID regulation, and the PWM duty ratio is output to the electromagnetic proportional valve to regulate the upper power limit of the pump;
wherein the SPN3357 represents the current available maximum torque of the engine;
the SPN514 is fan, pump, and friction loss torque;
the SPN544 is an engine reference torque coefficient.
Further, the CAN bus receives SPN3357, SPN514 and SPN544 data in a J1939 protocol.
The invention has the beneficial effects that:
the invention utilizes the maximum available torque of the engine to match the proportional electromagnetic valve current of the hydraulic pump, realizes the reasonable matching of the power of the engine and the pump, and greatly improves the performance of the excavator.
Drawings
FIG. 1 is a flow chart of an excavator control method based on engine maximum available torque of the present invention.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in FIG. 1, the invention discloses an excavator control method based on the maximum available torque of an engine, based on a CAN bus and a J1939 protocol, when a controller starts to work, the controller always receives data of SPN3357, SPN514 and SPN544 in the J1939 protocol through the CAN bus, the data are provided by the engine, and the controller calculates the actual maximum available power of the current rotating speed of the engine through a formula after receiving the data. Meanwhile, the current of the electromagnetic valve is an important index of the power of a balanced pump of a hydraulic system of the negative flow hydraulic excavator, the current at the same rotating speed determines the power of the pump, the controller fits the magnitude of the current value through the calculated actual available maximum torque of the engine, so that the control of the current value and the pump power are realized, and the determined current value is also a value which changes along with the load because the actual available maximum torque of the current rotating speed of the engine is a value which changes along with the load, so that the matching ensures that the pump power is distributed as required, and the efficiency of the fuel consumption smoke intensity is greatly improved.
Continuing with FIG. 1, one method of controlling the excavator based on the maximum available torque of the engine is as follows:
the method comprises the following steps: the engine ECU calculates the values of the SPN3357 and the SPN514 according to the collected actual engine parameters;
step two: the engine ECU transmits instantaneous values of the SPN3357 and the SPN514 in real time through a CAN bus;
step three: the controller receives data through the CAN bus and decodes the data, the value of the SPN544 is a fixed value provided by an engine, and the instantaneous maximum available torque T = (SPN 3357-SPN 514) × SPN544 is obtained according to a formula;
fourthly, the rotating speed n of the engine, the power consumption rate η of the accessories of the excavator is 0.1-0.2 (an air conditioner, a fan and the like), the maximum instantaneous available power of the engine is obtained according to a formula P =2 pi n T/60, and the maximum available power M = P (1- η) of the hydraulic system is obtained by multiplying a coefficient η;
step five: if M is smaller than the initial power of the pump, the initial current of the pump is set as the lower limit value of the current value corresponding to the minimum working power of the pump;
step six: on the contrary, if M is larger than the maximum working power set by the pump, the current of the pump electromagnetic valve is set as the current upper limit value corresponding to the maximum working power;
step seven: if M is larger than the initial power of the pump and smaller than the set maximum working power of the pump, obtaining an M instantaneous value; acquiring instantaneous pressures of the two pumps according to a pressure and flow curve of the hydraulic pump to calculate an instantaneous average pressure P; calculating instantaneous current values corresponding to the maximum available power M of the engine at the current rotating speed n and the current pressure P according to the values of M, P and n in a program;
step eight: the instantaneous current value and the feedback current value are subjected to PID regulation, and the PWM duty ratio is output to the electromagnetic proportional valve to regulate the upper power limit of the pump.
Wherein SPN3357 represents the current available maximum torque of the engine;
SPN514 is fan, pump, and friction loss torque;
SPN544 is an engine reference torque coefficient.
The CAN bus receives SPN3357, SPN514 and SPN544 data in the J1939 protocol.
In conclusion, the invention utilizes the maximum available torque of the engine to match the proportional electromagnetic valve current of the hydraulic pump, realizes the reasonable matching of the power of the engine and the power of the pump, and greatly improves the performance of the excavator.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (2)
1. An excavator control method based on the maximum available torque of an engine is characterized in that:
the method comprises the following steps: the engine ECU calculates the values of the SPN3357 and the SPN514 according to the collected actual engine parameters;
step two: the engine ECU transmits instantaneous values of the SPN3357 and the SPN514 in real time through a CAN bus;
step three: the controller receives data through the CAN bus and decodes the data, the value of the SPN544 is a fixed value provided by an engine, and the instantaneous maximum available torque T = (SPN 3357-SPN 514) × SPN544 is obtained according to a formula;
fourthly, the rotating speed n of the engine, the power consumption rate η of the accessories of the excavator is 0.1-0.2, the maximum instantaneous available power of the engine is obtained according to a formula P =2 pi n T/60, and the maximum available power M = P (1- η) of the hydraulic system is obtained by multiplying a coefficient η;
step five: if M is smaller than the initial power of the pump, the initial current of the pump is set as the lower limit value of the current value corresponding to the minimum working power of the pump;
step six: on the contrary, if M is larger than the maximum working power set by the pump, the current of the pump electromagnetic valve is set as the current upper limit value corresponding to the maximum working power;
step seven: if M is larger than the initial power of the pump and smaller than the set maximum working power of the pump, obtaining an M instantaneous value; acquiring instantaneous pressures of the two pumps according to a pressure and flow curve of the hydraulic pump to calculate an instantaneous average pressure P; calculating instantaneous current values corresponding to the maximum available power M of the engine at the current rotating speed n and the current pressure P according to the values of M, P and n in a program;
step eight: the instantaneous current value and the feedback current value are subjected to PID regulation, and the PWM duty ratio is output to the electromagnetic proportional valve to regulate the upper power limit of the pump; wherein the SPN3357 represents the current available maximum torque of the engine;
the SPN514 is fan, pump, and friction loss torque;
the SPN544 is an engine reference torque coefficient.
2. The method of claim 1 for controlling an excavator based on maximum available engine torque, wherein: the CAN bus receives SPN3357, SPN514 and SPN544 data in a J1939 protocol.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111502807A (en) * | 2020-06-02 | 2020-08-07 | 徐州徐工挖掘机械有限公司 | Engineering machinery exhaust smoke intensity testing method, device and system and storage medium |
| CN113818515A (en) * | 2021-11-24 | 2021-12-21 | 徐州徐工挖掘机械有限公司 | Power self-adaptive control method, system and device for electric excavator |
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