CN111173056A - Rotation speed control method and device of full hydraulic bulldozer - Google Patents
Rotation speed control method and device of full hydraulic bulldozer Download PDFInfo
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- CN111173056A CN111173056A CN201911419174.0A CN201911419174A CN111173056A CN 111173056 A CN111173056 A CN 111173056A CN 201911419174 A CN201911419174 A CN 201911419174A CN 111173056 A CN111173056 A CN 111173056A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
Abstract
The invention belongs to the technical field of full hydraulic bulldozers, and particularly relates to a rotating speed control method and a rotating speed control device of a full hydraulic bulldozer. The rotating speed control method of the full hydraulic bulldozer comprises the following steps: acquiring the current torque of an engine; controlling the engine to run at a reduced speed in a first rotating speed area along a set slope according to the condition that the current torque of the engine is not greater than a first preset value, controlling the working displacement of the hydraulic pump to be increased, and controlling the working displacement of the hydraulic motor to be reduced; and controlling the engine to run at a reduced speed in a second rotating speed area according to the condition that the current torque of the engine is greater than a first preset value, controlling the working displacement of the hydraulic pump to be increased, and controlling the working displacement of the hydraulic motor to be reduced. In the method for controlling the rotating speed of the full-hydraulic bulldozer, a speed reduction strategy is added, the working displacement of the hydraulic pump is controlled to be increased, the working displacement of the hydraulic motor is controlled to be reduced, and the aims of quickly responding to a load and reducing oil consumption are fulfilled.
Description
Technical Field
The invention belongs to the technical field of full hydraulic bulldozers, and particularly relates to a rotating speed control method and a rotating speed control device of a full hydraulic bulldozer.
Background
The full hydraulic bulldozer is provided with a hydraulic controller which controls the operation of the engine through a CAN throttle. At present, the CAN accelerator is controlled by whole-process speed regulation, and the situation that the oil consumption is higher in the current constant rotating speed control mode is found in the whole-process speed regulation function application process.
Disclosure of Invention
The invention aims to at least solve the problem that the existing constant rotating speed control mode has higher oil consumption in the whole speed regulating function application process. The purpose is realized by the following technical scheme:
the invention provides a rotation speed control method of an all-hydraulic bulldozer, which comprises the following steps:
acquiring the current torque of an engine;
controlling the engine to run at a reduced speed in a first rotating speed area along a set slope according to the condition that the current torque of the engine is not greater than a first preset value, controlling the working displacement of the hydraulic pump to be increased, and controlling the working displacement of the hydraulic motor to be reduced;
and controlling the engine to run at a reduced speed in a second rotating speed area according to the condition that the current torque of the engine is greater than a first preset value, controlling the working displacement of the hydraulic pump to be increased, and controlling the working displacement of the hydraulic motor to be reduced.
According to the rotating speed control method of the full-hydraulic bulldozer, the engine is controlled to run at a reduced speed in a first rotating speed area along a set slope according to the fact that the current torque of the engine is not larger than a first preset value, and the engine is controlled to run at a reduced speed in a second rotating speed area according to the fact that the current torque of the engine is larger than the first preset value, so that a speed reduction strategy is increased, the working displacement of a hydraulic pump is controlled to be increased, the working displacement of a hydraulic motor is controlled to be reduced, and the purposes of quickly responding to a load and reducing oil consumption are achieved.
In addition, the method for controlling the rotating speed of the full hydraulic bulldozer can also have the following additional technical characteristics:
in some embodiments of the present invention, controlling the engine to downspeed in the first speed region along the set slope comprises:
setting the initial rotating speed of the engine;
obtaining the descending speed of the engine according to the initial speed of the engine;
the slope is set as the ratio of the engine falling speed to the engine starting speed.
In some embodiments of the present invention, controlling the engine to downspeed in the first speed region along the set slope comprises:
the first speed region is between the engine starting speed and the engine starting speed minus the engine falling speed.
In some embodiments of the present invention, the determining that the current torque of the engine is greater than the first preset value includes:
and controlling the engine to run at a reduced speed in a second rotating speed area according to the fact that the current torque of the engine is larger than the first preset value and smaller than the second preset value.
In some embodiments of the present invention, the determining that the current torque of the engine is greater than the first preset value and less than the second preset value comprises:
the second preset value is flameout-preventing torque corresponding to flameout-preventing rotating speed of the engine.
In some embodiments of the present invention, the controlling the engine to run at a reduced speed in the second speed region includes:
the second speed range is between the engine flameout prevention speed and the engine starting speed minus the engine falling speed.
In some embodiments of the present invention, the determining that the current torque of the engine is greater than the first preset value further comprises:
and controlling the engine to run at a reduced speed in a first rotating speed region along a set slope according to the condition that the current torque of the engine is greater than a second preset value, and then controlling the engine to run at a reduced speed in a second rotating speed region to start and prevent flameout.
In some embodiments of the invention, said initiating an anti-misfire comprises: the working displacement of the hydraulic pump is controlled to be reduced.
In some embodiments of the present invention, the controlling the working displacement of the hydraulic pump after the decreasing further comprises: the current torque of the engine is reacquired.
In another aspect of the present invention, a rotation speed control device of an all-hydraulic bulldozer is provided, wherein the rotation speed control device of an all-hydraulic bulldozer is configured to execute the rotation speed control method of an all-hydraulic bulldozer, and the rotation speed control device of an all-hydraulic bulldozer includes: the hydraulic control system comprises an acquisition unit, an engine control unit, a hydraulic pump control unit and a hydraulic motor control unit, wherein:
the obtaining unit is used for obtaining the current torque of the engine;
the engine control unit is used for controlling the engine to run at a reduced speed in a first rotating speed region along a set slope according to the condition that the current torque of the engine is not greater than a first preset value; controlling the engine to run at a reduced speed in a second rotating speed area according to the fact that the current torque of the engine is larger than a first preset value;
the hydraulic pump control unit is used for controlling the working displacement of the hydraulic pump to be lifted;
and the hydraulic motor control unit is used for controlling the working displacement of the hydraulic motor to be reduced.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings.
In the drawings:
FIG. 1 is a flow chart schematically showing a method of controlling the rotational speed of an all-hydraulic bulldozer according to an embodiment of the present invention;
fig. 2 schematically shows a diagram of engine speed and torque in the method of controlling the rotational speed of an all-hydraulic bulldozer according to the embodiment of the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1, the method for controlling the rotational speed of the all-hydraulic bulldozer in the present embodiment includes the following steps:
s1, acquiring the current torque of the engine; the current torque of the engine is transmitted to the engine by the load of the whole vehicle through the working/traveling device of the whole vehicle through the hydraulic motor-hydraulic pump. The engine responds to the load of the whole vehicle in real time and determines the current torque of the engine in real time.
S2, controlling the engine to run at a reduced speed in a first rotating speed area along a set slope according to the condition that the current torque of the engine is not greater than a first preset value, controlling the working displacement of the hydraulic pump to be increased, and controlling the working displacement of the hydraulic motor to be reduced;
and S3, controlling the engine to run at a reduced speed in a second rotating speed area according to the fact that the current torque of the engine is larger than a first preset value, controlling the working displacement of the hydraulic pump to be increased, and controlling the working displacement of the hydraulic motor to be reduced.
The rotating speed is reduced, and compared with the existing constant rotating speed, the oil consumption can be reduced.
According to the fact that the current torque of the engine is not larger than a first preset value, the engine is controlled to run in a speed reduction mode in a first rotating speed area along a set slope, and according to the fact that the current torque of the engine is larger than the first preset value, the engine is controlled to run in a speed reduction mode in a second rotating speed area, so that a speed reduction strategy is added, and the purposes of quickly responding to a load and reducing oil consumption are achieved. Meanwhile, the working displacement of the hydraulic pump is controlled to be increased, the working displacement of the hydraulic motor is controlled to be reduced, and the target vehicle speed is guaranteed to be unchanged while the rotating speed is reduced.
In some embodiments of the present invention, as shown in fig. 2, the controlling the engine to downspeed in the first speed region along the set slope comprises:
setting an initial rotating speed d of the engine;
obtaining an engine descending rotation speed e according to the initial rotation speed of the engine;
the slope a is set as the ratio of the engine falling speed e to the engine starting speed d.
Setting a descending rotating speed e, corresponding to a speed dropping slope a which is e/d, corresponding to a maximum torque C, setting a first preset value C, when f is less than or equal to C, a torque demand f does not exceed the torque of the corresponding slope and the external characteristic intersection point C, and operating an engine operating point on the slope a according to the load change of the whole vehicle before the engine operating point drops the rotating speed to the corresponding slope and the external characteristic intersection point C according to the slope a and is positioned between (d-e) and d; the whole vehicle controller adjusts a hydraulic system in the operation process: the displacement of the hydraulic pump is increased while the displacement of the hydraulic motor is reduced, and the target vehicle speed is kept unchanged.
In some embodiments of the present invention, controlling the engine to downspeed in the first speed region along the set slope comprises:
the first speed region is between the engine starting speed and the engine starting speed minus the engine falling speed. I.e. between d and d-e.
In some embodiments of the present invention, the determining that the current torque of the engine is greater than the first preset value includes:
and controlling the engine to run at a reduced speed in a second rotating speed area according to the fact that the current torque of the engine is larger than the first preset value and smaller than the second preset value.
In some embodiments of the present invention, the determining that the current torque f of the engine is greater than the first preset value and less than the second preset value includes:
the second preset value is flameout-preventing torque M corresponding to flameout-preventing rotating speed of the engine.
C is more than f and less than M, the torque demand exceeds the torque of the intersection point C of the corresponding slope and the external characteristic, the torque does not exceed the torque M of the flameout preventing action point b, and the working point of the engine drops the rotating speed to the intersection point C of the corresponding slope and the external characteristic according to the slope a; the working condition point of the engine runs on the external characteristic between the intersection point C of the corresponding slope and the external characteristic and the flameout preventing point b; the whole vehicle controller adjusts a hydraulic system in the operation process: the displacement of the hydraulic pump is increased while the displacement of the hydraulic motor is reduced, and the target vehicle speed is kept unchanged.
f is larger than M, the torque demand exceeds the torque of the flameout preventing action point b, and the working condition point of the engine falls the rotating speed to the intersection point C of the corresponding slope and the external characteristic according to the slope a; the working condition point of the engine runs to an anti-flameout point b along the outer characteristic between the intersection point C of the corresponding slope and the outer characteristic and the anti-flameout point b; the hydraulic controller identifies the torque corresponding to the flameout prevention point b, starts flameout prevention, firstly reduces the pump displacement, improves the output torque of the hydraulic system (properly reduces the vehicle speed) → the reduction of the engine load → the increase of the engine speed; the rotating speed is maintained to be operated at the right side of the rotating speed corresponding to the flameout preventing action point b; the load is reduced, the torque demand is recovered to be less than the anti-flameout action point b torque, the hydraulic controller identifies and recovers the pump displacement, and the situation operation of the torque control speed is judged according to the initial load encountered by the whole vehicle. Through preventing putting out fire, avoid the rotational speed to reduce excessively, get into the engine low efficiency district, maintain and operate in first preset value and second preset value region.
In some embodiments of the present invention, the controlling the engine to run at a reduced speed in the second speed region includes:
the second speed range is between the engine flameout prevention speed and the engine starting speed minus the engine falling speed. I.e. between b and d-e.
In some embodiments of the present invention, the determining that the current torque of the engine is greater than the first preset value further comprises:
and controlling the engine to run at a reduced speed in a first rotating speed region along a set slope according to the condition that the current torque of the engine is greater than a second preset value, and then controlling the engine to run at a reduced speed in a second rotating speed region to start and prevent flameout. And by combining a hydraulic system flameout prevention strategy, the hydraulic controller adjusts the vehicle speed and the engine rotating speed, maintains the whole-process speed regulation and the output capacity of the hydraulic system, and ensures the operation efficiency.
In some embodiments of the invention, said initiating an anti-misfire comprises: the working displacement of the hydraulic pump is controlled to be reduced.
In some embodiments of the present invention, the controlling the working displacement of the hydraulic pump after the decreasing further comprises: and the current torque of the engine is obtained again, and the vehicle speed is adjusted according to different torques.
In another aspect of the present invention, a rotation speed control device of an all-hydraulic bulldozer is provided, wherein the rotation speed control device of an all-hydraulic bulldozer is configured to execute the rotation speed control method of an all-hydraulic bulldozer, and the rotation speed control device of an all-hydraulic bulldozer includes: the hydraulic control system comprises an acquisition unit, an engine control unit, a hydraulic pump control unit and a hydraulic motor control unit, wherein:
the obtaining unit is used for obtaining the current torque of the engine;
the engine control unit is used for controlling the engine to run at a reduced speed in a first rotating speed region along a set slope according to the condition that the current torque of the engine is not greater than a first preset value; controlling the engine to run at a reduced speed in a second rotating speed area according to the fact that the current torque of the engine is larger than a first preset value;
the hydraulic pump control unit is used for controlling the working displacement of the hydraulic pump to be lifted;
and the hydraulic motor control unit is used for controlling the working displacement of the hydraulic motor to be reduced.
In the method for controlling the rotating speed of the full-hydraulic bulldozer, firstly, the opening degree of an accelerator is set to an initial rotating speed d through a hydraulic system; secondly, the hydraulic system determines the rotating speed e to be reduced according to the rotating speed d; thirdly, setting an anti-flameout action point b between a large torque point n of the engine and a corresponding slope and external characteristic intersection point C by the hydraulic controller and the hydraulic system; fourthly, the engine working point is operated on the corresponding slope a (a-e/d) and the external characteristic corresponding to the intersection point C of the slope and the external characteristic and the flameout preventing action point b; fifthly, when the whole vehicle meets the load, the torque demand f does not exceed the torque of the intersection point C of the corresponding slope and the external characteristic: 1. before the rotating speed of the working point of the engine is reduced to a point C where the corresponding slope and the external characteristic intersect according to the slope a, the working point of the engine runs on the slope a and is positioned between C and d according to the load change of the whole vehicle; 2. the whole vehicle controller adjusts a hydraulic system in the operation process: the pump displacement is increased/the motor displacement is reduced, and the target vehicle speed is kept unchanged; sixthly, when the whole vehicle meets the load, the torque demand exceeds the torque of the corresponding slope and the external characteristic intersection point C, and does not exceed the torque of the flameout preventing action point b: 1. dropping the rotating speed of the engine working point to a corresponding slope and external characteristic intersection point C according to the slope a; 2. the working condition point of the engine runs on the external characteristic between the intersection point C of the corresponding slope and the external characteristic and the flameout preventing point b; 3. the whole vehicle controller adjusts a hydraulic system in the operation process: the pump displacement is increased/the motor displacement is reduced, and the target vehicle speed is kept unchanged; seventhly, the torque demand exceeds the anti-flameout action point b, namely the torque M: 1. dropping the rotating speed of the engine working point to a corresponding slope and external characteristic intersection point C according to the slope a; 2. the working condition point of the engine runs to an anti-flameout point b along the outer characteristic between the intersection point C of the corresponding slope and the outer characteristic and the anti-flameout point b; 3. the hydraulic controller identifies a torque M corresponding to an anti-flameout point b, starts anti-flameout, firstly reduces the pump displacement, improves the output torque of a hydraulic system (properly reduces the vehicle speed) → the reduction of the engine load → the increase of the engine speed; 4. the rotating speed is maintained to be operated at the right side of the rotating speed corresponding to the flameout preventing action point b; 5. and (4) reducing the load, recovering the torque demand to be less than the anti-flameout action point b torque, identifying by the hydraulic controller, recovering the pump displacement, and operating according to the fifth step and the sixth step.
In summary, in the method for controlling the rotation speed of the full hydraulic bulldozer, the engine is controlled to operate in a speed reduction mode in the first rotation speed region along the set slope according to the condition that the current torque of the engine is not greater than the first preset value, and the engine is controlled to operate in a speed reduction mode in the second rotation speed region according to the condition that the current torque of the engine is greater than the first preset value, so that a speed reduction strategy is increased, and the purposes of quickly responding to a load and reducing oil consumption are achieved. And meanwhile, the working displacement of the hydraulic pump is controlled to be increased, the working displacement of the hydraulic motor is controlled to be reduced, and the target vehicle speed is kept unchanged.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A rotation speed control method of an all-hydraulic bulldozer is characterized by comprising the following steps:
acquiring the current torque of an engine;
controlling the engine to run at a reduced speed in a first rotating speed area along a set slope according to the condition that the current torque of the engine is not greater than a first preset value, controlling the working displacement of the hydraulic pump to be increased, and controlling the working displacement of the hydraulic motor to be reduced;
and controlling the engine to run at a reduced speed in a second rotating speed area according to the condition that the current torque of the engine is greater than a first preset value, controlling the working displacement of the hydraulic pump to be increased, and controlling the working displacement of the hydraulic motor to be reduced.
2. The method of controlling the rotational speed of an all-hydraulic bulldozer according to claim 1, in which said controlling the engine to run down in the first rotational speed region along a set slope comprises:
setting the initial rotating speed of the engine;
obtaining the descending speed of the engine according to the initial speed of the engine;
the slope is set as the ratio of the engine falling speed to the engine starting speed.
3. The method of controlling the rotational speed of an all-hydraulic bulldozer according to claim 2, in which said controlling the engine to run down in the first rotational speed region along the set slope comprises:
the first speed region is between the engine starting speed and the engine starting speed minus the engine falling speed.
4. The method of controlling the rotational speed of an all-hydraulic bulldozer according to claim 2, in which said step of determining, based on the current torque of the engine being greater than a first preset value, includes:
and controlling the engine to run at a reduced speed in a second rotating speed area according to the fact that the current torque of the engine is larger than the first preset value and smaller than the second preset value.
5. The method of controlling the rotational speed of an all-hydraulic bulldozer according to claim 4, in which said step of, in response to the current torque of the engine being greater than the first preset value and less than the second preset value comprises:
the second preset value is flameout-preventing torque corresponding to flameout-preventing rotating speed of the engine.
6. The method of controlling the rotation speed of an all-hydraulic bulldozer according to claim 5, in which said controlling the engine to run down in the second rotation speed region includes:
the second speed range is between the engine flameout prevention speed and the engine starting speed minus the engine falling speed.
7. The method of controlling the rotational speed of an all-hydraulic bulldozer according to claim 4, in which said step of, in response to the current torque of the engine being greater than the first preset value, further comprises:
and controlling the engine to run at a reduced speed in a first rotating speed region along a set slope according to the condition that the current torque of the engine is greater than a second preset value, and then controlling the engine to run at a reduced speed in a second rotating speed region to start and prevent flameout.
8. The method of controlling the rotational speed of an all-hydraulic bulldozer according to claim 7, in which said start-up misfire prevention comprises: the working displacement of the hydraulic pump is controlled to be reduced.
9. The method of controlling the rotational speed of an all-hydraulic bulldozer according to claim 8, in which said controlling the working displacement of the hydraulic pump to be reduced further comprises: the current torque of the engine is reacquired.
10. A rotation speed control device of an all-hydraulic bulldozer, which is used for executing the rotation speed control method of the all-hydraulic bulldozer according to any one of claims 1 to 9, characterized by comprising: the hydraulic control system comprises an acquisition unit, an engine control unit, a hydraulic pump control unit and a hydraulic motor control unit, wherein:
the obtaining unit is used for obtaining the current torque of the engine;
the engine control unit is used for controlling the engine to run at a reduced speed in a first rotating speed region along a set slope according to the condition that the current torque of the engine is not greater than a first preset value; controlling the engine to run at a reduced speed in a second rotating speed area according to the fact that the current torque of the engine is larger than a first preset value;
the hydraulic pump control unit is used for controlling the working displacement of the hydraulic pump to be lifted;
and the hydraulic motor control unit is used for controlling the working displacement of the hydraulic motor to be reduced.
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| CN201911419174.0A CN111173056B (en) | 2019-12-31 | 2019-12-31 | Rotation speed control method and device of full hydraulic bulldozer |
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| CN201911419174.0A CN111173056B (en) | 2019-12-31 | 2019-12-31 | Rotation speed control method and device of full hydraulic bulldozer |
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| CN111173056B (en) | 2022-04-05 |
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