CN111173068A - Temperature self-adaptive control method and system for engineering machinery and engineering machinery - Google Patents
Temperature self-adaptive control method and system for engineering machinery and engineering machinery Download PDFInfo
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- CN111173068A CN111173068A CN201911422991.1A CN201911422991A CN111173068A CN 111173068 A CN111173068 A CN 111173068A CN 201911422991 A CN201911422991 A CN 201911422991A CN 111173068 A CN111173068 A CN 111173068A
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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
- E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
Abstract
The invention discloses a temperature self-adaptive control method and system for engineering machinery and the engineering machinery, wherein the method comprises the steps of respectively obtaining an influence factor a corresponding to the temperature of hydraulic oil and/or an influence factor b corresponding to the temperature of cooling liquid; obtaining a start-up current I of a hydraulic pump of the construction machinebunAnd maximum current Imax(ii) a According to the influence factors a and/or b and the start-up current I of the hydraulic pumpbunAnd maximum current ImaxCalculating an upper limit value I of a pump control current of the hydraulic pumpPIDmaxAnd a lower limit value IPIDmin(ii) a And according to the upper limit value I of the pump control currentPIDmaxAnd a lower limit value IPIDminAdjusting a pump control current I applied to the hydraulic pumpCtrlThe over-temperature phenomenon of the engineering machinery during long-time operation is avoided, and the engineering machinery can normally operate.
Description
Technical Field
The invention relates to temperature control, in particular to a temperature self-adaptive control method and system for engineering machinery and the engineering machinery.
Background
The novel excavator can generally perform a heat balance test on a newly designed prototype, generally, the novel excavator continuously works at the highest gear under the excavating and loading working condition, and the temperature of hydraulic oil and the temperature of cooling liquid are recorded in the heat balance state, so that the heat dissipation system of the excavator can meet the requirements of the whole excavator. With the national emphasis on environmental protection and environmental destruction, blasting is prohibited during operation in mountainous areas such as Yuandong Sichuan, and large excavators are modified into hook arm machines for construction at present. Because the hook arm machine working device is large in mass and large in working load, and the large-load operation is continued, the temperature of hydraulic oil of the excavator is ultrahigh, the temperature of cooling liquid is ultrahigh, and the normal operation is seriously influenced. Fig. 1 shows a flow chart of a control method for pump control current of a hydraulic pump in the prior art, wherein a PID control input calculation calculates a deviation value according to an engine speed and a target speed, a limit threshold calculation calculates upper and lower limit values of a PID output value according to a maximum current and a start-up current, the deviation value calculates a PID regulation current value through PID control and output limit, the PID regulation current value and the start-up current are added and then output to the pump control current, and the absorption power of the hydraulic pump is further regulated, so that the power of the engine is matched with that of the hydraulic pump. The following drawbacks exist in the prior art:
1. and basically determining matching parameters and determining the performance parameters of the whole machine. The heat balance test ensures that the heat dissipation is reasonable and can not be changed.
2. The control program lacks consideration on the heat dissipation indexes such as hydraulic oil temperature, cooling liquid temperature and the like, and the high-temperature condition is caused after the working condition is serious.
3. The control parameters can not be adjusted in a self-adaptive manner according to the heat dissipation condition, so that the excavator works normally.
Disclosure of Invention
The invention aims to provide a temperature self-adaptive control method for engineering machinery, which considers the temperature of hydraulic oil and the temperature of cooling liquid, acquires an influence factor of the temperature of the hydraulic oil and/or an influence factor corresponding to the temperature of the cooling liquid, takes the influence factor as a calculation parameter for calculating the upper limit value and the lower limit value of the pump control current of a hydraulic pump, and further leads the finally calculated pump control current of the hydraulic pump to be obtained on the basis of considering the temperature of the hydraulic oil and the temperature of the cooling liquid, can more comprehensively adjust the pump control current of the hydraulic pump under the condition of adding the influence factor corresponding to the temperature of the hydraulic oil and the temperature of the cooling liquid for calculation, avoids the phenomenon of overtemperature when the engineering machinery works for a long time, and can ensure that the engineering machinery works normally.
In order to achieve the above object, the present invention provides a temperature adaptive control method for a construction machine, the method including: .
Respectively acquiring an influence factor a corresponding to the temperature of hydraulic oil and/or an influence factor b corresponding to the temperature of cooling liquid;
obtaining a start-up current I of a hydraulic pump of the construction machinebunAnd maximum current Imax；
According to the influence factors a and/or b and the start-up current I of the hydraulic pumpbunAnd maximum current ImaxCalculating an upper limit value I of a pump control current of the hydraulic pumpPIDmaxAnd a lower limit value IPIDmin(ii) a And
according to the upper limit value I of the pump control currentPIDmaxAnd a lower limit value IPIDminAdjusting a pump control current I applied to the hydraulic pumpCtrl。
Preferably, the obtaining of the influence factors a and b corresponding to the hydraulic oil temperature and the coolant temperature, respectively, includes:
obtaining hydraulic oil temperature THyAnd target temperature T of hydraulic oilHy-TCalculating the temperature T of the hydraulic oilHyAnd target temperature T of hydraulic oilHy-TDetermining the influence factor a according to the relative relationship between the range of the temperature difference and the influence factor; and
obtaining the temperature T of the cooling liquidCoAnd a target temperature T of the coolantCo-TCalculating the coolant temperature TCoAnd a target temperature T of the coolantCo-TThe influence factor b is determined according to the relative relation between the range of the temperature difference and the influence factor.
Preferably, the obtaining of the influence factors a and b corresponding to the hydraulic oil temperature and the coolant temperature, respectively, includes:
calculated by the following calculation formula:
a＝1-(THy-THy-T)/THy-T；
wherein, THyIndicating the temperature, T, of the hydraulic oilHy-TRepresenting a target temperature of hydraulic oil;
b＝1-(TCo-TCo-T)/TCo-T
wherein, TCoIndicating the coolant temperature, TCo-TIndicating the target coolant temperature.
Preferably, the first and second electrodes are formed of a metal,
IPIDmax＝Imax*a*b-Ibun；
IPIDmin＝-Ibun。
preferably, the upper limit value I according to the pumping control currentPIDmaxAnd a lower limit value IPIDminRegulating a pump control current I applied to the hydraulic pumpCtrlThe method comprises the following steps:
acquiring a first pump control current according to the difference value between the real-time rotating speed of the engine of the engineering machinery and the target rotating speed;
according to the upper limit value IPIDmaxAnd a lower limit value IPIDminLimiting the first pump control current to obtain a limited pump control current; and
according to the start-up current IbunAnd the limited pump control current is used for obtaining the pump control current ICtrl。
Preferably, the first pump control current is obtained by PID control according to a difference between a real-time rotation speed of an engine of the construction machine and a target rotation speed.
The embodiment of the invention also provides a temperature self-adaptive control system for the engineering machinery, which comprises a controller;
the controller is configured to perform the following operations:
respectively acquiring an influence factor a corresponding to the temperature of hydraulic oil and/or an influence factor b corresponding to the temperature of cooling liquid;
obtaining a start-up current I of a hydraulic pump of the construction machinebunAnd maximum current Imax；
According to the influence factors a and/or b and the start-up current I of the hydraulic pumpbunAnd maximum current ImaxCalculating an upper limit value I of a pump control current of the hydraulic pumpPIDmaxAnd a lower limit value IPIDmin(ii) a And
according to the upper limit value I of the pump control currentPIDmaxAnd a lower limit value IPIDminAdjusting a pump control current I applied to the hydraulic pumpCtrl。
Preferably, the system further comprises:
a data acquisition module connected with the controller for acquiring the temperature T of the hydraulic oilHyAnd target temperature T of hydraulic oilHy-TAnd the temperature T of the coolantCoAnd a target temperature T of the coolantCo-T；
Wherein, the obtaining of the influence factors a and b corresponding to the temperature of the hydraulic oil and the temperature of the coolant respectively comprises:
the controller calculates the temperature T of the hydraulic oilHyAnd target temperature T of hydraulic oilHy-TDetermining the influence factor a according to the relative relationship between the range of the temperature difference and the influence factor; and
the controller calculates a coolant temperature TCoAnd a target temperature T of the coolantCo-TThe influence factor b is determined according to the relative relation between the range of the temperature difference and the influence factor.
Preferably, the obtaining of the influence factors a and b corresponding to the hydraulic oil temperature and the coolant temperature, respectively, includes:
calculated by the following calculation formula:
a＝1-(THy-THy-T)/THy-T；
wherein, THyIndicating the temperature, T, of the hydraulic oilHy-TRepresenting a target temperature of hydraulic oil;
b＝1-(TCo-TCo-T)/TCo-T
wherein, TCoIndicating the coolant temperature, TCo-TIndicating the target coolant temperature.
Preferably, the first and second electrodes are formed of a metal,
IPIDmax＝Imax*a*b-Ibun
IPIDmin＝-Ibun。
preferably, the upper limit value I according to the pumping control currentPIDmaxAnd a lower limit value IPIDminRegulating a pump control current I applied to the hydraulic pumpCtrlThe method comprises the following steps:
acquiring a first pump control current according to the difference value between the real-time rotating speed of the engine of the engineering machinery and the target rotating speed;
according to the upper limit value IPIDmaxAnd a lower limit value IPIDminLimiting the first pump control current to obtain a limited pump control current; and
according to the start-up current IbunAnd the limited pump control current is used for obtaining the pump control current ICtrl。
Preferably, the first pump control current is obtained by PID control according to a difference between a real-time rotation speed of an engine of the construction machine and a target rotation speed.
The embodiment of the invention also provides the engineering machinery, which comprises the temperature self-adaptive control system for the engineering machinery.
Preferably, the work machine comprises an excavator.
Through the technical scheme, the influences of the temperature of the hydraulic oil and the temperature of the cooling liquid are considered, and when the pump control current of the hydraulic pump is controlled and adjusted, the corresponding hydraulic oil temperatures are obtained respectivelyAnd/or the corresponding influence factor b of the coolant temperature, and the start-up current I of the hydraulic pumpbunAnd maximum current ImaxIn order to realize the temperature self-adaptive control of the engineering machinery, the control method is characterized in that the control method is based on the influence factors a and/or b and the starting current I of the hydraulic pumpbunAnd maximum current ImaxCalculating an upper limit value I of a pump control current of the hydraulic pumpPIDmaxAnd a lower limit value IPIDminAccording to the upper limit value I of the pump control currentPIDmaxAnd a lower limit value IPIDminAdjusting a pump control current I applied to the hydraulic pumpCtrl. According to the method, the hydraulic oil temperature and/or the cooling liquid temperature are considered, the influence factor a corresponding to the hydraulic oil temperature and/or the influence factor b corresponding to the cooling liquid temperature are respectively obtained, the influence factors are used as calculation parameters for calculating the upper limit value and the lower limit value of the pump control current of the hydraulic pump, the finally calculated pump control current of the hydraulic pump is obtained on the basis of considering the hydraulic oil temperature and/or the cooling liquid temperature, the pump control current of the hydraulic pump can be more comprehensively adjusted under the condition that the influence factors corresponding to the hydraulic oil temperature and/or the cooling liquid temperature are added for calculation, the phenomenon that the engineering machinery is over-heated during long-time operation is avoided, and the engineering machinery can normally operate.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a method for controlling the pumping current of a hydraulic pump according to the prior art;
FIG. 2 is a schematic flow chart of a temperature adaptive control method for a construction machine according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the control logic for pump-controlled current regulation provided by an embodiment of the present invention;
FIG. 4A is a schematic diagram illustrating the obtaining of an influence factor a of the temperature of the hydraulic oil according to an embodiment of the present invention;
FIG. 4B is a schematic diagram illustrating the acquisition of the influence factor B of the temperature of the coolant according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of obtaining upper and lower limits of output limits provided by an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a temperature adaptive control system for a construction machine according to an embodiment of the present invention.
Description of the reference numerals
101 controller 102 data acquisition module
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
According to the technical scheme, when the pump control current of the hydraulic pump is calculated, the hydraulic oil temperature influence factor and/or the cooling liquid temperature influence factor are/is added for calculation, the absorption power of the hydraulic pump is changed according to the fact that the current hydraulic oil temperature and the cooling liquid temperature are single or superposed to influence the maximum value of the output limiting current, the heat dissipation capacity of an engine and a hydraulic system is changed, and the heat dissipation of the whole machine is promoted to be good. Fig. 2 is a schematic flow chart of a temperature adaptive control method for a construction machine according to an embodiment of the present invention, and as shown in fig. 2, an influence factor a corresponding to a temperature of hydraulic oil and/or an influence factor b corresponding to a temperature of coolant are respectively obtained, and a start-up current I of a hydraulic pump of the construction machine may also be obtainedbunAnd maximum current ImaxAccording to the influence factors a and/or b and the start-up current I of the hydraulic pumpbunAnd maximum current ImaxCalculating an upper limit value I of a pump control current of the hydraulic pumpPIDmaxAnd a lower limit value IPIDminAccording to the upper limit value I of the pump control currentPIDmaxAnd a lower limit value IPIDminAdjusting a pump control current I applied to the hydraulic pumpCtrl。
Fig. 3 is a schematic diagram illustrating a control logic of pump control current control adjustment according to an embodiment of the present invention, and as shown in fig. 3, in consideration of hydraulic oil temperature and coolant temperature, influence factors a and/or b corresponding to the hydraulic oil temperature and the coolant temperature may be obtained, where the influence factors a and b may be obtained by any one of the following manners:
fig. 4A shows a schematic diagram for obtaining an influence factor a of a hydraulic oil temperature provided by an embodiment of the present invention, and fig. 4B shows a schematic diagram for obtaining an influence factor B of a coolant temperature provided by an embodiment of the present invention, and with reference to fig. 4A and 4B, the corresponding influence factors are obtained by:
the first acquisition mode:
obtaining hydraulic oil temperature THyAnd target temperature T of hydraulic oilHy-TCalculating the temperature T of the hydraulic oilHyAnd target temperature T of hydraulic oilHy-TDetermining the influence factor a according to the relative relationship between the range of the temperature difference and the influence factor; and
obtaining the temperature T of the cooling liquidCoAnd a target temperature T of the coolantCo-TCalculating the coolant temperature TCoAnd a target temperature T of the coolantCo-TThe influence factor b is determined according to the relative relation between the range of the temperature difference and the influence factor.
Specifically, the influence factors a and b may set three gear positions, the gear positions of which are determined in relation to the range of the temperature difference in the above calculation, and the influence factors a and b may be determined in the same manner, and may be determined as the range of the temperature difference in accordance with the temperature difference calculation, the range including a first range, a second range, and a third range; and
and determining the influence factor corresponding to the range according to the range of the temperature difference, wherein the first range corresponds to a first influence factor, the second range corresponds to a second influence factor, and the third range corresponds to a third influence factor. For example, the temperature difference is < 5 ℃, the temperature difference is in a first range corresponding to a first influence factor of 0.95, in the case where the temperature difference is < 5 ℃ and < 10 ℃, the temperature difference is in a second range corresponding to an influence factor of 0.9, and in the case where the temperature difference is > 10 ℃, the temperature difference is in a third range corresponding to an influence factor of 0.85.
Second acquisition mode
Determining the influence factor a or the influence factor b according to the relative relationship between the range of the temperature difference value and the influence factor further comprises:
calculated by the following calculation formula:
a＝1-(THy-THy-T)/THy-T；
wherein, THyIndicating the temperature, T, of the hydraulic oilHy-TRepresenting a target temperature of hydraulic oil;
b＝1-(TCo-TCo-T)/TCo-T
wherein, TCoIndicating the coolant temperature, TCo-TIndicating the target coolant temperature.
The adjustment of the pump control current for the hydraulic pump may be controlled and adjusted by PID control, that is, when the influence factor a of the hydraulic oil temperature and/or the influence factor b corresponding to the coolant temperature are obtained, the adjustment may be performed according to the influence factors a and/or b and the start-up current I of the hydraulic pumpbunAnd maximum current ImaxCalculating the upper limit value and the lower limit value of PID control pump control current, and further controlling the pump control current according to the upper limit value I of the pump control currentPIDmaxAnd a lower limit value IPIDminRegulating a pump control current I applied to the hydraulic pumpCtrl。
Wherein, the single influence of either the hydraulic oil temperature and the coolant temperature may be considered, and the superimposed influence of both the hydraulic oil temperature and the coolant temperature may also be considered. Specifically, the upper limit value I of the output limit of the PID control is calculated in consideration of the single influence of the hydraulic oil temperaturePIDmaxAnd a lower limit value IPIDminThe method comprises the following steps:
calculating upper and lower limit values according to the following formula:
IPIDmax＝Imax*a-Ibun
IPIDmin＝-Ibun。
calculating the upper limit value I of the output limit of the PID control in consideration of the single influence of the existence of the coolant temperaturePIDmaxAnd a lower limit value IPIDminThe method comprises the following steps:
calculating upper and lower limit values according to the following formula:
IPIDmax＝Imax*b-Ibun
IPIDmin＝-Ibun。
FIG. 5 is a diagram showing the acquisition of the upper and lower limits of the output limit provided by the embodiment of the invention, and as shown in FIG. 5, the upper limit value I of the output limit of PID control is calculated in consideration of the superimposed influence of both the hydraulic oil temperature and the coolant temperaturePIDmaxAnd a lower limit value IPIDminThe method comprises the following steps:
calculating upper and lower limit values according to the following formula:
IPIDmax＝Imax*a*b-Ibun
IPIDmin＝-Ibun。
preferably, the upper limit value I of the PID pump control current is calculated under the condition of comprehensively considering the superposition influence of the hydraulic oil temperature and the cooling liquid temperaturePIDmaxAnd a lower limit value IPIDmin. When the upper and lower limit values are determined, the upper limit value I of the pump control current may be usedPIDmaxAnd a lower limit value IPIDminRegulating a pump control current I applied to the hydraulic pumpCtrlSpecifically, the method may include: according to the difference value between the real-time rotating speed of the engine of the engineering machinery and the target rotating speed, calculating through PID control operation to obtain a first pumping current, and according to the upper limit value IPIDmaxAnd a lower limit value IPIDminLimiting the first pump control current to obtain a limited pump control current IPIDAnd according to the limited pump control current IPIDAnd the previously acquired start-up current I of the hydraulic pumpbunCalculating pump control current ICtrlAccording to said pump control current ICtrlThe power of the hydraulic pump is regulated. According to the technical scheme, the power matching of hydraulic pump can be adjusted by increasing the temperature of hydraulic oil and the temperature of cooling liquidThe working temperature of the whole engineering machine is proper due to the effect of the joint. The temperature adjusting part is larger in temperature difference value and larger in power reduction, and the temperature difference value is smaller and smaller in power reduction, so that the temperature can be ensured to be suitable and the working efficiency can be ensured through the adjusting mode. And under the condition of not changing the whole machine, the total power is adjusted in a self-adaptive manner, so that the whole-process heavy-load work of the whole vehicle is reliable and stable.
Fig. 6 is a schematic structural diagram of a temperature adaptive control system for a construction machine according to an embodiment of the present invention, as shown in fig. 6, the system includes a controller 101 and a data obtaining module 102, where the data obtaining module 102 is connected to the controller 101 and is configured to obtain a temperature T of hydraulic oilHyAnd target temperature T of hydraulic oilHy-TAnd the temperature T of the coolantCoAnd a target temperature T of the coolantCo-TThe controller executes the following operations according to the information acquired by the data acquisition module 102:
respectively acquiring an influence factor a corresponding to the temperature of hydraulic oil and/or an influence factor b corresponding to the temperature of cooling liquid; obtaining a start-up current I of a hydraulic pump of the construction machinebunAnd maximum current Imax(ii) a According to the influence factors a and/or b and the start-up current I of the hydraulic pumpbunAnd maximum current ImaxCalculating an upper limit value I of a pump control current of the hydraulic pumpPIDmaxAnd a lower limit value IPIDmin(ii) a And according to the upper limit value I of the pump control currentPIDmaxAnd a lower limit value IPIDminAdjusting a pump control current I applied to the hydraulic pumpCtrl。
The influencing factor a and the influencing factor b can be obtained by any one of the following ways:
as shown in connection with fig. 4A and 4B, the respective impact factors are obtained according to the following manner:
the first acquisition mode:
obtaining hydraulic oil temperature THyAnd target temperature T of hydraulic oilHy-TCalculating the temperature T of the hydraulic oilHyAnd target temperature T of hydraulic oilHy-TAccording to the relative relationship between the range of the temperature difference and the influence factorDetermining the influence factor a; and
obtaining the temperature T of the cooling liquidCoAnd a target temperature T of the coolantCo-TCalculating the coolant temperature TCoAnd a target temperature T of the coolantCo-TThe influence factor b is determined according to the relative relation between the range of the temperature difference and the influence factor.
Specifically, the influence factors a and b may set three gear positions, the gear positions of which are determined in relation to the range of the temperature difference in the above calculation, and the influence factors a and b may be determined in the same manner, and may be determined as the range of the temperature difference in accordance with the temperature difference calculation, the range including a first range, a second range, and a third range; and
and determining the influence factor corresponding to the range according to the range of the temperature difference, wherein the first range corresponds to a first influence factor, the second range corresponds to a second influence factor, and the third range corresponds to a third influence factor. For example, the temperature difference is < 5 ℃, the temperature difference is in a first range corresponding to a first influence factor of 0.95, in the case where the temperature difference is < 5 ℃ and < 10 ℃, the temperature difference is in a second range corresponding to an influence factor of 0.9, and in the case where the temperature difference is > 10 ℃, the temperature difference is in a third range corresponding to an influence factor of 0.85.
Second acquisition mode
Determining the influence factor a or the influence factor b according to the relative relationship between the range of the temperature difference value and the influence factor further comprises:
calculated by the following calculation formula:
a＝1-(THy-THy-T)/THy-T；
wherein, THyIndicating the temperature, T, of the hydraulic oilHy-TRepresenting a target temperature of hydraulic oil;
b＝1-(TCo-TCo-T)/TCo-T
wherein, TCoIndicating the coolant temperature, TCo-TIndicating the target coolant temperature.
The adjustment of the pump control current for the hydraulic pump may be controlled and adjusted by PID control, that is, when the influence factor a of the hydraulic oil temperature and/or the influence factor b corresponding to the coolant temperature are obtained, the adjustment may be performed according to the influence factors a and/or b and the start-up current I of the hydraulic pumpbunAnd maximum current ImaxCalculating the upper limit value and the lower limit value of PID control pump control current, and further controlling the pump control current according to the upper limit value I of the pump control currentPIDmaxAnd a lower limit value IPIDminRegulating a pump control current I applied to the hydraulic pumpCtrl。
Wherein, the single influence of either the hydraulic oil temperature and the coolant temperature may be considered, and the superimposed influence of both the hydraulic oil temperature and the coolant temperature may also be considered. Specifically, the upper limit value I of the output limit of the PID control is calculated in consideration of the single influence of the hydraulic oil temperaturePIDmaxAnd a lower limit value IPIDminThe method comprises the following steps:
calculating upper and lower limit values according to the following formula:
IPIDmax＝Imax*a-Ibun
IPIDmin＝-Ibun。
calculating the upper limit value I of the output limit of the PID control in consideration of the single influence of the existence of the coolant temperaturePIDmaxAnd a lower limit value IPIDminThe method comprises the following steps:
calculating upper and lower limit values according to the following formula:
IPIDmax＝Imax*b-Ibun
IPIDmin＝-Ibun。
FIG. 5 is a diagram showing the acquisition of the upper and lower limits of the output limit provided by the embodiment of the invention, and as shown in FIG. 5, the upper limit value I of the output limit of PID control is calculated in consideration of the superimposed influence of both the hydraulic oil temperature and the coolant temperaturePIDmaxAnd a lower limit value IPIDminThe method comprises the following steps:
calculating upper and lower limit values according to the following formula:
IPIDmax＝Imax*a*b-Ibun
IPIDmin＝-Ibun。
preferably, the upper limit value I of the PID pump control current is calculated under the condition of comprehensively considering the superposition influence of the hydraulic oil temperature and the cooling liquid temperaturePIDmaxAnd a lower limit value IPIDmin. When the upper and lower limit values are determined, the upper limit value I of the pump control current may be usedPIDmaxAnd a lower limit value IPIDminRegulating a pump control current I applied to the hydraulic pumpCtrlSpecifically, the method may include: according to the difference value between the real-time rotating speed of the engine of the engineering machinery and the target rotating speed, calculating through PID control operation to obtain a first pumping current, and according to the upper limit value IPIDmaxAnd a lower limit value IPIDminLimiting the first pump control current to obtain a limited pump control current IPIDAnd according to the limited pump control current IPIDAnd the previously acquired start-up current I of the hydraulic pumpbunCalculating pump control current ICtrlAccording to said pump control current ICtrlThe power of the hydraulic pump is regulated. According to the technical scheme, the adjusting function of increasing the temperature of the hydraulic oil and the temperature of the cooling liquid to match the power of the hydraulic pump can be realized, so that the working temperature of the whole engineering machinery is proper. The temperature adjusting part is larger in temperature difference value and larger in power reduction, and the temperature difference value is smaller and smaller in power reduction, so that the temperature can be ensured to be suitable and the working efficiency can be ensured through the adjusting mode. And under the condition of not changing the whole machine, the total power is adjusted in a self-adaptive manner, so that the whole-process heavy-load work of the whole vehicle is reliable and stable.
An embodiment of the present invention further provides an engineering machine, where the engineering machine may include the above temperature adaptive control system for an engineering machine, so that under a condition that the engineering machine operates for a long time, a single influence or a superimposed influence of a hydraulic oil temperature and/or a coolant temperature is considered through the control system to perform adaptive control, ensure a proper temperature, and ensure work efficiency. Preferably, the work machine may be an excavator.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention. It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (14)
1. A temperature adaptive control method for a construction machine, the method comprising:
respectively acquiring an influence factor a corresponding to the temperature of hydraulic oil and/or an influence factor b corresponding to the temperature of cooling liquid;
obtaining a start-up current I of a hydraulic pump of the construction machinebunAnd maximum current Imax；
According to the influence factors a and/or b and the start-up current I of the hydraulic pumpbunAnd maximum current ImaxCalculating an upper limit value I of a pump control current of the hydraulic pumpPIDmaxAnd a lower limit value IPIDmin(ii) a And
according to the upper limit value I of the pump control currentPIDmaxAnd a lower limit value IPIDminAdjusting a pump control current I applied to the hydraulic pumpCtrl。
2. The method of claim 1, wherein the obtaining the respective impact factors a and b corresponding to the hydraulic oil temperature and the coolant temperature comprises:
obtaining hydraulic oil temperature THyAnd target temperature T of hydraulic oilHy-TCalculating the temperature T of the hydraulic oilHyAnd target temperature T of hydraulic oilHy-TTemperature ofThe difference value is used for determining the influence factor a according to the relative relation between the range of the temperature difference value and the influence factor; and
obtaining the temperature T of the cooling liquidCoAnd a target temperature T of the coolantCo-TCalculating the coolant temperature TCoAnd a target temperature T of the coolantCo-TThe influence factor b is determined according to the relative relation between the range of the temperature difference and the influence factor.
3. The method of claim 1, wherein the obtaining the respective impact factors a and b corresponding to the hydraulic oil temperature and the coolant temperature comprises:
calculated by the following calculation formula:
a＝1-(THy-THy-T)/THy-T；
wherein, THyIndicating the temperature, T, of the hydraulic oilHy-TRepresenting a target temperature of hydraulic oil;
b＝1-(TCo-TCo-T)/TCo-T
wherein, TCoIndicating the coolant temperature, TCo-TIndicating the target coolant temperature.
4. The method of claim 1,
IPIDmax＝Imax*a*b-Ibun；
IPIDmin＝-Ibun。
5. method according to claim 1, characterized in that said upper limit value I according to said pump control currentPIDmaxAnd a lower limit value IPIDminRegulating a pump control current I applied to the hydraulic pumpCtrlThe method comprises the following steps:
acquiring a first pump control current according to the difference value between the real-time rotating speed of the engine of the engineering machinery and the target rotating speed;
according to the upper limit value IPIDmaxAnd a lower limit value IPIDminControlling the current feed to the first pumpLimiting to obtain limited pump control current; and
according to the start-up current IbunAnd the limited pump control current is used for obtaining the pump control current ICtrl。
6. The method according to claim 5, characterized in that the first pump control current is obtained by PID control based on a difference between a real-time rotational speed of an engine of the working machine and a target rotational speed.
7. A temperature adaptive control system for a work machine, the system comprising a controller;
the controller is configured to perform the following operations:
respectively acquiring an influence factor a corresponding to the temperature of hydraulic oil and/or an influence factor b corresponding to the temperature of cooling liquid;
obtaining a start-up current I of a hydraulic pump of the construction machinebunAnd maximum current Imax；
According to the influence factors a and/or b and the start-up current I of the hydraulic pumpbunAnd maximum current ImaxCalculating an upper limit value I of a pump control current of the hydraulic pumpPIDmaxAnd a lower limit value IPIDmin(ii) a And
according to the upper limit value I of the pump control currentPIDmaxAnd a lower limit value IPIDminAdjusting a pump control current I applied to the hydraulic pumpCtrl。
8. The system of claim 7, further comprising:
a data acquisition module connected with the controller for acquiring the temperature T of the hydraulic oilHyAnd target temperature T of hydraulic oilHy-TAnd the temperature T of the coolantCoAnd a target temperature T of the coolantCo-T；
Wherein, the obtaining of the influence factors a and b corresponding to the temperature of the hydraulic oil and the temperature of the coolant respectively comprises:
the controlSystem for calculating hydraulic oil temperature THyAnd target temperature T of hydraulic oilHy-TDetermining the influence factor a according to the relative relationship between the range of the temperature difference and the influence factor; and
the controller calculates a coolant temperature TCoAnd a target temperature T of the coolantCo-TThe influence factor b is determined according to the relative relation between the range of the temperature difference and the influence factor.
9. The system of claim 7, wherein the obtaining the respective impact factors a and b corresponding to the hydraulic oil temperature and the coolant temperature comprises:
calculated by the following calculation formula:
a＝1-(THy-THy-T)/THy-T；
wherein, THyIndicating the temperature, T, of the hydraulic oilHy-TRepresenting a target temperature of hydraulic oil;
b＝1-(TCo-TCo-T)/TCo-T
wherein, TCoIndicating the coolant temperature, TCo-TIndicating the target coolant temperature.
10. The system of claim 7,
IPIDmax＝Imax*a*b-Ibun
IPIDmin＝-Ibun。
11. the system of claim 7, wherein the pump control current is dependent on an upper limit value IPIDmaxAnd a lower limit value IPIDminRegulating a pump control current I applied to the hydraulic pumpCtrlThe method comprises the following steps:
acquiring a first pump control current according to the difference value between the real-time rotating speed of the engine of the engineering machinery and the target rotating speed;
according to the upper limit value IPIDmaxAnd a lower limit value IPIDminTo, forThe first pump control current is limited to obtain a limited pump control current; and
according to the start-up current IbunAnd the limited pump control current is used for obtaining the pump control current ICtrl。
12. The system of claim 11, wherein the first pump control current is obtained by PID control according to a difference between a real-time rotation speed of an engine of the working machine and a target rotation speed.
13. A working machine comprising a temperature adaptive control system for a working machine according to any one of claims 7-12.
14. The work machine of claim 13, wherein the work machine comprises an excavator.
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Effective date of registration: 20211202 Address after: Room 4015, office building, 677 Lugu Avenue, Changsha hi tech Development Zone, Hunan 410000 Patentee after: Zoomlion earth moving machinery Co.,Ltd. Address before: 410013 No. 361 South silver basin, Changsha, Hunan, Yuelu District Patentee before: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Patentee before: Zhonglian Heavy Industry Co., Ltd. Weinan branch |