CN111501869B - Electric control hydraulic servo control system and method and electric excavator - Google Patents
Electric control hydraulic servo control system and method and electric excavator Download PDFInfo
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- CN111501869B CN111501869B CN202010432006.1A CN202010432006A CN111501869B CN 111501869 B CN111501869 B CN 111501869B CN 202010432006 A CN202010432006 A CN 202010432006A CN 111501869 B CN111501869 B CN 111501869B
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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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
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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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
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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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
Abstract
The embodiment of the application provides an electronic control hydraulic servo control system and method and an electric excavator, and relates to the technical field of engineering machinery. The electric control hydraulic servo control system comprises a control unit, and a servo motor, an electromagnetic valve and an information acquisition device which are respectively connected with the control unit. And the information acquisition device is used for acquiring input work information of the electric excavator and sending the input work information to the control unit. And the control unit is used for generating target rotating speed information and target displacement information according to the input working information. And the control unit is also used for sending the target rotating speed information to the servo motor so that the servo motor is adjusted to the target rotating speed according to the target rotating speed information. And the control unit is also used for sending the target displacement information to the electromagnetic valve so that the electromagnetic valve is adjusted to the target opening according to the target displacement information. Therefore, the opening of the electromagnetic valve and the rotating speed of the servo motor are regulated and controlled according to the input working information, the overflow and back pressure loss is reduced, and the purpose of energy conservation is further achieved.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to an electric control hydraulic servo control system and method and an electric excavator.
Background
The conventional excavator is provided with a power element which is usually a diesel engine, and the fuel efficiency of the diesel engine is only about 33 percent and is not more than 40 percent at most; secondly, the emissions from diesel engines pollute the atmosphere, and these pollutants mainly include: carbon monoxide (CO), unburned Hydrocarbons (HC), nitrogen oxides (NOx), and Particulate Matter (PM). These exhaust components are currently a significant source of air pollution and are a constant threat to human health. Some developed areas have already made policies, and the use of diesel engineering machinery is gradually eliminated. Again, petroleum is an irrenewable resource and will be exhausted sooner or later. In conclusion, diesel engineering machinery does not meet the requirements of green, energy saving and environmental protection. In order to solve these problems, a motor is used to drive a main pump as a new power system.
However, the conventional electric excavator still controls the electric motor according to the engine characteristics. That is, in a fixed gear, the motor operates at a fixed rotational speed, and cannot be adjusted in the range of the full rotational speed. The performance of the motor cannot be fully exerted, and the overflow and back pressure loss of the electric excavator is still large.
How to fully exert the performance of the motor, reduce overflow and back pressure loss and further achieve the aim of energy saving is a problem worthy of attention.
Disclosure of Invention
In view of the above, the present application provides an electrically controlled hydraulic servo control system, method and electric excavator to solve the above problems.
The embodiment of the application can be realized as follows:
in a first aspect, an embodiment of the present application provides an electronic control hydraulic servo control system, which is applied to an electric excavator, and includes a control unit, and a servo motor, an electromagnetic valve, and an information acquisition device, which are respectively connected to the control unit;
the information acquisition device is used for acquiring input working information of the electric excavator and sending the input working information to the control unit;
the control unit is used for generating target rotating speed information and target displacement information according to the input working information;
the control unit is further used for sending the target rotating speed information to the servo motor so that the servo motor can be adjusted to a target rotating speed according to the target rotating speed information;
the control unit is further used for sending the target displacement information to the electromagnetic valve so that the electromagnetic valve can be adjusted to a target opening degree according to the target displacement information.
In an optional implementation mode, the electric control hydraulic servo control system further comprises an electronic handle and a quantitative pump, and the information acquisition device comprises an angle sensor and a pressure sensor;
The angle sensor is arranged on the electronic handle and used for collecting angle deflection information of the electronic handle and sending the angle deflection information to the control unit;
the pressure sensor is arranged on the fixed displacement pump and used for collecting pressure information of the fixed displacement pump and sending the pressure information to the control unit.
In an optional embodiment, the control unit comprises an electric drive integrated control group and an electric control hydraulic control group which are communicated through a bus;
the electric drive integrated control group is connected with the servo motor and is used for generating target rotating speed information according to the pressure information and the angle deflection information and sending the target rotating speed information to the servo motor so that the servo motor is adjusted to a target rotating speed according to the target rotating speed information;
the electric control hydraulic control group is connected with the electromagnetic valve and used for generating target displacement information according to the pressure information and the angle deflection information and sending the target displacement information to the electromagnetic valve so that the electromagnetic valve is adjusted to a target opening degree according to the target displacement information.
In an alternative embodiment, the bus comprises one or more of a CAN bus, a LIN bus, a Flexray bus, and an ethernet.
In an alternative embodiment, the electrically driven integrated control group is further configured to:
acquiring actual rotating speed information of the servo motor;
generating rotation speed control information according to the actual rotation speed information and the target rotation speed information;
and sending the rotating speed control information to the servo motor so that the servo motor is adjusted to a target rotating speed according to the rotating speed control information.
In an optional embodiment, the information acquisition device further comprises a displacement sensor;
the displacement sensor is arranged on the electromagnetic valve and used for acquiring actual displacement information of the electromagnetic valve and sending the actual displacement information to the electric control hydraulic control group;
the electrically controlled hydraulic control group is further configured to:
generating displacement adjustment information according to the actual displacement information and the target displacement information;
and sending the displacement adjusting information to the electromagnetic valve so that the electromagnetic valve is adjusted to the target opening according to the displacement adjusting information.
In an optional embodiment, the electric drive integrated control group comprises a vehicle control system, a direct-current power conversion system, an alternating-current charging conversion system and a high-voltage power management system which are integrated in the same controller.
In an alternative embodiment, the electrically controlled hydraulic servo control system further comprises a hydraulic oil cylinder connected with the electromagnetic valve;
and the hydraulic oil cylinder is used for driving the load to move.
In a second aspect, an embodiment of the present application provides an electronic control hydraulic servo control method, which is applied to an electronic control hydraulic servo control system according to any one of the foregoing embodiments, and the method includes:
the information acquisition device acquires input work information of the electric excavator and sends the input work information to the control unit;
the control unit generates target rotating speed information and target displacement information according to the input working information;
the control unit sends the target rotating speed information to the servo motor so that the servo motor is adjusted to a target rotating speed according to the target rotating speed information;
the control unit also sends the target displacement information to the electromagnetic valve so that the electromagnetic valve is adjusted to a target opening degree according to the target displacement information.
In a third aspect, an embodiment of the present application provides an electric excavator, where the electric excavator includes a power battery system and an electronic control hydraulic servo control system as described in any one of the foregoing embodiments, and the power battery system is connected to the electronic control hydraulic servo control system;
And the power battery system is used for providing electric energy for the electric control hydraulic servo control system.
The embodiment of the application provides an electronic control hydraulic servo control system, an electronic control hydraulic servo control method and an electric excavator, which are applied to the electric excavator. And the information acquisition device is used for acquiring input work information of the electric excavator and transmitting the input work information to the control unit. And the control unit is used for generating target rotating speed information and target displacement information according to the input work information. And the control unit is also used for sending the target rotating speed information to the servo motor so that the servo motor is adjusted to the target rotating speed according to the target rotating speed information. And the control unit is also used for sending the target displacement information to the electromagnetic valve so that the electromagnetic valve is adjusted to the target opening according to the target displacement information. Therefore, the opening of the electromagnetic valve and the rotating speed of the servo motor are regulated and controlled according to the input working information, the performance of the motor is fully exerted, the overflow and back pressure loss are reduced, and the purpose of energy conservation is further achieved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, several embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic configuration diagram of a conventional excavator provided in an embodiment of the present application.
Fig. 2 is a block diagram of an electrically controlled hydraulic servo control system according to an embodiment of the present disclosure.
Fig. 3 is a second block diagram of the electrically controlled hydraulic servo control system according to the embodiment of the present application.
Fig. 4 is a third structural block diagram of an electrically controlled hydraulic servo control system according to an embodiment of the present application.
Fig. 5 is a flowchart of an electric control hydraulic servo control method according to an embodiment of the present application.
Icon: 10-an electrically controlled hydraulic servo control system; 11-an information acquisition device; 111-angle sensor; 112-a pressure sensor; 113-a displacement sensor; 12-a control unit; 121-an electrically driven integrated control group; 122-electrically controlled hydraulic control group; 13-a servo motor; 14-a solenoid valve; 15-an electronic handle; 16-quantitative pump.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it is to be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in an orientation or positional relationship as indicated in the drawings, or as would be ordinarily understood by those skilled in the art, simply for convenience in describing and simplifying the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present application.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a conventional excavator according to an embodiment of the present application. The components of the conventional excavator mainly comprise a diesel engine system, an electric control system, a hydraulic system, a walking system, a rotary platform, a working device and a cab.
The diesel engine system converts chemical energy of diesel oil into mechanical energy, and the mechanical energy is a power source of the whole machine, and the diesel engine inputs the mechanical energy into the hydraulic pump through a flywheel. The hydraulic system transfers the energy absorbed from the hydraulic pump to various actuators through hydraulic switching, and the actuators comprise hydraulic cylinders and hydraulic motors. The working device is an execution system of the whole machine and is driven by the hydraulic oil cylinder. The conventional accessory of the whole machine is a bucket, and different accessories can be selected according to the requirements of operation working conditions.
However, as described in the background, conventional excavator equipment power elements are typically diesel engines, which have fuel efficiencies of only about 33% and not more than 40% at most; secondly, the emissions from diesel engines pollute the atmosphere, and these pollutants mainly include: carbon monoxide (CO), unburned Hydrocarbons (HC), nitrogen oxides (NOx), and Particulate Matter (PM). These exhaust components are currently a significant source of air pollution and are a constant threat to human health. Some developed areas have already made policies, and the use of diesel engineering machinery is gradually eliminated. Again, petroleum is an irrenewable resource and will be exhausted sooner or later. In conclusion, diesel engineering machinery does not meet the requirements of green, energy saving and environmental protection.
In order to solve these problems, a motor is used to drive a main pump as a new power system.
However, the conventional electric excavator still controls the electric motor according to the engine characteristics. That is, in a fixed gear, the motor operates at a fixed rotational speed, and cannot be adjusted in the range of the full rotational speed. The performance of the motor cannot be fully exerted, and the overflow and back pressure loss of the electric excavator is still large.
How to give full play to the performance of motor, reduce overflow and backpressure loss, further reach the purpose of energy-conservation is the problem of being worth noting.
In view of the above, embodiments of the present application provide an electrically controlled hydraulic servo control system, a method and an electric excavator, which control the rotation speed of a servo motor and the opening degree of an electromagnetic valve according to the load size and the driving intention (input work information) to solve the above problems, and the above solutions are explained in detail below.
Referring to fig. 2, fig. 2 is a block diagram of an electrically controlled hydraulic servo control system 10 according to an embodiment of the present disclosure. The embodiment of the application provides an electronic control hydraulic servo control system 10, which is applied to an electric excavator, wherein the electronic control hydraulic servo control system 10 comprises a control unit 12, and a servo motor 13, an electromagnetic valve 14 and an information acquisition device 11 which are respectively connected with the control unit 12.
And the information acquisition device 11 is used for acquiring input work information of the electric excavator and sending the input work information to the control unit 12.
And the control unit 12 is used for generating target rotating speed information and target displacement information according to the input work information.
The control unit 12 is further configured to send the target rotation speed information to the servo motor 13, so that the servo motor 13 adjusts to the target rotation speed according to the target rotation speed information.
The control unit 12 is further configured to send target displacement information to the electromagnetic valve 14, so that the electromagnetic valve 14 is adjusted to a target opening according to the target displacement information.
As a possible implementation scenario, using the method provided in the embodiment of the present application, in order to dig up the same 10 kg of soil, the prior art may need to dig up the soil with 200N force for 200W of power. The power-saving energy-saving device can dig up soil with 150N force according to the electric energy of 150W input working information, and achieves the purpose of energy saving.
Further, please refer to fig. 3 in combination as a possible implementation manner, and fig. 3 is a second block diagram of the electrically controlled hydraulic servo control system 10 according to the embodiment of the present application. The input work information can be obtained through an angle sensor 111 and a pressure sensor 112, the electric control hydraulic servo control system 10 further comprises an electronic handle 15 and a fixed displacement pump 16, and the information acquisition device 11 comprises the angle sensor 111 and the pressure sensor 112.
The angle sensor 111 is disposed on the electronic handle 15, and is configured to collect angle deflection information of the electronic handle 15 and send the angle deflection information to the control unit 12.
The pressure sensor 112 is disposed on the fixed displacement pump 16, and is configured to collect pressure information of the fixed displacement pump 16 and send the pressure information to the control unit 12.
Wherein, the electronic handle 15 can be controlled by the user to deflect the angle, and the angle sensor 111 disposed on the electronic handle 15 can collect the angle deflection information of the electronic handle 15, so as to know the driving intention of the user according to the angle deflection information. The pressure change of the constant displacement pump 16 is measured by the pressure sensor 112, and the magnitude of the external load is known.
In this way, the input operation information is obtained by the angle sensor 111 and the pressure sensor 112, and the control unit 12 controls the flow rate of the fixed displacement pump 16 and the pressure of the electromagnetic valve 14 based on the input operation information, thereby controlling the operation state of the electric excavator.
Further, please refer to fig. 4 in combination, fig. 4 is a third block diagram of the electric control hydraulic servo control system 10 according to the embodiment of the present disclosure. As an embodiment, the servo motor 13 is adjusted to the target rotation speed according to the target rotation speed information, and the solenoid valve 14 is adjusted to the target opening degree according to the target displacement information, which can be realized by the following steps:
the control unit 12 includes an electrically driven integrated control group 121 and an electrically controlled hydraulic control group 122 communicating via a bus.
The electric drive integrated control group 121 is connected to the servo motor 13, and is configured to generate target rotation speed information according to the pressure information and the angle deflection information, and send the target rotation speed information to the servo motor 13, so that the servo motor 13 adjusts to a target rotation speed according to the target rotation speed information.
The electrically controlled hydraulic control group 122 is connected to the solenoid valve 14, and is configured to generate target displacement information according to the pressure information and the angle deflection information, and send the target displacement information to the solenoid valve 14, so that the solenoid valve 14 is adjusted to a target opening degree according to the target displacement information.
Wherein, the bus comprises one or more of a CAN bus, a LIN bus, a Flexray bus and an Ethernet.
As one possible implementation, a MAP (ignition control MAP) of the motor may be prepared in advance from the historical pressure information and the angular deflection information, and the MAP may reflect the motor efficiency distribution at different rotation speeds and torques. And when the pressure information and the angle deflection information are obtained, combining the MAP of the motor to generate target rotating speed information. The servo motor 13 is adjusted to the target rotation speed according to the target rotation speed information.
Similarly, when the pressure information and the angular deflection information are acquired, the target displacement information is generated in conjunction with the MAP of the motor. The solenoid valve 14 is adjusted to a target opening according to the target displacement information, and on the premise of ensuring the loading capacity, the back pressure of the oil return cavity is reduced by adjusting the valve core displacement of the solenoid valve 14, the system pressure and the system power are reduced, and the purpose of energy conservation is achieved.
As another embodiment, in order to adjust the servo motor 13 to the target rotation speed according to the target rotation speed information, the electric drive integrated control group 121 may further be configured to:
first, actual rotational speed information of the servo motor 13 is acquired.
Next, the rotational speed control information is generated based on the actual rotational speed information and the target rotational speed information.
Then, the rotational speed control information is sent to the servo motor 13, so that the servo motor 13 is adjusted to the target rotational speed according to the rotational speed control information.
For example, if the target rotation speed is 5000rpm and the obtained actual rotation speed of the servo motor 13 is 3000rpm, the rotation speed control information is generated according to the target rotation speed and the actual rotation speed, so that the rotation speed of the servo motor 13 is increased by 2000rpm to reach the target rotation speed.
Thus, the electric drive integrated control group 121 and the servo motor 13 form closed-loop control, compare the actual rotating speed information with the target rotating speed information back and forth, and adjust and control in real time according to the error of the actual rotating speed information and the target rotating speed information, so that the system regulation and control are more accurate.
As another embodiment, in order to adjust the solenoid valve 14 to the target opening degree according to the target displacement information, the information collecting device 11 further includes a displacement sensor 113.
The displacement sensor 113 is disposed on the solenoid valve 14, and is configured to collect actual displacement information of the solenoid valve 14, and send the actual displacement information to the electrically controlled hydraulic control group 122.
An electrically controlled hydraulic control group 122, further configured to: first, displacement adjustment information is generated according to actual displacement information and target displacement information. Then, the displacement adjustment information is sent to the solenoid valve 14, so that the solenoid valve 14 is adjusted to the target opening degree according to the displacement adjustment information.
For example, if the target displacement information indicates that the target opening degree of the solenoid valve 14 is 50% and the actual opening degree indicated by the actual displacement information of the solenoid valve 14 acquired by the displacement sensor 113 is 60%, displacement adjustment information is generated based on the target displacement information and the actual displacement information so that the opening degree of the solenoid valve 14 is reduced by 10% to reach the target opening degree of 50%.
Thus, the electrically controlled hydraulic control group 122 and the solenoid valve 14 form closed-loop control, compare the actual displacement information with the target displacement information back and forth, and perform adjustment control in real time according to the error of the actual displacement information and the target displacement information, so that the system regulation and control are more accurate.
Further, the electric drive integrated control group 121 includes a vehicle control system, a dc power conversion system, an ac charging conversion system and a high voltage power management system integrated in the same controller.
Therefore, an integrated electric driving technology is adopted, a whole vehicle control system, a direct-current power supply conversion system, an alternating-current charging conversion system and a high-voltage power supply management system are integrated and integrated, and the integrated design is favorable for optimizing cost and reducing volume.
Further, the electrically controlled hydraulic servo control system 10 further includes a hydraulic cylinder connected to the electromagnetic valve 14, and the hydraulic cylinder is used for driving the load to move.
Further, the electric control hydraulic servo control system 10 further includes a traveling motor and a revolving motor connected to the electromagnetic valve 14, the traveling motor is used for driving the excavator to move, and the revolving motor is used for driving the revolving platform of the excavator to rotate. The specific principle can be seen in the prior art.
The embodiment of the present application also provides an electronic control hydraulic servo control method, which is applied to the above electronic control hydraulic servo control system 10, please refer to fig. 5 in combination, and fig. 5 is a flowchart of the electronic control hydraulic servo control method provided in the embodiment of the present application, where the method includes:
step S1, the information collecting device 11 collects input work information of the electric excavator and sends the input work information to the control unit 12;
step S2, the control unit 12 generates target rotational speed information and target displacement information based on the input operation information;
step S3, the control unit 12 sends the target rotation speed information to the servo motor 13, so that the servo motor 13 adjusts to the target rotation speed according to the target rotation speed information;
in step S4, the control unit 12 further sends target displacement information to the solenoid valve 14, so that the solenoid valve 14 is adjusted to a target opening degree according to the target displacement information.
Since the principle of solving the problem of each step in the embodiment of the present application is similar to that of the above-mentioned electronically controlled hydraulic servo control system 10 in the embodiment of the present application, the implementation principle of the method can be referred to the implementation principle of the system, and repeated descriptions are omitted.
The embodiment of the application also provides an electric excavator, which comprises a power battery system and the electric control hydraulic servo control system 10, wherein the power battery system is connected with the electric control hydraulic servo control system 10.
And the power battery system is used for providing electric energy for the electric control hydraulic servo control system 10.
The power battery system is a complete machine energy source, the power battery system transmits electric energy to the servo motor 13, the servo motor 13 drives the constant delivery pump 16, and the constant delivery pump 16 transmits the energy to each execution element, such as a hydraulic oil cylinder, a rotary motor and a walking motor.
The power battery system is a high-voltage system, and converts high-voltage electricity into 24V low-voltage electricity through a direct-current power supply conversion system, so that power is provided for each vehicle-mounted electrical equipment.
Compared with the conventional excavator which is directly driven by a diesel engine, the scheme provided by the embodiment of the application enables the engineering machinery such as the excavator and the like to be more green, environment-friendly and energy-saving.
In summary, the embodiment of the application provides an electric control hydraulic servo control system, a method and an electric excavator, which are applied to the electric excavator. And the information acquisition device is used for acquiring input work information of the electric excavator and transmitting the input work information to the control unit. And the control unit is used for generating target rotating speed information and target displacement information according to the input working information. And the control unit is also used for sending the target rotating speed information to the servo motor so that the servo motor is adjusted to the target rotating speed according to the target rotating speed information. And the control unit is also used for sending the target displacement information to the electromagnetic valve so that the electromagnetic valve is adjusted to the target opening degree according to the target displacement information. Therefore, the opening of the electromagnetic valve and the rotating speed of the servo motor are regulated and controlled according to the input working information, the performance of the motor is fully exerted, the overflow and back pressure loss are reduced, and the purpose of energy conservation is further achieved.
The above description is only for the specific embodiments of the present application, but the scope of the present application 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 application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. An electric control hydraulic servo control system is characterized by being applied to an electric excavator and comprising a control unit, a servo motor, an electromagnetic valve and an information acquisition device, wherein the servo motor, the electromagnetic valve and the information acquisition device are respectively connected with the control unit;
the information acquisition device is used for acquiring input working information of the electric excavator and sending the input working information to the control unit;
the control unit is used for generating target rotating speed information and target displacement information according to the input work information;
the control unit is further used for sending the target rotating speed information to the servo motor so that the servo motor can be adjusted to a target rotating speed according to the target rotating speed information;
the control unit is also used for sending the target displacement information to the electromagnetic valve so that the electromagnetic valve is adjusted to a target opening degree according to the target displacement information;
the electric control hydraulic servo control system also comprises an electronic handle, and the information acquisition device comprises an angle sensor;
the angle sensor is arranged on the electronic handle and used for collecting angle deflection information of the electronic handle and sending the angle deflection information to the control unit;
The electric control hydraulic servo control system also comprises a constant delivery pump, and the information acquisition device comprises a pressure sensor;
the pressure sensor is arranged on the fixed displacement pump and used for collecting pressure information of the fixed displacement pump and sending the pressure information to the control unit;
the control unit comprises an electric drive integrated control group communicated through a bus;
the electric drive integrated control group is connected with the servo motor and used for generating target rotating speed information according to the pressure information and the angle deflection information and sending the target rotating speed information to the servo motor so that the servo motor can be adjusted to a target rotating speed according to the target rotating speed information.
2. The electrically controlled hydraulic servo control system of claim 1, wherein the control unit comprises an electrically controlled hydraulic control group communicating over a bus;
the electric control hydraulic control group is connected with the electromagnetic valve and used for generating target displacement information according to the pressure information and the angle deflection information and sending the target displacement information to the electromagnetic valve so that the electromagnetic valve is adjusted to a target opening degree according to the target displacement information.
3. The electro-hydraulic servo control system of claim 2, wherein the bus comprises one or more of a CAN bus, a LIN bus, a Flexray bus, and an ethernet.
4. The electrically controlled hydraulic servo control system of claim 2, wherein the electrically driven integrated control group is further configured to:
acquiring actual rotating speed information of the servo motor;
generating rotation speed control information according to the actual rotation speed information and the target rotation speed information;
and sending the rotating speed control information to the servo motor so that the servo motor is adjusted to a target rotating speed according to the rotating speed control information.
5. The electro-hydraulic servo control system of claim 2, wherein the information acquisition device further comprises a displacement sensor;
the displacement sensor is arranged on the electromagnetic valve and used for acquiring actual displacement information of the electromagnetic valve and sending the actual displacement information to the electric control hydraulic control group;
the electrically controlled hydraulic control group is further configured to:
generating displacement adjustment information according to the actual displacement information and the target displacement information;
and sending the displacement adjusting information to the electromagnetic valve so that the electromagnetic valve is adjusted to the target opening according to the displacement adjusting information.
6. The electric control hydraulic servo control system according to claim 2, wherein the electric drive integrated control group comprises a vehicle control system, a direct current power supply conversion system, an alternating current charging conversion system and a high voltage power supply management system which are integrated in the same controller.
7. The electrically controlled hydraulic servo control system of claim 1, further comprising a hydraulic ram connected to the solenoid valve;
and the hydraulic oil cylinder is used for driving the load to move.
8. An electrically controlled hydraulic servo control method, applied to an electrically controlled hydraulic servo control system according to any one of claims 1 to 7, the method comprising:
the information acquisition device acquires input work information of the electric excavator and sends the input work information to the control unit;
the control unit generates target rotating speed information and target displacement information according to the input working information;
the control unit sends the target rotating speed information to the servo motor so that the servo motor is adjusted to a target rotating speed according to the target rotating speed information;
the control unit also sends the target displacement information to the electromagnetic valve so that the electromagnetic valve is adjusted to a target opening degree according to the target displacement information.
9. An electric excavator, which is characterized by comprising a power battery system and the electric control hydraulic servo control system as claimed in any one of claims 1 to 7, wherein the power battery system is connected with the electric control hydraulic servo control system;
and the power battery system is used for providing electric energy for the electric control hydraulic servo control system.
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| CN111807228B (en) * | 2020-09-14 | 2021-01-08 | 湖南三一中型起重机械有限公司 | Crane control method, boarding control device and control system |
| CN113107912B (en) * | 2021-04-28 | 2023-05-12 | 三一重机有限公司 | Constant-speed walking control method and device and excavator |
| CN113309158A (en) * | 2021-06-22 | 2021-08-27 | 山东临工工程机械有限公司 | Quantitative control system and method for quantitative system of electric excavator |
| CN113404118B (en) * | 2021-07-14 | 2022-06-21 | 吉林大学 | Automatic control method for hydraulic motor of pure electric loader |
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| CN201191366Y (en) * | 2008-05-09 | 2009-02-04 | 杭州励贝电液科技有限公司 | Loading machine integrated controller |
| US8920104B2 (en) * | 2009-06-01 | 2014-12-30 | Caterpillar Global Mining Llc | Hydraulic crowd system for electric mining shovel |
| CN102505996B (en) * | 2011-11-28 | 2014-06-25 | 上海中联重科桩工机械有限公司 | Power matching system for electronic control engine and volume adjustable hydraulic pump and method |
| CN102734277B (en) * | 2012-07-04 | 2015-06-10 | 宁波巴斯顿机械科技有限公司 | High-accuracy and high-efficiency intelligent closed loop servo pump control system |
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| CN204775445U (en) * | 2015-05-18 | 2015-11-18 | 徐工集团工程机械股份有限公司科技分公司 | Automatically controlled joystick control's loader a steering system |
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| CN204875924U (en) * | 2015-05-25 | 2015-12-16 | 上海众联能创新能源科技股份有限公司 | Hydraulic shovel's electric driving system |
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| CN106884832A (en) * | 2017-04-14 | 2017-06-23 | 上海铖杏自动化控制技术有限公司 | A kind of electrohydraulic servo system |
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