CN111691491A - Energy-saving control method of excavator and excavator - Google Patents
Energy-saving control method of excavator and excavator Download PDFInfo
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- CN111691491A CN111691491A CN202010583091.1A CN202010583091A CN111691491A CN 111691491 A CN111691491 A CN 111691491A CN 202010583091 A CN202010583091 A CN 202010583091A CN 111691491 A CN111691491 A CN 111691491A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- 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
-
- 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
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
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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 application provides an energy-saving control method of an excavator and the excavator, wherein the energy-saving control method comprises the steps of obtaining working condition state information of the excavator, wherein the working condition state information comprises one of a first working condition state and a second working condition state; if the excavator is detected to be in the first working condition state, determining a first engine target working parameter of the excavator, and controlling the excavator to adjust the rotating speed of an engine of the excavator and the displacement of a variable pump according to the first engine target working parameter; and if the excavator is detected to be in the second working condition state, determining a second engine target working parameter of the excavator, and controlling the excavator to adjust the rotating speed of the engine of the excavator and the displacement of the variable pump according to the second engine target working parameter. According to the method and the device, the rotating speed of the engine of the excavator and the discharge capacity of the variable pump are adjusted according to the working condition state, so that the output power of the engine can be well matched with the power required by a load, the engine can be kept in the optimal economic oil consumption area to work, and the energy consumption is reduced.
Description
Technical Field
The application relates to the technical field of excavators, in particular to an energy-saving control method of an excavator and the excavator.
Background
The actual working conditions of the excavator are very complex. The power source of most excavators is a diesel engine, and the performance of the engine cannot be fully exerted because the working conditions of the excavator are severe, the external load changes frequently, and the diesel engine often deviates from an economic oil consumption area.
At present, a control mode of determining a target working point of an engine in real time according to a load is adopted to enable the engine to work near an optimal economic oil consumption area, the target working point of the engine can be greatly changed due to severe load change, the engine often deviates from the optimal economic oil consumption area to work, the performance of the whole engine cannot be fully exerted, and meanwhile, due to the problems of untimely control response and the like, better matching of the output power of the engine and the power required by the load cannot be realized, and the energy consumption of a system is serious.
Disclosure of Invention
In view of this, an object of the present application is to provide an energy-saving control method for an excavator and an excavator, which control the excavator according to target operating parameters of an engine by using different operating conditions to adjust a displacement of a variable pump of the excavator, so as to achieve better matching between output power of the engine and power required by a load, and reduce energy consumption.
In a first aspect, an embodiment of the present application provides an energy saving control method for an excavator, where the energy saving control method includes:
acquiring working condition state information of the excavator, wherein the working condition state information comprises one of a first working condition state and a second working condition state;
if the excavator is detected to be in the first working condition state, determining a first engine target working parameter of the excavator, and controlling the excavator to adjust the rotating speed of an engine of the excavator and the displacement of a variable pump according to the first engine target working parameter;
and if the excavator is detected to be in the second working condition state, determining a second engine target working parameter of the excavator, and controlling the excavator to adjust the rotating speed of the engine of the excavator and the displacement of the variable pump according to the second engine target working parameter.
Preferably, before the obtaining of the operating condition state information of the excavator, where the operating condition state information includes a first operating condition state and a second operating condition state, the energy saving control method further includes:
the method comprises the steps of obtaining a preset variable pump pressure threshold value of an excavator, and obtaining an actual variable pump pressure value of the excavator in real time in the working process of the excavator;
if the actual variable pump pressure value is detected to be larger than the preset variable pump pressure threshold value, determining that the excavator is in a first working condition state;
if the actual variable pump pressure value is detected to be not greater than the preset variable pump pressure threshold value, determining that the excavator is in a second working condition state;
or acquiring a preset pilot pump pressure threshold value of the excavator, and acquiring an actual pilot pump pressure value of the excavator in real time in the working process of the excavator;
if the actual pilot pump pressure value is detected to be larger than the preset pilot pump pressure threshold value, determining that the excavator is in a first working condition state;
and if the actual pilot pump pressure value is not larger than the preset pilot pump pressure threshold value, determining that the excavator is in a second working condition state.
Preferably, before the obtaining of the operating condition state information of the excavator, where the operating condition state information includes a first operating condition state and a second operating condition state, the energy saving control method further includes:
acquiring the working posture of the excavator, wherein the working posture is an excavating action posture, an unloading action posture and a slewing action posture;
if the excavator is detected to be in the excavating action posture, and the actual variable pump pressure value is larger than the preset variable pump pressure threshold value or the actual pilot pump pressure value is larger than the preset pilot pump pressure threshold value, determining that the excavator is in a first working condition state;
and if the excavator is detected to be in the excavating action attitude, and the actual variable pump pressure value is not greater than the preset variable pump pressure threshold value or the actual pilot pump pressure value is not greater than the preset pilot pump pressure threshold value, or the excavator is in the unloading action attitude, or the excavator is in the slewing action attitude, determining that the excavator is in a second working condition state.
Preferably, the first engine target operating parameter includes a first engine target torque and a first engine target speed, and the second engine target operating parameter includes a second engine target torque and a second engine target speed.
Preferably, the displacement of the variable displacement pump of the excavator is adjusted by:
when the excavator is in the first working condition state, determining a first engine target torque of the excavator, and acquiring a first actual variable pump pressure value and a first actual variable pump displacement of the excavator in real time in the working process of the excavator;
determining a first actual variable pump torque of the excavator based on the first actual variable pump pressure value and the first actual variable pump displacement;
adjusting the displacement of the variable pump based on a magnitude relationship between the first engine target torque and the first actual variable pump torque such that a difference between the first actual variable pump torque and the first engine target torque is less than a preset torque deviation allowance threshold.
Preferably, the adjusting the displacement of the variable pump based on the magnitude relationship between the first engine target torque and the first actual variable pump torque so that the difference between the first actual variable pump torque and the first engine target torque is smaller than a preset torque deviation allowable threshold includes:
determining a first torque deviation corresponding to an engine of the excavator based on the first engine target torque and the first actual variable pump torque;
determining that the first actual variable pump torque approaches to the first engine target torque to obtain a displacement value of the variable pump needing to be adjusted according to a constant torque PID control algorithm;
and adjusting the displacement of the variable pump based on the displacement value of the variable pump needing to be adjusted until the first torque deviation corresponding to the engine is smaller than the torque deviation allowable threshold value.
Preferably, the displacement of the variable displacement pump of the excavator is adjusted by:
when the excavator is in the second working condition state, determining a second engine target torque of the excavator, and acquiring a second actual variable pump pressure value and a second actual variable pump displacement of the excavator in real time in the working process of the excavator;
determining a second actual variable pump torque of the excavator based on the second actual variable pump pressure value and the second actual variable pump displacement;
adjusting the displacement of the variable pump based on a magnitude relationship between the second engine target torque and the second actual variable pump torque such that a difference between the second actual variable pump torque and the second engine target torque is less than a preset torque deviation allowance threshold.
Preferably, the adjusting the displacement of the variable pump based on the magnitude relationship between the second engine target torque and the second actual variable pump torque so that the difference between the second actual variable pump torque and the second engine target torque is smaller than a preset torque deviation allowable threshold includes:
determining a second torque deviation corresponding to the engine of the excavator based on the second engine target torque and the second actual variable pump torque;
determining that the second actual variable pump torque approaches to the second engine target torque to obtain the displacement value of the variable pump required to be adjusted according to a constant torque PID control algorithm;
and adjusting the displacement of the variable pump based on the displacement value of the variable pump needing to be adjusted until a second torque deviation corresponding to the engine is smaller than the torque deviation allowable threshold.
Preferably, the first operating condition state is a heavy load state of the excavator, and the second operating condition state is a light load state of the excavator.
In a second aspect, an embodiment of the present application provides an excavator, to which the energy saving control method of the excavator according to the first aspect is applied.
The embodiment of the application provides an energy-saving control method of an excavator and the excavator, wherein the energy-saving control method comprises the following steps: firstly, acquiring working condition state information of an excavator, wherein the working condition state information comprises a first working condition state and a second working condition state; then detecting the working condition state of the excavator, if detecting that the excavator is in the first working condition state, determining a first engine target working parameter of the excavator, and controlling the excavator to adjust the rotating speed of an engine of the excavator and the discharge capacity of a variable pump according to the first engine target working parameter; and if the excavator is detected to be in the second working condition state, determining a second engine target working parameter of the excavator, and controlling the excavator to adjust the rotating speed of the engine of the excavator and the displacement of the variable pump according to the second engine target working parameter.
According to the method and the device, the excavator is controlled according to the working condition states to adjust the displacement of the variable pump of the excavator according to the target working parameters of the engine, so that the output power of the engine can be well matched with the power required by a load, the engine is determined to work in an optimal economic oil consumption area or a low oil consumption area according to the working condition state of the excavator, the performance of the whole excavator is fully exerted, and the energy consumption is reduced.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred 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 flowchart of an energy saving control method for an excavator according to an embodiment of the present application;
FIG. 2 is a flowchart of a first method for determining a working condition state of an excavator according to an embodiment of the present disclosure;
FIG. 3 is a flowchart of a second method for determining a working condition state of an excavator according to an embodiment of the present disclosure;
FIG. 4 is a flowchart of a third method for determining a working condition state of an excavator according to an embodiment of the present disclosure;
fig. 5 is a flowchart of another energy saving control method for an excavator according to an embodiment of the present application;
fig. 6 is a flowchart of an excavator matching algorithm according to an embodiment of the present application.
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 only a part of the embodiments of the present application, and not all the 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 of the present application without making any creative effort, shall fall within the protection scope of the present application.
In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are usually placed in when used, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. 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.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; 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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In a first aspect, an embodiment of the present application provides an energy saving control method for an excavator, please refer to fig. 1, where fig. 1 is a flowchart of the energy saving control method for the excavator provided in the embodiment of the present application; as shown in fig. 1, an energy saving control method provided in an embodiment of the present application includes:
s110, obtaining working condition state information of the excavator, wherein the working condition state information comprises one of a first working condition state and a second working condition state.
In the step, the working condition state information of the excavator is determined firstly. In the embodiment of the application, the working condition state information is divided into two categories, namely, the first working condition state is the heavy load state of the excavator, and the second working condition state is the light load state of the excavator. And matching corresponding output power for the engine according to different working condition states of the excavator.
S120, if the excavator is detected to be in the first working condition state, determining a first engine target working parameter of the excavator, and controlling the excavator to adjust the rotating speed of an engine of the excavator and the displacement of a variable pump according to the first engine target working parameter.
S130, if the excavator is detected to be in the second working condition state, determining a second engine target working parameter of the excavator, and controlling the excavator to adjust the rotating speed of an engine of the excavator and the displacement of a variable pump according to the second engine target working parameter.
The engine is connected with the variable pump, the variable pump is connected with the load, the engine is used for providing a power source for the variable pump, the variable pump is used for providing power for the load, and the load can be a bucket, an arm and a movable arm. In the embodiment of the present application, the following two formulas are applied to perform calculation:
P＝V*T；
T＝F*Vg/20π；
wherein P represents power, V represents rotational speed, T represents torque, F represents pressure, and V representsgIndicating the displacement.
In the step, the target working parameters of the engine under different working condition states are determined by combining all characteristic curves of the engine. When the excavator is in the first working condition state, determining a first engine target working parameter of the excavator, and when the excavator is in the second working condition state, determining a second engine target working parameter of the excavator.
Further, determining the first engine target operating parameter or the second engine target operating parameter by: firstly, determining the load power of the excavator under different working condition states according to the working condition state of the excavator; then determining a load power-optimal rotating speed curve and a load power-optimal torque curve of the engine according to the universal characteristic curve of the engine; further, a current first engine target rotating speed and a current first engine target torque or a current second engine target rotating speed and a current second engine target torque are determined based on a load power-optimal rotating speed curve and a load power-optimal torque curve of the engine, wherein the first engine target operating parameter comprises the first engine target rotating speed and the first engine target torque, and the second engine target operating parameter comprises the second engine target rotating speed and the second engine target torque.
Specifically, a matching control algorithm is adopted in the embodiment of the application, the controller collects the engine speed, the variable pump pressure, the variable pump displacement and the pilot pressure, the variable pump pressure and the variable pump flow of the control input parameters are obtained through signal processing such as filtering, amplitude limiting and calculation; then according to the variable pump main pressure and the pilot pressure, distinguishing light and heavy loads and determining engine target working points (engine target rotating speed and engine target torque) corresponding to the light and heavy loads respectively according to the steps from S110 to S130; and finally, controlling the opening of the proportional valve of the variable pump according to a constant torque PID algorithm. In addition, the matching control algorithm of the excavator provided by the application can be realized through other computer languages.
After the first engine target working parameter or the second engine target working parameter of the excavator is determined, the excavator is controlled to adjust the rotating speed of an engine of the excavator and the displacement of a variable pump according to the first engine target working parameter or the excavator is controlled to adjust the rotating speed of the engine of the excavator and the displacement of the variable pump according to the second engine target working parameter, and the load power is changed by adjusting the rotating speed of the engine of the excavator and the displacement of the variable pump, so that the load power of the excavator can be matched with the output power of the engine.
The method mainly comprises the following steps of: sending a target rotating speed signal to the engine through a controller of the excavator, and adjusting the rotating speed of the engine to the target rotating speed by the engine according to the received target rotating speed signal; and the target torque is achieved by adjusting the displacement of the variable displacement pump.
The energy-saving control method for the excavator provided by the embodiment of the application comprises the following steps: firstly, acquiring working condition state information of an excavator, wherein the working condition state information comprises a first working condition state and a second working condition state; then detecting the working condition state of the excavator, if detecting that the excavator is in the first working condition state, determining a first engine target working parameter of the excavator, and controlling the excavator to adjust the rotating speed of an engine of the excavator and the discharge capacity of a variable pump according to the first engine target working parameter; if the excavator is detected to be in the second working condition state, determining a second engine target working parameter of the excavator, and controlling the excavator to adjust the rotating speed of an engine of the excavator and the discharge capacity of a variable pump according to the second engine target working parameter; according to the method and the device, the excavator is controlled to adjust the rotating speed of the engine of the excavator and the discharge capacity of the variable pump according to the target working parameters of the engine through the working condition states, the output power of the engine can be well matched with the power required by a load, the engine can be determined to work in the optimal economic oil consumption area or the low oil consumption area according to the working condition state of the excavator, the performance of the whole excavator is fully exerted, and the energy consumption is reduced.
Referring to fig. 2, fig. 2 is a flowchart of a first method for determining a working condition state of an excavator according to an embodiment of the present disclosure; as shown in fig. 2:
s210, acquiring a preset variable pump pressure threshold value of an excavator, and acquiring an actual variable pump pressure value of the excavator in real time in the working process of the excavator;
in the step, a preset variable pump pressure threshold value is preset, the actual variable pump pressure value of the excavator is compared with the preset variable pump pressure threshold value, and the working condition state of the excavator is determined according to the size relation between the actual variable pump pressure value and the preset variable pump pressure threshold value, so that the preset variable pump pressure threshold value is a main evaluation value for detecting the working condition state of the excavator.
S220, if the fact that the actual variable pump pressure value is larger than the preset variable pump pressure threshold value is detected, determining that the excavator is in a first working condition state;
and S230, if the actual variable pump pressure value is not larger than the preset variable pump pressure threshold value, determining that the excavator is in a second working condition state.
In the embodiment of the application, the working condition state of the excavator is determined by detecting the pressure of the variable displacement pump. Presetting a preset variable pump pressure threshold, then detecting the actual variable pump pressure value of the excavator in real time, and when the actual variable pump pressure value is greater than the preset variable pump pressure threshold, determining that the excavator is in a first working condition state; and when the actual variable pump pressure value is not greater than the preset variable pump pressure threshold value, determining that the excavator is in a second working condition state.
Referring to fig. 3, fig. 3 is a flowchart of a second method for determining a working condition state of an excavator according to an embodiment of the present application; as shown in fig. 3:
s310, acquiring a preset pilot pump pressure threshold value of the excavator, and acquiring an actual pilot pump pressure value of the excavator in real time in the working process of the excavator;
in the step, a preset pilot pump pressure threshold value is preset, the actual pilot pump pressure value of the excavator is compared with the preset pilot pump pressure threshold value, and the working condition state of the excavator is determined according to the size relation between the actual pilot pump pressure value and the preset pilot pump pressure threshold value, so that the preset pilot pump pressure threshold value is a main evaluation value for detecting the working condition state of the excavator.
S320, if the fact that the actual pilot pump pressure value is larger than the preset pilot pump pressure threshold value is detected, determining that the excavator is in a first working condition state;
s330, if the fact that the actual pilot pump pressure value is not larger than the preset pilot pump pressure threshold value is detected, the excavator is determined to be in a second working condition state.
In the embodiment of the application, the working condition state of the excavator is determined by detecting the pressure of the pilot pump. Presetting a preset pilot pump pressure threshold, then detecting the actual pilot pump pressure value of the excavator in real time, and determining that the excavator is in a first working condition state when the actual pilot pump pressure value is greater than the preset pilot pump pressure threshold; and when the actual pilot pump pressure value is not greater than the preset pilot pump pressure threshold value, determining that the excavator is in a second working condition state.
Referring to fig. 4, fig. 4 is a flowchart of a third method for determining a working condition state of an excavator according to an embodiment of the present application; as shown in fig. 4:
s410, acquiring the working posture of the excavator, wherein the working posture is an excavating action posture, an unloading action posture and a slewing action posture;
specifically, the digging action includes bucket digging, arm digging, boom raising, and the unloading action includes bucket unloading, arm unloading, and boom lowering.
In the step, new parameters are introduced to judge the working condition state of the excavator. In the embodiment of the application, the working condition state of the excavator is jointly judged by combining the variable pump pressure value or the pilot pump pressure value with the working posture of the excavator.
S420, if the excavator is detected to be in the excavating action posture, and the actual variable pump pressure value is larger than the preset variable pump pressure threshold value or the actual pilot pump pressure value is larger than the preset pilot pump pressure threshold value, determining that the excavator is in a first working condition state;
in the step, when the excavator is in an excavating action posture, and the actual variable pump pressure value is greater than a preset variable pump pressure threshold value; or when the excavator is in the excavation action posture, and the actual pilot pump pressure value is greater than the preset pilot pump pressure threshold value; only if the two conditions simultaneously satisfy the requirement can the excavator be determined to be in the first working condition state.
And S430, if the excavator is detected to be in the excavating action attitude, and the actual variable pump pressure value is not greater than the preset variable pump pressure threshold value or the actual pilot pump pressure value is not greater than the preset pilot pump pressure threshold value, or the excavator is in the unloading action attitude, or the excavator is in the slewing action attitude, determining that the excavator is in a second working condition state.
In this step, all the other operating condition states except the first operating condition state in the operating condition state information are regarded as the second operating condition state. In the embodiment of the present application, the second operating condition state includes the following conditions: the excavator is in an excavating action posture, and the actual variable pump pressure value is not greater than the preset variable pump pressure threshold value; the excavator is in an excavating action posture, and the actual pressure value of the pilot pump is not greater than the preset pressure threshold value of the pilot pump; the excavator is in an unloading action posture, and the actual variable pump pressure value and the actual pilot pump pressure value are not limited at the moment; the excavator is in a rotary action posture, and the actual variable pump pressure value and the actual pilot pump pressure value are not limited at the moment; for an excavator meeting the above conditions, it may be considered to be in the second operating condition state.
In the embodiment of the application, the working condition state of the excavator is determined by the above three modes, which respectively include: judging the pressure value of the variable pump, judging the pressure value of the pilot pump, and combining the pressure value of the variable pump or the pressure value of the pilot pump with the working attitude for judgment; the third mode is preferably selected in the scheme, namely the variable pump pressure value or the pilot pump pressure value is combined with the working posture to judge the working condition state of the excavator.
Referring to fig. 5, fig. 5 is a flowchart of another energy saving control method for an excavator according to an embodiment of the present application; as shown in fig. 5:
s510, obtaining working condition state information of the excavator, wherein the working condition state information comprises one of a first working condition state and a second working condition state.
It should be noted that the first engine target operating parameter includes a first engine target torque and a first engine target rotation speed, and the second engine target operating parameter includes a second engine target torque and a second engine target rotation speed.
S520, when the excavator is in the first working condition state, determining a first engine target torque of the excavator, and acquiring a first actual variable pump pressure value and a first actual variable pump displacement of the excavator in real time in the working process of the excavator;
determining a first engine target torque of the excavator according to a load power-optimal torque curve of the engine; and calculating the torque of the variable pump through the first actual variable pump pressure value and the first actual variable pump discharge capacity of the excavator, which are acquired in real time.
S530, determining a first actual variable pump torque of the excavator based on the first actual variable pump pressure value and the first actual variable pump displacement;
in the step, the torque is equal to the product of the pressure value and the displacement and then is divided by 20 pi, so that the first actual variable pump torque of the excavator can be obtained according to a torque formula.
And S540, adjusting the displacement of the variable pump based on the magnitude relation between the first engine target torque and the first actual variable pump torque, so that the difference value between the first actual variable pump torque and the first engine target torque is smaller than a preset torque deviation allowable threshold value.
In the step, a first actual variable pump torque of the excavator is compared with a first engine target torque of the excavator, and an adjusting mode of a variable pump of the excavator is determined according to a comparison result, so that the first actual variable pump torque gradually approaches the first engine target torque, and a difference value between the first actual variable pump torque and the first engine target torque is ensured to be smaller than a preset torque deviation allowable threshold value. Wherein the preset torque deviation allowable threshold is a maximum value of a difference between the first actual variable pump torque and the first engine target torque.
Wherein, step S540 includes:
determining a first torque deviation corresponding to an engine of the excavator based on the first engine target torque and the first actual variable pump torque;
determining that the first actual variable pump torque approaches to the first engine target torque to obtain a displacement value of the variable pump needing to be adjusted according to a constant torque PID control algorithm;
and adjusting the displacement of the variable pump based on the displacement value of the variable pump needing to be adjusted until the first torque deviation corresponding to the engine is smaller than the torque deviation allowable threshold value.
In this step, the torque deviation allowable threshold is a maximum allowable difference between the first actual variable pump torque and the first engine target torque, and when the difference between the first actual variable pump torque and the first engine target torque is greater than the torque deviation allowable threshold, the constant torque PID algorithm in the controller continues to perform calculation processing, and finally controls the displacement of the variable pump of the excavator.
In this embodiment, the first operating condition state is a heavy load state of the excavator.
Specifically, as shown in fig. 6, when the excavator is in a heavy load state, the controller may set a first engine target rotation speed and a first engine target torque for the excavator in the heavy load state in advance, wherein the engine always keeps rotating at the first engine target rotation speed in the whole constant torque control process; next, the controller determines a first actual variable pump torque of the excavator according to the acquired first actual variable pump pressure value and the acquired first actual variable pump displacement; the calculated first actual variable pump torque is compared with a preset first engine target torque, first torque deviation between the first actual variable pump torque and the first engine target torque is adjusted through a constant torque PID control algorithm until the first torque deviation corresponding to the engine is smaller than a torque deviation allowable threshold value, in the constant torque PID adjustment process, a controller sends a result processing signal to a proportional valve of a variable pump of the excavator in real time to adjust the opening degree of the proportional valve of the variable pump and further adjust the displacement of the variable pump, and the load power can be indirectly changed by changing the displacement of the variable pump, so that the power required by the load is well matched with the output power of the engine.
S550, when the excavator is in the second working condition state, determining a second engine target torque of the excavator, and acquiring a second actual variable pump pressure value and a second actual variable pump displacement of the excavator in real time in the working process of the excavator;
s560, determining a second actual variable pump torque of the excavator based on the second actual variable pump pressure value and the second actual variable pump displacement;
s570, adjusting the displacement of the variable pump based on the magnitude relationship between the second engine target torque and the second actual variable pump torque, so that the difference between the second actual variable pump torque and the second engine target torque is smaller than a preset torque deviation allowable threshold.
It should be noted that the processing procedure from step S550 to step S570 is completely the same as the processing procedure from step S520 to step S540, the adjustment manner when the excavator is in the first operating condition state corresponds to step S520 to step S540, and the adjustment manner when the excavator is in the second operating condition state corresponds to step S550 to step S570, and specific working principles are not described in detail herein.
Wherein, step S570 includes:
determining a second torque deviation corresponding to the engine of the excavator based on the second engine target torque and the second actual variable pump torque;
determining that the second actual variable pump torque approaches to the second engine target torque to obtain the displacement value of the variable pump required to be adjusted according to a constant torque PID control algorithm;
and adjusting the displacement of the variable pump based on the displacement value of the variable pump needing to be adjusted until a second torque deviation corresponding to the engine is smaller than the torque deviation allowable threshold.
Similarly, the processing procedure in this embodiment of the application is the same as the processing procedure in step S540, and is not described herein again.
In this embodiment of the application, the second operating condition state is a light load state of the excavator.
Specifically, as shown in fig. 6, when the excavator is in a light load state, the controller may set a second engine target rotation speed and a second engine target torque for the excavator in the light load state in advance, wherein the engine is always kept rotating at the second engine target rotation speed in the whole constant torque control process; secondly, the controller determines a second actual variable pump torque of the excavator according to the obtained second actual variable pump pressure value and the second actual variable pump displacement; and comparing the calculated second actual variable pump torque with a preset second engine target torque, and adjusting a second torque deviation between the second actual variable pump torque and the second engine target torque through a constant torque PID control algorithm until the second torque deviation corresponding to the engine is smaller than a torque deviation allowable threshold.
In summary, the energy-saving control method for the excavator provided by the embodiment of the application divides the load into the light load condition and the heavy load condition instead of the multiple curve forms, and avoids the problem that the rotation speed and the torque of the engine are required to be adjusted too much due to too many target working points of the engine, so that energy is not saved.
The target working points (the target rotating speed of the engine and the target torque of the engine) of the engines under two loads are determined by combining the universal characteristic curves of the engines, and the aim of saving energy is fulfilled by adopting a matching control method. Under the heavy load condition, the efficiency and the energy consumption of the excavator are ensured, the fuel oil utilization rate is high, and the target working point of the engine is in an economic oil consumption area; under the condition of light load, the energy conservation of the excavator is ensured, but the fuel utilization rate is not necessarily high, and the target working point of the engine is in a low fuel consumption area.
In a second aspect, an embodiment of the present application provides an excavator, to which the energy saving control method of the excavator according to the first aspect is applied.
The using principle of the excavator provided by the application is the same as the principle of the energy-saving control method of the excavator, and the details are not repeated.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by 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 (10)
1. An energy-saving control method of an excavator, characterized by comprising:
acquiring working condition state information of the excavator, wherein the working condition state information comprises one of a first working condition state and a second working condition state;
if the excavator is detected to be in the first working condition state, determining a first engine target working parameter of the excavator, and controlling the excavator to adjust the rotating speed of an engine of the excavator and the displacement of a variable pump according to the first engine target working parameter;
and if the excavator is detected to be in the second working condition state, determining a second engine target working parameter of the excavator, and controlling the excavator to adjust the rotating speed of the engine of the excavator and the displacement of the variable pump according to the second engine target working parameter.
2. The energy-saving control method according to claim 1, wherein before the obtaining of the operating condition state information of the excavator, wherein the operating condition state information includes a first operating condition state and a second operating condition state, the energy-saving control method further comprises:
the method comprises the steps of obtaining a preset variable pump pressure threshold value of an excavator, and obtaining an actual variable pump pressure value of the excavator in real time in the working process of the excavator;
if the actual variable pump pressure value is detected to be larger than the preset variable pump pressure threshold value, determining that the excavator is in a first working condition state;
if the actual variable pump pressure value is detected to be not greater than the preset variable pump pressure threshold value, determining that the excavator is in a second working condition state;
or acquiring a preset pilot pump pressure threshold value of the excavator, and acquiring an actual pilot pump pressure value of the excavator in real time in the working process of the excavator;
if the actual pilot pump pressure value is detected to be larger than the preset pilot pump pressure threshold value, determining that the excavator is in a first working condition state;
and if the actual pilot pump pressure value is not larger than the preset pilot pump pressure threshold value, determining that the excavator is in a second working condition state.
3. The energy-saving control method according to claim 2, wherein before the obtaining of the operating condition state information of the excavator, wherein the operating condition state information includes a first operating condition state and a second operating condition state, the energy-saving control method further comprises:
acquiring the working posture of the excavator, wherein the working posture is an excavating action posture, an unloading action posture and a slewing action posture;
if the excavator is detected to be in the excavating action posture, and the actual variable pump pressure value is larger than the preset variable pump pressure threshold value or the actual pilot pump pressure value is larger than the preset pilot pump pressure threshold value, determining that the excavator is in a first working condition state;
and if the excavator is detected to be in the excavating action attitude, and the actual variable pump pressure value is not greater than the preset variable pump pressure threshold value or the actual pilot pump pressure value is not greater than the preset pilot pump pressure threshold value, or the excavator is in the unloading action attitude, or the excavator is in the slewing action attitude, determining that the excavator is in a second working condition state.
4. The energy saving control method according to claim 1, wherein the first engine target operation parameter includes a first engine target torque and a first engine target rotation speed, and the second engine target operation parameter includes a second engine target torque and a second engine target rotation speed.
5. The energy saving control method according to claim 4, wherein the displacement of a variable displacement pump of the excavator is adjusted by:
when the excavator is in the first working condition state, determining a first engine target torque of the excavator, and acquiring a first actual variable pump pressure value and a first actual variable pump displacement of the excavator in real time in the working process of the excavator;
determining a first actual variable pump torque of the excavator based on the first actual variable pump pressure value and the first actual variable pump displacement;
adjusting the displacement of the variable pump based on a magnitude relationship between the first engine target torque and the first actual variable pump torque such that a difference between the first actual variable pump torque and the first engine target torque is less than a preset torque deviation allowance threshold.
6. The energy saving control method according to claim 5, wherein the adjusting the displacement of the variable pump based on the magnitude relation between the first engine target torque and the first actual variable pump torque so that the difference between the first actual variable pump torque and the first engine target torque is smaller than a preset torque deviation allowance threshold includes:
determining a first torque deviation corresponding to an engine of the excavator based on the first engine target torque and the first actual variable pump torque;
determining that the first actual variable pump torque approaches to the first engine target torque to obtain a displacement value of the variable pump needing to be adjusted according to a constant torque PID control algorithm;
and adjusting the displacement of the variable pump based on the displacement value of the variable pump needing to be adjusted until the first torque deviation corresponding to the engine is smaller than the torque deviation allowable threshold value.
7. The energy saving control method according to claim 4, wherein the displacement of a variable displacement pump of the excavator is adjusted by:
when the excavator is in the second working condition state, determining a second engine target torque of the excavator, and acquiring a second actual variable pump pressure value and a second actual variable pump displacement of the excavator in real time in the working process of the excavator;
determining a second actual variable pump torque of the excavator based on the second actual variable pump pressure value and the second actual variable pump displacement;
adjusting the displacement of the variable pump based on a magnitude relationship between the second engine target torque and the second actual variable pump torque such that a difference between the second actual variable pump torque and the second engine target torque is less than a preset torque deviation allowance threshold.
8. The energy saving control method according to claim 7, wherein the adjusting the displacement of the variable pump such that the difference between the second actual variable pump torque and the second engine target torque is smaller than a preset torque deviation allowance threshold, based on the magnitude relation between the second engine target torque and the second actual variable pump torque, includes:
determining a second torque deviation corresponding to the engine of the excavator based on the second engine target torque and the second actual variable pump torque;
determining that the second actual variable pump torque approaches to the second engine target torque to obtain the displacement value of the variable pump required to be adjusted according to a constant torque PID control algorithm;
and adjusting the displacement of the variable pump based on the displacement value of the variable pump needing to be adjusted until a second torque deviation corresponding to the engine is smaller than the torque deviation allowable threshold.
9. The energy saving control method according to any one of claims 1 to 8, wherein the first operating condition state is a heavy load state of the excavator, and the second operating condition state is a light load state of the excavator.
10. An excavator characterized in that the energy saving control method of the excavator according to any one of claims 1 to 9 is applied.
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| CN113565055A (en) * | 2021-07-23 | 2021-10-29 | 徐州徐工挖掘机械有限公司 | Electromagnetic chuck control system and excavator |
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