CN112012836B - Control method and device for engineering machinery engine - Google Patents
Control method and device for engineering machinery engine Download PDFInfo
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- CN112012836B CN112012836B CN202010911457.3A CN202010911457A CN112012836B CN 112012836 B CN112012836 B CN 112012836B CN 202010911457 A CN202010911457 A CN 202010911457A CN 112012836 B CN112012836 B CN 112012836B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The application provides a control method and a device of an engineering machinery engine, which are characterized in that a maximum stall value of the engineering machinery engine during working is obtained, and a handle control signal and a load pressure signal are received; after receiving the feedforward control command, determining a rotational speed up control intensity and a rotational speed up command duration for the engine according to the maximum stall value, the handle control signal and the load pressure signal; based on the control intensity of the rotational speed increase and the duration of the rotational speed increase instruction, the maximum stall value of the engine is controlled to reach the target stall set value interval, so that the processing efficiency aiming at the stall problem of the engine is improved, and the use efficiency of mechanical engineering is improved.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to a control method and device of an engineering machinery engine.
Background
The engine is used as a power device commonly used in the field of engineering machinery, and can convert other forms of energy into mechanical energy. The performance of the engine itself is particularly important for the whole machine, that is, the quality of the engine performance directly determines the quality of the corresponding machine product.
In the field of engineering machinery, particularly in the field of excavators, because the working condition of the excavators is complex and the load condition is changed greatly, the engine is required to have higher standard. The method specifically comprises the capability of the engine to adapt to abrupt load change and keep the running state of the engine stable, and has higher requirements on the responsiveness and control mode of the engine.
Therefore, how to better control the engine becomes a problem to be solved.
Disclosure of Invention
In view of the above, an object of the present application is to provide a method and apparatus for controlling an engine of a construction machine, which can improve the efficiency of processing the problem of engine stall, thereby improving the efficiency of use of the machine construction.
In a first aspect, an embodiment of the present application provides a control method of an engine of an engineering machine, where the control method includes:
obtaining a maximum stall value of an engineering machinery engine during operation, and a received handle control signal and a load pressure signal;
after receiving a feed-forward control command, determining a speed-up control intensity and a speed-up command duration for the engine according to the maximum stall value, a handle control signal and a load pressure signal;
and controlling the maximum stall value of the engine to reach a target stall setting value interval based on the rotational speed increasing control intensity and the rotational speed increasing instruction duration.
In one possible embodiment, the control method further includes:
determining whether a current operating state of the engine meets a first feedforward control condition based on the handle control signal, and determining whether the current operating state of the engine meets a second feedforward control condition based on the load pressure signal;
and if the current working state of the engine meets the first feedforward control condition and the second feedforward control condition simultaneously, determining to perform feedforward control on the engine.
In one possible embodiment, the determining, based on the handle control signal, whether the current operating state of the engine satisfies a first feed-forward control condition includes:
acquiring a handle control signal change rate corresponding to the handle control signal;
and if the change rate of the handle control signal is larger than a preset handle control signal change rate threshold, determining that the current working state of the engine meets a first feedforward control condition.
In one possible embodiment, the determining whether the current operating state of the engine satisfies a second feedforward control condition based on the load pressure signal includes:
and if the load pressure signal is larger than a preset load pressure signal threshold value, determining that the current working state of the engine meets a second feedforward control condition.
In one possible embodiment, the determining the speed up control intensity and the speed up command duration for the engine based on the maximum stall value, the handle control signal, and the load pressure signal after receiving the feed forward control command includes:
after receiving a feedforward control instruction, determining the rotational speed increasing control intensity of the engine based on the handle control signal and the load pressure signal;
and obtaining a difference value between the maximum stall value and the minimum value of the target stall set value interval, and determining the duration of the rotational speed increasing instruction based on the difference value and the rotational speed increasing control intensity of the engine.
In one possible embodiment, after controlling the maximum stall value of the engine to reach the target stall setting value interval based on the rotational speed up control intensity and the rotational speed up command duration, the method further includes:
after the maximum stall value of the engine reaches a target stall setting value interval, the rotational speed up control for the engine is canceled.
In one possible embodiment, the control method further includes:
and monitoring the maximum stall value, the handle control signal and the load pressure signal of the engine in real time, and adjusting the rotational speed increasing control intensity and the rotational speed increasing instruction duration of the engine in real time.
In a second aspect, an embodiment of the present application provides a control device for an engine of an engineering machine, the control device including:
the acquisition module is used for acquiring the maximum stall value of the engineering machinery engine during operation, and the received handle control signal and the load pressure signal;
the first determining module is used for determining the speed-up control intensity and the speed-up instruction duration time aiming at the engine according to the maximum stall value, the handle control signal and the load pressure signal after receiving the feedforward control instruction;
and the control module is used for controlling the maximum stall value of the engine to reach a target stall setting value interval based on the rotational speed increasing control intensity and the rotational speed increasing instruction duration.
In one possible embodiment, the control device further includes:
the judging module is used for determining whether the current working state of the engine meets a first feedforward control condition or not based on the handle control signal, and determining whether the current working state of the engine meets a second feedforward control condition or not based on the load pressure signal;
and the second determining module is used for determining to perform feedforward control on the engine if the current working state of the engine meets the first feedforward control condition and the second feedforward control condition at the same time.
In one possible implementation manner, the judging module is specifically configured to:
acquiring a handle control signal change rate corresponding to the handle control signal;
and if the change rate of the handle control signal is larger than a preset handle control signal change rate threshold, determining that the current working state of the engine meets a first feedforward control condition.
In one possible implementation manner, the judging module is further configured to:
and if the load pressure signal is larger than a preset load pressure signal threshold value, determining that the current working state of the engine meets a second feedforward control condition.
In one possible implementation manner, the first determining module is specifically configured to:
after receiving a feedforward control instruction, determining the rotational speed increasing control intensity of the engine based on the handle control signal and the load pressure signal;
and obtaining a difference value between the maximum stall value and the minimum value of the target stall set value interval, and determining the duration of the rotational speed increasing instruction based on the difference value and the rotational speed increasing control intensity of the engine.
In one possible embodiment, the control device further includes:
and the cancellation module is used for canceling the rotational speed increasing control of the engine after the maximum stall value of the engine reaches the target stall set value interval.
In one possible embodiment, the control device further includes:
and the monitoring module is used for monitoring the maximum stall value, the handle control signal and the load pressure signal of the engine in real time when the engine works, and adjusting the rotational speed increasing control intensity and the rotational speed increasing instruction duration of the engine in real time.
In a third aspect, an embodiment of the present application further provides a computer apparatus, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the computer device is running, the machine-readable instructions when executed by the processor performing the steps of the first aspect, or any of the possible implementation manners of the first aspect.
In a fourth aspect, embodiments of the present application also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the first aspect, or any of the possible implementation manners of the first aspect.
According to the control method and device for the engineering machinery engine, the maximum stall value of the engineering machinery engine during working is obtained, and the received handle control signal and the load pressure signal are obtained; after receiving the feedforward control command, determining a rotational speed up control intensity and a rotational speed up command duration for the engine according to the maximum stall value, the handle control signal and the load pressure signal; based on the control intensity of the rotational speed increase and the duration of the rotational speed increase instruction, the maximum stall value of the engine is controlled to reach the target stall set value interval, so that the processing efficiency aiming at the stall problem of the engine is improved, and the use efficiency of mechanical engineering is improved.
Furthermore, the embodiment of the application can also improve the response efficiency to the engine stall and reduce the dependence on the engine oil injection parameters.
In order to make the above 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 needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a control method of an engine of an engineering machine according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a control device of an engine of an engineering machine according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of another control device of an engine of an engineering machine according to an embodiment of the present application;
fig. 4 shows a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
In the field of engineering machinery, particularly in the field of excavators, the requirement on the engine is higher because the working condition of the excavator is complex and the load condition is changed greatly. The method specifically comprises the capability of the engine to adapt to abrupt load change and keep the running state of the engine stable, and has higher requirements on the responsiveness and control mode of the engine. Therefore, how to better control the engine becomes a problem to be solved.
According to the control method and device for the engineering machinery engine, the maximum stall value of the engineering machinery engine during working is obtained, and the received handle control signal and the load pressure signal are obtained; after receiving the feedforward control command, determining a rotational speed up control intensity and a rotational speed up command duration for the engine according to the maximum stall value, the handle control signal and the load pressure signal; based on the control intensity of the rotational speed increase and the duration of the rotational speed increase instruction, the maximum stall value of the engine is controlled to reach the target stall set value interval, so that the processing efficiency aiming at the stall problem of the engine is improved, and the use efficiency of mechanical engineering is improved. Furthermore, the embodiment of the application can also improve the response efficiency to the engine stall and reduce the dependence on the engine oil injection parameters.
The discovery process for the above problems and the solution proposed by the present application for the above problems should be all contributions of the inventors to the present application in the process of the present application.
The following description of the embodiments of the present application will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the application are shown. The components of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The execution main body of the control method of the engineering machinery engine provided by the embodiment of the application is generally a computer device with a certain computing capability, and the computer device includes, for example: the terminal device, or server or other processing device, may be a User Equipment (UE), mobile device, user terminal, cellular phone, cordless phone, personal digital assistant (Personal Digital Assistant, PDA), handheld device, computing device, vehicle mounted device, wearable device, etc. In some possible implementations, the control method of the work machine engine may be implemented by a processor invoking computer readable instructions stored in a memory.
The following describes a control method of an engine of an engineering machine according to an embodiment of the present application, taking an execution body as a user device as an example.
Referring to fig. 1, a flowchart of a control method of an engine of an engineering machine according to an embodiment of the present application is shown, where the control method includes steps S101 to S103, where:
s101: obtaining a maximum stall value of an engineering machinery engine during operation, and a received handle control signal and a load pressure signal;
s102: after receiving a feed-forward control command, determining a speed-up control intensity and a speed-up command duration for the engine according to the maximum stall value, a handle control signal and a load pressure signal;
s103: and controlling the maximum stall value of the engine to reach a target stall setting value interval based on the rotational speed increasing control intensity and the rotational speed increasing instruction duration.
According to the control method of the engineering machinery engine, the maximum stall value of the engineering machinery engine during operation is obtained, and the received handle control signal and the load pressure signal are obtained; after receiving the feedforward control command, determining a rotational speed up control intensity and a rotational speed up command duration for the engine according to the maximum stall value, the handle control signal and the load pressure signal; based on the control intensity of the rotational speed increase and the duration of the rotational speed increase instruction, the maximum stall value of the engine is controlled to reach the target stall set value interval, so that the processing efficiency aiming at the stall problem of the engine is improved, and the use efficiency of mechanical engineering is improved. Furthermore, the embodiment of the application can also improve the response efficiency to the engine stall and reduce the dependence on the engine oil injection parameters.
1. In S101, in the field of construction machines, for example, the excavator is controlled, when the brake pedal is depressed and the throttle pedal is fully depressed during forward gear or reverse gear, the engine is in a maximum torque condition, and at this time, both the output shaft and the input shaft of the automatic transmission are stationary, and the turbine of the torque converter is stationary. When the torque converter and the pump impeller rotate together with the engine, the working condition is called a stall working condition, and the rotating speed of the engine is called a stall rotating speed. Correspondingly, the maximum stall value is the maximum rotational speed of the engine when the torque converter and the pump impeller rotate together with the engine.
In the embodiment of the application, the handle control signal is the operation applied to the handle of the engineering machinery by a manipulator, and is converted into the handle control signal through a sensing component on the handle.
Illustratively, for example, controlling an excavator, the handle control signal may be an intensity signal for a manipulator to manipulate the handle.
In the embodiment of the application, the load pressure signal is the load pressure intensity detected by the pressure sensor.
In the embodiment of the application, the maximum stall value, the handle control signal and the load pressure signal of the engineering machinery engine during the operation process of the whole mechanical engineering can be detected; and after the load suddenly changes, the maximum stall value, the handle control signal and the load pressure signal of the engineering machinery engine during operation can be detected.
2. In S102, since some faults or anomalies exist in the current mechanical engineering, it is necessary to control the engine, specifically, after receiving the feedforward control command, the engine is controlled.
The method for generating the received feedforward control instruction comprises the following steps:
determining whether a current operating state of the engine meets a first feedforward control condition based on the handle control signal, and determining whether the current operating state of the engine meets a second feedforward control condition based on the load pressure signal;
and if the current working state of the engine meets the first feedforward control condition and the second feedforward control condition simultaneously, determining to perform feedforward control on the engine.
Specifically, for a first feedforward control condition, acquiring a handle control signal change rate corresponding to the handle control signal;
and if the change rate of the handle control signal is larger than a preset handle control signal change rate threshold, determining that the current working state of the engine meets a first feedforward control condition.
For example, the handle control signal may first be differentiated, e.g., the handle control signal may be expressed in m, and the rate of change of the handle control signal may be expressed in dm/dt.
After the handle control signal change rate is obtained, comparing the handle control signal change rate with a preset handle control signal change rate threshold, wherein K can be used for representing the handle control signal change rate threshold, and if dm/dt > K, that is, the handle control signal change rate is greater than the preset handle control signal change rate threshold, determining that the current working state of the engine meets the first feedforward control condition. The handle control signal change rate threshold can be adjusted and set according to actual conditions.
And aiming at the second feedforward control condition, if the load pressure signal is larger than a preset load pressure signal threshold value, determining that the current working state of the engine meets the second feedforward control condition.
For example, the load pressure signal may be represented by P and the load pressure signal threshold may be set to P 1 For example 100Bar, if the load pressure signal P is greater than P 1 And determining that the current working state of the engine meets a second feedforward control condition, wherein the load pressure signal threshold value can be adjusted and set according to the actual situation.
When the first feedforward control condition and the second feedforward control condition are satisfied simultaneously, the feedforward control is considered to be effective, and at this time, it is necessary to execute a feedforward response to suppress the engine from dropping, so that the engine state is maintained at the steady state of the rotation speed.
Specifically, determining the speed up control intensity and the speed up instruction duration for the engine according to the maximum stall value, the handle control signal and the load pressure signal includes:
after receiving a feedforward control instruction, determining the rotational speed increasing control intensity of the engine based on the handle control signal and the load pressure signal;
and obtaining a difference value between the maximum stall value and the minimum value of the target stall set value interval, and determining the duration of the rotational speed increasing instruction based on the difference value and the rotational speed increasing control intensity of the engine.
For example, the up-rotation control intensity may be expressed as n=f (dm/dt) +f '(P), where f and f' are constants, indicating that the up-rotation control intensity has a linear relationship with the handle control signal rate of change and the load pressure signal. Wherein the engine may be sent an up-rotation command signal via a bus.
Illustratively, first, a preset target stall setpoint interval is obtained, and a difference between the maximum stall value and a minimum value of the target stall setpoint interval is obtained. And determining the rotational speed increasing instruction duration based on the difference and the rotational speed increasing control intensity of the engine so as to ensure that the maximum stall value of the engine is within a target stall value range through algorithm operation output.
3. In S103, the target stall setting value interval is a target interval determined based on the operation experience and the operation target.
In the embodiment of the application, the maximum stall value of the engine can be controlled to reach the target stall setting value interval based on the obtained rotational speed increasing control intensity and rotational speed increasing instruction duration.
After controlling the maximum stall value of the engine to reach a target stall setting value interval based on the rotational speed up control intensity and rotational speed up command duration, further comprising:
after the maximum stall value of the engine reaches a target stall setting value interval, the rotational speed up control for the engine is canceled.
Specifically, after the feedforward control, a rotational speed increasing instruction is sent to the engine, the rotational speed increasing instruction is cancelled after a period of time, and under certain conditions, when the maximum stall value meets the set requirement, the rotational speed increasing control intensity and the rotational speed increasing instruction duration can be solidified.
In another embodiment of the present application, the control method further includes:
and monitoring the maximum stall value, the handle control signal and the load pressure signal of the engine in real time, and adjusting the rotational speed increasing control intensity and the rotational speed increasing instruction duration of the engine in real time.
Specifically, real-time conversion control is realized in the operation process of the engineering machinery, the maximum stall value is detected and converted into a control coefficient to be added to the rotational speed increasing control intensity n, when the rotational speed increasing control intensity n is insufficient for stabilizing the falling speed, the rotational speed increasing control intensity is increased, otherwise, the rotational speed increasing control intensity is continuously reduced, and the rotational speed increasing control intensity and the lifting speed command duration are continuously optimized, so that the engine is in a stable state, and the engineering machinery works in a relatively stable state.
It will be appreciated by those skilled in the art that in the above-described method of the specific embodiments, the written order of steps is not meant to imply a strict order of execution but rather should be construed according to the function and possibly inherent logic of the steps.
Based on the same inventive concept, the embodiment of the present application further provides a control device for an engineering mechanical engine corresponding to the control method for an engineering mechanical engine provided in the foregoing embodiment, and since the principle of solving the problem by the device in the embodiment of the present application is similar to that of the control method for an engineering mechanical engine provided in the foregoing embodiment of the present application, implementation of the device may refer to implementation of the method, and repeated parts will not be repeated.
Referring to fig. 2 and 3, fig. 2 is a schematic structural diagram of a control device for an engine of a construction machine according to an embodiment of the present application, and fig. 3 is a schematic structural diagram of a control device for an engine of another construction machine according to an embodiment of the present application. As shown in fig. 2, the control device includes: an acquisition module 210, a first determination module 220, and a control module 230, wherein:
the obtaining module 210 is configured to obtain a maximum stall value of the engineering machinery engine during operation, and a received handle control signal and a load pressure signal;
a first determination module 220 configured to determine an up-rotation control intensity and an up-rotation command duration for the engine based on the maximum stall value, a handle control signal, and a load pressure signal after receiving a feed-forward control command;
the control module 230 is configured to control the maximum stall value of the engine to reach a target stall setting value interval based on the rotational speed up control intensity and the rotational speed up command duration.
According to the control device of the engineering machinery engine, provided by the embodiment of the application, the maximum stall value of the engineering machinery engine during working is obtained, and the received handle control signal and the load pressure signal are obtained; after receiving the feedforward control command, determining a rotational speed up control intensity and a rotational speed up command duration for the engine according to the maximum stall value, the handle control signal and the load pressure signal; based on the control intensity of the rotational speed increase and the duration of the rotational speed increase instruction, the maximum stall value of the engine is controlled to reach the target stall set value interval, so that the processing efficiency aiming at the stall problem of the engine is improved, and the use efficiency of mechanical engineering is improved. Furthermore, the embodiment of the application can also improve the response efficiency to the engine stall and reduce the dependence on the engine oil injection parameters.
In one possible embodiment, the control device further includes:
a judging module 240, configured to determine, based on the handle control signal, whether a current operating state of the engine meets a first feedforward control condition, and determine, based on the load pressure signal, whether the current operating state of the engine meets a second feedforward control condition;
and the second determining module 250 is configured to determine to perform feedforward control on the engine if the current working state of the engine meets the first feedforward control condition and the second feedforward control condition at the same time.
In one possible implementation manner, the judging module 240 is specifically configured to:
acquiring a handle control signal change rate corresponding to the handle control signal;
and if the change rate of the handle control signal is larger than a preset handle control signal change rate threshold, determining that the current working state of the engine meets a first feedforward control condition.
In one possible implementation, the determining module 240 is further configured to:
and if the load pressure signal is larger than a preset load pressure signal threshold value, determining that the current working state of the engine meets a second feedforward control condition.
In one possible implementation manner, the first determining module 220 is specifically configured to:
after receiving a feedforward control instruction, determining the rotational speed increasing control intensity of the engine based on the handle control signal and the load pressure signal;
and obtaining a difference value between the maximum stall value and the minimum value of the target stall set value interval, and determining the duration of the rotational speed increasing instruction based on the difference value and the rotational speed increasing control intensity of the engine.
In one possible embodiment, the control device further includes:
and a cancellation module 260, configured to cancel the rotational speed up control for the engine after the maximum stall value of the engine reaches the target stall setting value interval.
In one possible embodiment, the control device further includes:
the monitoring module 270 is configured to monitor, in real time, a maximum stall value, a handle control signal, and a load pressure signal when the engine is operating, and adjust, in real time, a rotational speed up control intensity and a rotational speed up command duration of the engine.
The embodiment of the application also provides a computer device 400, as shown in fig. 4, which is a schematic structural diagram of the computer device 400 provided in the embodiment of the application, including:
a processor 41, a memory 42, and a bus 43; memory 42 is used to store execution instructions, including memory 421 and external memory 422; the memory 421 is also referred to as an internal memory, and is used for temporarily storing operation data in the processor 41 and data exchanged with the external memory 422 such as a hard disk, the processor 41 exchanges data with the external memory 422 through the memory 421, and when the computer device 400 operates, the processor 41 and the memory 42 communicate through the bus 43, so that the processor 41 executes the following instructions in a user mode:
obtaining a maximum stall value of an engineering machinery engine during operation, and a received handle control signal and a load pressure signal;
after receiving a feed-forward control command, determining a speed-up control intensity and a speed-up command duration for the engine according to the maximum stall value, a handle control signal and a load pressure signal;
and controlling the maximum stall value of the engine to reach a target stall setting value interval based on the rotational speed increasing control intensity and the rotational speed increasing instruction duration.
In an alternative embodiment, in the instructions executed by the processor 41, the control method further includes:
determining whether a current operating state of the engine meets a first feedforward control condition based on the handle control signal, and determining whether the current operating state of the engine meets a second feedforward control condition based on the load pressure signal;
and if the current working state of the engine meets the first feedforward control condition and the second feedforward control condition simultaneously, determining to perform feedforward control on the engine.
In an alternative embodiment, in the instructions executed by the processor 41, the determining, based on the handle control signal, whether the current operating state of the engine meets the first feedforward control condition includes:
acquiring a handle control signal change rate corresponding to the handle control signal;
and if the change rate of the handle control signal is larger than a preset handle control signal change rate threshold, determining that the current working state of the engine meets a first feedforward control condition.
In an alternative embodiment, in the instructions executed by the processor 41, the determining, based on the load pressure signal, whether the current operating state of the engine meets the second feedforward control condition includes:
and if the load pressure signal is larger than a preset load pressure signal threshold value, determining that the current working state of the engine meets a second feedforward control condition.
In an alternative embodiment, the instructions executed by the processor 41, after receiving the feedforward control instruction, determine, according to the maximum stall value, the handle control signal, and the load pressure signal, an up-rotation control strength and an up-rotation instruction duration for the engine, include:
after receiving a feedforward control instruction, determining the rotational speed increasing control intensity of the engine based on the handle control signal and the load pressure signal;
and obtaining a difference value between the maximum stall value and the minimum value of the target stall set value interval, and determining the duration of the rotational speed increasing instruction based on the difference value and the rotational speed increasing control intensity of the engine.
In an alternative embodiment, the instructions executed by the processor 41 further include, after controlling the maximum stall value of the engine to reach the target stall setting value interval based on the control strength of the rotational speed increase and the duration of the rotational speed increase instruction:
after the maximum stall value of the engine reaches a target stall setting value interval, the rotational speed up control for the engine is canceled.
In an alternative embodiment, in the instructions executed by the processor 41, the control method further includes:
and monitoring the maximum stall value, the handle control signal and the load pressure signal of the engine in real time, and adjusting the rotational speed increasing control intensity and the rotational speed increasing instruction duration of the engine in real time.
The specific execution process of the above instruction may refer to the steps of the control method of the engine of the engineering machine in the embodiment of the present application, which is not described herein.
The embodiment of the application also provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium, and when the computer program is run by a processor, the steps of the control method of the engineering machinery engine in the embodiment of the method are executed.
The computer program product of the control method of the engineering machinery engine provided by the embodiment of the application comprises a computer readable storage medium storing program codes, and the instructions included in the program codes can be used for executing the steps of the control method of the engineering machinery engine described in the method embodiment, and the detailed description of the method embodiment is omitted.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again. In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present application, and are not intended to limit the scope of the present application, but it should be understood by those skilled in the art that the present application is not limited thereto, and that the present application is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in 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. A control method of an engine of an engineering machine, the control method comprising:
obtaining a maximum stall value of an engineering machinery engine during operation, and a received handle control signal and a load pressure signal;
after receiving a feed-forward control command, determining a speed-up control intensity and a speed-up command duration for the engine according to the maximum stall value, a handle control signal and a load pressure signal;
controlling the maximum stall value of the engine to reach a target stall setting value interval based on the rotational speed increasing control intensity and the rotational speed increasing instruction duration;
after receiving the feedforward control command, determining the rotational speed increasing control intensity and the rotational speed increasing command duration for the engine according to the maximum stall value, the handle control signal and the load pressure signal, wherein the method comprises the following steps of:
after receiving a feedforward control instruction, determining the rotational speed increasing control intensity of the engine based on the handle control signal and the load pressure signal;
and obtaining a difference value between the maximum stall value and the minimum value of the target stall set value interval, and determining the duration of the rotational speed increasing instruction based on the difference value and the rotational speed increasing control intensity of the engine.
2. The control method of an engine according to claim 1, characterized in that the control method further comprises:
determining whether a current operating state of the engine meets a first feedforward control condition based on the handle control signal, and determining whether the current operating state of the engine meets a second feedforward control condition based on the load pressure signal;
and if the current working state of the engine meets the first feedforward control condition and the second feedforward control condition simultaneously, determining to perform feedforward control on the engine.
3. The method of controlling an engine according to claim 2, wherein the determining whether the current operating state of the engine satisfies a first feedforward control condition based on the handle control signal includes:
acquiring a handle control signal change rate corresponding to the handle control signal;
and if the change rate of the handle control signal is larger than a preset handle control signal change rate threshold, determining that the current working state of the engine meets a first feedforward control condition.
4. The method according to claim 2, characterized in that the determining whether the current operation state of the engine satisfies a second feedforward control condition based on the load pressure signal includes:
and if the load pressure signal is larger than a preset load pressure signal threshold value, determining that the current working state of the engine meets a second feedforward control condition.
5. The method of controlling an engine according to claim 1, characterized by further comprising, after controlling the maximum stall value of the engine to reach a target stall setting value interval based on the rotational speed up control intensity and rotational speed up instruction duration:
after the maximum stall value of the engine reaches a target stall setting value interval, the rotational speed up control for the engine is canceled.
6. The control method of an engine according to claim 1, characterized in that the control method further comprises:
and monitoring the maximum stall value, the handle control signal and the load pressure signal of the engine in real time, and adjusting the rotational speed increasing control intensity and the rotational speed increasing instruction duration of the engine in real time.
7. A control device for an engine of a construction machine, the control device comprising:
the acquisition module is used for acquiring the maximum stall value of the engineering machinery engine during operation, and the received handle control signal and the load pressure signal;
the first determining module is used for determining the speed-up control intensity and the speed-up instruction duration time aiming at the engine according to the maximum stall value, the handle control signal and the load pressure signal after receiving the feedforward control instruction;
the control module is used for controlling the maximum stall value of the engine to reach a target stall setting value interval based on the rotational speed increasing control intensity and the rotational speed increasing instruction duration;
the first determining module is specifically configured to:
after receiving a feedforward control instruction, determining the rotational speed increasing control intensity of the engine based on the handle control signal and the load pressure signal;
and obtaining a difference value between the maximum stall value and the minimum value of the target stall set value interval, and determining the duration of the rotational speed increasing instruction based on the difference value and the rotational speed increasing control intensity of the engine.
8. A computer device, comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating via the bus when the computer device is running, said machine readable instructions when executed by said processor performing the steps of the method for controlling a work machine engine according to any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the control method of the construction machine engine according to any one of claims 1 to 6.
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| CN106870177A (en) * | 2015-12-14 | 2017-06-20 | 现代自动车株式会社 | Method for preventing engine stall |
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| JP2011234621A (en) * | 2010-04-30 | 2011-11-24 | Yanmar Co Ltd | Tractor |
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