CN113187782B - Control method, device and equipment of closed hydraulic system and storage medium - Google Patents
Control method, device and equipment of closed hydraulic system and storage medium Download PDFInfo
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- CN113187782B CN113187782B CN202110492870.5A CN202110492870A CN113187782B CN 113187782 B CN113187782 B CN 113187782B CN 202110492870 A CN202110492870 A CN 202110492870A CN 113187782 B CN113187782 B CN 113187782B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
Abstract
The embodiment of the application discloses a control method, a control device, control equipment and a storage medium of a closed hydraulic system, wherein the method comprises the following steps: determining a speed characteristic of the apparatus, wherein the speed characteristic is determined in accordance with at least one of a target required vehicle speed, an actual wheel-side vehicle speed, and an actual linear vehicle speed of the apparatus; determining a control strategy of a displacement ratio according to the speed characteristic, wherein the displacement ratio is the ratio of the displacement of a hydraulic pump of the equipment to the displacement of a motor of the equipment; the displacement ratio is adjusted according to a control strategy. The method is used for improving the accuracy of the adjusting strategy in the closed hydraulic system and further improving the operation efficiency.
Description
Technical Field
The present disclosure relates to the field of automatic control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a closed hydraulic system.
Background
For engineering machinery equipment such as a loader and a bulldozer which runs by adopting a closed hydraulic system, the required power of the hydraulic system is high under a high-load working condition, and in order to increase the required power of an engine, a driver generally increases the rotation speed of the engine by increasing the opening degree of a running pedal. The opening of a running pedal is increased, the required vehicle speed is increased, the required displacement ratio of a pump/motor is increased, but the load which needs to be overcome by the hydraulic motor is large, the required displacement ratio of the pump/motor is simply increased, the load is difficult to overcome to complete high-load operation, and therefore the conditions of weak shoveling soil, slipping, even flameout of an engine and the like often occur, and the construction operation efficiency is seriously influenced.
Therefore, how to determine a proper control strategy aiming at different working conditions is particularly important for ensuring the normal operation of the closed hydraulic system.
Disclosure of Invention
The embodiment of the application provides a control method, a control device, equipment and a storage medium of a closed hydraulic system, which are used for improving the accuracy of an adjusting strategy in the closed hydraulic system and further improving the operating efficiency of the equipment.
In a first aspect, an embodiment of the present application provides a method for controlling a closed hydraulic system, including:
determining a speed characteristic of the apparatus, wherein the speed characteristic is determined in accordance with at least one of a target required vehicle speed, an actual wheel-side vehicle speed, and an actual linear vehicle speed of the apparatus;
determining a control strategy for a displacement ratio as a function of the speed characteristic, wherein the displacement ratio is a ratio of a hydraulic pump displacement of the device to a motor displacement of the device;
adjusting the displacement ratio in accordance with the control strategy.
In the embodiment of the application, the speed characteristics are different, the operation conditions of the equipment are different, and the control strategies of the corresponding displacement ratios are different, so that the speed characteristics of the equipment are determined according to at least one of the target required vehicle speed, the actual wheel-side vehicle speed and the actual linear vehicle speed of the equipment, then the control strategies of the displacement ratios corresponding to different speed characteristics are determined, and the displacement ratios are adjusted according to the determined control strategies. Therefore, when the equipment is adjusted, the control strategy corresponding to the current working condition is applied, the accuracy of the control strategy is improved, and the operation efficiency of the equipment applying the control strategy is further improved.
In some exemplary embodiments, the control strategy for determining a displacement ratio based on the speed characteristic includes:
if the speed characteristic is that the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed is greater than a first preset threshold value, the control strategy is to determine a target displacement ratio according to the actual linear vehicle speed and the first preset threshold value;
if the speed characteristic is that the difference between the actual wheel rim speed and the actual linear speed is smaller than or equal to a first preset threshold value, and the difference between the target required speed and the actual wheel rim speed is larger than a second preset threshold value, the control strategy is to determine the target displacement ratio according to the actual wheel rim speed and the second preset threshold value;
and if the speed characteristic is that the difference between the target required vehicle speed and the actual wheel rim vehicle speed is smaller than or equal to the second preset threshold, determining the target displacement ratio according to the target required vehicle speed by the control strategy.
In the embodiment, the first preset threshold and the second preset threshold are used as the reference, different speed characteristics are determined after the speed difference under different conditions is calculated, the control strategies under different speed characteristics are different, the target displacement ratio determined according to the speed characteristics is more accurate, the target displacement ratio is used for adjusting the hydraulic system, and the working efficiency of the equipment is improved.
In some exemplary embodiments, said determining a target displacement ratio based on said actual linear vehicle speed and said first preset threshold comprises:
according to the fact that the actual linear vehicle speed is determined, and the sum of the actual linear vehicle speed and the first preset threshold value multiplied by a set coefficient is the first updated target required vehicle speed, wherein the set coefficient is a number between 0 and 1;
determining a target displacement ratio according to the target required vehicle speed after the first update and the corresponding relation between the required vehicle speed and the displacement ratio; or
The determining the target displacement ratio according to the actual wheel rim vehicle speed and the second preset threshold value comprises:
determining the sum of the actual wheel rim vehicle speed and the second preset threshold value as a second updated target required vehicle speed;
determining the target displacement ratio according to the second updated target required vehicle speed and the corresponding relation between the required vehicle speed and the displacement ratio; or
The determining the target displacement ratio according to the target required vehicle speed includes:
and determining the target displacement ratio according to the target required vehicle speed and the corresponding relation between the required vehicle speed and the displacement ratio.
According to the embodiment, the required vehicle speed and the displacement ratio have the corresponding relation, so that in each mode of determining the target displacement ratio, the updated target required vehicle speed is determined by applying the corresponding control strategy, the target displacement ratio is determined by applying the corresponding target required vehicle speed, the determined target displacement ratio is more accurate, the hydraulic system is adjusted by applying the target displacement ratio, and the working efficiency of the equipment is improved.
In some exemplary embodiments, the first preset threshold is determined based on a difference between an actual wheel-side vehicle speed and an actual linear vehicle speed in a preset slip state; the second preset threshold is determined according to a difference between the required power and the actual power or a difference between the required torque and the actual torque in a preset high load state.
In the embodiment, the first preset threshold determined in this way is applied, and the determined target displacement ratio overcomes the slip condition; applying the second predetermined threshold determined in this manner, the determined target displacement ratio overcomes the high load condition. Corresponding threshold values are adopted for comparison under different working conditions, and the accuracy of the determined target displacement ratio is improved.
In some exemplary embodiments, the target required vehicle speed of the apparatus is determined by:
and determining the target required vehicle speed according to the detected opening degree of the running pedal of the equipment and the corresponding relation between the preset opening degree of the running pedal and the required vehicle speed.
In the above-described embodiment, since there is a correspondence relationship between the required vehicle speed and the travel pedal opening degree, the target required vehicle speed is determined more accurately after the travel pedal opening degree of the device is detected.
In some exemplary embodiments, the actual wheel-side vehicle speed of the apparatus is determined by:
acquiring a motor rotating speed detected by a motor rotating speed sensor arranged in the equipment;
and determining the actual wheel rim speed according to the motor rotating speed.
In the above embodiment, since the measurement accuracy of the motor speed sensor is high, the accuracy of the actual wheel-side vehicle speed determined by the motor speed detected by the motor speed sensor is high.
In some exemplary embodiments, further comprising:
if the speed characteristic is that the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed is greater than a first preset threshold value, determining that the equipment is in a slipping state;
if the speed characteristic is that the difference between the actual wheel-side speed and the actual linear speed is smaller than or equal to a first preset threshold value, and the difference between the target required speed and the actual wheel-side speed is larger than a second preset threshold value, determining that the equipment is in a high-load state;
and if the speed characteristic is that the difference between the target required vehicle speed and the actual wheel-side vehicle speed is smaller than or equal to the second preset threshold value, determining that the equipment is in a normal state.
In the embodiment, different speed characteristics correspond to different working conditions, so that the corresponding working conditions are determined by analyzing the characteristics of the different speed characteristics, so that a user can know the current working conditions of the equipment in time, and corresponding measures and the like can be taken conveniently.
In a second aspect, an embodiment of the present application provides a control device for a closed hydraulic system, including:
a speed characteristic determination module for determining a speed characteristic of the apparatus, wherein the speed characteristic is determined in accordance with at least one of a target required vehicle speed, an actual wheel-side vehicle speed, and an actual linear vehicle speed of the apparatus;
a control strategy determination module for determining a control strategy for a displacement ratio as a ratio of hydraulic pump displacement of the equipment to motor displacement of the equipment based on the speed characteristic;
an adjustment module to adjust the displacement ratio according to the control strategy.
In some exemplary embodiments, the control strategy determination module is specifically configured to:
if the speed characteristic is that the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed is greater than a first preset threshold value, the control strategy is to determine a target displacement ratio according to the actual linear vehicle speed and the first preset threshold value;
if the speed characteristic is that the difference between the actual wheel rim speed and the actual linear speed is smaller than or equal to a first preset threshold value, and the difference between the target required speed and the actual wheel rim speed is larger than a second preset threshold value, the control strategy is to determine the target displacement ratio according to the actual wheel rim speed and the second preset threshold value;
and if the speed characteristic is that the difference between the target required vehicle speed and the actual wheel rim vehicle speed is smaller than or equal to the second preset threshold, determining the target displacement ratio according to the target required vehicle speed by the control strategy.
In some exemplary embodiments, the control strategy determination module is specifically configured to:
according to the fact that the actual linear vehicle speed is determined, and the sum of the actual linear vehicle speed and the first preset threshold value multiplied by a set coefficient is the first updated target required vehicle speed, wherein the set coefficient is a number between 0 and 1;
determining a target displacement ratio according to the target required vehicle speed after the first update and the corresponding relation between the required vehicle speed and the displacement ratio; or
Determining the sum of the actual wheel rim vehicle speed and the second preset threshold value as a second updated target required vehicle speed;
determining the target displacement ratio according to the target required vehicle speed after the second updating and the corresponding relation between the required vehicle speed and the displacement ratio; or
And determining the target displacement ratio according to the target required vehicle speed and the corresponding relation between the required vehicle speed and the displacement ratio.
In some exemplary embodiments, the first preset threshold is determined based on a difference between an actual wheel-side vehicle speed and an actual linear vehicle speed in a preset slip state; the second preset threshold is determined according to a difference between the required power and the actual power or a difference between the required torque and the actual torque in a preset high load state.
In some exemplary embodiments, the vehicle control device further includes a required vehicle speed determination module for determining a target required vehicle speed of the device by:
and determining the target required vehicle speed according to the detected opening degree of the running pedal of the equipment and the corresponding relation between the preset opening degree of the running pedal and the required vehicle speed.
In some exemplary embodiments, the wheel-side vehicle speed determination module is further configured to determine an actual wheel-side vehicle speed of the device by:
acquiring a motor rotating speed detected by a motor rotating speed sensor arranged in the equipment;
and determining the actual wheel rim speed according to the motor rotating speed.
In some exemplary embodiments, the system further comprises an operating state determining module configured to:
if the speed characteristic is that the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed is greater than a first preset threshold value, determining that the equipment is in a slipping state;
if the speed characteristic is that the difference between the actual wheel-side speed and the actual linear speed is smaller than or equal to a first preset threshold value, and the difference between the target required speed and the actual wheel-side speed is larger than a second preset threshold value, determining that the equipment is in a high-load state;
and if the speed characteristic is that the difference between the target required vehicle speed and the actual wheel-side vehicle speed is smaller than or equal to the second preset threshold value, determining that the equipment is in a normal state.
In a third aspect, an embodiment of the present application provides an apparatus, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of any one of the methods when executing the computer program.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, implement the steps of any of the methods described above.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a control method of a closed hydraulic system according to an embodiment of the present disclosure;
FIG. 2 is a graph illustrating a relationship between a required vehicle speed and an opening of a driving pedal according to an embodiment of the present disclosure;
FIG. 3 is a graph illustrating a control relationship between a demanded engine speed and a pedal opening according to an embodiment of the present disclosure;
FIG. 4 is a control relationship curve of a demanded vehicle speed to a displacement ratio according to an embodiment of the present application;
fig. 5 is a flowchart of a control method of a closed hydraulic system according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a control device of a closed hydraulic system according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a control apparatus of a closed hydraulic system 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.
For convenience of understanding, terms referred to in the embodiments of the present application are explained below:
(1) opening degree r of running pedal ped : the linear conversion of the travel pedal rotation angle 0 to the maximum angle into the opening 0 to 100 is used to characterize the degree of travel pedal opening.
(2) Target required vehicle speed V need1 (ii) a Target required engine speed n Eng ；V Act1 An actual linear vehicle speed; v Act2 Actual wheel-side speed, V Dif1 A first preset threshold; v Dif2 A second preset threshold.
Any number of elements in the drawings are by way of example and not by way of limitation, and any nomenclature is used solely for differentiation and not by way of limitation.
In a specific practical process, for engineering machinery such as a loader and a bulldozer which runs by adopting a closed hydraulic system, a required vehicle speed and a required engine speed are generally set simultaneously according to the opening degree of a running pedal. However, in a high-load operation condition, the hydraulic system demand power is high, and in order to increase the engine demand power, the driver generally increases the engine speed by increasing the travel pedal opening. The opening of a running pedal is increased, the required vehicle speed is increased, the required displacement ratio of a pump/motor is increased, but the load which needs to be overcome by the hydraulic motor is large at the moment, the required displacement ratio of the pump/motor is simply increased, the load is difficult to overcome to complete high-load operation, and therefore, the phenomena of powerless shoveling and slipping often occur. Even if the engine is flamed out, the construction efficiency is seriously influenced.
How to distinguish normal walking working conditions from high-load working conditions and how to control the high-load working conditions so as to efficiently coordinate the walking speed of the vehicle with the operation of the working device; and aiming at different working conditions, a corresponding adjusting strategy is determined, and the normal operation of the closed hydraulic system is ensured to be particularly important.
To this end, the present application provides a control method of a closed hydraulic system, determining a speed characteristic of a device, wherein the speed characteristic is determined according to at least one of a target required vehicle speed, an actual wheel-side vehicle speed, and an actual linear vehicle speed of the device; determining a control strategy of a displacement ratio according to the speed characteristic, wherein the displacement ratio is the ratio of the displacement of a hydraulic pump of the equipment to the displacement of a motor of the equipment; the displacement ratio is adjusted according to a control strategy. Therefore, the speed characteristic of the equipment is considered, the control strategies of different displacement ratios are determined according to different conditions, the control of the closed hydraulic system is more consistent with the actual operation working condition, the operation effect of the hydraulic system is higher, and the construction operation efficiency of the equipment applying the system is higher.
The method for controlling the closed hydraulic system in the embodiment of the application can be applied to equipment controlled by the closed hydraulic system, such as engineering machinery equipment or engineering vehicles, and for convenience of expression, the method is hereinafter referred to as equipment for short.
After introducing the design concept of the embodiment of the present application, some simple descriptions are provided below for application scenarios to which the technical solution of the embodiment of the present application can be applied, and it should be noted that the application scenarios described below are only used for describing the embodiment of the present application and are not limited. In specific implementation, the technical scheme provided by the embodiment of the application can be flexibly applied according to actual needs.
To further illustrate the technical solutions provided by the embodiments of the present application, the following detailed description is made with reference to the accompanying drawings and the detailed description. Although the embodiments of the present application provide method steps as shown in the following embodiments or figures, more or fewer steps may be included in the method based on conventional or non-inventive efforts. In steps where no necessary causal relationship exists logically, the order of execution of the steps is not limited to that provided by the embodiments of the present application.
Referring to fig. 1, an embodiment of the present application provides a control method of a closed hydraulic system, including the following steps:
s101, determining the speed characteristic of the equipment, wherein the speed characteristic is determined according to at least one of the target required vehicle speed, the actual wheel-side vehicle speed and the actual linear vehicle speed of the equipment.
And S102, determining a control strategy of a displacement ratio according to the speed characteristic, wherein the displacement ratio is the ratio of the hydraulic pump displacement of the equipment to the motor displacement of the equipment.
And S103, adjusting the displacement ratio according to a control strategy.
In the embodiment of the application, the speed characteristics are different, the operation conditions of the equipment are different, and the control strategies of the corresponding displacement ratios are different, so that the speed characteristics of the equipment are determined according to at least one of the target required vehicle speed, the actual wheel-side vehicle speed and the actual linear vehicle speed of the equipment, then the control strategies of the displacement ratios corresponding to different speed characteristics are determined, and the displacement ratios are adjusted according to the determined control strategies. Therefore, when the equipment is adjusted, the control strategy corresponding to the current working condition is applied, the accuracy of the control strategy is improved, and the operation efficiency of the equipment applying the control strategy is further improved.
Referring to S101, in order to determine different operating conditions of the device and control strategies of displacement ratio under different operating conditions, it is necessary to analyze a speed characteristic of the device, where the speed characteristic refers to a relationship between different speed parameters of the device, such as a speed characteristic that can be determined according to at least one of a target required vehicle speed, an actual wheel-side vehicle speed, and an actual linear vehicle speed of the device. Therefore, the current operation state of the equipment can be determined according to the magnitude relation among the target required speed of the equipment at the current moment, the actual wheel-side speed and the actual linear speed.
For example, for a device, the required vehicle speed is usually set according to the opening degree of a running pedal, under a normal condition, the device runs according to the required vehicle speed, and the actual vehicle speed in the running process realizes the following of the required vehicle speed, but a certain time delay exists. The characteristic actual vehicle speed can have two parameters, namely an actual wheel-side vehicle speed and an actual linear vehicle speed, and the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed can be used for judging the slipping state factor of the equipment.
The target demand and the target demand engine speed may be determined by the opening degree of the running pedal, and specifically, the correspondence relationship between the opening degree of the running pedal and the demand vehicle speed may be represented by a first curve, referring to fig. 2, so that the target demand vehicle speed at that time may be determined based on the detected opening degree of the running pedal and the correspondence relationship. In addition, the correspondence relationship between the opening degree of the running pedal and the required engine speed may be represented by a second curve, referring to fig. 3, so that the target required engine speed at that time can be determined based on the detected opening degree of the running pedal and the correspondence relationship. Under the normal running working condition, the output power of the engine is greater than or equal to the required power of the hydraulic system, so that the displacement ratio can be set according to the required vehicle speed, namely, the corresponding relation between the displacement ratio and the required vehicle speed can be represented by a third curve, and referring to fig. 4, as long as the current required vehicle speed is determined, the corresponding displacement ratio can be obtained according to the corresponding relation.
Since the motor speed sensor has high measurement accuracy, the actual wheel-side vehicle speed can be determined from the motor speed detected by the motor speed sensor provided in the apparatus. For example, the actual wheel-side vehicle speed may be calculated by the following formula:
wherein, V Act2 Representing the actual wheel-side speed, n motor Indicating the number of motor revolutions, R gear Indicating gear speed, R reducer The rotational speed of the speed reducer is indicated, and r is the gear radius.
In addition, the actual linear vehicle speed may be calculated by reading a CAN (Controller Area Network) message of the engine, which may specifically refer to a calculation manner in the prior art and is not described herein.
In summary, after the target required vehicle speed, the actual linear vehicle speed, and the actual wheel-side vehicle speed are determined, the speed characteristics of the apparatus are determined based on one or more of them.
Referring to S102, the displacement ratio is a ratio of the hydraulic pump displacement of the equipment to the motor displacement of the equipment, and since the setting of the displacement ratio directly affects the operation condition (operation state) of the equipment, the control strategy of the displacement ratio is determined according to the speed characteristic.
In order to explain the control strategies under different working conditions, the operation working conditions of the equipment are determined according to the speed characteristics, meanwhile, the control strategies can be determined according to the speed characteristics, and a first preset threshold and a second preset threshold used when the operation working conditions are judged are explained.
The first preset threshold is determined according to the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed in the preset slip state, for example, the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed in the slip critical state where the vehicle just slips or does not just slip is determined as the first preset threshold by analyzing data under multiple historical operating conditions, so that whether the vehicle slips or not can be judged through the first preset threshold.
The second preset threshold is determined based on a difference between the required power and the actual power, or a difference between the required torque and the actual torque in a preset high load state. For example, the speed V1 can provide P1 power or N1 torque and can bear the load of F1, and the high load state is relative to the normal load (normal working condition), if the speed at this time can not provide the required power or load, and the power difference or torque difference is greater than a preset certain value, the high load operation state is determined at this time.
Secondly, the working condition of the equipment and the control strategy of the corresponding displacement ratio are determined by taking the first preset threshold and the second preset threshold as comparison references.
(1) In the first case: and if the speed characteristic is that the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed is greater than a first preset threshold value, determining that the equipment is in a slipping state, and indicating that the actual wheel-side vehicle speed is too large at the moment and the equipment is in the slipping state. In practical applications, the default device is in a non-turning state, and whether the device is in a turning state can be detected through a sensor built in the system.
For example, the determination condition in this case that the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed is greater than the first preset threshold may be represented as: v Act2 -V Act1 >V Dif1 。
In this case, the control strategy is to determine the target displacement ratio based on the actual linear vehicle speed and a first preset threshold. Specifically, according to the determined actual linear vehicle speed, the sum of the actual linear vehicle speed and a first preset threshold multiplied by a set coefficient is the first updated target required vehicle speed, wherein the set coefficient is a number between 0 and 1; and determining a target displacement ratio according to the target required vehicle speed after the first update and the corresponding relation between the required vehicle speed and the displacement ratio.
In a specific example, since the first preset threshold is larger in the slip condition, the adjustment effect is not good if the first preset threshold is directly applied when determining the control strategy, and at this time, the first preset threshold is multiplied by a coefficient k between 0 and 1 to determine V f1 ＝V Act1 +k*V Dif1 . At this time V f1 The target displacement ratio P1 is determined for the first updated target required vehicle speed, based on the correspondence between the required vehicle speed and the displacement ratio. In the practical application process, after the slipping working condition is identified, the displacement ratio is increased, the hydraulic motor is prevented from being damaged due to overspeed, and the road surface trafficability is improved. The manner of increasing the displacement ratio may be to increase the pump displacement or to decrease the motor displacement, which is usually decreased, and is not limited herein.
(2) In the second case: if the speed characteristic is that the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed is smaller than or equal to a first preset threshold value, the device is indicated to be not turned or slipped at the moment, the difference between the target required vehicle speed and the actual wheel-side vehicle speed is larger than a second preset threshold value, and the power or the torque provided by the actual wheel-side vehicle speed cannot meet the required function or the torque at the moment, the device is determined to be in a high-load state.
For example, the determination condition in this case that the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed is greater than the first preset threshold and the difference between the target required vehicle speed and the actual wheel-side vehicle speed is greater than the second preset threshold may be expressed as: v Act2 -V Act1 ≤V Dif1 And V is need1 -V Act2 >V Dif2 。
In this case, the control strategy is to determine a target displacement ratio according to the actual wheel-side vehicle speed and a second preset threshold, specifically, to determine the sum of the actual wheel-side vehicle speed and the second preset threshold as a second updated target required vehicle speed; and determining the target displacement ratio according to the target required vehicle speed after the second updating and the corresponding relation between the required vehicle speed and the displacement ratio.
In a specific example, in a high-load condition, the second preset threshold value is not particularly large, so that when the control strategy is determined, the second preset threshold value is directly applied to adjustment, and a good adjustment effect can be obtained. Wherein, V f2 ＝V Act2 +V Dif2 At this time V f2 The target displacement ratio P2 is determined for the second updated target required vehicle speed, based on the correspondence between the required vehicle speed and the displacement ratio. In the actual application process, after a high-load working condition is identified, the displacement ratio is reduced, under the condition that the current vehicle speed is ensured, the torque for overcoming the load is increased, the high-load operation of the working device is completed, and the traveling speed of the equipment is efficiently coordinated with the current working condition of the equipment. The displacement ratio may be reduced by reducing the pump displacement or increasing the motor displacement, but the motor displacement is usually increased, which is not limited herein.
(3) In the third case: and if the speed characteristic is that the difference between the target required vehicle speed and the actual wheel rim vehicle speed is smaller than or equal to a second preset threshold value, determining that the equipment is in a normal state. At this time, it is sufficient to maintain the current operation state of the equipment, that is, to continue to control the equipment to operate in accordance with the target required vehicle speed.
In this case, the control strategy is to determine a target displacement ratio according to the target required vehicle speed, specifically, according to the target required vehicle speed and the corresponding relationship between the required vehicle speed and the displacement ratio. And under a normal working condition, the vehicle can normally run according to the determined target displacement ratio directly according to the target required vehicle speed and the corresponding relation.
In order to improve interaction with a user (such as a driver of a construction machine vehicle), after the operation state of the equipment is determined, the operation state can be displayed on an instrument panel of the vehicle and voice prompt is carried out, so that the driver can know the operation state in time.
Referring to S103, after the target displacement ratio under the current working condition is determined, the current displacement ratio is updated according to the target displacement ratio, so that the closed type hydraulic system operates according to the target displacement.
In order to make the technical solution of the present application easier to understand, a detailed flowchart is described below with reference to fig. 5.
S5011, determining a target required vehicle speed according to the detected running pedal opening degree of the equipment and the corresponding relation between the preset running pedal opening degree and the required vehicle speed.
S5012, acquiring the motor rotating speed detected by a motor rotating speed sensor arranged in the equipment; and determining the actual wheel-side speed according to the motor rotating speed.
And S5013, determining the actual linear vehicle speed by reading the CAN message of the engine.
S502, judging whether the difference between the actual wheel rim vehicle speed and the actual linear vehicle speed is larger than a first preset threshold value, if so, executing S503, otherwise, executing S504.
S503, according to the determined actual linear vehicle speed, the sum of the actual linear vehicle speed and a first preset threshold multiplied by a set coefficient is the first updated target required vehicle speed, wherein the set coefficient is a number between 0 and 1; and determining a target displacement ratio according to the target required vehicle speed after the first update and the corresponding relation between the required vehicle speed and the displacement ratio.
And S504, judging whether the difference between the target required vehicle speed and the actual wheel rim vehicle speed is larger than a second preset threshold value, if so, executing S505, and otherwise, executing S506.
S505, determining the sum of the actual wheel-side vehicle speed and a second preset threshold value as a second updated target required vehicle speed; and determining the target displacement ratio according to the target required vehicle speed after the second updating and the corresponding relation between the required vehicle speed and the displacement ratio.
S506, determining a target displacement ratio according to the target required vehicle speed and the corresponding relation between the required vehicle speed and the displacement ratio.
The embodiment provides a self-adaptive hydraulic system control method of a closed hydraulic system, working conditions are intelligently identified, the set discharge capacity of a hydraulic pump and/or a motor is automatically adjusted, the problems of weak shoveling soil, slipping, engine flameout and the like can be effectively solved, the construction operation efficiency is improved, and the use requirements of customers are met.
As shown in fig. 6, based on the same inventive concept as the control method of the closed hydraulic system, an embodiment of the present application further provides a control apparatus of the closed hydraulic system, including a speed characteristic determining module 601, a control strategy determining module 602, and an adjusting module 603, where:
a speed characteristic determination module 601 for determining a speed characteristic of the apparatus, wherein the speed characteristic is determined according to at least one of a target required vehicle speed, an actual wheel-side vehicle speed, and an actual linear vehicle speed of the apparatus;
a control strategy determination module 602 for determining a control strategy for a displacement ratio based on the speed characteristic, wherein the displacement ratio is a ratio of a hydraulic pump displacement of the device to a motor displacement of the device;
an adjustment module 603 for adjusting the displacement ratio according to a control strategy.
In some exemplary embodiments, the control strategy determination 602 module is specifically configured to:
if the speed characteristic is that the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed is greater than a first preset threshold value, the control strategy is to determine a target displacement ratio according to the actual linear vehicle speed and the first preset threshold value;
if the speed characteristic is that the difference between the actual wheel rim speed and the actual linear speed is smaller than or equal to a first preset threshold value, and the difference between the target required speed and the actual wheel rim speed is larger than a second preset threshold value, the control strategy is to determine a target displacement ratio according to the actual wheel rim speed and the second preset threshold value;
and if the speed characteristic is that the difference between the target required vehicle speed and the actual wheel rim vehicle speed is smaller than or equal to a second preset threshold value, determining a target displacement ratio according to the target required vehicle speed by using the control strategy.
In some exemplary embodiments, the control strategy determination 602 module is specifically configured to:
according to the fact that the actual linear vehicle speed is determined, and the sum of the actual linear vehicle speed and the first preset threshold value multiplied by a set coefficient is the first updated target required vehicle speed, wherein the set coefficient is a number between 0 and 1;
determining a target displacement ratio according to the target required vehicle speed after the first update and the corresponding relation between the required vehicle speed and the displacement ratio; or
Determining the sum of the actual wheel rim vehicle speed and a second preset threshold value as a second updated target required vehicle speed;
determining a target displacement ratio according to the target required vehicle speed after the second updating and the corresponding relation between the required vehicle speed and the displacement ratio; or
And determining a target displacement ratio according to the target required vehicle speed and the corresponding relation between the required vehicle speed and the displacement ratio.
In some exemplary embodiments, the first preset threshold is determined based on a difference between an actual wheel-side vehicle speed and an actual linear vehicle speed in a preset slip state; the second preset threshold is determined based on a difference between the required power and the actual power, or a difference between the required torque and the actual torque in a preset high load state.
In some exemplary embodiments, the vehicle control device further includes a required vehicle speed determination module for determining a target required vehicle speed of the device by:
and determining the target required vehicle speed according to the detected opening degree of the running pedal of the equipment and the corresponding relation between the preset opening degree of the running pedal and the required vehicle speed.
In some exemplary embodiments, the wheel-side vehicle speed determination module is further configured to determine an actual wheel-side vehicle speed of the device by:
acquiring the motor rotating speed detected by a motor rotating speed sensor arranged in the equipment;
and determining the actual wheel-side speed according to the motor rotating speed.
In some exemplary embodiments, the system further comprises an operating state determining module configured to:
if the speed characteristic is that the difference between the actual wheel-side speed and the actual linear speed is larger than a first preset threshold value, determining that the equipment is in a slipping state;
if the speed characteristic is that the difference between the actual wheel-side speed and the actual linear speed is smaller than or equal to a first preset threshold value, and the difference between the target required speed and the actual wheel-side speed is larger than a second preset threshold value, determining that the equipment is in a high-load state;
and if the speed characteristic is that the difference between the target required vehicle speed and the actual wheel rim vehicle speed is smaller than or equal to a second preset threshold value, determining that the equipment is in a normal state.
The control device of the closed hydraulic system and the control method of the closed hydraulic system provided by the embodiment of the application adopt the same inventive concept, can obtain the same beneficial effects, and are not repeated herein.
Based on the same inventive concept as the control method of the closed hydraulic system, the embodiment of the present application further provides a control device of the closed hydraulic system, and the control device may be specifically a desktop computer, a portable computer, a smart phone, a tablet computer, a Personal Digital Assistant (PDA), a server, and the like. The control device may be, for example, integrated in a control system of the work machine, or may be a separate control device disposed in the work machine for data transmission and interaction with the work machine. As shown in fig. 7, the control device may include a processor 701 and a memory 702.
The Processor 701 may be a general-purpose Processor, such as a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present Application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; the computer storage media may be any available media or data storage device that can be accessed by a computer, including but not limited to: various media that can store program codes include a removable Memory device, a Random Access Memory (RAM), a magnetic Memory (e.g., a flexible disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical Memory (e.g., a CD, a DVD, a BD, an HVD, etc.), and a semiconductor Memory (e.g., a ROM, an EPROM, an EEPROM, a nonvolatile Memory (NAND FLASH), a Solid State Disk (SSD)).
Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media that can store program codes include a removable Memory device, a Random Access Memory (RAM), a magnetic Memory (e.g., a flexible disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical Memory (e.g., a CD, a DVD, a BD, an HVD, etc.), and a semiconductor Memory (e.g., a ROM, an EPROM, an EEPROM, a nonvolatile Memory (NAND FLASH), a Solid State Disk (SSD)).
The above embodiments are only used to describe the technical solutions of the present application in detail, but the above embodiments are only used to help understanding the method of the embodiments of the present application, and should not be construed as limiting the embodiments of the present application. Modifications and substitutions that may be readily apparent to those skilled in the art are intended to be included within the scope of the embodiments of the present application.
Claims (9)
1. A control method of a closed type hydraulic system is applied to equipment adopting the closed type hydraulic system and is characterized by comprising the following steps:
determining a speed characteristic of the apparatus, wherein the speed characteristic is determined in accordance with at least one of a target required vehicle speed, an actual wheel-side vehicle speed, and an actual linear vehicle speed of the apparatus;
determining a control strategy for a displacement ratio as a function of the speed characteristic, wherein the displacement ratio is a ratio of a hydraulic pump displacement of the device to a motor displacement of the device;
adjusting the displacement ratio in accordance with the control strategy;
the control strategy for determining a displacement ratio based on the speed characteristic includes:
if the speed characteristic is that the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed is greater than a first preset threshold value, the control strategy is to determine a target displacement ratio according to the actual linear vehicle speed and the first preset threshold value;
if the speed characteristic is that the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed is smaller than or equal to a first preset threshold value, and the difference between the target required vehicle speed and the actual wheel-side vehicle speed is larger than a second preset threshold value, the control strategy is to determine the target displacement ratio according to the actual wheel-side vehicle speed and the second preset threshold value;
if the speed characteristic is that the difference between the target required vehicle speed and the actual wheel-side vehicle speed is smaller than or equal to the second preset threshold, the control strategy is to determine the target displacement ratio according to the target required vehicle speed.
2. The method of claim 1, wherein said determining a target displacement ratio as a function of said actual linear vehicle speed and said first preset threshold comprises:
according to the fact that the actual linear vehicle speed is determined, and the sum of the actual linear vehicle speed and the first preset threshold value multiplied by a set coefficient is the first updated target required vehicle speed, wherein the set coefficient is a number between 0 and 1;
determining a target displacement ratio according to the target required vehicle speed after the first update and the corresponding relation between the required vehicle speed and the displacement ratio; or
The determining the target displacement ratio according to the actual wheel rim vehicle speed and the second preset threshold value comprises:
determining the sum of the actual wheel rim vehicle speed and the second preset threshold value as a second updated target required vehicle speed;
determining the target displacement ratio according to the target required vehicle speed after the second updating and the corresponding relation between the required vehicle speed and the displacement ratio; or
The determining the target displacement ratio according to the target required vehicle speed includes:
and determining the target displacement ratio according to the target required vehicle speed and the corresponding relation between the required vehicle speed and the displacement ratio.
3. The method according to claim 1, wherein the first preset threshold value is determined based on a difference between an actual wheel-side vehicle speed and an actual linear vehicle speed in a preset slip state; the second preset threshold is determined according to a difference between the required power and the actual power or a difference between the required torque and the actual torque in a preset high load state.
4. The method according to claim 1, characterized in that the target required vehicle speed of the equipment is determined by:
and determining the target required vehicle speed according to the detected opening degree of the running pedal of the equipment and the corresponding relation between the preset opening degree of the running pedal and the required vehicle speed.
5. The method of claim 1, wherein determining the actual wheel-side vehicle speed of the device comprises:
acquiring a motor rotating speed detected by a motor rotating speed sensor arranged in the equipment;
and determining the actual wheel rim speed according to the motor rotating speed.
6. The method according to any one of claims 1 to 5, further comprising:
if the speed characteristic is that the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed is greater than a first preset threshold value, determining that the equipment is in a slipping state;
if the speed characteristic is that the difference between the actual wheel-side speed and the actual linear speed is smaller than or equal to a first preset threshold value, and the difference between the target required speed and the actual wheel-side speed is larger than a second preset threshold value, determining that the equipment is in a high-load state;
and if the speed characteristic is that the difference between the target required vehicle speed and the actual wheel-side vehicle speed is smaller than or equal to the second preset threshold value, determining that the equipment is in a normal state.
7. The utility model provides a controlling means of closed hydraulic system, is applied to the equipment that adopts closed hydraulic system, its characterized in that includes:
a speed characteristic determination module for determining a speed characteristic of the apparatus, wherein the speed characteristic is determined in accordance with at least one of a target required vehicle speed, an actual wheel-side vehicle speed, and an actual linear vehicle speed of the apparatus;
a control strategy determination module for determining a control strategy for a displacement ratio as a ratio of hydraulic pump displacement of the equipment to motor displacement of the equipment based on the speed characteristic;
an adjustment module to adjust the displacement ratio according to the control strategy;
the control strategy determination module is specifically configured to:
if the speed characteristic is that the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed is greater than a first preset threshold value, the control strategy is to determine a target displacement ratio according to the actual linear vehicle speed and the first preset threshold value;
if the speed characteristic is that the difference between the actual wheel-side vehicle speed and the actual linear vehicle speed is smaller than or equal to a first preset threshold value, and the difference between the target required vehicle speed and the actual wheel-side vehicle speed is larger than a second preset threshold value, the control strategy is to determine the target displacement ratio according to the actual wheel-side vehicle speed and the second preset threshold value;
and if the speed characteristic is that the difference between the target required vehicle speed and the actual wheel rim vehicle speed is smaller than or equal to the second preset threshold, determining the target displacement ratio according to the target required vehicle speed by the control strategy.
8. A control device of a closed hydraulic system, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 6 are implemented when the computer program is executed by the processor.
9. A computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of the method of any one of claims 1 to 6.
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| CN115217017A (en) * | 2022-07-18 | 2022-10-21 | 潍柴动力股份有限公司 | Speed control method, device and equipment for road roller and storage medium |
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