CN113684887A - Flow loading method for reducing impact of excavator - Google Patents
Flow loading method for reducing impact of excavator Download PDFInfo
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- CN113684887A CN113684887A CN202111163222.1A CN202111163222A CN113684887A CN 113684887 A CN113684887 A CN 113684887A CN 202111163222 A CN202111163222 A CN 202111163222A CN 113684887 A CN113684887 A CN 113684887A
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- flow
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- 238000011068 loading method Methods 0.000 title claims abstract description 41
- 230000001133 acceleration Effects 0.000 claims abstract description 33
- 230000009471 action Effects 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000000737 periodic effect Effects 0.000 claims description 3
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 230000009467 reduction Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Operation Control Of Excavators (AREA)
Abstract
A flow loading method for reducing impact of an excavator is characterized in that different accelerated speeds are used in the flow loading process, a smaller accelerated speed is used in the starting stage, a larger accelerated speed is then applied, and the loading flow is equal to the sum of the flow of an upper period and the flow accelerated speed. According to the flow loading method for reducing the impact of the excavator, the flow acceleration during flow loading is adjusted, the sudden change of the flow is controlled to prevent the action impact caused by overlarge pressure rise, and the lower flow acceleration is used to reduce the pressure rise speed when the pressure rise is too fast, so that the impact is reduced.
Description
Technical Field
The invention relates to the technical field of engineering machinery control, in particular to a flow loading method for reducing impact of an excavator.
Background
In view of the use environment and occasions of the excavator, various conditions of resisting larger impact force are often encountered, at this time, the flow needs to be increased to improve the pressure, the system pressure is increased too fast due to the inertia effect in the starting stage of the working device, the system flow is improved by adopting a method of fixing the flow acceleration at present, but when the flow is suddenly changed, the action pressure is increased too fast, then larger action impact force is generated, damage is caused to all parts of the whole hydraulic system, the service life of the whole system is influenced by frequent flow increase, the maintenance frequency is increased, and the improvement of the production efficiency is not facilitated.
Disclosure of Invention
The technical problem to be solved by the present invention is to overcome the above-mentioned deficiencies of the prior art, and to provide a flow loading method for reducing the impact of an excavator, which is simple in operation and has a good effect.
The invention is realized by the following technical scheme: a flow loading method for reducing impact of an excavator is provided, parameters are set, the minimum flow is q _ min, the maximum flow is q _ max, the target flow is q _ aim, the flow q' of an upper period, the impact time of a pressure reduction force is Ta, the flow acceleration for reducing pressure steep rise is a _ low, and the flow acceleration during normal loading is a _ normal, and the method comprises the following steps:
s1, collecting a handle action signal;
s2, if the handle is not operated, the loading flow q is the minimum flow q _ min; if the handle is actuated, calculating a target flow q _ aim according to the handle actuation amplitude;
s3, collecting the handle action and starting timing by a timer T;
s4, judging whether the timer T is smaller than Ta, if so, the flow acceleration a is equal to a _ low; if the timer T is greater than Ta, the flow acceleration a is equal to a _ normal;
s5, the loading flow q is equal to the upper periodic flow q' plus the flow acceleration a.
It further comprises the following steps: the target flow rate q _ aim is equal to the product of the maximum flow rate q _ max and the arm opening ratio.
The flow acceleration a _ low for the ramp-up of the decreasing pressure and the flow acceleration a _ normal at normal loading are in units of L per scan cycle.
a _ low is greater than 0 and less than a _ normal.
a _ low is a constant value.
a _ low is a variation value linearly related to time.
The loading flow q is not lower than q _ min and not greater than q _ aim.
When the handle does not act, the timer clears the target flow to be the minimum flow q _ min.
The invention has the following advantages: according to the flow loading method for reducing the impact of the excavator, the flow acceleration during flow loading is adjusted, different accelerations are used in the flow loading process, the smaller acceleration is used in the starting stage, the larger acceleration is applied later, the flow sudden change is controlled to prevent the action impact caused by the overlarge pressure rise, the lower flow acceleration is used when the pressure rise is too fast, and the pressure rise speed is reduced, so that the impact is reduced.
Drawings
Fig. 1 is a control schematic of the present invention.
Detailed Description
As shown in fig. 1, in the flow loading method for reducing the impact of the excavator, parameters are set, wherein the minimum flow is q _ min, the maximum flow is q _ max, the target flow is q _ aim, and the unit is liter; the reduced pressure impact time is Ta, and the unit is ms; the flow acceleration of the reduced pressure and the steep rise is a _ low, the flow acceleration of the normal loading is a _ normal, and the unit of the flow acceleration of the reduced pressure and the steep rise and the flow acceleration of the normal loading is L per scanning period; if the scanning period is 10ms and alow is set to 1, the flow rate of 1s is increased by 100L;
the method comprises the following steps:
s1, collecting a handle action signal; the action speed of each working device of the excavator is controlled by an operating handle, the action of the handle can cause the change of an electric signal corresponding to the working device, and whether the working device acts and the action speed can be judged according to the change of the electric signal;
s2, if the handle is not operated, the loading flow q is the minimum flow q _ min; if the handle is actuated, calculating a target flow q _ aim according to the handle actuation amplitude; the target flow q _ aim is equal to the product of the maximum flow q _ max and the arm opening ratio; for example, if the handle is opened by 100%, q _ aim is equal to the maximum flow, where the amplitude of the handle is determined by the pilot pressure;
s3, collecting the handle action and starting timing by a timer T;
s4, judging whether the timer T is smaller than Ta, if so, the flow acceleration a is equal to a _ low; if the timer T is greater than Ta, the flow acceleration a is equal to a _ normal;
at S5, the loading flow rate q is equal to the upper periodic flow rate q' plus the flow acceleration a, where a is a _ low or a _ normal selected according to the judgment at step S4, and the loading flow rate q is not lower than q _ min and not greater than q _ aim.
As shown in FIG. 1, in the flow loading method for reducing the impact of the excavator, when the handle does not act, the timer is cleared to zero, and the target flow is the minimum flow q _ min. In the method, after the whole step is finished, if the handle does not act, the timer is cleared according to the collected handle signal, and meanwhile, the minimum flow q _ min is output.
In the flow loading method for reducing the impact of the excavator, a _ low is larger than 0 and smaller than a _ normal, as shown in fig. 1. a _ low is a constant value. a _ low is a variation value linearly related to time. In the method of the invention, the a _ low value is between 0 and a _ normal, and the a _ low can be a fixed value or a variable, and when the a _ low value is the variable value linearly related to time, the specific proportion parameter can be adjusted according to the actual situation.
According to the flow loading method for reducing the impact of the excavator, the flow acceleration during flow loading is adjusted according to different starting stages, the starting pressure is reduced, the smaller acceleration is used in the initial starting stage, after the acceleration is increased to a certain value, the larger acceleration is used, the sudden change of the flow is controlled, the action impact caused by the overlarge pressure rise is prevented, and the sudden change of the flow is controlled, the action impact caused by the overlarge pressure rise is prevented.
Claims (8)
1. A flow loading method for reducing impact of an excavator is characterized in that: setting parameters, wherein the minimum flow is q _ min, the maximum flow is q _ max, the target flow is q _ aim, the flow q' of the upper period, the impact time of the pressure reduction force is Ta, the flow acceleration for reducing the pressure to rise steeply is a _ low, and the flow acceleration during normal loading is a _ normal, and the method comprises the following steps:
s1, collecting a handle action signal;
s2, if the handle is not operated, the loading flow q is the minimum flow q _ min; if the handle is actuated, calculating a target flow q _ aim according to the handle actuation amplitude;
s3, collecting the handle action and starting timing by a timer T;
s4, judging whether the timer T is smaller than Ta, if so, the flow acceleration a is equal to a _ low; if the timer T is greater than Ta, the flow acceleration a is equal to a _ normal;
s5, the loading flow q is equal to the upper periodic flow q' plus the flow acceleration a.
2. The flow loading method for reducing the impact of an excavator according to claim 1, wherein: the target flow rate q _ aim is equal to the product of the maximum flow rate q _ max and the arm opening ratio.
3. The flow loading method for reducing the impact of an excavator according to claim 1, wherein: the flow acceleration a _ low for the ramp-up of the decreasing pressure and the flow acceleration a _ normal at normal loading are in units of L per scan cycle.
4. The flow loading method for reducing the impact of an excavator according to claim 1, wherein: a _ low is greater than 0 and less than a _ normal.
5. The flow loading method for reducing the impact of an excavator according to claim 1, wherein: a _ low is a constant value.
6. The flow loading method for reducing the impact of an excavator according to claim 1, wherein: a _ low is a variation value linearly related to time.
7. The flow loading method for reducing the impact of an excavator according to claim 1, wherein: the loading flow q is not lower than q _ min and not greater than q _ aim.
8. The flow loading method for reducing the impact of an excavator according to claim 1, wherein: when the handle does not act, the timer clears the target flow to be the minimum flow q _ min.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111163222.1A CN113684887A (en) | 2021-09-30 | 2021-09-30 | Flow loading method for reducing impact of excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111163222.1A CN113684887A (en) | 2021-09-30 | 2021-09-30 | Flow loading method for reducing impact of excavator |
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| Publication Number | Publication Date |
|---|---|
| CN113684887A true CN113684887A (en) | 2021-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111163222.1A Pending CN113684887A (en) | 2021-09-30 | 2021-09-30 | Flow loading method for reducing impact of excavator |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04285302A (en) * | 1991-03-15 | 1992-10-09 | Komatsu Ltd | Hydraulic circuit for improving operability in load sensing system |
| CN103026076A (en) * | 2010-07-30 | 2013-04-03 | 沃尔沃建造设备有限公司 | Swirl flow control system for construction equipment and method of controlling the same |
| CN104695501A (en) * | 2013-12-05 | 2015-06-10 | 斗山工程机械（中国）有限公司 | Method and device for lowering action impact of excavating machines, and excavating machine |
| CN106795896A (en) * | 2014-10-10 | 2017-05-31 | 川崎重工业株式会社 | The oil pressure actuated systems of building machinery |
| CN111764459A (en) * | 2020-07-10 | 2020-10-13 | 三一重机有限公司 | Method for controlling start of hydraulic pump of excavator |
| US20210002867A1 (en) * | 2018-05-21 | 2021-01-07 | Kawasaki Jukogyo Kabushiki Kaisha | Hydraulic drive system of construction machine |
-
2021
- 2021-09-30 CN CN202111163222.1A patent/CN113684887A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04285302A (en) * | 1991-03-15 | 1992-10-09 | Komatsu Ltd | Hydraulic circuit for improving operability in load sensing system |
| CN103026076A (en) * | 2010-07-30 | 2013-04-03 | 沃尔沃建造设备有限公司 | Swirl flow control system for construction equipment and method of controlling the same |
| CN104695501A (en) * | 2013-12-05 | 2015-06-10 | 斗山工程机械（中国）有限公司 | Method and device for lowering action impact of excavating machines, and excavating machine |
| CN106795896A (en) * | 2014-10-10 | 2017-05-31 | 川崎重工业株式会社 | The oil pressure actuated systems of building machinery |
| US20210002867A1 (en) * | 2018-05-21 | 2021-01-07 | Kawasaki Jukogyo Kabushiki Kaisha | Hydraulic drive system of construction machine |
| CN111764459A (en) * | 2020-07-10 | 2020-10-13 | 三一重机有限公司 | Method for controlling start of hydraulic pump of excavator |
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Application publication date: 20211123 |
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