CN113833576A - Engine rotating speed stabilizing method and device and working machine - Google Patents
Engine rotating speed stabilizing method and device and working machine Download PDFInfo
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- CN113833576A CN113833576A CN202111076508.6A CN202111076508A CN113833576A CN 113833576 A CN113833576 A CN 113833576A CN 202111076508 A CN202111076508 A CN 202111076508A CN 113833576 A CN113833576 A CN 113833576A
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000000087 stabilizing effect Effects 0.000 title claims abstract description 25
- 238000002347 injection Methods 0.000 claims description 27
- 239000007924 injection Substances 0.000 claims description 27
- 238000004590 computer program Methods 0.000 claims description 16
- 230000006641 stabilisation Effects 0.000 claims description 16
- 238000011105 stabilization Methods 0.000 claims description 16
- 230000002159 abnormal effect Effects 0.000 abstract description 6
- 239000000446 fuel Substances 0.000 description 15
- 238000004364 calculation method Methods 0.000 description 12
- 239000000243 solution Substances 0.000 description 9
- 230000008859 change Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000003993 interaction Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
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- 238000012986 modification Methods 0.000 description 1
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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
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/1002—Output torque
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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
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/101—Engine speed
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Abstract
The invention provides an engine rotating speed stabilizing method, an engine rotating speed stabilizing device and an operating machine, wherein the method comprises the following steps: acquiring the pilot pressure of a hydraulic main valve of a target working machine at the current moment and the actual rotating speed of an engine of the target working machine; acquiring a target torque of the engine at the next moment based on the pilot pressure, the actual rotating speed and a predetermined target rotating speed of the engine; and controlling a first rotation speed deviation between the actual rotation speed of the engine at the next moment and the actual rotation speed at the current moment to be smaller than a deviation threshold value based on the target torque. According to the method and the device for stabilizing the rotating speed of the engine and the working machine, the rotating speed of the engine can be stabilized more simply, more efficiently and more accurately by linkage hydraulic control and engine control under the condition that the load pressure value of a hydraulic system of the working machine does not need to be obtained, abnormal fluctuation of the rotating speed of the engine can be avoided under the condition that the load of the working machine changes suddenly, and normal operation of the working machine in a complex operation environment and a complex working condition can be realized.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a method and a device for stabilizing the rotating speed of an engine and operating machinery.
Background
The operating machine provided with the hydraulic system is widely applied to infrastructure of cities, traffic, water conservancy, mines, riverways and the like. However, under the conditions of severe working environment and complex and variable working conditions of the working machine, the load of the working machine is easy to change suddenly, which causes the rotation speed of the engine to fluctuate greatly. If the rotating speed of the engine cannot be controlled in time, the rotating speed of the engine is stabilized, the conditions of speed drop and even flameout can occur, and the normal work of the operation machine is influenced.
In the prior art, a load pressure value of a hydraulic system of the working machine can be acquired in real time through a pressure sensor, and the rotating speed of the engine is controlled based on the load pressure value and other relevant operating parameters of the working machine. However, the conventional engine speed control method is complicated and has a delay in stabilizing the engine speed. When the load of the working machine changes suddenly, how to control the rotation speed of the engine more simply and efficiently is an urgent technical problem to be solved in the field.
Disclosure of Invention
The invention provides an engine rotating speed stabilizing method, an engine rotating speed stabilizing device and a working machine, which can control the rotating speed of an engine more simply and efficiently under the condition that the load of the working machine changes suddenly.
The invention provides an engine rotating speed stabilizing method, which comprises the following steps:
acquiring pilot pressure of a hydraulic main valve of a target working machine at the current moment and actual rotating speed of an engine of the target working machine;
acquiring a target torque of the engine at the next moment based on the pilot pressure, the actual rotating speed and a predetermined target rotating speed of the engine;
and controlling a first rotation speed deviation between the actual rotation speed of the engine at the next moment and the actual rotation speed at the current moment to be smaller than a deviation threshold value based on the target torque.
According to the method for stabilizing the engine speed provided by the invention, the obtaining of the target torque of the engine at the next moment based on the pilot pressure, the actual speed and the predetermined target speed of the engine specifically comprises:
acquiring a second rotating speed deviation of the engine based on the target rotating speed and the actual rotating speed of the engine at the current moment;
and acquiring the target torque based on the second rotating speed deviation and the pilot pressure.
According to the method for stabilizing the engine speed provided by the invention, the obtaining the target torque based on the second speed deviation and the pilot pressure specifically comprises:
acquiring a pilot target torque of the engine based on the pilot pressure, and acquiring a correction torque of the engine based on the second rotation speed deviation;
and acquiring the target torque based on the pilot target torque and the correction torque.
According to the method for stabilizing the engine speed provided by the invention, the obtaining the target torque based on the pilot target torque and the correction torque specifically comprises the following steps:
and taking the sum of the pilot target torque and the correction torque as the target torque.
According to the method for stabilizing the engine speed, the step of controlling the actual speed of the engine at the next moment based on the target torque specifically comprises the following steps:
obtaining the theoretical oil injection quantity of the engine at the current moment based on the target torque;
and controlling a first rotating speed deviation between the actual rotating speed of the engine at the next moment and the actual rotating speed of the engine at the current moment to be smaller than a deviation threshold value based on the theoretical oil injection quantity of the engine at the current moment.
The present invention also provides an engine rotational speed control apparatus comprising:
the system comprises an acquisition data module, a control module and a control module, wherein the acquisition data module is used for acquiring the pilot pressure of a hydraulic main valve of a target working machine at the current moment and the target rotating speed and the actual rotating speed of an engine of the target working machine;
the torque determination module is used for acquiring a target torque of the engine at the next moment based on the pilot pressure, the actual rotating speed and a predetermined target rotating speed of the engine;
and the control rotating speed module is used for controlling a first rotating speed deviation between the actual rotating speed of the engine at the next moment and the actual rotating speed at the current moment to be smaller than a deviation threshold value on the basis of the target torque.
The present invention also provides a work machine comprising: such as the engine speed control device described above.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor executes the program to implement the steps of any of the engine speed stabilizing methods.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the engine speed stabilization method as described in any one of the above.
The present invention also provides a computer program product comprising a computer program which, when executed by a processor, carries out the steps of the engine speed stabilizing method as described in any one of the above.
The invention provides an engine rotating speed stabilizing method, an engine rotating speed stabilizing device and a working machine, which are characterized in that a target torque of an engine at the current moment is obtained based on the pilot pressure of a hydraulic main valve of the target working machine at the current moment and the target rotating speed and the actual rotating speed of the engine, and the first rotating speed deviation between the actual rotating speed of the engine at the next moment and the actual rotating speed at the current moment is controlled to be smaller than a deviation threshold value based on the target torque, so that the rotating speed of the engine can be stabilized more simply, more efficiently and more accurately by linkage hydraulic control and engine control under the condition that the load pressure value of a hydraulic system of the working machine is not required to be obtained, the abnormal fluctuation of the rotating speed of the engine can be avoided under the condition that the load of the working machine is suddenly changed, and the normal operation of the working machine under a complex working environment and a complex working condition can be realized.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow diagram of a method for stabilizing engine speed according to the present invention;
FIG. 2 is a second schematic flow chart of the engine speed stabilizing method provided by the present invention;
FIG. 3 is a schematic structural diagram of an engine speed control apparatus provided by the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The method for stabilizing the engine speed according to the present invention is applicable to control of the engine speed of a working machine equipped with a hydraulic system, and is particularly applicable to control of the engine speed of the working machine when a load of the working machine changes abruptly.
FIG. 1 is a schematic flow chart of a method for stabilizing engine speed according to the present invention. The engine speed stabilization method of the present invention is described below with reference to fig. 1. As shown in fig. 1, the method includes:
The main execution unit of the embodiment of the present invention is an engine speed control device.
Specifically, the present invention provides an engine speed stabilization method for controlling the engine speed of a target work machine. Wherein the target work machine is provided with a hydraulic system.
The driver of the target working machine can perform related operations on the control handle of the target working machine according to actual conditions such as working environment, real-time working conditions and the like in the process of driving the target working machine.
After receiving the operation of the driver, the control handle of the target work machine may convert the operation into a corresponding electrical signal, and may send the electrical signal to the hydraulic system for controlling the hydraulic system of the target work machine.
The pilot pressure of the target work machine hydraulic main valve corresponds to the received electric signal transmitted from the control handle. Wherein, the hydraulic main valve is the main valve of hydraulic system.
The hydraulic controller vcu (vehicle control unit) is a central control unit of the hydraulic system, and may be used for coordination and control of the hydraulic system. The hydraulic controller VCU of the hydraulic system of the target working machine can acquire the pilot pressure of the hydraulic main valve of the target working machine in real time.
The hydraulic controller VCU may acquire the pilot pressure of the target work machine hydraulic main valve at the present time, and may transmit the pilot pressure to the engine speed control device. The engine speed control device may receive the pilot pressure.
The target rotational speed of the engine of the target work machine may be predetermined by the driver in accordance with actual circumstances, and may be obtained in various ways, for example: after a driver rotates an accelerator knob of a target operation machine to a certain gear according to actual requirements, a hydraulic controller VCU (virtual vehicle control unit) can acquire the voltage of the accelerator knob at the current moment and determine the target rotating speed of an engine of the target operation machine at the current moment based on the acquired voltage of the accelerator knob, after acquiring the target rotating speed of the engine of the target operation machine at the current moment, the hydraulic controller VCU can send the target rotating speed to an engine rotating speed control device, and the engine rotating speed control device can receive the target rotating speed; alternatively, the driver may input the target rotational speed through the user interaction interface, and the engine rotational speed control device may acquire the target rotational speed based on the input of the driver on the user interaction interface.
After the hydraulic controller VCU obtains the target rotation speed of the hydraulic system of the target working machine at the present time, the target rotation speed may be sent to an engine controller ecu (electronic Control unit) of the target working machine through a communication bus. The engine controller ECU receives and responds to the target rotation speed, may control the engine to operate, and may collect an actual rotation speed of the engine at the present time.
After the engine controller ECU collects the actual rotation speed of the engine of the target work machine, the actual rotation speed may be directly transmitted to the engine rotation speed control device, or the actual rotation speed may be transmitted to the hydraulic controller VCU, which may transmit the actual rotation speed to the engine rotation speed control device. The engine speed control means may receive the above actual speed.
It should be noted that the communication bus in the embodiment of the present invention may be a CAN bus.
And 102, acquiring a target torque of the engine at the next moment based on the pilot pressure, the actual rotating speed and a predetermined target rotating speed of the engine.
Specifically, the target torque of the engine at the next time may be obtained by a method such as numerical calculation or mathematical statistics based on the pilot pressure of the target work machine hydraulic main valve and the target rotation speed and actual rotation speed of the engine of the target work machine.
And 103, controlling a first rotation speed deviation between the actual rotation speed of the engine at the next moment and the actual rotation speed at the current moment to be smaller than a deviation threshold value based on the target torque.
Specifically, in the case of a sudden change in load, the work machine may cause a large fluctuation in the rotational speed of the engine. In the embodiment of the invention, the target torque of the engine at the next moment is obtained based on the pilot pressure, the actual rotating speed of the engine and the target rotating speed, and the sudden load of the working machine is offset based on the target torque of the engine at the next moment.
Based on the target torque, the first rotation speed deviation between the actual rotation speed at the next moment of the engine and the actual rotation speed at the current moment can be controlled to be smaller than the deviation threshold value in various ways. For example: the fuel injection quantity of the engine at the current moment can be determined based on the target torque of the engine at the current moment, and then the engine can respond to the fuel injection quantity at the current moment to realize that the first rotating speed deviation between the actual rotating speed at the next moment and the actual rotating speed at the current moment is smaller than the deviation threshold value.
Under the condition that the first rotation speed deviation between the actual rotation speed at the next moment of the engine and the actual rotation speed at the current moment is smaller than the deviation threshold value, the rotation speed of the engine does not fluctuate greatly, and therefore the rotation speed of the engine is stabilized.
It should be noted that the first rotational speed deviation may be determined according to actual conditions. In the embodiment of the present invention, the specific value of the first rotational speed deviation is not limited.
According to the embodiment of the invention, the target torque of the engine at the current moment is obtained based on the pilot pressure of the hydraulic main valve of the target operation machine at the current moment and the target rotating speed and the actual rotating speed of the engine, and the first rotating speed deviation between the actual rotating speed of the engine at the next moment and the actual rotating speed at the current moment is controlled to be smaller than the deviation threshold value based on the target torque, so that the rotating speed of the engine can be stabilized more simply, more efficiently and more accurately by linkage hydraulic control and engine control under the condition that the load pressure value of the hydraulic system of the operation machine is not required to be obtained, the abnormal fluctuation of the rotating speed of the engine can be avoided under the condition that the load of the operation machine is suddenly changed, and the normal operation of the operation machine under complex operation environments and complex working conditions can be realized.
Based on the content of the foregoing embodiments, obtaining the target torque of the engine at the next time based on the pilot pressure, the actual rotation speed, and the predetermined target rotation speed of the engine specifically includes: and acquiring a second rotating speed deviation of the engine based on the target rotating speed and the actual rotating speed of the engine at the current moment.
Specifically, the second rotation speed deviation of the engine of the target work machine may be acquired by a numerical calculation method based on the target rotation speed and the actual rotation speed of the engine of the target work machine at the present time. For example: the difference between the target rotation speed and the actual rotation speed at the present time may be used as the second rotation speed deviation; alternatively, the second rotation speed deviation may be obtained by correcting an error in a difference between the target rotation speed and the actual rotation speed at the present time.
And acquiring the target torque based on the second rotating speed deviation and the pilot pressure.
Specifically, the target torque of the engine at the next time may be obtained by a method such as numerical calculation or mathematical statistics based on the pilot pressure of the target work machine hydraulic main valve and the second rotation speed deviation of the engine of the target work machine.
According to the embodiment of the invention, the target torque of the engine at the next moment is obtained through the second rotating speed deviation of the engine obtained based on the actual rotating speed and the target rotating speed of the engine of the target working machine at the current moment and the pilot pressure of the hydraulic main valve of the target working machine, so that the target torque of the engine at the next moment can be obtained more efficiently and more simply based on the operation of a driver and the second rotating speed deviation of the engine, and further the rotating speed of the engine can be stabilized more timely and more efficiently.
Based on the content of the foregoing embodiments, obtaining the target torque based on the second rotation speed deviation and the pilot pressure specifically includes: a pilot target torque of the engine is acquired based on the pilot pressure, and a correction torque of the engine is acquired based on the second rotational speed deviation.
Specifically, the pilot target torque of the engine of the target work machine can be acquired from a torque calculation model constructed in advance based on the pilot pressure of the target work machine hydraulic main valve.
The torque calculation model is constructed based on sample operation data of the sample work machine.
Specifically, a work machine of the same model as the target work machine may be used as the sample work machine, the pilot pressure of the hydraulic main valve at a certain time in the normal operation state of the sample work machine may be used as sample data, and the engine torque corresponding to the sample data may be acquired as the tag corresponding to the sample data.
The normal operation state may refer to an operation state in which the work machine performs operation in a normal operation scene or a normal operation condition.
Based on the sample data of the sample work machine and the corresponding label, data fitting may be performed to obtain a fitting function representing the correspondence between the pilot pressure and the engine torque. Based on the fitting function described above, a torque calculation model can be constructed.
After the actual rotation speed of the engine at the current moment is obtained, whether a second rotation speed deviation between the actual rotation speed of the engine and the target rotation speed exceeds a preset deviation threshold value or not can be judged based on the actual rotation speed of the engine at the current moment. When it is determined that the second rotation speed deviation of the engine exceeds the preset deviation threshold, the pilot pressure of the hydraulic main valve of the target working machine at the current time can be acquired, and the pilot pressure is input into the torque calculation model, so that the pilot target torque of the engine of the target working machine at the current time can be acquired.
The sudden load change of the target work machine may correspond to a pilot target torque of the engine. The pilot target torque is increased and indicates a sudden load increase of the target working machine; the pilot target torque decreases, indicating a sudden load decrease of the target work machine.
The correction torque of the engine of the target work machine at the present time may be obtained by a numerical calculation method based on the second rotation speed deviation of the engine of the target work machine at the present time, for example: based on the second rotation speed deviation of the engine of the target work machine at the present time, the correction torque of the engine of the target work machine at the present time can be calculated by the rotation speed PI control method.
The PI control is a linear control, and is capable of forming a control deviation from a given value and an actual output value, and linearly combining the proportion and integral of the deviation to form a control amount to control an object to be controlled.
The target torque is obtained based on the pilot target torque and the correction torque.
Specifically, based on the pilot target torque and the correction torque of the engine at the current time, the target torque of the engine at the next time can be obtained through numerical calculation, mathematical statistics and other methods.
According to the embodiment of the invention, the target torque of the engine at the next moment is obtained through the pilot target torque of the engine obtained based on the pilot pressure of the hydraulic main valve of the target working machine at the current moment and the correction torque of the engine obtained based on the second rotating speed deviation of the engine, so that the pilot target torque of the engine can be determined based on the operation of a driver, the target torque of the engine at the next moment can be obtained more efficiently and more simply, and the rotating speed of the engine can be stabilized more timely.
Based on the content of the foregoing embodiments, obtaining the target torque based on the pilot target torque and the correction torque specifically includes: the sum of the pilot target torque and the correction torque is set as a target torque.
Specifically, the correction torque may be determined based on a second rotational speed deviation between the real-time rotational speed and the target rotational speed of the engine. However, the correction torque has hysteresis, that is, in a normal case, the ECU can only perform the correction after the engine rotation speed fluctuates, and when the ECU cannot estimate the specific value of the rotation speed fluctuation when the engine rotation speed fluctuates, the ECU cannot respond before the engine rotation speed fluctuates to stabilize the rotation speed of the engine.
In the embodiment of the invention, based on the operation of a control handle of the working machine by a user, the pilot pressure of a hydraulic main valve of the working machine can be determined, the pilot target torque corresponding to the pilot pressure is compensated, the target torque of the engine at the next moment is determined, so that the sudden load of the working machine can be offset, the rotating speed deviation between the actual rotating speed of the engine at the next moment and the actual rotating speed of the engine at the previous moment is controlled to be smaller than the deviation threshold value, and large fluctuation is avoided, so that the rotating speed of the engine is stabilized.
The embodiment of the invention can compensate the pilot target torque corresponding to the pilot pressure of the hydraulic main valve of the target working machine in advance based on the operation of a driver and the second rotating speed deviation of the engine by taking the sum of the pilot target torque and the correction torque of the engine of the target working machine at the current moment as the target torque of the next moment of the engine, thereby more efficiently and simply obtaining the target torque of the next moment of the engine and more timely stabilizing the rotating speed of the engine.
Based on the content of the foregoing embodiments, the controlling the actual rotation speed of the engine at the next time based on the target torque specifically includes: and acquiring the theoretical fuel injection quantity of the engine at the current moment based on the target torque.
Specifically, based on the target torque of the engine of the target working machine, the engine fuel injection quantity corresponding to the target torque is calculated and obtained through a numerical calculation method and is used as the theoretical fuel injection quantity of the engine at the current moment; the theoretical oil injection quantity of the engine at the current moment can be obtained based on the target torque and based on a pre-constructed oil injection quantity calculation model.
And controlling a first rotating speed deviation between the actual rotating speed of the engine at the next moment and the actual rotating speed at the current moment to be smaller than a deviation threshold value based on the theoretical oil injection quantity of the engine at the current moment.
The fuel injection quantity of the engine of the target work machine at the present time can be corrected based on the theoretical fuel injection quantity of the engine at the present time.
Specifically, after the theoretical fuel injection quantity of the engine at the current time is obtained, the theoretical fuel injection quantity may be sent to the engine controller ECU, and the engine controller ECU may correct the fuel injection quantity of the engine at the current time to the theoretical fuel injection quantity.
The engine responds to the theoretical oil injection quantity, and the first rotating speed deviation between the actual rotating speed at the next moment and the actual rotating speed at the current moment is smaller than the deviation threshold value, so that sudden change of the load of the target operation machine can be adapted, the phenomenon that the rotating speed of the engine is greatly fluctuated due to the sudden change of the load is avoided, and the rotating speed of the engine is stabilized.
The embodiment of the invention obtains the theoretical oil injection quantity of the engine of the target operation machine at the current moment by based on the pilot pressure of the hydraulic main valve of the target operation machine at the current moment and the target rotating speed and the actual rotating speed of the engine of the target operation machine, can more efficiently and more accurately control the oil injection quantity of the engine by linkage hydraulic control and engine control, can stabilize the rotating speed of the engine by quickly adjusting the oil injection quantity of the engine in more time under the condition of sudden change of the load of the operation machine, can avoid the abnormal fluctuation of the rotating speed of the engine, and can realize the normal operation of the operation machine in a complex operation environment and a complex working condition.
In order to facilitate understanding of the engine speed stabilization method provided by the present invention, the engine speed stabilization method provided by the present invention is explained below by way of an example. FIG. 2 is a second schematic flow chart of the engine speed stabilizing method provided by the present invention. As shown in fig. 2, the second rotational speed deviation of the engine may be acquired based on the target rotational speed of the engine of the target work machine at the present time acquired by the hydraulic controller VCU and the actual rotational speed of the engine at the present time acquired by the engine controller ECU.
The pilot target torque of the engine at the current time can be acquired based on the pilot pressure of the hydraulic main valve of the target operation machine at the current time and the second rotating speed deviation of the engine, which are acquired by the hydraulic controller VCU.
And obtaining the theoretical oil injection quantity of the engine at the current moment based on the pilot target torque and the second rotating speed deviation of the engine at the current moment.
And correcting the rotating speed of the engine at the current moment based on the theoretical fuel injection quantity of the engine at the current moment, wherein the engine responds to the theoretical fuel injection quantity, and the first rotating speed deviation between the actual rotating speed at the next moment and the actual rotating speed at the current moment is smaller than a deviation threshold value.
Fig. 3 is a schematic structural diagram of an engine speed control device provided by the present invention. The engine speed control apparatus provided by the present invention will be described with reference to fig. 3, and the engine speed control apparatus described below and the engine speed stabilization method provided by the present invention described above may be referred to in correspondence with each other. As shown in fig. 3, the apparatus includes: a data acquisition module 301, a torque determination module 302, and a control speed module 303.
An obtaining data module 301 is configured to obtain a pilot pressure of a hydraulic main valve of the target work machine and an actual rotation speed of an engine of the target work machine at a current time.
The torque determination module 302 is configured to obtain a target torque of the engine at a next time based on the pilot pressure, the actual speed, and a predetermined target speed of the engine.
And a control rotation speed module 303, configured to control a first rotation speed deviation between an actual rotation speed of the engine at a next time and an actual rotation speed at a current time to be smaller than a deviation threshold value based on the target torque.
Specifically, the data acquisition module 301, the torque determination module 302, and the control speed module 303 are electrically connected.
The hydraulic controller VCU may obtain the pilot pressure of the hydraulic main valve of the target working machine at the present time, and then may send the pilot pressure to the data obtaining module 301. The acquire data module 301 may receive the pilot pressure.
The target rotational speed of the engine of the target work machine may be predetermined by the driver in accordance with actual circumstances, and may be obtained in various ways, for example: after a driver rotates an accelerator knob of a target operation machine to a certain gear according to actual requirements, a hydraulic controller VCU may acquire a voltage of the accelerator knob at a current moment and determine a target rotation speed of an engine of the target operation machine at the current moment based on the acquired voltage of the accelerator knob, after acquiring the target rotation speed of the engine of the target operation machine at the current moment, the hydraulic controller VCU may send the target rotation speed to an acquisition data module 301, and the acquisition data module 301 may receive the target rotation speed; alternatively, the driver may input the target rotation speed through the user interaction interface, and the data obtaining module 301 may obtain the target rotation speed based on the input of the driver on the user interaction interface.
After the engine controller ECU collects the actual rotation speed of the engine of the target work machine, the actual rotation speed may be directly sent to the data obtaining module 301, and may also be sent to the hydraulic controller VCU, which may send the actual rotation speed to the data obtaining module 301. The get data module 301 may receive the actual rotational speed.
The torque determination module 302 may obtain the target torque of the engine at the next time by numerical calculation, mathematical statistics, and other methods based on the pilot pressure of the hydraulic main valve of the target work machine, the target rotation speed and the actual rotation speed of the engine of the target work machine.
The control speed module 303 may control a first speed deviation between an actual speed of the engine at a next time and an actual speed at a current time to be less than a deviation threshold in a variety of ways based on the target torque. For example: the fuel injection quantity of the engine at the current moment can be determined based on the target torque of the engine at the current moment, and then the engine can respond to the fuel injection quantity at the current moment to realize that the first rotating speed deviation between the actual rotating speed at the next moment and the actual rotating speed at the current moment is smaller than the deviation threshold value.
According to the embodiment of the invention, the target torque of the engine at the current moment is obtained based on the pilot pressure of the hydraulic main valve of the target operation machine at the current moment and the target rotating speed and the actual rotating speed of the engine, and the first rotating speed deviation between the actual rotating speed of the engine at the next moment and the actual rotating speed at the current moment is controlled to be smaller than the deviation threshold value based on the target torque, so that the rotating speed of the engine can be stabilized more simply, more efficiently and more accurately by linkage hydraulic control and engine control under the condition that the load pressure value of the hydraulic system of the operation machine is not required to be obtained, the abnormal fluctuation of the rotating speed of the engine can be avoided under the condition that the load of the operation machine is suddenly changed, and the normal operation of the operation machine under complex operation environments and complex working conditions can be realized.
Based on the content of the above embodiments, a work machine includes: such as the engine speed control device described above.
Specifically, the working machine including the engine as in the above-described embodiment, including the engine rotational speed control apparatus as in the above-described embodiment, can control the rotational speed of the engine more promptly in the event of a sudden change in the load of the working machine.
The structure and the specific working flow of the engine speed control device can be referred to the content of the above embodiments, and are not described herein again.
According to the embodiment of the invention, the target torque of the engine at the current moment is obtained based on the pilot pressure of the hydraulic main valve of the target operation machine at the current moment and the target rotating speed and the actual rotating speed of the engine, and the first rotating speed deviation between the actual rotating speed of the engine at the next moment and the actual rotating speed at the current moment is controlled to be smaller than the deviation threshold value based on the target torque, so that the rotating speed of the engine can be stabilized more simply, more efficiently and more accurately by linkage hydraulic control and engine control under the condition that the load pressure value of the hydraulic system of the operation machine is not required to be obtained, the abnormal fluctuation of the rotating speed of the engine can be avoided under the condition that the load of the operation machine is suddenly changed, and the normal operation of the operation machine under complex operation environments and complex working conditions can be realized.
Fig. 4 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 4: a processor (processor)410, a communication Interface 420, a memory (memory)430 and a communication bus 440, wherein the processor 410, the communication Interface 420 and the memory 430 are communicated with each other via the communication bus 440. The processor 410 may invoke logic instructions in the memory 430 to perform an engine speed stabilization method comprising: acquiring the pilot pressure of a hydraulic main valve of a target working machine at the current moment and the actual rotating speed of an engine of the target working machine; acquiring a target torque of the engine at the next moment based on the pilot pressure, the actual rotating speed and a predetermined target rotating speed of the engine; and controlling a first rotation speed deviation between the actual rotation speed of the engine at the next moment and the actual rotation speed at the current moment to be smaller than a deviation threshold value based on the target torque.
In addition, the logic instructions in the memory 430 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes 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 steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being stored on a non-transitory computer readable storage medium, wherein when the computer program is executed by a processor, the computer is capable of executing the engine speed stabilization method provided by the above methods, the method comprising: acquiring the pilot pressure of a hydraulic main valve of a target working machine at the current moment and the actual rotating speed of an engine of the target working machine; acquiring a target torque of the engine at the next moment based on the pilot pressure, the actual rotating speed and a predetermined target rotating speed of the engine; and controlling a first rotation speed deviation between the actual rotation speed of the engine at the next moment and the actual rotation speed at the current moment to be smaller than a deviation threshold value based on the target torque.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements an engine speed stabilization method provided by the methods described above, the method comprising: acquiring the pilot pressure of a hydraulic main valve of a target working machine at the current moment and the actual rotating speed of an engine of the target working machine; acquiring a target torque of the engine at the next moment based on the pilot pressure, the actual rotating speed and a predetermined target rotating speed of the engine; and controlling a first rotation speed deviation between the actual rotation speed of the engine at the next moment and the actual rotation speed at the current moment to be smaller than a deviation threshold value based on the target torque.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An engine speed stabilization method, characterized by comprising:
acquiring pilot pressure of a hydraulic main valve of a target working machine at the current moment and actual rotating speed of an engine of the target working machine;
acquiring a target torque of the engine at the next moment based on the pilot pressure, the actual rotating speed and a predetermined target rotating speed of the engine;
and controlling a first rotation speed deviation between the actual rotation speed of the engine at the next moment and the actual rotation speed at the current moment to be smaller than a deviation threshold value based on the target torque.
2. The engine speed stabilization method according to claim 1, wherein the obtaining of the target torque of the engine at the next time based on the pilot pressure, the actual speed, and a predetermined target speed of the engine specifically includes:
acquiring a second rotating speed deviation of the engine based on the target rotating speed and the actual rotating speed of the engine at the current moment;
and acquiring the target torque based on the second rotating speed deviation and the pilot pressure.
3. The engine speed stabilization method according to claim 2, wherein the obtaining the target torque based on the second speed deviation and the pilot pressure specifically includes:
acquiring a pilot target torque of the engine based on the pilot pressure, and acquiring a correction torque of the engine based on the second rotation speed deviation;
and acquiring the target torque based on the pilot target torque and the correction torque.
4. The engine speed stabilization method according to claim 3, wherein the obtaining the target torque based on the pilot target torque and the correction torque specifically includes:
and taking the sum of the pilot target torque and the correction torque as the target torque.
5. The engine speed stabilization method according to any one of claims 1 to 4, wherein the controlling, based on the target torque, that a first speed deviation between an actual speed of the engine at a next time and an actual speed of the engine at a current time is smaller than a deviation threshold specifically includes:
obtaining the theoretical oil injection quantity of the engine at the current moment based on the target torque;
and controlling a first rotating speed deviation between the actual rotating speed of the engine at the next moment and the actual rotating speed of the engine at the current moment to be smaller than a deviation threshold value based on the theoretical oil injection quantity of the engine at the current moment.
6. An engine speed control apparatus characterized by comprising:
the system comprises an acquisition data module, a control module and a control module, wherein the acquisition data module is used for acquiring the pilot pressure of a hydraulic main valve of a target working machine at the current moment and the target rotating speed and the actual rotating speed of an engine of the target working machine;
the torque determination module is used for acquiring a target torque of the engine at the next moment based on the pilot pressure, the actual rotating speed and a predetermined target rotating speed of the engine;
and the control rotating speed module is used for controlling a first rotating speed deviation between the actual rotating speed of the engine at the next moment and the actual rotating speed at the current moment to be smaller than a deviation threshold value on the basis of the target torque.
7. A work machine, comprising: an engine speed control apparatus according to claim 6.
8. An electronic device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, characterized in that said processor, when executing said program, carries out the steps of the method for stabilizing the engine speed according to any one of claims 1 to 5.
9. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the engine speed stabilization method according to any one of claims 1 to 5.
10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the engine speed stabilization method according to any one of claims 1 to 5 when executed by a processor.
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