CN113833576B - Engine rotation speed stabilizing method and device and working machine - Google Patents
Engine rotation speed stabilizing method and device and working machine Download PDFInfo
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- CN113833576B CN113833576B CN202111076508.6A CN202111076508A CN113833576B CN 113833576 B CN113833576 B CN 113833576B CN 202111076508 A CN202111076508 A CN 202111076508A CN 113833576 B CN113833576 B CN 113833576B
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- 238000000034 method Methods 0.000 title claims abstract description 54
- 230000000087 stabilizing effect Effects 0.000 title claims abstract description 20
- 238000002347 injection Methods 0.000 claims description 27
- 239000007924 injection Substances 0.000 claims description 27
- 230000006641 stabilisation Effects 0.000 claims description 18
- 238000011105 stabilization Methods 0.000 claims description 18
- 239000000446 fuel Substances 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 12
- 230000002159 abnormal effect Effects 0.000 abstract description 6
- 238000004364 calculation method Methods 0.000 description 12
- 239000003921 oil Substances 0.000 description 11
- 239000000243 solution Substances 0.000 description 9
- 238000004891 communication Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010705 motor oil Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides an engine rotating speed stabilizing method, an engine rotating speed stabilizing device and a working machine, wherein the method comprises the following steps: acquiring the pilot pressure of a hydraulic main valve of the 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; based on the target torque, a first rotational speed deviation between the actual rotational speed at the next time of the engine and the actual rotational speed at the current time is controlled to be smaller than a deviation threshold value. According to the engine rotating speed stabilizing method, the engine rotating speed stabilizing device and the working machine, the rotating speed of the engine can be stabilized more simply, more efficiently and more accurately through 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 acquired, 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 normal operation of the working machine in a complex working environment and under a complex working condition can be realized.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to an engine rotating speed stabilizing method and device and an operation machine.
Background
The working machine equipped with the hydraulic system is widely applied to the infrastructures of cities, traffic, water conservancy, mines, river courses and the like. However, under the conditions that the working environment where the working machine is located is severe and the working condition is complex and changeable, the load of the working machine is easy to mutate, and the rotation speed of the engine can be greatly fluctuated. If the rotating speed of the engine cannot be controlled in time, the rotating speed of the engine is stabilized, and the situation of speed drop and even flameout possibly occurs, so that the normal work of the working machine is affected.
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 an engine is controlled based on the load pressure value and other relevant operating parameters of the working machine. However, the existing engine speed control method is complicated, and has hysteresis on the stability of the speed. In the case of abrupt change of the load of the working machine, how to control the rotation speed of the engine more simply and more efficiently is a technical problem to be solved in the art.
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 more efficiently under the condition that the load of the working machine is suddenly changed.
The invention provides an engine rotating speed stabilizing method, which 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 rotation speed and a predetermined target rotation speed of the engine;
and controlling a first rotational speed deviation between the actual rotational speed of the engine at the next moment and the actual rotational 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 rotation speed provided by the invention, the method for acquiring the target torque of the engine at the next moment based on the pilot pressure, the actual rotation speed and the predetermined target rotation speed of the engine specifically comprises the following steps:
Acquiring a second rotational speed deviation of the engine based on the target rotational speed and the actual rotational speed of the engine at the current moment;
the target torque is acquired based on the second rotational speed deviation and the pilot pressure.
According to the method for stabilizing the rotation speed of the engine provided by the invention, the target torque is obtained based on the second rotation speed deviation and the pilot pressure, and the method specifically comprises the following steps:
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 rotational speed provided by the invention, the target torque is obtained based on the pilot target torque and the correction torque, and the method 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 rotational speed provided by the invention, the actual rotational speed of the engine at the next moment is controlled based on the target torque, and the method specifically comprises the following steps:
Based on the target torque, acquiring a theoretical oil injection quantity of the engine at the current moment;
And controlling a first rotational speed deviation between the actual rotational speed of the engine at the next moment and the actual rotational speed at the current moment to be smaller than a deviation threshold value based on the theoretical fuel injection quantity of the engine at the current moment.
The invention also provides an engine speed control device, comprising:
The data acquisition module is used for acquiring the pilot pressure of the 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 of the target working machine;
the torque determining module is used for obtaining a target torque of the engine at the next moment based on the pilot pressure, the actual rotating speed and a preset target rotating speed of the engine;
And the control rotating speed module is used for controlling 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 to be smaller than a deviation threshold value based on the target torque.
The present invention also provides a work machine comprising: the engine speed control device as described above.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the engine speed stabilization method as described in any one of the above when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the engine speed stabilization method as described in any one of the above.
The invention also provides a computer program product comprising a computer program which when executed by a processor carries out the steps of a method of stabilizing engine speed as described in any one of the above.
According to the engine rotating speed stabilizing method, the engine rotating speed stabilizing device and the operating machine, 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 operating machine at the current moment and the target rotating speed and the actual rotating speed of the engine, the first rotating speed deviation between the actual rotating speed at the next moment of the engine and the actual rotating speed at the current moment is controlled to be smaller than the deviation threshold value based on the target torque, the rotating speed of the engine can be stabilized simply, efficiently and accurately under the condition that the load pressure value of the hydraulic system of the operating machine is not required to be obtained, abnormal fluctuation of the rotating speed of the engine can be avoided under the condition that the load of the operating machine is suddenly changed, and normal operation of the operating machine in complex operating environments and complex working conditions can be realized.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an engine speed stabilization method provided by the present invention;
FIG. 2 is a second flow chart of the engine speed stabilization method according to the present invention;
FIG. 3 is a schematic diagram of an engine speed control device according to the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The engine speed stabilization method according to the present invention may be used to control the engine speed of a working machine in which a hydraulic system is disposed, and is particularly suitable for controlling the engine speed of the working machine when the load of the working machine is suddenly changed.
Fig. 1 is a schematic flow chart of an engine speed stabilizing method provided by the 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:
Step 101, obtaining the pilot pressure of the hydraulic main valve of the target working machine at the current moment and the actual rotation speed of the engine of the target working machine.
It should be noted that, the execution body of the embodiment of the present invention is an engine rotational speed control device.
Specifically, the engine speed stabilization method provided by the invention is used for controlling the engine speed of the target working machine. Wherein the target work machine is configured with a hydraulic system.
In the process of driving the target working machine, a driver of the target working machine can perform related operation on a control handle of the target working machine according to actual conditions such as working environment, real-time working condition and the like.
After the control handle of the target work machine receives the operation of the driver, the operation may be converted into a corresponding electrical signal, and the electrical signal may be sent to the hydraulic system for controlling the hydraulic system of the target work machine.
The pilot pressure of the hydraulic main valve of the target working machine corresponds to the received electric signal sent by the control handle. The hydraulic main valve is a main valve of a hydraulic system.
The hydraulic controller VCU (Vehicle control unit) is a central control unit of the hydraulic system and can be used for coordination and control of the hydraulic system. The hydraulic controller VCU of the target work machine hydraulic system may collect the pilot pressure of the target work machine hydraulic main valve in real time.
After the hydraulic controller VCU obtains the pilot pressure of the hydraulic main valve of the target working machine at the current time, the pilot pressure may be sent to the engine speed control device. The engine speed control means may receive the pilot pressure.
The target rotation speed of the engine of the target working machine may be predetermined by the driver according to the actual situation, and may be obtained in various ways, for example: after a driver rotates an accelerator knob of a target working machine to a certain gear according to actual demands, a hydraulic controller VCU can acquire the voltage of the accelerator knob at the current moment and determine the target rotating speed of an engine of the target working machine at the current moment based on the acquired voltage of the accelerator knob, the hydraulic controller VCU can send the target rotating speed to an engine rotating speed control device after acquiring the target rotating speed of the engine of the target working machine at the current moment, and the engine rotating speed control device can receive the target rotating speed; or the driver can input the target rotating speed through the user interaction interface, and the engine rotating speed control device can acquire the target rotating 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 current moment, the target rotation speed may also be sent to the engine controller ECU (Electronic Control Unit) of the target working machine through the communication bus. The engine controller ECU receives and responds to the above target rotation speed, and can control the engine operation and can collect the actual rotation speed of the engine at the present moment.
After the engine controller ECU collects the actual rotational speed of the engine of the target working machine, the actual rotational speed may be directly transmitted to the engine rotational speed control device, or the actual rotational speed may be transmitted to the hydraulic controller VCU, which may transmit the actual rotational speed to the engine rotational speed control device. The engine speed control means may receive the above-described actual speed.
It should be noted that, in the embodiment of the present invention, the communication bus may be a CAN bus.
Step 102, obtaining 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 at the next time of the engine may be obtained by a method such as numerical calculation or mathematical statistics based on the pilot pressure of the hydraulic main valve of the target working machine, the target rotation speed and the actual rotation speed of the engine of the target working machine.
Step 103, based on the target torque, controlling a first rotational speed deviation between the actual rotational speed of the engine at the next moment and the actual rotational speed at the current moment to be smaller than a deviation threshold value.
Specifically, when the load of the work machine suddenly changes, the rotational speed of the engine may fluctuate greatly. In the embodiment of the invention, the target torque of the next moment of the engine is obtained based on the pilot pressure, the actual rotation speed and the target rotation speed of the engine, and the abrupt load of the working machine is counteracted based on the target torque of the next moment of the engine.
Based on the target torque, the first rotational speed deviation between the actual rotational speed at the next time of the engine and the actual rotational speed at the current time may be controlled to be less 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, so that the engine can respond to the fuel injection quantity at the current moment, and the first rotational speed deviation between the actual rotational speed at the next moment and the actual rotational speed at the current moment is smaller than the deviation threshold value.
When the first rotational speed deviation between the actual rotational speed of the engine at the next moment and the actual rotational speed of the engine at the current moment is smaller than the deviation threshold value, the rotational speed of the engine does not have large fluctuation, so that the rotational speed of the engine is stabilized.
It should be noted that the first rotational speed deviation may be determined according to actual situations. The specific value of the first rotational speed deviation in the embodiment of the present invention 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 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 at the next moment of the engine 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 simply, efficiently and accurately by linkage hydraulic control and engine control under the condition that the load pressure value of the hydraulic system of the working machine is not required 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 is suddenly changed, and normal operation of the working machine in a complex working environment and a complex working condition can be realized.
Based on the above-described embodiments, the obtaining the target torque at the next time of the engine 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 rotational speed deviation of the engine of the target work machine may be obtained by a numerical calculation method based on the target rotational speed and the actual rotational speed of the engine of the target work machine at the current time. For example: the difference between the target rotation speed and the actual rotation speed at the current moment can be used as the second rotation speed deviation; or the second rotation speed deviation may be obtained after error correction is performed on the difference between the target rotation speed and the actual rotation speed at the current time.
The target torque is acquired based on the second rotational speed deviation and the pilot pressure.
Specifically, the target torque at the next time of the engine may be obtained by a method such as numerical calculation or mathematical statistics based on the pilot pressure of the hydraulic main valve of the target working machine and the second rotational speed deviation of the engine of the target working machine.
According to the embodiment of the invention, the target torque at the next moment of the engine is obtained based on the actual rotation speed and the target rotation 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 at the next moment of the engine can be obtained more efficiently and simply based on the operation of a driver and the second rotation speed deviation of the engine, and the rotation speed of the engine can be stabilized more timely and more efficiently.
Based on the foregoing embodiments, the obtaining the target torque based on the second rotational speed deviation and the pilot pressure specifically includes: based on the pilot pressure, a pilot target torque of the engine is obtained, and based on the second rotational speed deviation, a corrected torque of the engine is obtained.
Specifically, the pilot target torque of the engine of the target work machine may be obtained from a torque calculation model constructed in advance based on the pilot pressure of the hydraulic main valve of the target work machine.
The torque calculation model is constructed based on sample operation data of the sample work machine.
Specifically, a work machine of the same type as the target work machine may be used as the sample work machine, and the pilot pressure of the hydraulic main valve of the sample work machine at a certain time in the normal work state may be used as the 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 working machine performs an operation in a normal operation scene or under a normal operation condition.
Based on sample data of the sample work machine and the corresponding tag, data fitting may be performed to obtain a fitting function that represents a 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 can be judged based on the actual rotation speed of the engine at the current moment. Under the condition that the second rotating speed deviation of the engine exceeds a preset deviation threshold value, the pilot pressure of the hydraulic main valve of the target working machine at the current moment can be obtained, the pilot pressure is input into a torque calculation model, and the pilot target torque of the engine of the target working machine at the current moment can be obtained.
The abrupt load change of the target work machine may correspond to the pilot target torque of the engine. The pilot target torque increases to indicate a sudden load increase of the target work machine; the decrease in the pilot target torque indicates a sudden load decrease in the target work machine.
Based on the second rotational speed deviation of the engine of the target working machine at the current moment, the correction torque of the engine of the target working machine at the current moment can be obtained through a numerical calculation method, for example: based on the second rotational speed deviation of the engine of the target working machine at the current moment, the correction torque of the engine of the target working machine at the current moment can be calculated through a rotational speed PI control method.
The PI control is a linear control, and may control an object to be controlled by forming a control deviation from a given value and an actual output value, and forming a control amount by linearly combining a proportional and integral of the deviation.
The target torque is obtained based on the pilot target torque and the corrected torque.
Specifically, based on the pilot target torque and the corrected torque of the engine at the current moment, the target torque of the engine at the next moment can be obtained through methods such as numerical calculation, mathematical statistics and the like.
According to the embodiment of the invention, the target torque of the next moment of the engine 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, the pilot target torque of the engine can be determined based on the operation of a driver, the target torque of the next moment of the engine can be obtained more efficiently and more simply, and the rotating speed of the engine can be stabilized more timely.
Based on the above-described matters of the embodiments, the target torque is obtained based on the pilot target torque and the correction torque, specifically including: and taking the sum of the pilot target torque and the correction torque as the target torque.
Specifically, the correction torque may be determined based on a second rotational speed deviation between the real-time rotational speed of the engine and the target rotational speed. However, the above-mentioned correction torque has hysteresis, that is, in normal cases, the ECU can only remedy after the engine speed fluctuates, and when the ECU cannot estimate the specific value of the fluctuation of the engine speed, it cannot respond before the engine speed fluctuates, and the engine speed is stabilized.
According to the embodiment of the invention, based on the operation of the control handle of the working machine by a user, the pilot pressure of the hydraulic main valve of the working machine can be determined, the pilot target torque corresponding to the pilot pressure is compensated, and the target torque at the next moment of the engine is determined, so that the abrupt load of the working machine can be counteracted, the rotation speed deviation between the actual rotation speed at the next moment of the engine and the actual rotation speed at the last moment of the engine is controlled to be smaller than the deviation threshold value, no larger fluctuation occurs, and the rotation speed of the engine is stabilized.
According to the embodiment of the invention, the sum of the pilot target torque and the correction torque of the engine of the target working machine at the current moment is used as the target torque at the next moment of the engine, and the pilot target torque corresponding to the pilot pressure of the hydraulic main valve of the target working machine can be compensated in advance based on the operation of a driver and the second rotating speed deviation of the engine, so that the target torque at the next moment of the engine can be obtained more efficiently and more simply, and the rotating speed of the engine can be stabilized more timely.
Based on the above-described embodiments, the actual rotation speed of the engine at the next time is controlled based on the target torque, specifically including: 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 oil injection quantity corresponding to the target torque can be calculated and obtained through a numerical calculation method to serve as the theoretical oil injection quantity of the engine at the current moment; the theoretical fuel injection quantity of the engine at the current moment can be obtained based on the target torque on the basis of a pre-constructed fuel injection quantity calculation model.
And controlling a first rotational speed deviation between the actual rotational speed of the engine at the next moment and the actual rotational speed at the current moment to be smaller than a deviation threshold value based on the theoretical fuel injection quantity of the engine at the current moment.
Based on the theoretical fuel injection quantity of the engine at the current moment, the fuel injection quantity of the engine of the target working machine at the current moment can be corrected.
Specifically, after the theoretical oil injection amount of the engine at the present moment is obtained, the theoretical oil injection amount may be sent to the engine controller ECU, and the engine controller ECU may correct the oil injection amount of the engine at the present moment to the theoretical oil injection amount.
The engine responds to the theoretical oil injection quantity, and the first rotation speed deviation between the actual rotation speed at the next moment and the actual rotation speed at the current moment is smaller than a deviation threshold value, so that the engine can adapt to abrupt change of the load of the target working machine, and the rotation speed of the engine is prevented from greatly fluctuating due to abrupt change of the load, and is stabilized.
According to the embodiment of the invention, the theoretical oil injection quantity of the engine of the target working machine at the current moment is obtained based on the pilot pressure of the 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 of the target working machine, so that the oil injection quantity of the engine can be controlled more efficiently and accurately in linkage with the hydraulic control and the engine control, the rotating speed of the engine can be stabilized more timely by quickly adjusting the oil injection quantity of the engine under the condition that the load of the working machine is suddenly changed, abnormal fluctuation of the rotating speed of the engine can be avoided, and normal operation of the working machine in a complex working environment and a complex working condition can be realized.
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 described below by way of an example. FIG. 2 is a second flow chart of the engine speed stabilizing method according to the present invention. As shown in fig. 2, the second rotational speed deviation of the engine may be obtained 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 moment can be obtained based on the pilot pressure of the hydraulic main valve of the target working machine at the current moment acquired by the hydraulic controller VCU and the second rotating speed deviation of the engine.
Based on the pilot target torque and the second rotating speed deviation of the engine at the current moment, the theoretical oil injection quantity of the engine at the current moment can be obtained.
The rotational speed of the engine at the present moment is corrected based on the theoretical fuel injection quantity of the engine at the present moment, and the first rotational speed deviation between the actual rotational speed at the next moment and the actual rotational speed at the present moment is smaller than the deviation threshold value in response to the theoretical fuel injection quantity.
Fig. 3 is a schematic diagram of the engine speed control device according to the present invention. The engine speed control device provided by the present invention will be described below with reference to fig. 3, and the engine speed control device described below and the engine speed stabilization method provided by the present invention described above may be referred to correspondingly to each other. As shown in fig. 3, the apparatus includes: an acquisition data module 301, a torque determination module 302 and a control rotational speed module 303.
An acquisition data module 301 is configured to acquire a pilot pressure of a hydraulic main valve of the target working machine at the current moment and an actual rotation speed of an engine of the target working machine.
The torque determination module 302 is configured to obtain a target torque at a next moment of the engine based on the pilot pressure, the actual rotational speed, and a predetermined target rotational speed of the engine.
A control rotation speed module 303 is configured to control a first rotation speed deviation between an actual rotation speed at a next time of the engine and an actual rotation speed at a current time to be less than a deviation threshold based on the target torque.
Specifically, the acquisition data module 301, the torque determination module 302, and the control rotation speed module 303 are electrically connected.
After the hydraulic controller VCU acquires the pilot pressure of the hydraulic main valve of the target work machine at the current time, the pilot pressure may be sent to the acquisition data module 301. The acquisition data module 301 may receive the pilot pressure.
The target rotation speed of the engine of the target working machine may be predetermined by the driver according to the actual situation, and may be obtained in various ways, for example: after a driver rotates an accelerator knob of a target working machine to a certain gear according to actual demands, a hydraulic controller VCU can acquire the voltage of the accelerator knob at the current moment and determine the target rotating speed of an engine of the target working machine at the current moment based on the acquired voltage of the accelerator knob, and after acquiring the target rotating speed of the engine of the target working machine at the current moment, the hydraulic controller VCU can send the target rotating speed to an acquisition data module 301, and the acquisition data module 301 can receive the target rotating speed; or 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 working machine, the actual rotation speed may be directly sent to the acquisition data module 301, or the actual rotation speed may be sent to the hydraulic controller VCU, and the hydraulic controller VCU may send the actual rotation speed to the acquisition data module 301. The acquisition data module 301 may receive the actual rotational speed.
The torque determination module 302 may obtain the target torque at the next moment of the engine through methods such as numerical calculation and mathematical statistics based on the pilot pressure of the hydraulic main valve of the target working machine, the target rotational speed and the actual rotational speed of the engine of the target working machine.
The control speed module 303 may control a first speed deviation between an actual speed at a next time of the engine and an actual speed at a current time to be less than a deviation threshold based on the target torque in a number of 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, so that the engine can respond to the fuel injection quantity at the current moment, and the first rotational speed deviation between the actual rotational speed at the next moment and the actual rotational 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 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 at the next moment of the engine 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 simply, efficiently and accurately by linkage hydraulic control and engine control under the condition that the load pressure value of the hydraulic system of the working machine is not required 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 is suddenly changed, and normal operation of the working machine in a complex working environment and a complex working condition can be realized.
Based on the foregoing of the embodiments, a work machine includes: the engine speed control device as described above.
Specifically, the working machine includes the engine of the above embodiment, and the engine speed control device of the above embodiment is included to control the speed of the engine more promptly in the event of abrupt load change of the working machine.
The structure and specific working procedure of the engine speed control device can be referred to the content of the above embodiment, and will not be described herein.
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 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 at the next moment of the engine 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 simply, efficiently and accurately by linkage hydraulic control and engine control under the condition that the load pressure value of the hydraulic system of the working machine is not required 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 is suddenly changed, and normal operation of the working machine in a complex working environment and a complex working condition can be realized.
Fig. 4 illustrates a physical schematic diagram of an electronic device, as shown in fig. 4, which may include: processor 410, communication interface (Communications Interface) 420, memory 430, and communication bus 440, wherein processor 410, communication interface 420, and memory 430 communicate with each other via communication bus 440. Processor 410 may invoke logic instructions in memory 430 to perform an engine speed stabilization method comprising: acquiring the pilot pressure of a hydraulic main valve of the 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; based on the target torque, a first rotational speed deviation between the actual rotational speed at the next time of the engine and the actual rotational speed at the current time is controlled to be smaller than a deviation threshold value.
Further, the logic instructions in the memory 430 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of performing the engine speed stabilization method provided by the methods described above, the method comprising: acquiring the pilot pressure of a hydraulic main valve of the 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; based on the target torque, a first rotational speed deviation between the actual rotational speed at the next time of the engine and the actual rotational speed at the current time is controlled to be smaller than a deviation threshold value.
In yet another aspect, the present invention provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the engine speed stabilization method provided by the above methods, the method comprising: acquiring the pilot pressure of a hydraulic main valve of the 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; based on the target torque, a first rotational speed deviation between the actual rotational speed at the next time of the engine and the actual rotational speed at the current time is controlled to be smaller than a deviation threshold value.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. An engine speed stabilization method, characterized by 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 rotation speed and a predetermined target rotation speed of the engine;
controlling a first rotational speed deviation between an actual rotational speed of the engine at a next time and an actual rotational speed at a current time to be smaller than a deviation threshold value based on the target torque;
The step of obtaining the target torque of the engine at the next moment based on the pilot pressure, the actual rotation speed and the predetermined target rotation speed of the engine specifically includes:
Acquiring a second rotational speed deviation of the engine based on the target rotational speed and the actual rotational speed of the engine at the current moment;
the target torque is acquired based on the second rotational speed deviation and the pilot pressure.
2. The engine speed stabilization method according to claim 1, characterized in that 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.
3. The engine speed stabilization method according to claim 2, characterized in that the obtaining the target torque based on the pilot target torque and the corrected torque specifically includes:
and taking the sum of the pilot target torque and the correction torque as the target torque.
4. A method of stabilizing the rotational speed of an engine according to any one of claims 1 to 3, wherein said controlling the first rotational speed deviation between the actual rotational speed of the engine at the next time and the actual rotational speed at the current time based on the target torque is less than a deviation threshold value, specifically comprises:
Based on the target torque, acquiring a theoretical oil injection quantity of the engine at the current moment;
And controlling a first rotational speed deviation between the actual rotational speed of the engine at the next moment and the actual rotational speed at the current moment to be smaller than a deviation threshold value based on the theoretical fuel injection quantity of the engine at the current moment.
5. An engine speed control device, comprising:
The data acquisition module is used for acquiring the pilot pressure of the 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 of the target working machine;
the torque determining module is used for obtaining a target torque of the engine at the next moment based on the pilot pressure, the actual rotating speed and a preset target rotating speed of the engine;
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 based on the target torque;
the control rotation speed module obtains a target torque of the engine at the next moment based on the pilot pressure, the actual rotation speed and a predetermined target rotation speed of the engine, and specifically includes:
Acquiring a second rotational speed deviation of the engine based on the target rotational speed and the actual rotational speed of the engine at the current moment;
the target torque is acquired based on the second rotational speed deviation and the pilot pressure.
6. A work machine, comprising: the engine speed control device according to claim 5.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the engine speed stabilization method according to any one of claims 1 to 4 when the program is executed.
8. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that 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 4.
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| CN115263588B (en) * | 2022-06-15 | 2024-04-26 | 上海华兴数字科技有限公司 | Engine control method, device and system and working machine |
| CN115453916B (en) * | 2022-08-24 | 2024-10-15 | 三一重机有限公司 | Control method, device and equipment of working machine and working machine |
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