CN113982772A - Engineering machinery engine control method and device and land leveler - Google Patents
Engineering machinery engine control method and device and land leveler Download PDFInfo
- Publication number
- CN113982772A CN113982772A CN202111132282.7A CN202111132282A CN113982772A CN 113982772 A CN113982772 A CN 113982772A CN 202111132282 A CN202111132282 A CN 202111132282A CN 113982772 A CN113982772 A CN 113982772A
- Authority
- CN
- China
- Prior art keywords
- engine
- torque
- rotating speed
- average
- preset period
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000002347 injection Methods 0.000 claims abstract description 35
- 239000007924 injection Substances 0.000 claims abstract description 35
- 239000000446 fuel Substances 0.000 claims abstract description 32
- 238000010276 construction Methods 0.000 claims description 21
- 238000005070 sampling Methods 0.000 claims description 18
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000004134 energy conservation Methods 0.000 abstract description 8
- 238000011217 control strategy Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 9
- 230000003044 adaptive effect Effects 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
- -1 period Chemical class 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D43/00—Conjoint electrical control of two or more functions, e.g. ignition, fuel-air mixture, recirculation, supercharging or exhaust-gas treatment
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D45/00—Electrical control not provided for in groups F02D41/00 - F02D43/00
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The application discloses a control method and device for an engine of an engineering machine and a land leveler, wherein the control method for the engine of the engineering machine comprises the following steps: when the real-time rotating speed of the engine is greater than the preset rotating speed, the torque of the engine is obtained; calculating an average output torque and an average target rotating speed in a preset period according to the engine torque in the preset period; wherein the average output torque represents an average value of torques output from the engine in the preset period, and the average target rotation speed represents an average rotation speed expected to be reached by the engine in the preset period; and adjusting the fuel injection quantity of the engine according to the average output torque and the average target rotating speed. The method and the device can adjust the output torque and power of the engine in real time, and achieve the purpose of energy conservation.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to an engineering machinery engine control method and device and a land leveler.
Background
The land leveler is a main machine used for shaping and leveling work in the earthwork, and is widely used for large-area ground leveling work of roads, airports and the like. At present, most of domestic land levelers are hydraulic land levelers, and an engine can realize multi-power curve control and meet the power requirement of multi-working-condition operation of the land levelers. However, the power curve of the engine built in the existing grader is usually designed according to the maximum required power, so that the problem of insufficient power is avoided, but a large amount of power redundancy is caused, the traction force provided by the engine according to the preset power curve is far greater than the actually required traction force, and the excessive power redundancy is lost in a tire slip mode or other modes, so that the oil consumption of equipment is high. And the engine works according to a calibrated power curve, can only adapt to limited working conditions, and cannot take the energy-saving effect into consideration.
Disclosure of Invention
The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides an engineering machinery engine control method and device and a land leveler, and can solve or improve the problem that power requirements and energy conservation cannot be simultaneously met.
According to one aspect of the application, a control method for an engine of a construction machine is provided, and comprises the following steps: when the real-time rotating speed of the engine is greater than the preset rotating speed, the torque of the engine is obtained; calculating an average output torque and an average target rotating speed in a preset period according to the engine torque in the preset period; wherein the average output torque represents an average value of torques output from the engine in the preset period, and the average target rotation speed represents an average rotation speed expected to be reached by the engine in the preset period; and adjusting the fuel injection quantity of the engine according to the average output torque and the average target rotating speed.
In one embodiment, said calculating an average output torque and an average target rotational speed over a preset period based on said engine torque over said preset period comprises: calculating the average output torque and the average target rotating speed in the preset period according to the engine torque in the preset period; wherein the engine torque comprises a real-time torque percentage; wherein the average output torque is proportional to the real-time torque percentage and the average target speed is proportional to the average output torque.
In one embodiment, said calculating an average output torque and said average target rotational speed over said preset period based on said engine torque over said preset period comprises: calculating the average output torque and the average output power in the preset period according to the engine torque in the preset period; wherein the average output power is proportional to the real-time torque percentage; calculating the average target rotating speed in the preset period according to the average output torque and the average output power in the preset period; wherein the average target rotational speed is inversely proportional to the average output power.
In one embodiment, the method for controlling the engine of the construction machine further includes: acquiring an accelerator signal; wherein the throttle signal comprises the opening degree of a throttle; acquiring a characteristic curve of an engine; wherein the characteristic curve represents a correspondence relationship between an opening degree of the accelerator and a theoretical rotational speed of the engine; when the ratio of the real-time rotating speed to the theoretical rotating speed is smaller than a preset ratio, adjusting the fuel injection quantity of the engine according to the throttle signal; wherein the set rotational speed is determined from the characteristic curve.
In one embodiment, the method for controlling the engine of the construction machine further includes: and when the ratio of the real-time rotating speed to the theoretical rotating speed is greater than the preset ratio and meets the preset duration, adjusting the fuel injection quantity of the engine according to the average output torque and the average target rotating speed.
In one embodiment, the method for controlling the engine of the construction machine further includes: and when the real-time rotating speed is less than the preset rotating speed, adjusting the oil injection quantity of the engine according to the throttle signal.
In one embodiment, said calculating an average output torque and an average target rotational speed over a preset period based on said engine torque over said preset period comprises: sampling time points in the preset period to obtain the engine torque of a plurality of time sampling points; wherein the engine torque comprises a real-time torque percentage; calculating the average output torque in the preset period according to the real-time torque percentages of the plurality of time sampling points; wherein the average output torque is inversely proportional to the total number of sample points and the average output torque is directly proportional to the real-time torque percentage.
In one embodiment, the obtaining of the characteristic curve of the engine includes: acquiring a characteristic curve of the engine; wherein the characteristic curve comprises an opening degree of the accelerator and a theoretical rotating speed of the engine, and the opening degree of the accelerator and the theoretical rotating speed of the engine are in inverse proportion.
According to another aspect of the present application, there is provided a construction machine engine control device including: the acquisition module is used for acquiring the torque of the engine when the real-time rotating speed is greater than the preset rotating speed; the calculation module is used for calculating the average output torque and the average target rotating speed in a preset period according to the engine torque in the preset period; wherein the average output torque represents an average value of torques output from the engine in the preset period, and the average target rotation speed represents an average rotation speed expected to be reached by the engine in the preset period; and the adjusting module is used for adjusting the fuel injection quantity of the engine according to the average output torque and the average target rotating speed.
According to another aspect of the present application, there is provided a grader comprising: a grader body; the accelerator is arranged on the grader body and used for outputting an accelerator signal; the engine is arranged in the grader body and is used for outputting real-time rotating speed and real-time torque percentage of the engine; and the controller is arranged in the land scraper body, is connected with the accelerator and the engine, and is used for executing the engineering machinery engine control method in any embodiment.
According to the engineering machinery engine control method and device and the land leveler, when the real-time rotating speed of the engine is larger than the preset rotating speed, the fuel injection quantity of the engine can be adjusted according to the average output torque and the average target rotating speed in the preset period, the output torque and the power of the engine can be adjusted in real time, and the purpose of saving energy is achieved. The output torque of the engine is dynamically adjusted in real time, so that the output power of the engine is dynamically changed, the power requirement is met, the power waste is reduced, and the energy conservation is considered while the engine is adapted to various working conditions.
According to another aspect of the present application, there is provided a computer-readable storage medium storing a computer program for executing the method of controlling an engine of a working machine according to any one of the embodiments.
According to another aspect of the present application, there is provided an electronic apparatus including: a processor; a memory for storing the processor-executable instructions; the processor is used for executing the engineering machinery engine control method in any embodiment.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic structural view of a motor grader to which the present application is applied.
FIG. 2 is a flow chart illustrating a method for controlling an engine of a work machine according to an exemplary embodiment of the present disclosure.
FIG. 3 is a flow chart illustrating a method for controlling an engine of a work machine according to another exemplary embodiment of the present disclosure.
FIG. 4 is a flow chart illustrating a work machine engine control method according to another exemplary embodiment of the present disclosure.
FIG. 5 is a flow chart illustrating a work machine engine control method according to another exemplary embodiment of the present disclosure.
FIG. 6 is a schematic illustration of an engine map provided in accordance with an exemplary embodiment of the present application.
Fig. 7 is a schematic diagram illustrating a method for controlling an engine of a construction machine according to an exemplary embodiment of the present disclosure.
FIG. 8 is a graphical representation of comparative experimental results of a work machine engine control method provided in an exemplary embodiment of the present application.
Fig. 9 is a schematic structural diagram of a construction machine engine control device according to an exemplary embodiment of the present application.
Fig. 10 is a schematic structural diagram of a construction machine engine control device according to another exemplary embodiment of the present application.
Fig. 11 is a block diagram of an electronic device provided in an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
Exemplary System
Fig. 1 is a schematic structural diagram of a motor grader to which the present application is applied, and as shown in fig. 1, an embodiment of the present application may be applied to a motor grader, where the motor grader includes: a grader body; the accelerator 2 is arranged on the grader body, and the accelerator 2 is used for outputting an accelerator 2 signal; the engine 4 is arranged in the grader body, and the engine 4 is used for outputting the real-time rotating speed and the real-time torque percentage of the engine 4; and the controller 3 is arranged in the grader body, the controller 3 is connected with the accelerator 2 and the engine 4, and the controller 3 is used for executing the engineering machinery engine control method provided by the application.
The controller 3 may be configured to collect signals of the accelerator 2, where the signals of the accelerator 2 may include a control signal of the accelerator 2 and an opening signal of the accelerator 2, where the control signal represents an electrical signal output by the accelerator 2 according to an angle change, and the opening signal represents an angle formed by the accelerator 2 and a horizontal plane. The controller 3 may also be configured to collect operating condition parameters such as the rotational speed of the engine 4, the real-time torque percentage, and the friction torque percentage at the engine 4, and send the torque and power requirements calculated according to the algorithm and the target rotational speed to the engine 4, so that the engine 4 may correctly execute the user requirements.
The accelerator 2 is used for inputting a control signal and an opening degree signal to the controller 3.
The engine 4 sends working condition parameters such as the rotating speed of the engine 4, the real-time torque percentage, the friction torque percentage and the like to the controller 3 in real time, and executes the output torque, the power and the rotating speed of the engine 4 according to the target torque and the power demand and the target rotating speed sent by the controller 3, and dynamically and circularly adjusts the fuel injection quantity to realize energy conservation.
Exemplary method
Fig. 2 is a flowchart illustrating a method for controlling an engine of a construction machine according to an exemplary embodiment of the present disclosure, where the method for controlling an engine of a construction machine includes:
step 100: and when the real-time rotating speed of the engine is greater than the preset rotating speed, the torque of the engine is obtained.
Presetting the critical rotating speed of the engineering machinery as a preset rotating speed noAnd judging whether the engineering machinery enters a normal operation state or not according to whether the real-time rotating speed of the engine reaches a preset rotating speed or not. When the real-time rotating speed of the engine is greater than the preset rotating speed, the grader enters a normal operation state, and a power self-adaptive control strategy can be started, and the output torque of the engine can be dynamically adjusted according to the real-time power requirement of the engine, so that the output power of the engine is dynamically changed to meet the operation requirement. And after the power adaptive control strategy is started, the real-time acquisition of the engine torque is required to be started.
Step 200: and calculating the average output torque and the average target rotating speed in the preset period according to the engine torque in the preset period.
Wherein the average output torque represents an average value of torque output from the engine during a preset period, and the average target rotation speed represents an average rotation speed that the engine is expected to reach during the preset period.
The average output torque and the average target rotating speed of the engine in the preset period are periodically calculated according to the preset period, the engine possibly generates different peak power requirements in the preset period in order to adapt to changeable working conditions, in order to achieve the effect of energy conservation, the average value of the output torque and the average value of the target rotating speed of the engine in the preset period are calculated, and the situation that the fuel injection quantity of the engine is adjusted by directly obtaining the highest target rotating speed and the maximum torque output to increase the fuel consumption is avoided.
Step 300: and adjusting the fuel injection quantity of the engine according to the average output torque and the average target rotating speed.
And sending the average output torque and the average target rotating speed obtained by calculation to the engine, so that the engine executes the average output torque and the average target rotating speed, and adjusts the fuel injection quantity in real time, thereby achieving the purpose of energy conservation and being capable of adapting to the working conditions of different operations.
According to the control method of the engine of the engineering machinery, when the real-time rotating speed of the engine is larger than the preset rotating speed, the fuel injection quantity of the engine can be adjusted according to the average output torque and the average target rotating speed in the preset period, the output torque and the power of the engine are adjusted in real time, and the purpose of saving energy is achieved. The output torque of the engine is dynamically adjusted in real time, so that the output power of the engine is dynamically changed, the power requirement is met, the power waste is reduced, and the energy conservation is considered while the engine is adapted to various working conditions.
Fig. 3 is a flowchart illustrating a method for controlling an engine of a construction machine according to another exemplary embodiment of the present disclosure, where as shown in fig. 3, the step 200 may include:
step 210: calculating an average output torque and an average target rotating speed in a preset period according to the engine torque in the preset period; wherein the engine torque comprises a real-time torque percentage; wherein the average output torque is directly proportional to the real-time torque percentage and the average target rotational speed is directly proportional to the average output torque.
According to the real-time torque percentage in the preset period, the average output torque and the average target rotating speed in the preset period can be calculated, so that the fuel injection quantity of the engine is adjusted according to the average output torque and the average target rotating speed instead of adjusting the fuel injection quantity according to the highest output torque and the highest rotating speed, the energy-saving effect can be achieved, and the power redundancy of the engine is reduced.
In an embodiment, the specific implementation of the step 200 may be further adjusted as follows: calculating the average output torque and the average output power in a preset period according to the engine torque in the preset period; where the average output power is proportional to the real time torque percentage.
The average output torque and average output power over the preset period may be calculated based on the engine torque over the preset period, including the real-time torque percentage.
Calculating an average target rotating speed in a preset period according to the average output torque and the average output power in the preset period; wherein the average target rotational speed is inversely proportional to the average output power.
The method comprises the steps of firstly calculating average output torque and average output power according to real-time torque percentage, and then solving an average target rotating speed according to the average output torque and the average output power, wherein the average target rotating speed is inversely proportional to the average output power, and the average target rotating speed is directly proportional to the average output torque.
Fig. 4 is a flowchart illustrating a method for controlling an engine of a construction machine according to another exemplary embodiment of the present application, where as shown in fig. 4, the step 200 may further include:
step 220: and sampling time points in a preset period to obtain the engine torque of a plurality of time sampling points.
Wherein the engine torque comprises a real-time torque percentage.
The method comprises the steps of collecting a plurality of time points and engine torques corresponding to the time points in a preset period, wherein the engine torques comprise real-time torque percentages, so as to calculate average output torques in the preset period.
Step 230: and calculating the average output torque in a preset period according to the real-time torque percentages of the plurality of time sampling points.
Wherein the average output torque is inversely proportional to the total number of sample points and the average output torque is directly proportional to the real-time torque percentage.
The more the number of the sampling points is, the more accurate the calculated average output torque is, according to the real-time torque percentages of the plurality of time sampling points in the preset period, the average output torque in the preset period can be calculated, and the average output torque is taken as the execution target of the engine, so that the energy-saving effect can be achieved. The number of sampling points can be determined by the running period of the controller program.
Calculating the average output torque in the preset period according to the real-time torque percentages of the plurality of time sampling points, wherein a formula can be adopted:
where k denotes the total number of samples, i denotes a specific sample, TpRepresenting engine reference torque, TaiAnd TfiRepresenting the real-time and friction torque percentages at point i, T, respectivelyovThe average output torque is indicated.
According to the engine torque in the preset period, the average output torque and the average output power in the preset period can be calculated, wherein the formula for calculating the average output power can be:
where k denotes the total number of samples, i denotes a specific sample, TpRepresenting engine reference torque, TaiAnd TfiRepresenting the real time and friction torque percentages at point i, niAs a real-time rotational speed percentage at point i, PovRepresents the average output power and 9550 represents the coefficient.
According to the average output torque and the average output power in the preset period, the formula for calculating the average target rotating speed in the preset period can be adopted:
wherein, TovRepresenting the average output torque, PovRepresents the average output power and 9550 represents the coefficient.
Fig. 5 is a flowchart illustrating a method for controlling a work machine engine according to another exemplary embodiment of the present disclosure, where as shown in fig. 5, the method for controlling a work machine engine may further include:
step 400: and acquiring an accelerator signal.
Wherein, the throttle signal also comprises the opening degree of the throttle.
The controller collects throttle signals which can comprise control signals of the throttle and opening signals of the throttle, wherein the control signals represent electric signals output by the throttle according to angle changes, and the opening signals represent angles formed by the throttle and a horizontal plane. The opening degree signal can be used for making an engine characteristic curve, and the corresponding theoretical rotating speed on the engine characteristic curve is determined according to the opening degree signal. The throttle signal may be input by a user, for example, the user inputs the throttle signal by stepping on an electronic pedal, and the opening degree of the electronic pedal may represent the opening degree of the throttle.
Step 500: a characteristic curve of an engine is obtained.
The characteristic curve represents a correspondence relationship between the opening degree of the accelerator and the theoretical rotational speed of the engine.
Step 600: and when the ratio of the real-time rotating speed to the theoretical rotating speed is smaller than the preset ratio, adjusting the oil injection quantity of the engine according to the throttle signal.
The theoretical rotational speed is determined from the characteristic curve.
The real-time rotating speed of the engine corresponds to the opening degree of a real-time accelerator, and the theoretical rotating speed corresponding to the opening degree of the accelerator at the real-time rotating speed can be determined from the characteristic curve according to the opening degree of the real-time accelerator, namely, the theoretical rotating speed needs to determine the corresponding opening degree of the accelerator according to the real-time rotating speed and then find the corresponding theoretical rotating speed on the characteristic curve according to the opening degree of the accelerator. The ratio of the real-time rotation speed to the theoretical rotation speed should be 1 under normal conditions, that is, the real-time rotation speed corresponding to the same throttle opening degree under normal conditions should be equal to the theoretical rotation speed.
Judging the ratio alpha of the real-time rotating speed n of the engine to the theoretical rotating speed on the characteristic curve, setting the preset ratio as beta, namely setting the critical value of the ratio of the real-time rotating speed to the theoretical rotating speed as beta, and when the alpha is smaller than the beta and smaller than the state, exceeding the preset time t1It may be determined that the engine is overloaded, at which time the start limit isAnd (4) a load control strategy. If the state is obtained by conversion from a normal state, the power self-adaptive control strategy is required to be removed, the limit of the output torque and the power of the engine is cancelled, the fuel injection quantity of the engine is not adjusted according to the average output torque and the average target rotating speed, the fuel injection quantity of the engine is directly controlled according to the accelerator signal, and the engine executes corresponding work according to the target rotating speed corresponding to the accelerator signal. The limit load working condition of sudden load increase is judged in time, the control strategy in the normal operation state is adjusted and relieved in time for torque and power output, the phenomena of flameout, slipping or traction lack and the like of an engine are prevented, the sudden working condition can be met while energy is saved, and the strain capacity and the safety of engineering machinery are improved.
FIG. 6 is a schematic diagram of an engine characteristic curve provided by an exemplary embodiment of the present application, where the characteristic curve may be as shown in FIG. 6, and a characteristic curve corresponding to the throttle opening and the theoretical engine speed is determined according to the throttle opening and a pre-calibrated engine speed range, and the idle engine speed is set to n1Maximum engine speed n2The maximum opening degree of the accelerator is Amax(i.e., 100%) with a minimum throttle opening of Amin(i.e., 0%). Wherein, the x-axis of the coordinate system corresponding to the curve is the opening degree of the accelerator, and the corresponding y-axis is the theoretical rotating speed of the engine.
In an embodiment, the step 500 may be further adjusted as follows: acquiring a characteristic curve of an engine; the characteristic curve comprises the opening degree of an accelerator and the theoretical rotating speed of the engine, and the opening degree of the accelerator is inversely proportional to the theoretical rotating speed of the engine.
In an embodiment, the method for controlling the engine of the construction machine may further include:
and when the ratio of the real-time rotating speed to the theoretical rotating speed is greater than the preset ratio and meets the preset duration, adjusting the fuel injection quantity of the engine according to the average output torque and the average target rotating speed.
In the working process, as the rotating speed and the torque become larger, when the ratio alpha of the real-time rotating speed to the theoretical rotating speed is larger than or equal to beta, and the larger or equal state exceeds the preset time period t2Then can judge the hairThe engine returns to a normal operation state, namely the load of the engine is in a normal range, at the moment, the limit load control strategy can be stopped, the power self-adaptive control strategy is started, namely, the engine returns to a state of adjusting the fuel injection quantity of the engine according to the average output torque and the average target rotating speed, the fuel injection quantity of the engine is not controlled according to an accelerator signal any more, and the energy-saving effect is achieved.
In an embodiment, the method for controlling the engine of the construction machine may further include: and when the real-time rotating speed is less than the preset rotating speed, adjusting the oil injection quantity of the engine according to the throttle signal.
When the real-time rotating speed is smaller than the preset rotating speed, the fact that the real-time rotating speed of the engine does not reach the preset rotating speed can be determined, namely the engineering machinery does not enter a normal operation state, at the moment, a power self-adaptive strategy is not started, and the fuel injection quantity of the engine is directly adjusted according to an accelerator signal. The accelerator signal comprises a control signal and an opening signal, target rotating speed data is sent to the engine according to the control signal and the opening signal, the engine executes the target rotating speed according to the target rotating speed requirement, and the fuel injection quantity of the engine is adjusted. At this time, the real-time rotating speed does not reach the preset rotating speed, so that the power self-adaptive strategy is not applicable. The engine can adapt to various working conditions by arranging various control methods, can play a good control effect under various working conditions, and can cope with the extreme working condition of load surge while playing an energy-saving effect.
Fig. 7 is a schematic diagram illustrating a method for controlling an engine of a construction machine according to an exemplary embodiment of the present disclosure, and as shown in fig. 7, the method includes: an engine characteristic curve is obtained (step 50), which represents a correspondence between the opening degree of the accelerator and the theoretical rotational speed of the engine. Collecting real-time rotating speed and throttle signals of an engine (step 51), and presetting the rotating speed of the engine of the engineering machinery as n0Judging whether the real-time rotating speed n is greater than or equal to n0(step 52).
If n is greater than or equal to n0The normal operation of the engineering machinery can be determined, and a power self-adaptive control strategy can be started, namely, a power self-adaptive algorithm is used in a controller to acquire the real time of the engineThe torque percentage (step 53) and the friction torque percentage, and the average output torque T in the preset period is calculated according to the real-time torque percentage and the friction torque percentageovAnd average output power P in a predetermined periodov(step 54), and then according to the average output torque T in the preset periodovAnd average output power P in a predetermined periodovCalculating the average target rotating speed n in a preset periodov(step 55). After the calculation is finished, T in the preset period is calculatedovAnd novSent to the engine for execution (step 56).
When the power adaptive control strategy is executed, the ratio alpha of the real-time rotating speed and the theoretical rotating speed of the engine can be synchronously calculated (step 57), and whether alpha is smaller than beta or not and the duration t is judged1(step 58), wherein β is a critical value of the ratio of the real-time rotation speed to the theoretical rotation speed.
If alpha is less than beta and duration t1And (4) canceling the execution of the power self-adaptive control strategy, adjusting the fuel injection quantity of the engine according to the throttle signal instead (step 59), entering a limit load control strategy at the moment, and not limiting the output of torque and power any more in order to prevent the engine from flameout, slipping or lack of traction. In the limit load control strategy, if alpha is greater than or equal to beta and the duration t is longer than or equal to2(step 60), the limit load control strategy may be cancelled and normal operation may be entered if α is always less than β or α is greater than or equal to β but without duration t2And (step 60), continuously maintaining the limit load control strategy, and adjusting the fuel injection quantity of the engine through the throttle signal. If n is less than n0A control method for adjusting the fuel injection quantity of the engine in accordance with the throttle signal is also used.
Fig. 8 is a schematic diagram of a comparative experiment result of the engineering machine engine control method according to an exemplary embodiment of the present application, and an adaptive power curve generated by the engineering machine engine control method according to the embodiment of the present application is compared with a conventional power curve to obtain an experiment result shown in fig. 8. According to experimental results, under the same rotating speed, the torque output by the control method of the engineering machinery engine is smaller than the torque output by other power curves under the same rotating speed, namely the power in the adaptive power curve generated by the control method of the engineering machinery engine is lower than that of a conventional power curve, so that the control method of the engineering machinery engine can achieve the effect of saving more energy.
The control method for the engine of the engineering machinery can be realized by only configuring the control module for collecting the engine parameters and the throttle signals without calibrating the power curve of the engine through simulation or test in advance, achieves the energy-saving effect, and is simple and easy to implement. The method is mainly suitable for an Electronic Control Unit (ECU) of an engine and can directly obtain the three-stage and higher emission standard of the engine torque, and for example, a sensor or related equipment for collecting the engine torque needs to be added aiming at the two-stage engine to realize the energy-saving Control in the method.
Exemplary devices
Fig. 9 is a schematic structural diagram of a construction machine engine control device according to an exemplary embodiment of the present application, and as shown in fig. 9, the construction machine engine control device 8 includes: the obtaining module 81 is used for obtaining the engine torque when the real-time rotating speed is greater than the preset rotating speed; the calculation module 82 is used for calculating the average output torque and the average target rotating speed in the preset period according to the torque in the preset period; and an adjustment module 83 configured to adjust an amount of fuel injected by the engine based on the average output torque and the average target speed.
The application provides an engineering machinery engine control device 8, through obtaining module 81 and obtaining engine torque, when the real-time rotational speed of engine is greater than preset rotational speed, calculate average output torque and average target rotational speed in the preset cycle through calculating module 82, can adjust the fuel injection quantity of engine according to average output torque and average target rotational speed in the preset cycle through adjusting module 83, adjust engine output torque and power in real time, reach energy-conserving purpose. The output torque of the engine is dynamically adjusted in real time, so that the output power of the engine is dynamically changed, the power requirement is met, the power waste is reduced, and the energy conservation is considered while the engine is adapted to various working conditions.
Fig. 10 is a schematic structural diagram of a construction machine engine control device according to another exemplary embodiment of the present disclosure, and as shown in fig. 10, the calculation module 82 may include: the first calculating unit 821 is configured to calculate an average output torque and an average target rotation speed in a preset period according to the real-time torque percentage in the preset period.
In an embodiment, as shown in fig. 10, the calculating module 82 may be further configured to: calculating the average output torque and the average output power in a preset period according to the engine torque in the preset period; wherein the engine torque comprises a real-time torque percentage, wherein the average output power is proportional to the real-time torque percentage; calculating an average target rotating speed in a preset period according to the average output torque and the average output power in the preset period; wherein the average target rotational speed is inversely proportional to the average output power.
In an embodiment, as shown in fig. 10, the calculating module 82 may further include: the sampling unit 822 is used for sampling time points in a preset period to obtain engine torques of a plurality of time sampling points; the second calculating unit 823 is configured to calculate an average output torque in a preset period according to the real-time torque percentages of the plurality of time sampling points.
In an embodiment, as shown in fig. 10, the work machine engine control device 8 may further include: an accelerator signal acquisition module 84 for acquiring an accelerator signal; an acquisition curve module 85 for acquiring a characteristic curve of the engine; a power adjustment module 86, configured to, when a ratio of the real-time rotational speed to the theoretical rotational speed is smaller than a preset ratio; and adjusting the fuel injection quantity of the engine according to the throttle signal.
In an embodiment, the curve obtaining module 85 may be further configured to: acquiring a characteristic curve of an engine; the characteristic curve comprises the opening degree of an accelerator and the theoretical rotating speed of the engine, and the opening degree of the accelerator is inversely proportional to the theoretical rotating speed of the engine.
In an embodiment, as shown in fig. 10, the work machine engine control device 8 may be further configured to: and when the ratio of the real-time rotating speed to the theoretical rotating speed is greater than the preset ratio and meets the preset duration, adjusting the fuel injection quantity of the engine according to the average output torque and the average target rotating speed.
In an embodiment, as shown in fig. 10, the work machine engine control device 8 may be further configured to: and when the real-time rotating speed is less than the preset rotating speed, adjusting the oil injection quantity of the engine according to the throttle signal.
The obtaining module 81, the calculating module 82, the first calculating unit 821, the sampling unit 822, the second calculating unit 823, the adjusting module 83, the accelerator signal obtaining module 84, the curve obtaining module 85, and the power adjusting module 86 are all in communication connection.
Exemplary electronic device
Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 11. The electronic device may be either or both of the first device and the second device, or a stand-alone device separate from them, which stand-alone device may communicate with the first device and the second device to receive the acquired input signals therefrom.
FIG. 11 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application.
As shown in fig. 11, the electronic device 10 includes one or more processors 11 and memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by processor 11 to implement the work machine engine control methods of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
The input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for the sake of simplicity, only some of the components of the electronic device 10 relevant to the present application are shown in fig. 11, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A method for controlling an engine of a construction machine, comprising:
when the real-time rotating speed of the engine is greater than the preset rotating speed, the torque of the engine is obtained;
calculating an average output torque and an average target rotating speed in a preset period according to the engine torque in the preset period; wherein the average output torque represents an average value of torques output from the engine in the preset period, and the average target rotation speed represents an average rotation speed expected to be reached by the engine in the preset period; and
and adjusting the fuel injection quantity of the engine according to the average output torque and the average target rotating speed.
2. The work machine engine control method according to claim 1, wherein the calculating an average output torque and an average target rotation speed in a preset period from the engine torque in the preset period includes:
calculating the average output torque and the average target rotating speed in the preset period according to the engine torque in the preset period; wherein the engine torque comprises a real-time torque percentage; wherein the average output torque is proportional to the real-time torque percentage and the average target speed is proportional to the average output torque.
3. The work machine engine control method according to claim 2, wherein the calculating an average output torque and the average target rotation speed in the preset period based on the engine torque in the preset period includes:
calculating the average output torque and the average output power in the preset period according to the engine torque in the preset period; wherein the average output power is proportional to the real-time torque percentage;
calculating the average target rotating speed in the preset period according to the average output torque and the average output power in the preset period; wherein the average target rotational speed is inversely proportional to the average output power.
4. The work machine engine control method according to claim 1, characterized by further comprising:
acquiring an accelerator signal; wherein the throttle signal comprises the opening degree of a throttle;
acquiring a characteristic curve of an engine; wherein the characteristic curve represents a correspondence relationship between an opening degree of the accelerator and a theoretical rotational speed of the engine;
when the ratio of the real-time rotating speed to the theoretical rotating speed is smaller than a preset ratio, adjusting the fuel injection quantity of the engine according to the throttle signal; wherein the set rotational speed is determined from the characteristic curve.
5. The work machine engine control method according to claim 4, characterized by further comprising:
and when the ratio of the real-time rotating speed to the theoretical rotating speed is greater than the preset ratio and meets the preset duration, adjusting the fuel injection quantity of the engine according to the average output torque and the average target rotating speed.
6. The work machine engine control method according to claim 4, characterized by further comprising:
and when the real-time rotating speed is less than the preset rotating speed, adjusting the oil injection quantity of the engine according to the throttle signal.
7. The work machine engine control method according to claim 1, wherein the calculating an average output torque and an average target rotation speed in a preset period from the engine torque in the preset period includes:
sampling time points in the preset period to obtain the engine torque of a plurality of time sampling points; wherein the engine torque comprises a real-time torque percentage;
calculating the average output torque in the preset period according to the real-time torque percentages of the plurality of time sampling points; wherein the average output torque is inversely proportional to the total number of sample points and the average output torque is directly proportional to the real-time torque percentage.
8. The work machine engine control method according to claim 4, characterized in that the obtaining of the engine characteristic curve includes:
acquiring a characteristic curve of the engine; wherein the characteristic curve comprises an opening degree of the accelerator and a theoretical rotating speed of the engine, and the opening degree of the accelerator and the theoretical rotating speed of the engine are in inverse proportion.
9. A construction machine engine control device is characterized by comprising:
the acquisition module is used for acquiring the torque of the engine when the real-time rotating speed is greater than the preset rotating speed;
the calculation module is used for calculating the average output torque and the average target rotating speed in a preset period according to the engine torque in the preset period; wherein the average output torque represents an average value of torques output from the engine in the preset period, and the average target rotation speed represents an average rotation speed expected to be reached by the engine in the preset period; and
and the adjusting module is used for adjusting the fuel injection quantity of the engine according to the average output torque and the average target rotating speed.
10. A grader, comprising:
a grader body;
the accelerator is arranged on the grader body and used for outputting an accelerator signal;
the engine is arranged in the grader body and is used for outputting real-time rotating speed and real-time torque percentage of the engine; and
a controller disposed in the grader body, the controller being connected to the throttle and the engine, the controller being configured to perform the method of controlling the engine of the construction machine according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111132282.7A CN113982772B (en) | 2021-09-26 | 2021-09-26 | Engineering machinery engine control method and device and grader |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111132282.7A CN113982772B (en) | 2021-09-26 | 2021-09-26 | Engineering machinery engine control method and device and grader |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113982772A true CN113982772A (en) | 2022-01-28 |
| CN113982772B CN113982772B (en) | 2024-03-22 |
Family
ID=79736815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111132282.7A Active CN113982772B (en) | 2021-09-26 | 2021-09-26 | Engineering machinery engine control method and device and grader |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113982772B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04203251A (en) * | 1990-11-29 | 1992-07-23 | Mitsubishi Motors Corp | Drive-by-wire type vehicle with output torque variation limiting system speed control section |
| JPH04203243A (en) * | 1990-11-29 | 1992-07-23 | Mitsubishi Motors Corp | Drive-by-wire type vehicle with engine speed controller |
| FR2910551A1 (en) * | 2006-12-21 | 2008-06-27 | Renault Sas | Injector's drift correction method for e.g. spark ignition oil engine, of motor vehicle, involves determining correction to be carried out to set point quantity of fuel to be injected by injector, by using average torque estimation |
| US20090292440A1 (en) * | 2008-05-21 | 2009-11-26 | Hitachi, Ltd. | Control Apparatus for Multi-Cylinder Internal Combustion Engine |
| CN103562529A (en) * | 2011-05-30 | 2014-02-05 | 五十铃自动车株式会社 | Method for controlling internal combustion engine, internal combustion engine, and vehicle equipped with same |
| CN106853821A (en) * | 2015-12-09 | 2017-06-16 | 上海汽车集团股份有限公司 | Hybrid vehicle, HCU and its method to idle speed control |
| CN107919827A (en) * | 2017-11-17 | 2018-04-17 | 北京新能源汽车股份有限公司 | The control method of electric automobile and its driving motor, device |
| DE102017131015A1 (en) * | 2017-12-21 | 2019-06-27 | Borgward Trademark Holdings Gmbh | METHOD AND DEVICE FOR CONTROLLING A VEHICLE AND A VEHICLE |
| CN111305963A (en) * | 2020-01-20 | 2020-06-19 | 奇瑞汽车股份有限公司 | Torque output control method, device, equipment and storage medium for vehicle |
| CN112297872A (en) * | 2019-08-02 | 2021-02-02 | 北京新能源汽车股份有限公司 | Automobile torque control method and device, control equipment and automobile |
-
2021
- 2021-09-26 CN CN202111132282.7A patent/CN113982772B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04203251A (en) * | 1990-11-29 | 1992-07-23 | Mitsubishi Motors Corp | Drive-by-wire type vehicle with output torque variation limiting system speed control section |
| JPH04203243A (en) * | 1990-11-29 | 1992-07-23 | Mitsubishi Motors Corp | Drive-by-wire type vehicle with engine speed controller |
| FR2910551A1 (en) * | 2006-12-21 | 2008-06-27 | Renault Sas | Injector's drift correction method for e.g. spark ignition oil engine, of motor vehicle, involves determining correction to be carried out to set point quantity of fuel to be injected by injector, by using average torque estimation |
| US20090292440A1 (en) * | 2008-05-21 | 2009-11-26 | Hitachi, Ltd. | Control Apparatus for Multi-Cylinder Internal Combustion Engine |
| CN103562529A (en) * | 2011-05-30 | 2014-02-05 | 五十铃自动车株式会社 | Method for controlling internal combustion engine, internal combustion engine, and vehicle equipped with same |
| CN106853821A (en) * | 2015-12-09 | 2017-06-16 | 上海汽车集团股份有限公司 | Hybrid vehicle, HCU and its method to idle speed control |
| CN107919827A (en) * | 2017-11-17 | 2018-04-17 | 北京新能源汽车股份有限公司 | The control method of electric automobile and its driving motor, device |
| DE102017131015A1 (en) * | 2017-12-21 | 2019-06-27 | Borgward Trademark Holdings Gmbh | METHOD AND DEVICE FOR CONTROLLING A VEHICLE AND A VEHICLE |
| CN112297872A (en) * | 2019-08-02 | 2021-02-02 | 北京新能源汽车股份有限公司 | Automobile torque control method and device, control equipment and automobile |
| CN111305963A (en) * | 2020-01-20 | 2020-06-19 | 奇瑞汽车股份有限公司 | Torque output control method, device, equipment and storage medium for vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113982772B (en) | 2024-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111204228B (en) | Electric vehicle torque control method and electronic equipment | |
| CN100590307C (en) | Power controller and method for hydraulic power system | |
| CN103670750B (en) | Power limit matching control system, method, device and engineering machinery | |
| CN111619563B (en) | Control method and device in self-adaptive cruise acceleration process and computer equipment | |
| CN114152447A (en) | Vehicle driving performance evaluation method, device, equipment and storage medium | |
| US6817338B2 (en) | Idle speed control system | |
| CN113982772B (en) | Engineering machinery engine control method and device and grader | |
| CN113357036B (en) | Engine rotating speed adjusting method and device | |
| CN110696811B (en) | Vehicle control method and device, vehicle and storage medium | |
| CN109252970B (en) | Engine rotating speed control method, engine and vehicle | |
| CN107676186B (en) | Engine torque control method | |
| US6782868B1 (en) | Internal combustion engine having engine speed limit control system | |
| CN113417332A (en) | Method and device for controlling construction machine, and storage medium | |
| DE102007000048A1 (en) | Machine controller | |
| CN116252790A (en) | Method and device for improving comfort level of self-adaptive cruising | |
| EP1236879B1 (en) | Fuel injection control device and method for a diesel engine | |
| CN109249933B (en) | Driver acceleration intention identification method and device | |
| CN205532900U (en) | Electric fuel injection engine excavator electrical system | |
| CN115478581B (en) | Control method and control device of hydraulic system and engineering vehicle | |
| CN115263588B (en) | Engine control method, device and system and working machine | |
| US7822532B2 (en) | Power-based underspeed control | |
| CN113217212B (en) | Method for determining gear rotating speed, processor and engineering machinery | |
| CN113984390B (en) | Driving force adjustment method, device and system applied to thermal balance test | |
| CN212250257U (en) | Engine and engineering machinery | |
| JP2003184604A (en) | Hydraulic driving device for working machine and its method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |