CN113982772B - Engineering machinery engine control method and device and grader - Google Patents
Engineering machinery engine control method and device and grader Download PDFInfo
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- CN113982772B CN113982772B CN202111132282.7A CN202111132282A CN113982772B CN 113982772 B CN113982772 B CN 113982772B CN 202111132282 A CN202111132282 A CN 202111132282A CN 113982772 B CN113982772 B CN 113982772B
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000002347 injection Methods 0.000 claims abstract description 38
- 239000007924 injection Substances 0.000 claims abstract description 38
- 239000000446 fuel Substances 0.000 claims abstract description 18
- 238000005070 sampling Methods 0.000 claims description 28
- 238000010276 construction Methods 0.000 claims description 23
- 238000011217 control strategy Methods 0.000 claims description 17
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- 238000004590 computer program Methods 0.000 description 4
- 238000004134 energy conservation Methods 0.000 description 4
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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
- F02D43/00—Conjoint electrical control of two or more functions, e.g. ignition, fuel-air mixture, recirculation, supercharging or exhaust-gas treatment
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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
- F02D45/00—Electrical control not provided for in groups F02D41/00 - F02D43/00
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- 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
Abstract
The application discloses an engineering machinery engine control method and device and a grader, wherein the engineering machinery engine control method comprises the following steps: when the real-time rotating speed of the engine is larger than the preset rotating speed, acquiring the engine torque; calculating average output torque and 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 the torque output by 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 engine output torque and power can be adjusted in real time, and the purpose of energy saving is achieved.
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 grader.
Background
The land leveler is a main machine for shaping and leveling operations in earthworks and is widely used for large-area ground leveling operations of highways, airports and the like. Most of the existing domestic land levellers are hydraulic land levellers, and the engine can realize multi-power curve control so as to meet the power requirements of multi-working-mode operation of the land levellers. However, the built-in engine power curve of the existing land leveller 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 excess power redundancy is lost in a tire slip or other forms, so that the equipment oil consumption is high. And the engine works according to the calibrated power curve, can only adapt to limited working conditions, and cannot take the effect of energy saving into consideration.
Disclosure of Invention
The present application has been made in order to solve the above technical problems. The embodiment of the application provides a control method and device for an engine of engineering machinery and a grader, which can solve or improve the problem that meeting power requirements and energy conservation cannot be achieved simultaneously.
According to one aspect of the present application, there is provided a construction machine engine control method including: when the real-time rotating speed of the engine is larger than the preset rotating speed, acquiring the engine torque; calculating average output torque and 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 the torque output by 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 an embodiment, the calculating the average output torque and the average target rotation speed in the preset period according to the engine torque in the preset period includes: calculating the average output torque and the average target rotation speed in the preset period according to the engine torque in the preset period; wherein the engine torque comprises a live torque percentage; wherein the average output torque is proportional to the real-time torque percentage and the average target rotational speed is proportional to the average output torque.
In an embodiment, the calculating the average output torque and the average target rotation speed in the preset period according to the engine torque in the preset period includes: calculating the average output torque and 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 an embodiment, the engineering machine engine control method 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 the corresponding relation between the opening degree of the accelerator and the theoretical rotating 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 oil injection quantity of the engine according to the accelerator signal; wherein the theoretical rotational speed is determined from the characteristic curve.
In an embodiment, the engineering machine engine control method further includes: and when the ratio of the real-time rotating speed to the theoretical rotating speed is larger than the preset ratio and the preset duration is met, adjusting the oil injection quantity of the engine according to the average output torque and the average target rotating speed.
In an embodiment, the engineering machine engine control method further includes: and when the real-time rotating speed is smaller than the preset rotating speed, adjusting the oil injection quantity of the engine according to the accelerator signal.
In an embodiment, the calculating the average output torque and the average target rotation speed in the preset period according to 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 live torque percentage; calculating the average output torque in the preset period according to the real-time torque percentages of the time sampling points; wherein the average output torque is inversely proportional to the total number of sampling points and the average output torque is directly proportional to the real-time torque percentage.
In one embodiment, the obtaining the characteristic curve of the engine includes: acquiring a characteristic curve of the engine; the characteristic curve comprises the opening degree of the accelerator and the theoretical rotating speed of the engine, and the opening degree of the accelerator and the theoretical rotating speed of the engine are inversely proportional.
According to another aspect of the present application, there is provided an engine control device for a construction machine, including: the acquisition module is used for acquiring the engine torque when the real-time rotating speed is larger than the preset rotating speed; the calculation module is used for calculating average output torque and 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 the torque output by 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 including: a grader body; the accelerator is arranged on the grader body and is used for outputting an accelerator signal; the engine is arranged in the grader body and is used for outputting the real-time rotating speed and the real-time torque percentage of the engine; and the controller is arranged in the grader body, is connected with the throttle and the engine, and is used for executing the engine control method of the engineering machinery.
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 oil injection quantity of the engine can be adjusted according to the average output torque and the average target rotating speed in the preset period, and the output torque and the power of the engine can be adjusted in real time, so that the purpose of saving energy is achieved. The output torque of the engine is dynamically regulated in real time, so that the output power of the engine is dynamically changed, the power waste is reduced while the power demand is met, and the energy conservation is realized while various working conditions are adapted.
According to another aspect of the present application, there is provided a computer-readable storage medium storing a computer program for executing the construction machine engine control method according to any one of the above embodiments.
According to another aspect of the present application, there is provided an electronic device including: a processor; a memory for storing the processor-executable instructions; the processor is configured to execute the engine control method of the engineering machine according to any one of the above embodiments.
Drawings
The foregoing and other objects, features and advantages of the present application will become more apparent from the following more particular description of embodiments of the present application, as illustrated in the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.
Fig. 1 is a schematic structural view of a grader to which the present application is applied.
Fig. 2 is a flow chart of a method for controlling an engine of a construction machine according to an exemplary embodiment of the present application.
Fig. 3 is a flowchart of a method for controlling an engine of a construction machine according to another exemplary embodiment of the present application.
Fig. 4 is a flowchart of a method for controlling an engine of a construction machine according to another exemplary embodiment of the present application.
Fig. 5 is a flowchart of a method for controlling an engine of a construction machine according to another exemplary embodiment of the present application.
FIG. 6 is a schematic representation of an engine characteristic provided in an exemplary embodiment of the present application.
Fig. 7 is a schematic diagram of an engine control method of a construction machine according to an exemplary embodiment of the present application.
Fig. 8 is a schematic diagram of comparative experimental results of an engine control method for an engineering machine according to an exemplary embodiment of the present application.
Fig. 9 is a schematic structural diagram of an engine control device for a construction machine according to an exemplary embodiment of the present application.
Fig. 10 is a schematic structural view of an engine control device for a construction machine according to another exemplary embodiment of the present application.
Fig. 11 is a block diagram of an electronic device according to 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 apparent that the described embodiments are only some of the embodiments of the present application and not all of the embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein.
Exemplary System
Fig. 1 is a schematic structural diagram of a grader to which the present application is applied, as shown in fig. 1, and the embodiment of the present application may be applied to a grader, where the 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 a signal of the accelerator 2, where the signal 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 indicates an electrical signal output by the accelerator 2 according to an angle change, and the opening signal indicates an angle formed by the accelerator 2 and a horizontal plane. The controller 3 may also be configured to collect operating parameters such as engine 4 speed, real-time torque percentage, friction torque percentage, etc. at the engine 4, and send the calculated torque and power demand and target speed according to the algorithm to the engine 4, so that the engine 4 may correctly execute the user demand.
The throttle 2 is used to input a control signal and an opening signal to the controller 3.
The engine 4 sends working condition parameters such as the rotating speed, the real-time torque percentage, the friction torque percentage and the like of the engine 4 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 sent by the controller 3 and the target rotating speed, so as to dynamically and circularly adjust the fuel injection quantity and realize energy saving.
Exemplary method
Fig. 2 is a schematic flow chart of an engine control method of an engineering machine according to an exemplary embodiment of the present application, and as shown in fig. 2, the engine control method of an engineering machine includes:
step 100: and when the real-time rotating speed of the engine is larger than the preset rotating speed, acquiring the torque of the engine.
The critical rotation speed of the preset engineering machinery is the preset rotation speed n o Judging whether the engineering machinery enters a normal operation state according to whether the real-time rotating speed of the engine reaches a preset rotating speed. When the real-time rotating speed of the engine is larger than the preset rotating speed, the grader is considered to enter a normal operation state, a power self-adaptive control strategy can be started, and the power self-adaptive control strategy can dynamically change the output power of the engine to meet the operation requirement by dynamically adjusting the output torque of the engine according to the real-time power requirement of the engine. The power adaptive control strategy requires the start of the real-time acquisition of engine torque after start-up.
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.
The average output torque represents an average value of torque output by the engine in a preset period, and the average target rotating speed represents an average rotating speed expected to be reached by the engine in the preset period.
According to the average output torque and the average target rotating speed of the engine in the preset period, which are calculated periodically, in the preset period, the engine is suitable for variable working conditions and can generate different peak power demands, and in order to achieve the effect of energy saving, the average value of the output torque of the engine and the average value of the target rotating speed in the preset period are calculated, so that 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 calculated average output torque and the average target rotating speed to the engine, so that the engine executes the average output torque and the average target rotating speed, and the fuel injection quantity is adjusted in real time, thereby achieving the purpose of saving energy and being suitable for working conditions of different operations.
According to the engineering machinery engine control method, when the real-time rotating speed of the engine is larger than the preset rotating speed, the oil injection quantity of the engine can be adjusted according to the average output torque and the average target rotating speed in the preset period, and the output torque and the power of the engine can be adjusted in real time, so that the purpose of energy saving is achieved. The output torque of the engine is dynamically regulated in real time, so that the output power of the engine is dynamically changed, the power waste is reduced while the power demand is met, and the energy conservation is realized while various working conditions are adapted.
Fig. 3 is a schematic flow chart of a method for controlling an engine of a construction machine according to another exemplary embodiment of the present application, as shown in fig. 3, the step 200 may include:
step 210: calculating average output torque and 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 proportional to the percentage of real-time torque and the average target rotational speed is 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 engine does not need to adjust the oil injection quantity according to the highest output torque and the highest rotating speed, but adjusts the oil injection quantity according to the average output torque and the average target rotating speed, the energy-saving effect can be achieved, and the power redundancy of the engine is reduced.
In an embodiment, the implementation of step 200 may be further adjusted to: calculating average output torque and average output power in a preset period according to the engine torque in the preset period; wherein the average output power is proportional to the real-time torque percentage.
From the engine torque over the preset period, an average output torque and average output power over the preset period may be calculated, the engine torque including a 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.
The average output torque and average output power are calculated according to the real-time torque percentage, and then the average target rotating speed is calculated 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 schematic flow chart of a method for controlling an engine of a construction machine according to another exemplary embodiment of the present application, as shown in fig. 4, the step 200 may further include:
step 220: and sampling time points in a preset period to obtain engine torque of a plurality of time sampling points.
Wherein the engine torque comprises a live torque percentage.
Engine torque, including a percentage of real-time torque, is collected over a predetermined period at a plurality of time points and corresponding time points to calculate an average output torque over the predetermined period.
Step 230: and calculating the average output torque in a preset period according to the real-time torque percentages of the time sampling points.
Wherein the average output torque is inversely proportional to the total number of sampling points and the average output torque is directly proportional to the percentage of real-time torque.
The more the number of sampling points is, the more accurate the calculated average output torque is, the average output torque in the preset period can be calculated according to the real-time torque percentages of a plurality of time sampling points in the preset period, the average output torque is taken as an execution target of the engine, and the energy-saving effect can be achieved. The number of sampling points may be determined by the controller program run period.
According to the real-time torque percentages of a plurality of time sampling points, calculating the average output torque in a preset period, wherein the average output torque can be calculated by adopting the formula:wherein k represents the total number of sampling points, i represents a specific sampling point, T p Representing the reference torque of the engine, T ai And T fi Respectively representing the real-time torque percentage and the friction torque percentage at the point i, T ov Representing the average output torque.
The average output torque and average output power over the preset period may be calculated based on the engine torque over the preset period, wherein the average output power may be calculated using the formula:wherein k represents the total number of sampling points, i represents a specific sampling point, T p Representing the reference torque of the engine, T ai And T fi Respectively representing the real-time torque percentage and the friction torque percentage at the point i, n i P is the real-time rotational speed percentage at point i ov Representing the average output power and 9550 representing the coefficient.
According to the average output torque and average output power in the preset period, the average target rotating speed in the preset period can be calculated by adopting the formula:wherein T is ov Represents average output torque, P ov Representing the average output power and 9550 representing the coefficient.
Fig. 5 is a schematic flow chart of an engine control method of an engineering machine according to another exemplary embodiment of the present application, where, as shown in fig. 5, the engine control method of an engineering machine may further include:
step 400: and acquiring an accelerator signal.
The throttle signal also comprises the opening degree of the throttle.
The controller collects accelerator signals, and the accelerator signals can comprise control signals of the accelerator and opening signals of the accelerator, wherein the control signals represent electric signals output by the accelerator according to angle changes, and the opening signals represent angles formed by the accelerator and a horizontal plane. The opening signal may be used to make an engine characteristic and determine a corresponding theoretical rotational speed on the engine characteristic based on the opening signal. The accelerator signal may be input by a user, for example, the user inputs the accelerator signal by stepping on an electronic pedal, and the opening degree of the electronic pedal may represent the opening degree of the accelerator.
Step 500: a characteristic curve of the engine is obtained.
Wherein, the characteristic curve represents the corresponding relation between the opening degree of the accelerator and the theoretical rotating speed of the engine.
Step 600: when the ratio of the real-time rotating speed to the theoretical rotating speed is smaller than the preset ratio, the oil injection quantity of the engine is adjusted according to the accelerator signal.
Wherein the theoretical rotational speed is determined from the characteristic curve.
The real-time rotation speed of the engine corresponds to the opening degree of the real-time accelerator, and the theoretical rotation speed corresponding to the accelerator opening degree of the real-time rotation speed can be determined from the characteristic curve according to the opening degree of the real-time accelerator, that is, the theoretical rotation speed needs to determine the corresponding accelerator opening degree according to the real-time rotation speed, and then the corresponding theoretical rotation speed is found 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 to say, the real-time rotation speed corresponding to the same accelerator opening 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 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 the smaller state exceeds the preset time t 1 When the load of the engine is excessive, it may be determined that the limit load control strategy is activated. If the state is converted from the normal state, the power self-adaptive control strategy is also required to be released, the limitation of the output torque and the power of the engine is also required to be removed, the oil injection quantity of the engine is not regulated according to the average output torque and the average target rotating speed, the oil 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 method has the advantages that the limit load working condition of sudden load increase is timely judged, the torque and power output are timely adjusted, the control strategy in the normal working state is relieved, the phenomena of flameout, slipping or traction deficiency and the like of an engine are prevented, the sudden working condition can be dealt with while energy is saved, and the strain capacity and safety of engineering machinery are improved.
FIG. 6 is the present applicationAn exemplary embodiment provides a schematic diagram of an engine characteristic curve, where the characteristic curve may be shown in fig. 6, and a characteristic curve corresponding to a theoretical rotation speed of an engine and an idle rotation speed of the engine is set to n according to an opening of an accelerator and a pre-calibrated rotation speed range of the engine 1 The maximum rotation speed of the engine is n 2 The maximum opening of the accelerator is A max (i.e. 100%), the minimum throttle opening is A min (i.e., 0%). 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 above step 500 may be further adjusted to: acquiring a characteristic curve of an engine; the characteristic curve comprises the opening degree of the 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 an engine of a construction machine may further include:
when the ratio of the real-time rotating speed to the theoretical rotating speed is larger than the preset ratio and the preset duration is met, the oil injection quantity of the engine is adjusted 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, the state of being larger than or equal to beta exceeds the preset time t 2 The engine can be judged to return to a normal operation state, namely the load of the engine is in a normal range, the limit load control strategy can be stopped at the moment, the power self-adaptive control strategy is started, namely the state of adjusting the fuel injection quantity of the engine according to the average output torque and the average target rotating speed is returned, and the fuel injection quantity of the engine is not controlled according to the throttle signal any more, so that the energy-saving effect is achieved.
In an embodiment, the method for controlling an engine of a construction machine may further include: when the real-time rotating speed is smaller than the preset rotating speed, the oil injection quantity of the engine is adjusted according to the accelerator 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, a power self-adaption strategy is not started at the moment, and the oil injection quantity of the engine is directly adjusted according to the accelerator signal. The throttle signal comprises a control signal and an opening signal, target rotating speed data are sent to the engine according to the control signal and the opening signal, the engine executes target rotating speed according to target rotating speed requirements, and the fuel injection quantity of the engine is adjusted. At this time, the real-time rotation speed does not reach the preset rotation speed, so that the power self-adaptive strategy is not applicable. The engine can adapt to various working conditions by arranging various control methods, has good control effect under various working conditions, has energy-saving effect and can cope with limit working conditions of sudden increase of load.
Fig. 7 is a schematic diagram of an engine control method of an engineering machine according to an exemplary embodiment of the present application, and as shown in fig. 7, the engine control method of an engineering machine includes: an engine characteristic curve is obtained (step 50), the characteristic curve representing a correspondence between an opening degree of an accelerator and a theoretical rotational speed of the engine. Collecting real-time rotating speed of an engine and accelerator signals (step 51), and presetting the rotating speed of the engine of the engineering machinery to be n 0 Judging whether the real-time rotating speed n is greater than or equal to n 0 (step 52).
If n is greater than or equal to n 0 The normal operation of the engineering machine can be determined, a power self-adaptive control strategy can be started, namely, a power self-adaptive algorithm is used in the controller, the real-time torque percentage and the friction torque percentage of the engine are collected (step 53), and the average output torque T in a preset period is calculated according to the real-time torque percentage and the friction torque percentage ov Average output power P in preset period ov (step 54) based on the average output torque T in the preset period ov Average output power P in preset period ov Calculating the average target rotation speed n in a preset period ov (step 55). After the calculation is completed, T in the preset period ov And n ov Is sent to the engine for execution (step 56).
While executing the power adaptive control strategy, the ratio α of the real-time engine speed to the theoretical engine speed may be synchronously calculated (step 57), and a determination may be made as to whether α is less than β for a duration t 1 (step 58), wherein beta is a threshold value of the ratio of the real-time rotational speed to the theoretical rotational speed.
If alpha is smaller than beta and of duration t 1 The execution of the power self-adaptive control strategy is canceled, the fuel injection quantity of the engine is regulated according to the throttle signal (step 59), and the limit load control strategy is entered at the moment, so that the torque and power output are not limited any more in order to prevent the phenomenon of flameout, slipping or traction deficiency of the engine. In the limit load control strategy, if α is greater than or equal to β and the duration t 2 The limit load control strategy may be eliminated (step 60), and the normal operating condition entered if alpha is always less than beta or alpha is greater than or equal to beta but no duration t 2 And (step 60), continuing to maintain the limit load control strategy, and adjusting the fuel injection quantity of the engine through the throttle signal. If n is smaller than n 0 A control method of adjusting the fuel injection amount of the engine according to the throttle signal is also used.
Fig. 8 is a schematic diagram of a comparison experiment result of an engine control method of an engineering machine according to an exemplary embodiment of the present application, where an adaptive power curve generated by the engine control method of an engineering machine according to an exemplary embodiment of the present application is compared with a conventional power curve in an experiment, so as to obtain an experiment result shown in fig. 8. According to experimental results, under the same rotating speed, the control method controls the torque output by the engine, which is smaller than the torque output by other power curves under the same rotating speed, namely the power in the self-adaptive power curve generated by the engineering machinery engine control method is lower than the power of the conventional power curve, so that the engineering machinery engine control method provided by the application can achieve the effect of saving more energy.
According to the engine control method for the engineering machinery, the engine power curve is calibrated without simulation or experiment in advance, and the engine control method for the engineering machinery can achieve an energy-saving effect by only configuring the control module for acquiring the engine parameters and the accelerator signals. The method is mainly suitable for an electric injection engine which is provided with an engine ECU (Electronic Control Unit ) and can directly acquire three stages of engine torque and higher emission standard, and energy-saving control in the method can be realized only if a sensor or related equipment for acquiring the engine torque needs to be added for a two-stage engine.
Exemplary apparatus
Fig. 9 is a schematic structural diagram of an engine control device for a construction machine according to an exemplary embodiment of the present application, and as shown in fig. 9, the engine control device 8 for a construction machine includes: an obtaining module 81, configured to obtain an engine torque when the real-time rotational speed is greater than a preset rotational speed; a calculation module 82, configured to calculate an average output torque and an average target rotational speed in a preset period according to the torque in the preset period; and an adjustment module 83 for adjusting the fuel injection amount of the engine according to the average output torque and the average target rotation speed.
According to the engineering machinery engine control device 8, the engine torque is obtained through the obtaining module 81, when the real-time rotating speed of the engine is larger than the preset rotating speed, the average output torque and the average target rotating speed in the preset period are calculated through the calculating module 82, the oil injection quantity of the engine can be adjusted according to the average output torque and the average target rotating speed in the preset period through the adjusting module 83, the engine output torque and the power are adjusted in real time, and the purpose of saving energy is achieved. The output torque of the engine is dynamically regulated in real time, so that the output power of the engine is dynamically changed, the power waste is reduced while the power demand is met, and the energy conservation is realized while various working conditions are adapted.
Fig. 10 is a schematic structural diagram of an engine control device for a construction machine according to another exemplary embodiment of the present application, 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 rotational speed in a preset period according to the real-time torque percentage in the preset period.
In one embodiment, as shown in fig. 10, the computing module 82 may be further configured to: calculating average output torque and average output power in a preset period according to the engine torque in the preset period; wherein the engine torque comprises a live torque percentage, wherein the average output power is proportional to the live 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, as shown in fig. 10, the computing module 82 may further include: a sampling unit 822, configured to sample time points in a preset period, and obtain engine torques at a plurality of time sampling points; the second calculating unit 823 is used for calculating average output torque in a preset period according to the real-time torque percentages of the time sampling points.
In one embodiment, as shown in fig. 10, the engineering machine engine control device 8 may further include: an acquire throttle signal module 84 for acquiring a throttle signal; an acquisition curve module 85, configured to acquire a characteristic curve of the engine; the power adjustment module 86 is configured to, when a ratio of the real-time rotation speed to the theoretical rotation 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 above-mentioned acquisition curve module 85 may be further configured to: acquiring a characteristic curve of an engine; the characteristic curve comprises the opening degree of the 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 engineering machine engine control device 8 may be further configured to: when the ratio of the real-time rotating speed to the theoretical rotating speed is larger than the preset ratio and the preset duration is met, the oil injection quantity of the engine is adjusted according to the average output torque and the average target rotating speed.
In an embodiment, as shown in fig. 10, the engineering machine engine control device 8 may be further configured to: when the real-time rotating speed is smaller than the preset rotating speed, the oil injection quantity of the engine is adjusted according to the accelerator signal.
The acquisition module 81, the calculation module 82, the first calculation unit 821, the sampling unit 822, the second calculation unit 823, the adjustment module 83, the throttle signal acquisition module 84, the curve acquisition module 85, and the power adjustment 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 independent thereof, which 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 according to an embodiment of the present application.
As shown in fig. 11, the electronic device 10 includes one or more processors 11 and a memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing 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) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that may be executed by the processor 11 to implement the work machine engine control methods and/or other desired functions of the various embodiments of the present application described above. Various contents such as an input signal, a signal component, a noise component, and the like 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 forms of connection mechanisms (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.
In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information to the outside, including the determined distance information, direction information, and the like. The output means 14 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.
Of course, only some of the components of the electronic device 10 relevant to the present application are shown in fig. 11 for simplicity, components such as buses, input/output interfaces, etc. being omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
The computer program product may write 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, partly on a remote computing device, or entirely on the remote computing device or server.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is 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 would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk 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, this description is not intended to limit the embodiments of the application to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
Claims (9)
1. An engine control method for an engineering machine, comprising:
acquiring an accelerator signal, wherein the accelerator signal comprises the opening degree of an accelerator;
acquiring a characteristic curve of an engine; the characteristic curve comprises the opening degree of the 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;
when the real-time rotating speed of the engine is larger than the preset rotating speed, entering a normal operation state, starting a power self-adaptive control strategy, and obtaining the engine torque;
calculating average output torque and 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 the torque output by 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
according to the average output torque and the average target rotating speed, adjusting the oil injection quantity of the engine;
calculating the ratio alpha of the real-time rotating speed and the theoretical rotating speed of the engine;
determining whether alpha is less than beta and duration t 1 Wherein beta is a critical value of the ratio of the real-time rotating speed to the theoretical rotating speed;
if alpha is smaller than beta and of duration t 1 And the execution of the power self-adaptive control strategy is canceled, and the fuel injection quantity of the engine is adjusted according to the throttle signal.
2. The engine control method according to claim 1, characterized in that 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 rotation speed in the preset period according to the engine torque in the preset period; wherein the engine torque comprises a live torque percentage; wherein the average output torque is proportional to the real-time torque percentage and the average target rotational speed is proportional to the average output torque.
3. The construction machine engine control method according to claim 2, wherein the calculating the average output torque and the average target rotation speed in the preset period from the engine torque in the preset period includes:
calculating the average output torque and 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 construction machine engine control method according to claim 1, characterized by further comprising:
when the ratio of the real-time rotating speed to the theoretical rotating speed is smaller than a preset ratio, adjusting the oil injection quantity of the engine according to the accelerator signal; wherein the theoretical rotational speed is determined from the characteristic curve.
5. The construction 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 larger than the preset ratio and the preset duration is met, adjusting the oil injection quantity of the engine according to the average output torque and the average target rotating speed.
6. The construction machine engine control method according to claim 4, characterized by further comprising:
and when the real-time rotating speed is smaller than the preset rotating speed, adjusting the oil injection quantity of the engine according to the accelerator signal.
7. The engine control method according to claim 1, characterized in that 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 live torque percentage;
calculating the average output torque in the preset period according to the real-time torque percentages of the time sampling points; wherein the average output torque is inversely proportional to the total number of sampling points and the average output torque is directly proportional to the real-time torque percentage.
8. A construction machine engine control apparatus for executing the construction machine engine control method according to any one of the preceding claims 1 to 7, characterized by comprising:
the acquisition module is used for acquiring the engine torque when the real-time rotating speed is larger than the preset rotating speed;
the calculating module is used for calculating average output torque and 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 the torque output by 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;
the computing module includes: the sampling unit is used for sampling time points in a preset period to obtain engine torque of a plurality of time sampling points; the second calculation unit is used for calculating average output torque in a preset period according to the real-time torque percentages of the time sampling points;
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.
9. A grader, comprising:
a grader body;
the accelerator is arranged on the grader body and is used for outputting an accelerator signal;
the engine is arranged in the grader body and is used for outputting the real-time rotating speed and the real-time torque percentage of the engine; and
the controller is arranged in the grader body, is connected with the accelerator and the engine, and is used for executing the engineering machinery engine control method of any one of the claims 1-7.
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