CN114718143A - Load power control method of hydrostatic loader and hydrostatic loader - Google Patents
Load power control method of hydrostatic loader and hydrostatic loader Download PDFInfo
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- CN114718143A CN114718143A CN202210391692.1A CN202210391692A CN114718143A CN 114718143 A CN114718143 A CN 114718143A CN 202210391692 A CN202210391692 A CN 202210391692A CN 114718143 A CN114718143 A CN 114718143A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/225—Control of steering, e.g. for hydraulic motors driving the vehicle tracks
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
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- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a load power control method of a hydrostatic loader and the hydrostatic loader, and relates to the technical field of engineering machinery. The load power control method of the hydrostatic loader comprises the following steps: acquiring a target rotating speed and an actual rotating speed of an engine; calculating the difference value between the target rotating speed and the actual rotating speed to obtain a speed dropping amplitude; acquiring an actual pressure value of the walking device; judging whether the falling speed amplitude value is larger than a preset falling speed amplitude value or not, and whether the actual pressure value is larger than a preset overload pressure value or not; if the falling speed amplitude is larger than the preset falling speed amplitude and the actual pressure value is larger than the preset overload pressure value, the power of the walking device and the power of the working device are adjusted simultaneously, so that the phenomenon that the falling speed of the engine is too large or the vehicle is blocked and flameout is avoided, and the power control effect and the coordination of the composite action of the working device and the walking device are improved.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a load power control method of a hydrostatic loader and the hydrostatic loader.
Background
The hydrostatic loader replaces a traditional gearbox with a hydraulic walking pump and a walking motor to provide driving power for the whole vehicle. Compared with the traditional loader, the transmission efficiency of the hydrostatic loader is improved by about 5%, and oil consumption can be saved by 20% -30%, so that the hydrostatic loader has a wide application prospect.
The existing hydrostatic loader only relates to the control of walking driving components such as a walking pump and a walking motor on the aspect of load power control, but lacks direct and effective power control on the load of a working device, so that when the hydrostatic loader is in a specific working condition (such as a walking and shoveling combined working condition), the speed of an engine of the whole machine is easily too high or the vehicle is blocked and flameout; and the composite action of the walking device and the working device is not coordinated easily, and the working condition matching performance and adaptability are poor.
Disclosure of Invention
The invention aims to provide a load power control method of a hydrostatic loader and the hydrostatic loader, which can effectively match the power control requirements of various working conditions of the hydrostatic loader and improve the power control effect and the coordination of composite actions.
In order to achieve the purpose, the invention adopts the following technical scheme:
a load power control method of a hydrostatic loader, the hydrostatic loader including a running gear and a working gear, the running gear and the working gear being driven by an engine, the load power control method of the hydrostatic loader comprising the steps of:
acquiring a target rotating speed and an actual rotating speed of the engine;
calculating the difference value between the target rotating speed and the actual rotating speed to obtain a speed dropping amplitude;
acquiring an actual pressure value of the walking device;
judging whether the falling speed amplitude value is larger than a preset falling speed amplitude value or not, and whether the actual pressure value is larger than a preset overload pressure value or not;
and if the falling speed amplitude is greater than the preset falling speed amplitude and the actual pressure value is greater than the preset overload pressure value, simultaneously adjusting the power of the walking device and the power of the working device.
As an alternative to the load power control method of the hydrostatic loader, the method of adjusting the power of the running gear and the power of the working device includes the steps of:
presetting variables as the speed dropping amplitude and the overpressure amplitude, a first load power regulation curve corresponding to the power limiting quantity of the walking device and a second load power regulation curve corresponding to the power limiting quantity of the working device;
calculating the difference value between the actual pressure value and the preset overload pressure value to obtain the overpressure amplitude value;
acquiring the power limiting quantity of the walking device according to the speed dropping amplitude, the overpressure amplitude and the first load power adjusting curve, and adjusting the power of the walking device according to the power limiting quantity of the walking device; and acquiring the power limiting quantity of the working device according to the stall amplitude, the overpressure amplitude and the second load power adjusting curve, and adjusting the power of the working device according to the power limiting quantity of the working device.
As an alternative to the load power control method of the hydrostatic loader, the load power control method of the hydrostatic loader further includes the steps of:
and if any one of the falling speed amplitude value is larger than the preset falling speed amplitude value and the actual pressure value is larger than the preset overload pressure value is not true, adjusting the power of the walking device.
As an alternative to the load power control method of the hydrostatic loader, the method of adjusting the power of the running gear includes the steps of:
pre-constructing a pump/motor displacement curve of the walking device with variables of vehicle speed and the actual rotating speed;
acquiring the vehicle speed through a vehicle speed sensor;
and acquiring the displacement of a walking pump and the displacement of a hydraulic motor according to the vehicle speed, the actual rotating speed and the pump/motor displacement curve, and controlling the power of the walking device according to the displacement of the walking pump and the displacement of the hydraulic motor.
As an alternative of the load power control method of the hydrostatic loader, the hydrostatic loader further comprises a steering device, the steering device comprises a steering pump and a steering cylinder, the working device comprises a working pump and a working cylinder, and the steering pump and the working pump jointly supply oil to the working cylinder when in no steering action; when the steering action is performed, the steering pump preferentially supplies oil to the steering oil cylinder, and redundant oil of the steering pump and the working pump jointly supply oil to the working oil cylinder.
As an alternative to the load power control method of the hydrostatic loader, an electronically controlled proportional valve is provided on the steering pump, and the power limiting amount of the working device limits the maximum output flow of the steering pump through the electronically controlled proportional valve.
A hydrostatic loader adopts the load power control method of the hydrostatic loader according to any one of the above aspects, the hydrostatic loader comprises a general control unit, an engine control unit, a traveling device, a working device, an electronic accelerator pedal, a pressure sensor and a rotation speed sensor, the general control unit is electrically connected with the engine control unit, the traveling device, the electronic accelerator pedal, the pressure sensor and the rotation speed sensor, the general control unit determines a target rotation speed of the engine by collecting signals of the electronic accelerator pedal and sends the target rotation speed to the engine control unit, the engine control unit is electrically connected with the engine and is used for controlling the engine to work, the rotation speed sensor is used for detecting the actual rotation speed of the engine and sending the actual rotation speed to the general control unit, the pressure sensor is used for detecting the actual pressure value of the walking device and sending the actual pressure value to the master control unit, and the master control unit is used for controlling the walking device and the working device to work.
As an alternative of the hydrostatic loader, the hydrostatic loader further comprises a steering device, the steering device comprises a steering pump and a steering oil cylinder, the working device comprises a working pump and a working oil cylinder, the steering pump is electrically connected with the master control unit, an oil inlet of the steering oil cylinder is communicated with an oil outlet of the steering pump, and an oil outlet of the steering pump and an oil outlet of the working pump are both communicated with an oil inlet of the working oil cylinder.
As an alternative of the hydrostatic loader, an electronic control proportional valve is arranged on the steering pump, the electronic control proportional valve is electrically connected with the master control unit, and the power of the working device is adjusted by controlling the electronic control proportional valve.
As an alternative of the hydrostatic loader, the hydrostatic loader further comprises a vehicle speed sensor electrically connected with the general control unit for detecting a vehicle speed.
The invention has the beneficial effects that:
according to the load power control method of the hydrostatic loader, the falling speed amplitude of the engine and the actual pressure value of the traveling device are obtained, when the falling speed amplitude is larger than the preset falling speed amplitude and the actual pressure value is larger than the preset overload pressure value, the power of the traveling device and the power of the working device are adjusted simultaneously, the phenomenon that the falling speed of the engine is too large or the vehicle is suppressed and flameout is avoided, and the power control effect and the coordination of the composite action of the working device and the traveling device are improved.
The hydrostatic loader provided by the invention can effectively match the power control requirements of various working conditions of the hydrostatic loader by applying the load power control method of the hydrostatic loader, and improves the power control effect and the coordination of composite actions.
Drawings
FIG. 1 is a schematic diagram of a hydrostatic loader according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating a control principle of a hydrostatic loader according to an embodiment of the present invention;
FIG. 3 is a flowchart of a load power control method of a hydrostatic loader according to a second embodiment of the present invention.
In the figure:
1. a master control unit; 2. an engine control unit; 3. a gear selector; 4. an electronic accelerator pedal; 5. an engine; 6. a walking pump; 7. a steering pump; 8. a working pump; 9. a working oil cylinder; 10. a steering cylinder; 11. a first hydraulic motor; 12. a second hydraulic motor; 13. a transfer case; 14. a pressure sensor; 15. and a vehicle speed sensor.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "secured" are to be construed broadly and encompass, for example, both fixed and removable connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in direct contact with the second feature but being in contact with the second feature by another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Example one
As shown in fig. 1 and fig. 2, the present embodiment provides a hydrostatic loader, which includes a general control unit 1, an engine 5, an engine control unit 2, a traveling device, a steering device, a working device, an electronic accelerator pedal 4, a pressure sensor 14, and a rotation speed sensor, where the general control unit 1 is electrically connected to the engine control unit 2, the traveling device, the steering device, the electronic accelerator pedal 4, the pressure sensor 14, and the rotation speed sensor, the general control unit 1 determines a target rotation speed of the engine 5 by collecting a signal of the electronic accelerator pedal 4 and sends the target rotation speed to the engine control unit 2, the engine control unit 2 is electrically connected to the engine 5 for controlling the operation of the engine 5, the rotation speed sensor is used for detecting an actual rotation speed of the engine 5 and sending the actual rotation speed to the general control unit 1, the pressure sensor 14 is used for detecting an actual pressure value of the traveling device, and sends the actual pressure value to the overall control unit 1. The master control unit 1 is used for controlling the running gear, the steering gear and the working gear to work.
The master control unit 1 is a core control unit of the hydrostatic loader, collects signals of the peripheral control part and the engine control unit 2 in a centralized manner, and outputs control signals to adjust the load power of the running gear and the working device.
The traveling device comprises a traveling pump 6, a first hydraulic motor 11, a second hydraulic motor 12, a transfer case 13, a front axle and a rear axle, and the traveling of the hydrostatic loader is controlled through the traveling device. The steering device comprises a steering pump 7 and a steering oil cylinder 10, and the working device is controlled to rotate through the steering device. The working device comprises a working pump 8 and a working oil cylinder 9, and the hydrostatic loader is controlled to load and unload materials through the working device.
The walking pump 6, the steering pump 7 and the working pump 8 are mechanically and directly connected with the engine 5, and the engine 5 drives the walking pump 6, the steering pump 7 and the working pump 8 to work. The walking pump 6 supplies oil to a first hydraulic motor 11 and a second hydraulic motor 12, the first hydraulic motor 11 and the second hydraulic motor 12 are connected with an input shaft of a transfer case 13 to drive the transfer case 13 to work, and a front output shaft of the transfer case 13 is connected with a front axle and used for driving the front axle to work; the rear output shaft of the transfer case 13 is connected with the rear axle for driving the rear axle to work.
The walking pump 6 and the steering pump 7 are both electrically connected with the master control unit 1, the master control unit 1 controls the power of the walking pump 6 and the power of the steering pump 7, an oil inlet of the steering oil cylinder 10 is communicated with an oil outlet of the steering pump 7, and an oil outlet of the steering pump 7 and an oil outlet of the working pump 8 are both communicated with an oil inlet of the working oil cylinder 9.
When the hydrostatic loader does not perform steering action, the steering pump 7 and the working pump 8 supply oil to the working oil cylinder 9 together, when the hydrostatic loader performs steering action, the steering pump 7 preferentially supplies oil to the steering oil cylinder 10, and redundant oil after the steering pump 7 supplies oil to the steering oil cylinder 10 and the oil of the working pump 8 supply oil to the working oil cylinder 9.
Optionally, an electronic control proportional valve is arranged on the steering pump 7, the electronic control proportional valve is electrically connected with the master control unit 1, and the power of the working device is adjusted by controlling the electronic control proportional valve. In the working process of the hydrostatic loader, besides the limitation on the power of the traveling device, when the hydrostatic loader is under a heavy-load composite working condition, the master control unit 1 limits the power of the steering pump 7 through the electric control proportional valve, so that the power of the working device is limited, and the action of balancing the traveling device and the working device is realized.
The hydrostatic loader further comprises a gear selector 3 and a vehicle speed sensor 15, wherein the gear selector 3 and the vehicle speed sensor 15 are electrically connected with the master control unit 1, the gear selector 3 is used for selecting a gear, and the vehicle speed sensor 15 is used for detecting a vehicle speed. The master control unit 1 acquires signals of the gear selector 3, the electronic accelerator pedal 4, the vehicle speed sensor 15 and the rotating speed sensor to determine the real-time gear, the driving direction and the vehicle speed of the hydrostatic loader and the actual rotating speed of the engine 5. The general control unit 1 stores pre-constructed variables including vehicle speed and actual rotating speed of the engine 5, a corresponding pump/motor displacement curve of the traveling device, obtains displacement of the traveling pump 6 and displacement of the hydraulic motor according to the vehicle speed, the actual rotating speed of the engine 5 and the pump/motor displacement curve, and controls the traveling pump 6 to output displacement of high-pressure oil according to the obtained displacement of the traveling pump 6, so as to drive the first hydraulic motor 11 and the second hydraulic motor 12 to work.
When the hydrostatic loader is in a heavy-load composite working condition, the engine 5 is obviously decelerated due to sudden load increase, the walking device and the working device are prone to action incoordination, and at the moment, the master control unit 1 collects signals of the engine control unit 2, the electronic accelerator pedal 4, the pressure sensor 14 and the rotating speed sensor and controls the power of the hydrostatic loader by adopting a load power control method of the hydrostatic loader.
The main control unit 1 further stores pre-constructed variables of a stall amplitude and an overpressure amplitude, a first load power regulation curve of a power limiting amount of the corresponding walking device and a second load power regulation curve of a power limiting amount of the corresponding working device. It should be noted that the first load power regulation curve and the second load power regulation curve are obtained according to a test calibration, and the larger the speed dropping amplitude and the overvoltage amplitude are, the larger the power limitation amount is. In general, the power limit amount of the traveling device is smaller than the power limit amount of the working device.
A rotating speed sensor is arranged in the engine 5 and used for collecting the actual rotating speed of the engine 5, the rotating speed sensor is electrically connected with the engine control unit 2 and can send the actual rotating speed of the engine 5 detected by the rotating speed sensor to the engine control unit 2, and the engine control unit 2 sends the actual rotating speed of the engine 5 to the master control unit 1. The master control unit 1 calculates the target rotating speed of the engine 5 by acquiring signals of the electronic accelerator pedal 4. The target rotating speed of the engine 5 is the theoretical rotating speed of the engine 5, the theoretical rotating speed of the engine 5 refers to the rotating speed of the engine 5 corresponding to the size of the accelerator when the engine is idle, a rotating speed curve of the engine 5 is constructed according to the mapping relation between the size of the accelerator and the rotating speed of the engine 5 when the engine is idle, the rotating speed curve is stored in the master control unit 1, the master control unit 1 calculates the target rotating speed of the engine 5 according to the collected signals of the accelerator pedal and the rotating speed curve of the engine 5, and then calculates the difference value between the target rotating speed of the engine 5 and the actual rotating speed of the engine 5, so as to obtain the speed-dropping amplitude.
Since the hydrostatic loader is heavy in weight, the hydrostatic loader is a load for the engine 5, and therefore the actual speed of the engine 5 is certainly lower than the target speed. In general, when the stall amplitude is equal to the preset stall amplitude, the engine 5 is considered to be in an ideal operating state. The preset stall amplitude is a known value determined empirically and experimentally. When the stall amplitude is larger than the preset stall amplitude, the actual rotating speed of the engine 5 is reduced, and the hydrostatic loader is in a heavy-load working condition or a heavy-load composite working condition.
When the hydrostatic loader is in a heavy-load condition, if the hydrostatic loader is not in place, namely the traveling device does not work, the working device is lifted under heavy load, and the engine 5 also has a speed drop. However, since the traveling device does not travel, the problem of the incompatibility of the composite operation of the traveling device and the working device does not occur, and therefore, the power of the working device of the hydrostatic loader does not need to be limited.
When the walking device walks, pressure fluctuation exists in the walking pump 6, if the hydrostatic loader is under the composite working condition of heavy load and walking, the internal actual pressure value of the walking pump 6 can exceed the preset overload pressure value, and at the moment, the power of the working device is limited so as to control the coordination of the composite action of the walking device and the working device. The preset overload pressure value is obtained empirically or experimentally.
The pressure sensor 14 detects the actual pressure value of the walking pump 6 and sends the actual pressure value to the master control unit 1, and the master control unit 1 judges whether the actual pressure value is greater than the preset overload pressure value or not, and calculates the difference value between the actual pressure value and the preset overload pressure value to obtain the overpressure amplitude.
And the master control unit 1 adjusts the power limiting quantity of the walking device and the power limiting quantity of the working device according to the obtained speed dropping amplitude, the overpressure amplitude, the first load power adjusting curve and the second load power adjusting curve so as to coordinate the actions of the walking device and the working device.
Example two
As shown in fig. 3, the present embodiment provides a load power control method of a hydrostatic loader, which is applied to the hydrostatic loader provided in the first embodiment, and the load power control method of the hydrostatic loader includes the following steps:
and S10, acquiring the target rotating speed and the actual rotating speed of the engine 5.
The master control unit 1 calculates the target rotating speed of the engine 5 by acquiring signals of the electronic accelerator pedal 4. The target rotating speed of the engine 5 is the theoretical rotating speed of the engine 5, the theoretical rotating speed of the engine 5 refers to the rotating speed of the engine 5 corresponding to the size of the accelerator during idling, a rotating speed curve of the engine 5 is constructed according to the mapping relation between the size of the accelerator and the rotating speed of the engine 5 during idling, the rotating speed curve is stored in the master control unit 1, and the master control unit 1 calculates the target rotating speed of the engine 5 according to the acquired signals of the electronic accelerator pedal 4 and the rotating speed curve of the engine 5.
A rotating speed sensor is arranged in the engine 5 and used for collecting the actual rotating speed of the engine 5, the rotating speed sensor is electrically connected with the engine control unit 2 and can send the actual rotating speed of the engine 5 detected by the rotating speed sensor to the engine control unit 2, and the engine control unit 2 sends the actual rotating speed of the engine 5 to the master control unit 1.
And S20, calculating the difference between the target rotating speed and the actual rotating speed, and obtaining the speed dropping amplitude.
The master control unit 1 calculates a difference value between the target rotating speed and the actual rotating speed according to the obtained target rotating speed and the actual rotating speed, and the difference value is the speed dropping amplitude. When the hydrostatic loader is in a heavy-load working condition, the falling speed of the engine 5 is large, the falling speed amplitude is obtained and compared with the preset falling speed amplitude, and if the falling speed amplitude is larger than the preset falling speed amplitude, the hydrostatic loader is indicated to be in the heavy-load working condition.
And S30, acquiring the actual pressure value of the walking device.
When the walking device walks, the internal pressure of the walking pump 6 can fluctuate, if the hydrostatic loader is under the composite working condition of heavy load and walking, the internal actual pressure value of the walking pump 6 can exceed the preset overload pressure value, the actual pressure value of the walking pump 6 is detected through the pressure sensor 14, the obtained actual pressure value is sent to the master control unit 1, and the received actual pressure value is compared with the preset overload pressure value stored in the master control unit 1.
S40, judging whether the falling speed amplitude value is larger than a preset falling speed amplitude value or not, judging whether the actual pressure value is larger than a preset overload pressure value or not, and executing S50 if the actual pressure value and the overload pressure value both meet the requirements; if either of the two does not satisfy the requirement, S60 is executed.
When the stall amplitude is larger than the preset stall amplitude, the actual rotating speed of the engine 5 is reduced, and the hydrostatic loader is in a heavy-load working condition or a heavy-load composite working condition. When the hydrostatic loader is in a heavy-load working condition, if the hydrostatic loader is not in place, namely the traveling device does not work, the working device is lifted in a heavy load, and the engine 5 also has a speed drop. However, since the traveling device does not travel, the problem of the incompatibility of the composite operation of the traveling device and the working device does not occur, and therefore, the power of the working device of the hydrostatic loader does not need to be limited. The power of the working device of the hydrostatic loader is limited only when the hydrostatic loader is in a heavy-load working condition and the traveling device travels. Therefore, when the falling speed amplitude is larger than the preset falling speed amplitude and the actual pressure value is larger than the preset overload pressure value, the load power of the walking device and the load power of the working device are limited simultaneously.
And S50, simultaneously adjusting the power of the walking device and the power of the working device.
The method for regulating the power of the running gear and the power of the working gear comprises the following steps:
and S51, pre-constructing variables of the falling speed amplitude and the overpressure amplitude, a first load power regulation curve corresponding to the power limiting quantity of the output walking device and a second load power regulation curve corresponding to the power limiting quantity of the output working device.
The main control unit 1 further stores pre-constructed variables of a stall amplitude and an overpressure amplitude, a first load power regulation curve of a power limiting amount of the corresponding walking device and a second load power regulation curve of a power limiting amount of the corresponding working device. The first load power regulation curve and the second load power regulation curve are obtained according to test calibration, and the larger the speed dropping amplitude and the overpressure amplitude are, the larger the power limiting quantity is. In general, the power limit amount of the traveling device is smaller than the power limit amount of the working device.
And S52, calculating the difference value between the actual pressure value and the preset overload pressure value, and acquiring the overpressure amplitude.
The master control unit 1 calculates the difference between the obtained actual pressure value and the preset overload pressure value stored in the actual pressure value, and the difference is the overpressure amplitude.
S53, acquiring the power limiting quantity of the walking device according to the speed dropping amplitude, the overpressure amplitude and the first load power adjusting curve, and adjusting the power of the walking device according to the power limiting quantity of the walking device; and acquiring the power limiting quantity of the working device according to the speed dropping amplitude, the overpressure amplitude and the second load power adjusting curve, and adjusting the power of the working device according to the power limiting quantity of the working device.
The power adjusting method of the walking device comprises the following steps: the master control unit 1 adjusts the power of the walking pump 6 according to the acquired power limiting quantity of the walking device, and correspondingly generates a displacement adjusting signal of the walking pump 6, the displacement of the first hydraulic motor 11 and the displacement of the second hydraulic motor 12.
When the hydrostatic loader provided by the embodiment does not perform steering action, the steering pump 7 and the working pump 8 supply oil to the working oil cylinder 9 together; when the steering action is performed, the steering pump 7 preferentially supplies oil to the steering oil cylinder 10, and redundant oil of the steering pump 7 and the working pump 8 jointly supply oil to the working oil cylinder 9. An electric control proportional valve is arranged on the steering pump 7, and the maximum output flow of the steering pump 7 is limited by the power limiting amount of the working device through the electric control proportional valve.
The power of the working device is controlled through the steering pump 7, and the structure of the steering pump 7 is simpler than that of the working pump 8, so that compared with the structure of directly controlling the power of the working device through the working pump 8, the power of the working pump 8 does not need to be improved too much, and the cost is lower.
And S60, adjusting the power of the walking device.
The method for adjusting the power of the walking device comprises the following steps:
and S61, pre-constructing variables of vehicle speed and actual rotating speed, and outputting a pump/motor displacement curve of the walking device correspondingly.
The main control unit 1 stores pre-constructed variables of vehicle speed and actual rotating speed of the engine 5, a corresponding pump/motor displacement curve of the walking device, obtains displacement of the walking pump 6 according to the vehicle speed, the actual rotating speed of the engine 5 and the pump/motor displacement curve, and adjusts displacement of the walking pump 6, displacement of the first hydraulic motor 11 and displacement of the second hydraulic motor 12 together. The master control unit 1 controls the displacement of the high-pressure oil output by the walking pump 6 according to the acquired displacement of the walking pump 6 so as to drive the first hydraulic motor 11 and the second hydraulic motor 12 to work.
And S62, acquiring the vehicle speed through the vehicle speed sensor 15.
The vehicle speed of the hydrostatic loader is detected by a vehicle speed sensor 15, and the vehicle speed sensor 15 transmits the detected vehicle speed to the overall control unit 1.
And S63, obtaining the displacement of the walking pump 6 and the displacement of the hydraulic motor according to the vehicle speed, the actual rotating speed and the pump/motor displacement curve, and controlling the power of the walking device according to the displacement of the walking pump 6 and the displacement of the hydraulic motor.
The main control unit 1 obtains the displacement of the walking pump 6 and the displacement of the hydraulic motor according to the vehicle speed, the actual rotating speed and the pump/motor displacement curve, then controls the walking pump 6 to supply oil for the first hydraulic motor 11 and the second hydraulic motor 12 according to the displacement of the walking pump 6, and simultaneously adjusts the displacement of the walking pump 6, the first hydraulic motor 11 and the second hydraulic motor 12 drive the transfer case 13 to work, and the transfer case 13 drives the front axle and the rear axle to work.
According to the load power control method of the hydrostatic loader, when the hydrostatic loader is in a heavy-load working condition, the power of the traveling device and the power of the working device are simultaneously adjusted by acquiring the speed dropping amplitude of the engine 5 and the actual pressure value of the traveling device when the speed dropping amplitude is larger than the preset speed dropping amplitude and the actual pressure value is larger than the preset overload pressure value, so that the phenomenon that the engine 5 drops too much speed or is stalled is avoided, and the power control effect and the coordination of the composite action of the working device and the traveling device are improved.
The above description is only a preferred embodiment of the present invention, and it should not be understood that the present invention is limited to the details of the embodiment and the range of applications, which can be changed by those skilled in the art according to the spirit of the present invention.
Claims (10)
1. A load power control method of a hydrostatic loader, the hydrostatic loader including a running gear and a working device, the running gear and the working device being driven by an engine (5), characterized by comprising the steps of:
acquiring a target rotating speed and an actual rotating speed of the engine (5);
calculating the difference value between the target rotating speed and the actual rotating speed to obtain a speed dropping amplitude;
acquiring an actual pressure value of the walking device;
judging whether the falling speed amplitude value is larger than a preset falling speed amplitude value or not, and whether the actual pressure value is larger than a preset overload pressure value or not;
and if the falling speed amplitude is greater than the preset falling speed amplitude and the actual pressure value is greater than the preset overload pressure value, simultaneously adjusting the power of the walking device and the power of the working device.
2. The load power control method of a hydrostatic loader of claim 1, wherein the method of adjusting the power of the running gear and the power of the working device comprises the steps of:
presetting variables as the falling speed amplitude and the overpressure amplitude, a first load power regulation curve corresponding to the power limiting quantity of the walking device and a second load power regulation curve corresponding to the power limiting quantity of the working device;
calculating a difference value between the actual pressure value and the preset overload pressure value to obtain the overpressure amplitude value;
acquiring the power limiting quantity of the walking device according to the speed dropping amplitude, the overpressure amplitude and the first load power adjusting curve, and adjusting the power of the walking device according to the power limiting quantity of the walking device; and acquiring the power limiting quantity of the working device according to the stall amplitude, the overpressure amplitude and the second load power adjusting curve, and adjusting the power of the working device according to the power limiting quantity of the working device.
3. The load power control method of the hydrostatic loader of claim 1, further comprising the steps of:
and if any one of the falling speed amplitude value is larger than the preset falling speed amplitude value and the actual pressure value is larger than the preset overload pressure value is not true, adjusting the power of the walking device.
4. The load power control method of the hydrostatic loader of claim 3, wherein the method of adjusting the power of the running gear comprises the steps of:
pre-constructing a pump/motor displacement curve of the walking device with variables of vehicle speed and the actual rotating speed;
acquiring the vehicle speed through a vehicle speed sensor;
and acquiring the displacement of a walking pump (6) and the displacement of a hydraulic motor according to the vehicle speed, the actual rotating speed and the pump/motor displacement curve, and controlling the power of the walking device according to the displacement of the walking pump (6) and the displacement of the hydraulic motor.
5. The load power control method of the hydrostatic loader according to claim 2, characterized in that the hydrostatic loader further comprises a steering device, the steering device comprises a steering pump (7) and a steering cylinder (10), the working device comprises a working pump (8) and a working cylinder (9), and the steering pump (7) and the working pump (8) jointly supply oil to the working cylinder (9) in the absence of a steering action; when the steering action is carried out, the steering pump (7) preferentially supplies oil to the steering oil cylinder (10), and redundant oil of the steering pump (7) and the working pump (8) supply oil to the working oil cylinder (9) together.
6. The load power control method of a hydrostatic loader according to claim 5, characterized in that an electrically controlled proportional valve is provided on the steering pump (7), and the power limiting amount of the working device limits the maximum output flow of the steering pump (7) through the electrically controlled proportional valve.
7. Hydrostatic loader, characterized in that, the load power control method of the hydrostatic loader according to any one of claims 1-6 is adopted, the hydrostatic loader comprises a general control unit (1), an engine (5), an engine control unit (2), a traveling gear, a working device, an electronic accelerator pedal (4), a pressure sensor (14) and a rotation speed sensor, the general control unit (1) is electrically connected with the engine control unit (2), the traveling gear, the electronic accelerator pedal (4), the pressure sensor (14) and the rotation speed sensor, the general control unit (1) determines the target rotation speed of the engine (5) by collecting the signal of the electronic accelerator pedal (4) and sends the target rotation speed to the engine control unit (2), the engine control unit (2) with engine (5) electricity is connected for control engine (5) work, speed sensor is used for detecting the actual rotational speed of engine (5), and will actual rotational speed sends and gives total control unit (1), pressure sensor (14) are used for detecting running gear's actual pressure value, and will actual pressure value sends and gives total control unit (1), total control unit (1) are used for controlling running gear with the equipment work.
8. The hydrostatic loader of claim 7, characterized by further comprising a steering device, wherein the steering device comprises a steering pump (7) and a steering cylinder (10), the working device comprises a working pump (8) and a working cylinder (9), the steering pump (7) is electrically connected with the master control unit (1), an oil inlet of the steering cylinder (10) is communicated with an oil outlet of the steering pump (7), and an oil outlet of the steering pump (7) and an oil outlet of the working pump (8) are both communicated with an oil inlet of the working cylinder (9).
9. The hydrostatic loader of claim 8, characterized in that an electrically controlled proportional valve is provided on the steering pump (7), which is electrically connected to the general control unit (1), by controlling which the power of the working device is regulated.
10. The hydrostatic loader of claim 7, further comprising a vehicle speed sensor electrically connected to the general control unit (1) for detecting vehicle speed.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116331202A (en) * | 2023-04-19 | 2023-06-27 | 北京理工大学 | Steering control strategy for hydraulically driven vehicle |
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