CN114753940A - Engine speed control method, electronic device, engineering machine and storage medium - Google Patents
Engine speed control method, electronic device, engineering machine and storage medium Download PDFInfo
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- CN114753940A CN114753940A CN202210436351.1A CN202210436351A CN114753940A CN 114753940 A CN114753940 A CN 114753940A CN 202210436351 A CN202210436351 A CN 202210436351A CN 114753940 A CN114753940 A CN 114753940A
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- engine
- accelerator opening
- pump pressure
- main pump
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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
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/06—Fuel or fuel supply system parameters
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/101—Engine speed
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- 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 invention relates to the field of engineering machinery, in particular to an engine rotating speed control method, electronic equipment, engineering machinery and a storage medium. The method comprises the following steps: acquiring the current main pump pressure of an engine in the engineering machinery; when the current main pump pressure is larger than a preset pressure threshold, calculating the load reduction amount of the engine in a unit period based on the difference value between the current main pump pressure and the historical main pump pressure; and when the load reduction amount in the unit period is greater than the preset load reduction amount threshold, adjusting the accelerator opening of the engine based on the corresponding relation between the load reduction amount in the unit period and the accelerator opening so as to control the rotating speed of the engine. The method adjusts the accelerator opening of the engine based on the corresponding relation between the load reduction amount in the unit period and the accelerator opening to control the rotating speed of the engine, so that the accuracy of adjusting the accelerator opening of the engine is guaranteed, the rotating speed of the engine can be controlled to be stable, and the oil consumption of the engine is reduced.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to an engine rotating speed control method, electronic equipment, engineering machinery and a storage medium.
Background
At present, engineering machinery represented by an excavator mostly adopts a positive flow control system, and the adaptation of the excavator to different working conditions is realized by adjusting the matching of a main pump and an engine. In the working process of the excavator, the phenomenon that the rotating speed of the engine is decelerated or rushed up is often caused by sudden increase or reduction of working condition load of the excavator, and unnecessary oil consumption is increased while operation experience is influenced.
In the prior art, the influence on the excavator and workers caused by the fact that the engine falls off due to sudden increase of working condition load of the excavator in the working process of the excavator is only solved.
However, the prior art does not solve the problem that the engine speed is increased due to sudden reduction of working condition load (such as unloading operation) of the excavator in the working process of the excavator.
Disclosure of Invention
In view of this, the embodiment of the present invention provides an engine speed control method, which aims to solve the problem that the engine speed is increased due to sudden reduction of the working condition load (such as unloading operation) of an excavator.
According to a first aspect, an embodiment of the present invention provides an engine speed control method including:
acquiring the current main pump pressure of an engine in the engineering machinery;
when the current main pump pressure is larger than a preset pressure threshold, calculating the load reduction amount of the engine in a unit period based on the difference value between the current main pump pressure and the historical main pump pressure;
and when the load reduction amount in the unit period is greater than the preset load reduction amount threshold, adjusting the opening degree of the accelerator of the engine based on the corresponding relation between the load reduction amount in the unit period and the opening degree of the accelerator to control the rotating speed of the engine.
According to the engine speed control method provided by the embodiment of the invention, the current main pump pressure of an engine in engineering machinery is obtained; when the current main pump pressure is larger than the preset pressure threshold value, and the unit period load reduction amount of the engine is determined to be large, the engine speed is increased. Therefore, the electronic equipment calculates the load reduction amount of the engine in the unit cycle based on the difference value between the current main pump pressure and the historical main pump pressure, and the accuracy of the calculated load reduction amount in the unit cycle is guaranteed. And then, when the load reduction amount in the unit period is greater than the preset load reduction amount threshold value, determining that the rotating speed of the engine is increased, and adjusting the accelerator opening of the engine by the electronic equipment based on the corresponding relation between the load reduction amount in the unit period and the accelerator opening to control the rotating speed of the engine, so that the accuracy of adjusting the accelerator opening of the engine is ensured, the rotating speed of the engine can be controlled to be stable, and the oil consumption of the engine is reduced.
With reference to the first aspect, in a first embodiment of the first aspect, the adjusting an accelerator opening degree of an engine based on a correspondence relationship between a load reduction amount per unit cycle and the accelerator opening degree includes:
acquiring the discharge capacity of a main pump of an engine;
calculating a reduced torque of the engine based on the displacement of the main pump and the load reduction amount per unit cycle;
and adjusting the accelerator opening of the engine based on the corresponding relation between the torque and the accelerator opening.
According to the engine speed control method provided by the embodiment of the invention, the main pump displacement of the engine is obtained, and then the reduced torque of the engine is calculated based on the main pump displacement and the load reduction amount in a unit period, so that the accuracy of the calculated reduced torque of the engine is ensured. Based on the corresponding relation between the torque and the accelerator opening, the accelerator opening of the engine is adjusted, the accuracy of adjusting the accelerator opening of the engine is guaranteed, the rotating speed of the engine can be controlled to be stable, and the oil consumption of the engine is reduced.
With reference to the first aspect and the first embodiment, in a second aspect, the adjusting an accelerator opening of an engine based on a correspondence relationship between a torque and the accelerator opening includes:
acquiring the current accelerator opening of an engine;
determining the accelerator opening reduction corresponding to the engine based on the corresponding relation between the torque and the accelerator opening;
and adjusting the accelerator opening of the engine based on the difference between the current accelerator opening and the accelerator opening reduction.
According to the engine speed control method provided by the embodiment of the invention, the current accelerator opening of the engine is obtained, the accelerator opening reduction corresponding to the engine is determined based on the corresponding relation between the torque and the accelerator opening, and the accuracy of the determined accelerator opening reduction corresponding to the engine is ensured. Then, the accelerator opening of the engine is adjusted based on the difference value between the current accelerator opening and the accelerator opening reduction, so that the accuracy of adjusting the accelerator opening of the engine is guaranteed, the rotating speed of the engine can be controlled to be stable, and the oil consumption of the engine is reduced.
With reference to the first aspect, in a third embodiment of the first aspect, acquiring a current main pump pressure of an engine in the construction machine includes:
acquiring the pressure of a front pump and the pressure of a rear pump of an engine;
and adding the pressure of the front pump and the pressure of the rear pump to obtain the pressure of the current main pump.
According to the engine speed control method provided by the embodiment of the invention, the pressure of a front pump and the pressure of a rear pump of an engine are obtained; the front pump pressure and the rear pump pressure are added to obtain the current main pump pressure, and the accuracy of the obtained current main pump pressure is guaranteed.
With reference to the first aspect, in a fourth implementation manner of the first aspect, calculating a load reduction amount per unit cycle of the engine based on a difference between a current main pump pressure and a historical main pump pressure includes:
acquiring historical main pump pressure corresponding to a previous period of the current main pump pressure based on the current main pump pressure;
and subtracting the current main pump pressure from the historical main pump pressure to obtain the unit-period load reduction of the engine.
According to the engine speed control method provided by the embodiment of the invention, the historical main pump pressure corresponding to the previous period of the current main pump pressure is obtained based on the current main pump pressure, so that the accuracy of the obtained historical main pump pressure is ensured. The current main pump pressure is subtracted from the historical main pump pressure to obtain the unit-period load reduction amount of the engine, and the accuracy of the obtained unit-period load reduction amount of the engine is guaranteed. The load reduction amount of the engine in a period can be determined according to the unit period load reduction amount of the engine, and therefore the accuracy of adjusting the accelerator opening of the engine can be guaranteed.
With reference to the first aspect, in a fifth embodiment of the first aspect, after the accelerator opening of the engine is adjusted based on the correspondence relationship between the load reduction amount per unit cycle and the accelerator opening, the method further includes:
acquiring a current rotating speed and a target rotating speed corresponding to an engine;
and when the rotating speed difference value between the current rotating speed and the target rotating speed is larger than the preset difference value, adjusting the opening degree of the accelerator of the engine based on the rotating speed difference value between the current rotating speed and the target rotating speed.
The engine speed control method provided by the embodiment of the invention obtains the current speed and the target speed corresponding to the engine. When the rotating speed difference value between the current rotating speed and the target rotating speed is larger than the preset difference value, the difference between the current rotating speed and the target rotating speed of the engine is determined to be large, and therefore the opening degree of the accelerator of the engine needs to be further adjusted. The electronic equipment adjusts the accelerator opening of the engine based on the rotating speed difference between the current rotating speed and the target rotating speed, so that the accuracy of adjusting the accelerator opening of the engine can be guaranteed. The difference between the current rotating speed and the target rotating speed of the engine can be reduced, the stability of controlling the rotating speed of the engine is ensured, and the oil consumption of the engine is reduced.
With reference to the fifth embodiment of the first aspect, in the sixth embodiment of the first aspect, the adjusting the accelerator opening of the engine based on the rotation speed difference between the current rotation speed and the target rotation speed includes:
acquiring a preset control mode corresponding to the engine;
calculating the accelerator opening deviation corresponding to the rotation speed difference value based on a preset control mode;
and adjusting the accelerator opening of the engine based on the accelerator opening deviation.
According to the engine rotating speed control method provided by the embodiment of the invention, a preset control mode corresponding to an engine is obtained; based on a preset control mode, the accelerator opening deviation corresponding to the rotation speed difference value is calculated, and the accuracy of the calculated accelerator opening deviation is guaranteed. Then, the accelerator opening of the engine is adjusted based on the accelerator opening deviation, and the accuracy of adjusting the accelerator opening of the engine can be ensured. The difference between the current rotating speed and the target rotating speed of the engine can be reduced, the stability of controlling the rotating speed of the engine is ensured, and the oil consumption of the engine is reduced.
According to a second aspect, an embodiment of the present invention also provides an engine speed control apparatus including:
the first acquisition module is used for acquiring the current main pump pressure of an engine in the engineering machinery;
the calculation module is used for calculating the load reduction amount of the engine in a unit period based on the difference value between the current main pump pressure and the historical main pump pressure when the current main pump pressure is greater than a preset pressure threshold;
and the first adjusting module is used for adjusting the accelerator opening of the engine based on the corresponding relation between the unit cycle load reduction amount and the accelerator opening to control the rotating speed of the engine when the unit cycle load reduction amount is larger than the preset load reduction amount threshold.
The engine rotating speed control device provided by the embodiment of the invention obtains the current main pump pressure of an engine in engineering machinery; when the current main pump pressure is larger than the preset pressure threshold value, and the unit period load reduction amount of the engine is determined to be large, the engine speed is increased. Therefore, the electronic equipment calculates the unit-period load reduction amount of the engine based on the difference value between the current main pump pressure and the historical main pump pressure, and the accuracy of the calculated unit-period load reduction amount is guaranteed. And then, when the load reduction amount in the unit period is greater than the preset load reduction amount threshold value, determining that the rotating speed of the engine is increased, and adjusting the accelerator opening of the engine by the electronic equipment based on the corresponding relation between the load reduction amount in the unit period and the accelerator opening to control the rotating speed of the engine, so that the accuracy of adjusting the accelerator opening of the engine is ensured, the rotating speed of the engine can be controlled to be stable, and the oil consumption of the engine is reduced.
According to a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory and a processor, where the memory and the processor are communicatively connected with each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the engine speed control method in the first aspect or any one of the implementation manners of the first aspect.
According to a fourth aspect, an embodiment of the present invention provides a construction machine, including:
the engineering machinery body comprises an engine;
the electronic device of the third aspect is connected to the engine, and is configured to control a rotation speed of the engine.
According to a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the engine speed control method according to the first aspect or any one of the embodiments of the first aspect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method for controlling engine speed using an embodiment of the present invention;
FIG. 2 is a flow chart of a method of controlling engine speed using another embodiment of the present invention;
FIG. 3 is a flow chart of a method of controlling engine speed using another embodiment of the present invention;
FIG. 4 is a flowchart of an engine speed control method according to another embodiment of the present invention;
FIG. 5 is a flowchart of an engine speed control method according to another embodiment of the present invention;
FIG. 6 is a flow chart of an engine speed control method according to another embodiment of the present invention
FIG. 7 is a functional block diagram of an engine speed control apparatus provided by an embodiment of the present invention;
FIG. 8 is a functional block diagram of an engine speed control apparatus provided by an embodiment of the present invention;
fig. 9 is a schematic diagram of a hardware structure of an electronic device provided by an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, in the method for controlling engine speed provided in the embodiment of the present application, the execution main body of the method may be an apparatus for controlling engine speed, and the apparatus for controlling engine speed may be implemented as part or all of an electronic device in a software, hardware, or a combination of software and hardware, where the electronic device may be a control component built in an engineering machine, the electronic device may also be a control component corresponding to an engine built in an engineering machine, and the electronic device may be a control component such as a CPU, a BMC, or an ECU, and the embodiment of the present application does not specifically limit the electronic device. The electronic device may also be an electronic device externally installed on the construction machine, and when the electronic device is externally installed on the construction machine, the electronic device may be a server or a terminal device. The server in the embodiment of the application may be one server or a server cluster composed of a plurality of servers, and the terminal in the embodiment of the application may be other intelligent hardware devices such as a smart phone, a personal computer, a tablet computer, a wearable device, an intelligent robot, and the like. In the following method embodiments, the execution subject is an electronic device as an example.
In an embodiment of the present application, as shown in fig. 1, there is provided an engine speed control method, which is described by taking an example of application of the method to an electronic device, and includes the following steps:
and S11, acquiring the current main pump pressure of the engine in the engineering machine.
Specifically, the electronic device may obtain the current main pump pressure collected by the main pump pressure sensor based on the connection with the main pump pressure sensor.
Details about this step will be described later.
And S12, when the current main pump pressure is larger than the preset pressure threshold, calculating the load reduction amount of the engine in the unit period based on the difference between the current main pump pressure and the historical main pump pressure.
Specifically, after the current main pump pressure is obtained, the electronic device may compare the obtained current main pump pressure with a preset pressure threshold. And when the current main pump pressure is greater than the preset pressure threshold, acquiring historical main pump pressure, and calculating a difference value between the current main pump pressure and the historical main pump pressure to obtain the unit-period load reduction of the engine.
The duration of the unit period may be set according to an actual situation, for example, the unit period may be 200ms, and may also be 500ms, and the duration of the unit period is not specifically limited in this embodiment of the application.
When the current main pump pressure is smaller than or equal to the preset pressure threshold, the current main pump pressure is small, and the rotating speed rush-up caused by load reduction can be ignored, so that the electronic equipment does not need to adjust the rotating speed of the engine.
Details regarding this step will be described below.
And S13, when the load reduction amount in the unit period is larger than the preset load reduction amount threshold, adjusting the accelerator opening of the engine based on the corresponding relation between the load reduction amount in the unit period and the accelerator opening so as to control the rotating speed of the engine.
Specifically, after calculating the load reduction amount per unit cycle of the engine, the electronic device may compare the load reduction amount per unit cycle of the engine with a preset load reduction amount threshold, and when the load reduction amount per unit cycle is greater than the preset load reduction amount threshold, determine that the load reduction amount per unit cycle of the engine is greater, and thus may cause the engine speed to increase. In order to solve the problem that the rotation speed of the engine is increased due to the fact that the load reduction amount of the engine in a unit period within the preset time is larger than the preset load reduction amount threshold, the electronic device can adjust the opening degree of the accelerator of the engine based on the corresponding relation between the load reduction amount in the unit period and the opening degree of the accelerator to control the rotation speed of the engine.
In an alternative embodiment, the electronic device may determine the accelerator opening reduction amount corresponding to the unit cycle load reduction amount based on the correspondence relationship between the unit cycle load reduction amount and the accelerator opening, and then adjust the accelerator opening of the engine based on the accelerator opening reduction amount to control the rotation speed of the engine.
In an alternative embodiment of the present application, after the accelerator opening of the engine is adjusted based on the accelerator opening feedforward control, the current rotation speed and the target rotation speed of the engine may be obtained. Then, a rotational speed deviation between the current rotational speed and the target rotational speed is calculated. When the rotating speed deviation is smaller than the rotating speed set threshold, the feedforward control effect of the opening degree of the accelerator is good, and the control mode can meet the requirement; if the rotating speed deviation is larger than the rotating speed set threshold value, the fact that the single accelerator opening feedforward control cannot meet the requirement is indicated, and rotating speed PID control intervention is needed to achieve further adjustment of the accelerator opening.
Details regarding this step will be described below.
According to the engine rotating speed control method provided by the embodiment of the invention, the current main pump pressure of an engine in engineering machinery is obtained; when the current main pump pressure is larger than the preset pressure threshold value, and the unit period load reduction amount of the engine is determined to be large, the engine speed is increased. Therefore, the electronic equipment calculates the unit-period load reduction amount of the engine based on the difference value between the current main pump pressure and the historical main pump pressure, and the accuracy of the calculated unit-period load reduction amount is guaranteed. And then, when the load reduction amount in the unit period is greater than the preset load reduction amount threshold value, determining that the rotating speed of the engine is increased, and adjusting the accelerator opening of the engine by the electronic equipment based on the corresponding relation between the load reduction amount in the unit period and the accelerator opening to control the rotating speed of the engine, so that the accuracy of adjusting the accelerator opening of the engine is ensured, the rotating speed of the engine can be controlled to be stable, and the oil consumption of the engine is reduced.
In an embodiment of the present application, as shown in fig. 2, there is provided an engine speed control method, which is described by taking an example of application of the method to an electronic device, and includes the following steps:
and S21, acquiring the current main pump pressure of the engine in the engineering machinery.
Please refer to fig. 1 for a description of S11 for this step, which is not described herein.
And S22, when the current main pump pressure is larger than the preset pressure threshold, calculating the load reduction amount of the engine in the unit period based on the difference value between the current main pump pressure and the historical main pump pressure.
Please refer to fig. 1 for description of S12 for this step, which is not described herein.
And S23, when the load reduction amount in the unit period is larger than the preset load reduction amount threshold, adjusting the accelerator opening of the engine based on the corresponding relation between the load reduction amount in the unit period and the accelerator opening so as to control the rotating speed of the engine.
In an alternative embodiment of the present application, the step of "adjusting the accelerator opening degree of the engine based on the correspondence relationship between the load reduction amount per unit cycle and the accelerator opening degree" in S23 may include the steps of:
and S231, acquiring the main pump displacement of the engine.
Specifically, the electronic device may collect a main pump solenoid valve feedback current to obtain a main pump displacement of the engine.
And S232, calculating the torque reduced by the engine based on the displacement of the main pump and the load reduction amount per unit period.
Specifically, after obtaining the main pump displacement of the engine and the unit cycle load reduction amount, the electronic device may calculate the engine reduction torque based on the following formula:
wherein M isbRepresenting torque, P representing load reduction per cycle, and V representing main pump displacement.
And S233, adjusting the accelerator opening of the engine based on the corresponding relation between the torque and the accelerator opening.
In another alternative embodiment of the present application, the step of "adjusting the accelerator opening degree of the engine based on the correspondence relationship between the torque and the accelerator opening degree" in S233 may include the steps of:
(1) and acquiring the current accelerator opening of the engine.
(2) And determining the accelerator opening degree reduction amount corresponding to the engine based on the corresponding relation between the torque and the accelerator opening degree.
(3) And adjusting the accelerator opening of the engine based on the difference between the current accelerator opening and the accelerator opening reduction.
Specifically, as shown in fig. 3, when the electronic device is a control component corresponding to the engine, the electronic device may acquire the current accelerator opening of the engine based on the connection with the engine. When the electronic device is not the control component corresponding to the engine, the electronic device may acquire the current accelerator opening of the engine based on the connection between the control components corresponding to the engine. Then, the electronic device may determine an accelerator opening reduction amount corresponding to the engine reduced torque based on the correspondence relationship between the torque and the accelerator opening. After the accelerator opening reduction corresponding to the engine is obtained, the electronic equipment subtracts the accelerator opening reduction from the current accelerator opening to obtain the target accelerator opening. The electronic device adjusts the accelerator opening of the engine based on the target accelerator opening to adjust the accelerator opening of the engine to the target accelerator opening.
According to the engine speed control method provided by the embodiment of the invention, the main pump displacement of the engine is obtained, and then the reduced torque of the engine is calculated based on the main pump displacement and the load reduction amount in a unit period, so that the accuracy of the calculated reduced torque of the engine is ensured. Then, the current accelerator opening of the engine is obtained, and the accelerator opening reduction corresponding to the engine is determined based on the corresponding relation between the torque and the accelerator opening, so that the accuracy of the determined accelerator opening reduction corresponding to the engine is guaranteed. Then, the accelerator opening of the engine is adjusted based on the difference value between the current accelerator opening and the accelerator opening reduction, so that the accuracy of adjusting the accelerator opening of the engine is guaranteed, the rotating speed of the engine can be controlled to be stable, and the oil consumption of the engine is reduced.
In an embodiment of the present application, as shown in fig. 4, an engine speed control method is provided, which is described by taking an example of application of the method to an electronic device, and includes the following steps:
and S31, acquiring the current main pump pressure of the engine in the engineering machinery.
In an alternative embodiment of the present application, the step of obtaining the current main pump pressure of the engine in the construction machine in S31 may include the following steps:
and S311, acquiring the front pump pressure and the rear pump pressure of the engine.
Specifically, the electronic device may acquire the front pump pressure and the rear pump pressure acquired by the main pump pressure sensor based on the connection with the main pump pressure sensor.
And S312, adding the front pump pressure and the rear pump pressure to obtain the current main pump pressure.
Specifically, the electronic device adds the front pump pressure and the rear pump pressure to obtain the current main pump pressure.
And S32, when the current main pump pressure is larger than the preset pressure threshold, calculating the load reduction amount of the engine in the unit period based on the difference value between the current main pump pressure and the historical main pump pressure.
In an alternative embodiment of the present application, the step of "calculating a load reduction amount per unit cycle of the engine based on a difference between the current main pump pressure and the historical main pump pressure" in S32 may include the steps of:
s321, obtaining historical main pump pressure corresponding to a previous period of the current main pump pressure based on the current main pump pressure.
Specifically, after acquiring the current main pump pressure, the electronic device may acquire, based on the current main pump pressure, a historical main pump pressure corresponding to a period before the current main pump pressure. The duration of the unit period may be set according to an actual situation, for example, the unit period may be 200ms, and may also be 500ms, and the duration of the unit period is not specifically limited in the embodiment of the present application.
And S322, subtracting the current main pump pressure from the historical main pump pressure to obtain the unit period load reduction amount of the engine.
Specifically, after obtaining the historical main pump pressure, the electronic device may subtract the current main pump pressure from the historical main pump pressure to obtain a load reduction amount of the engine in one cycle.
And S33, when the load reduction amount in the unit period is larger than the preset load reduction amount threshold, adjusting the accelerator opening of the engine based on the corresponding relation between the load reduction amount in the unit period and the accelerator opening so as to control the rotating speed of the engine.
For this step, please refer to the description of S23 in fig. 2, which is not described herein.
According to the engine speed control method provided by the embodiment of the invention, the pressure of a front pump and the pressure of a rear pump of an engine are obtained; the front pump pressure and the rear pump pressure are added to obtain the current main pump pressure, and the accuracy of the obtained current main pump pressure is guaranteed. In addition, based on the current main pump pressure, historical main pump pressure corresponding to the previous period of the current main pump pressure is obtained, and the accuracy of the obtained historical main pump pressure is guaranteed. The current main pump pressure is subtracted from the historical main pump pressure to obtain the unit-period load reduction amount of the engine, and the accuracy of the obtained unit-period load reduction amount of the engine is guaranteed. The load reduction amount of the engine in a period can be determined according to the unit period load reduction amount of the engine, and therefore the accuracy of adjusting the accelerator opening of the engine can be guaranteed.
In one embodiment of the application, when the accelerator opening feedforward control is not ideal, that is, the rotation speed deviation between the current rotation speed and the target rotation speed of the engine is greater than the set rotation speed threshold value, it also indicates that further adjustment of the accelerator opening of the engine is required. Therefore, as shown in fig. 5, an engine speed control method is provided, which is described by taking an example of applying the method to an electronic device, and comprises the following steps:
and S41, acquiring the current main pump pressure of the engine in the engineering machinery.
For this step, please refer to the description of S31 in fig. 4, which is not described herein.
And S42, when the current main pump pressure is larger than the preset pressure threshold, calculating the load reduction amount of the engine in the unit period based on the difference between the current main pump pressure and the historical main pump pressure.
Please refer to the description of S32 in fig. 4 for this step, which is not repeated herein.
And S43, when the load reduction amount in the unit period is larger than the preset load reduction amount threshold, adjusting the accelerator opening of the engine based on the corresponding relation between the load reduction amount in the unit period and the accelerator opening so as to control the rotating speed of the engine.
Please refer to the description of S33 in fig. 4 for this step, which is not repeated herein.
And S44, acquiring the current rotating speed and the target rotating speed corresponding to the engine.
Specifically, when the electronic device is a control component corresponding to the engine, the electronic device may acquire the current rotation speed of the engine based on the connection with the rotation speed sensor. When the electronic device is not the control component corresponding to the engine, the electronic device may acquire the current rotational speed of the engine based on the connection between the control components corresponding to the engine.
And S45, when the rotating speed difference between the current rotating speed and the target rotating speed is larger than the preset difference, adjusting the accelerator opening of the engine based on the rotating speed difference between the current rotating speed and the target rotating speed.
Specifically, when the rotating speed difference value between the current rotating speed corresponding to the engine and the target rotating speed is greater than the preset difference value, it is determined that the rotating speed of the engine has not yet reached the target rotating speed, and therefore, the accelerator opening of the engine needs to be corrected, so that the rotating speed of the engine continues to be adjusted.
In an alternative embodiment of the present application, the step of "adjusting the throttle opening of the engine based on the rotation speed difference between the current rotation speed and the target rotation speed" in S45 may include the steps of:
and S451, acquiring a preset control mode corresponding to the engine.
Specifically, the electronic device receives a preset control mode corresponding to the engine input by a user, may also receive a preset control mode corresponding to the engine sent by other devices, and may also determine the preset control mode corresponding to the engine according to information such as the engine model. The embodiment of the application does not specifically limit the way in which the electronic device acquires the preset control mode corresponding to the engine.
It should be noted that the preset control manner may be a control method, and may also be a control model, such as a PID control model, a sliding mode control model, and the like. The preset control mode is not particularly limited in the embodiment of the present application.
And S452, calculating the accelerator opening deviation corresponding to the rotation speed difference value based on a preset control mode.
In an optional embodiment of the application, the preset control manner may be a correspondence between a rotation speed deviation and an accelerator opening deviation, and the electronic device may calculate the accelerator opening deviation corresponding to a rotation speed difference between the current rotation speed and the target rotation speed based on the correspondence between the rotation speed deviation and the accelerator opening deviation.
In another optional embodiment of the present application, the preset control manner may be a rotation speed PID model, the electronic device may input the current rotation speed and the target rotation speed of the engine to the rotation speed PID model, and the rotation speed PID model outputs the accelerator opening deviation corresponding to the engine.
And S453, adjusting the accelerator opening of the engine based on the accelerator opening deviation.
Specifically, the electronic device decelerates the accelerator opening deviation using the target accelerator opening to obtain an actual accelerator opening that the engine should reach, and then adjusts the accelerator opening of the engine according to the actual accelerator opening that the engine should reach.
For example, as shown in fig. 6, after the target accelerator opening corresponding to the engine is calculated, when a rotation speed difference between a current rotation speed corresponding to the engine and the target rotation speed is greater than a preset difference, the electronic device may input the current rotation speed and the target rotation speed of the engine to a rotation speed PID model, and the rotation speed PID model outputs an accelerator opening deviation corresponding to the engine. Then, the electronic device decelerates the accelerator opening deviation using the target accelerator opening to obtain an actual accelerator opening that the engine should reach, and then adjusts the accelerator opening of the engine according to the actual accelerator opening that the engine should reach.
The engine speed control method provided by the embodiment of the invention obtains the current speed and the target speed corresponding to the engine. When the rotating speed difference value between the current rotating speed and the target rotating speed is larger than the preset difference value, the difference between the current rotating speed and the target rotating speed of the engine is determined to be large, and therefore the opening degree of the accelerator of the engine needs to be further adjusted. The electronic equipment acquires a preset control mode corresponding to the engine; based on a preset control mode, the accelerator opening deviation corresponding to the rotation speed difference value is calculated, and the accuracy of the calculated accelerator opening deviation is guaranteed. Then, the accelerator opening of the engine is adjusted based on the accelerator opening deviation, and the accuracy of adjusting the accelerator opening of the engine can be guaranteed. The difference between the current rotating speed and the target rotating speed of the engine can be reduced, the stability of controlling the rotating speed of the engine is ensured, and the oil consumption of the engine is reduced.
It should be understood that although the various steps in the flowcharts of fig. 1-2 and 4-5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-2 and fig. 4-5 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or in alternation with other steps or at least some of the other steps or stages.
As shown in fig. 7, the present embodiment provides an engine rotational speed control apparatus including:
the first obtaining module 51 is used for obtaining the current main pump pressure of an engine in the engineering machinery;
the calculating module 52 is configured to calculate a load reduction amount per unit period of the engine based on a difference between a current main pump pressure and a historical main pump pressure when the current main pump pressure is greater than a preset pressure threshold;
and the first adjusting module 53 is configured to adjust the accelerator opening of the engine based on the corresponding relationship between the unit cycle load reduction amount and the accelerator opening when the unit cycle load reduction amount is greater than the preset load reduction amount threshold, so as to control the rotation speed of the engine.
In an embodiment of the present application, the first adjusting module 53 is specifically configured to obtain a main pump displacement of the engine; calculating a reduced torque of the engine based on the displacement of the main pump and the load reduction amount per unit cycle; and adjusting the accelerator opening of the engine based on the corresponding relation between the torque and the accelerator opening.
In an embodiment of the present application, the first adjusting module 53 is specifically configured to obtain a current accelerator opening of the engine; determining the accelerator opening reduction corresponding to the engine based on the corresponding relation between the torque and the accelerator opening; and adjusting the accelerator opening of the engine based on the difference between the current accelerator opening and the accelerator opening reduction.
In an embodiment of the present application, the first obtaining module 51 is specifically configured to obtain a front pump pressure and a rear pump pressure of the engine; and adding the front pump pressure and the rear pump pressure to obtain the current main pump pressure.
In an embodiment of the application, the calculating module 52 is specifically configured to obtain, based on a current main pump pressure, a historical main pump pressure corresponding to a period before the current main pump pressure; and subtracting the current main pump pressure from the historical main pump pressure to obtain the unit-period load reduction of the engine.
In an embodiment of the present application, as shown in fig. 8, the engine speed control apparatus further includes:
the second obtaining module 54 is configured to obtain a current rotation speed and a target rotation speed corresponding to the engine;
and the second adjusting module 55 is configured to adjust the accelerator opening of the engine based on the rotation speed difference between the current rotation speed and the target rotation speed when the rotation speed difference between the current rotation speed and the target rotation speed is greater than the preset difference.
In an embodiment of the present application, the second adjusting module 55 is specifically configured to obtain a preset control manner corresponding to the engine; calculating the accelerator opening deviation corresponding to the rotation speed difference value based on a preset control mode; and adjusting the accelerator opening of the engine based on the accelerator opening deviation.
For specific limitations and advantageous effects of the engine speed control device, reference may be made to the above limitations of the engine speed control method, which are not described herein again. The respective modules in the engine speed control device described above may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the electronic device, or can be stored in a memory in the electronic device in a software form, so that the processor can call and execute operations corresponding to the modules.
An embodiment of the present invention further provides an electronic apparatus having the engine speed control device shown in fig. 7 and 8.
As shown in fig. 9, fig. 9 is a schematic structural diagram of an electronic device according to an alternative embodiment of the present invention, and as shown in fig. 9, the electronic device may include: at least one processor 61, such as a CPU (Central Processing Unit), at least one communication interface 63, memory 64, at least one communication bus 62. Wherein a communication bus 62 is used to enable the connection communication between these components. The optional communication interface 63 may also include a standard wired interface, a wireless interface. The Memory 64 may be a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The memory 64 may optionally be at least one memory device located remotely from the processor 61. Wherein the processor 61 may be combined with the apparatus described in fig. 7 and 8, the memory 64 stores an application program, and the processor 61 calls the program code stored in the memory 64 for performing any of the above-mentioned method steps.
The communication bus 62 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus 62 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 9, but this does not indicate only one bus or one type of bus.
The memory 64 may include a volatile memory (RAM), such as a random-access memory (RAM); the memory may also include a non-volatile memory (english: non-volatile memory), such as a flash memory (english: flash memory), a hard disk (english: hard disk drive, abbreviated: HDD) or a solid-state drive (english: SSD); the memory 64 may also comprise a combination of the above types of memory.
The processor 61 may be a Central Processing Unit (CPU), a Network Processor (NP), or a combination of CPU and NP.
The processor 61 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.
Optionally, the memory 64 is also used to store program instructions. Processor 61 may invoke program instructions to implement the engine speed control method as shown in the embodiments of fig. 1-2 and 4-5 of the present application.
An embodiment of the present invention further provides an engineering machine, including:
the engineering machinery body comprises an engine;
fig. 9 shows an electronic device connected to the engine for controlling the rotational speed of the engine.
The engineering machinery can comprise heavy trucks, trailers, excavators, anchor driving machines, bulldozers, road rollers, concrete pump trucks and other operation vehicles, or tower cranes, construction elevators, material elevators and other mechanical operation equipment. The embodiment of the present application does not specifically limit the construction machine.
Embodiments of the present invention further provide a non-transitory computer storage medium, where computer-executable instructions are stored, and the computer-executable instructions may execute the engine speed control method in any of the above method embodiments. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (10)
1. An engine speed control method characterized by comprising:
acquiring the current main pump pressure of an engine in the engineering machinery;
when the current main pump pressure is larger than a preset pressure threshold, calculating a unit cycle load reduction amount of the engine based on a difference value between the current main pump pressure and historical main pump pressure;
and when the unit period load reduction is larger than a preset load reduction threshold, adjusting the accelerator opening of the engine based on the corresponding relation between the unit period load reduction and the accelerator opening so as to control the rotating speed of the engine.
2. The method according to claim 1, wherein said adjusting the throttle opening of the engine based on the correspondence between the unit cycle load reduction amount and the throttle opening comprises:
acquiring the main pump displacement of the engine;
calculating the reduced torque of the engine based on the main pump displacement and the unit cycle load reduction amount;
and adjusting the accelerator opening of the engine based on the corresponding relation between the torque and the accelerator opening.
3. The method of claim 2, wherein said adjusting the throttle opening of the engine based on the torque to throttle opening correspondence comprises:
acquiring the current accelerator opening of the engine;
determining an accelerator opening degree reduction amount corresponding to the engine based on the corresponding relation between the torque and the accelerator opening degree;
adjusting an accelerator opening of the engine based on a difference between the current accelerator opening and the accelerator opening reduction.
4. The method of claim 1, wherein said obtaining a current main pump pressure of an engine in a work machine comprises:
acquiring a front pump pressure and a rear pump pressure of the engine;
and adding the front pump pressure and the rear pump pressure to obtain the current main pump pressure.
5. The method of claim 1, wherein said calculating a unit cycle reduction load of the engine based on a difference between the current main pump pressure and a historical main pump pressure comprises:
acquiring the historical main pump pressure corresponding to a previous period of the current main pump pressure based on the current main pump pressure;
and subtracting the current main pump pressure from the historical main pump pressure to obtain the unit-period load reduction of the engine.
6. The method according to claim 1, wherein after the adjusting the accelerator opening of the engine based on the correspondence relationship between the unit cycle load reduction amount and the accelerator opening, the method further comprises:
acquiring a current rotating speed and a target rotating speed corresponding to the engine;
and when the rotating speed difference value between the current rotating speed and the target rotating speed is larger than a preset difference value, adjusting the accelerator opening of the engine based on the rotating speed difference value between the current rotating speed and the target rotating speed.
7. The method of claim 6, wherein said adjusting the throttle opening of the engine based on the rotational speed difference between the current rotational speed and the target rotational speed comprises:
acquiring a preset control mode corresponding to the engine;
calculating the accelerator opening deviation corresponding to the rotation speed difference value based on the preset control mode;
and adjusting the accelerator opening of the engine based on the accelerator opening deviation.
8. An electronic device, comprising a memory in which computer instructions are stored and a processor that executes the computer instructions to perform the engine speed control method according to any one of claims 1 to 7.
9. A work machine, comprising:
the engineering machinery body comprises an engine;
the electronic device of claim 8, coupled to the engine for controlling a speed of the engine.
10. A computer-readable storage medium storing computer instructions for causing a computer to execute the engine speed control method according to any one of claims 1 to 7.
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