CN201858030U - Engine revolution control device for engineering machinery - Google Patents
Engine revolution control device for engineering machinery Download PDFInfo
- Publication number
- CN201858030U CN201858030U CN2010205992513U CN201020599251U CN201858030U CN 201858030 U CN201858030 U CN 201858030U CN 2010205992513 U CN2010205992513 U CN 2010205992513U CN 201020599251 U CN201020599251 U CN 201020599251U CN 201858030 U CN201858030 U CN 201858030U
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- speed
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- engineering machinery
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- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
Abstract
The utility model discloses an engine revolution control device for engineering machinery, which comprises a revolution setting device (1), a controller (2) and a driving mechanism. The revolution setting device (1) is connected with the driving mechanism through the controller (2) and drives a throttle control rod (4) through the driving mechanism so as to control revolution of an engine (5), the controller (2) is connected with a rotation angle sensor (22) which is used for detecting current rotation angle of the throttle control rod (4), and the controller (2) outputs control signals to the driving mechanism according to target revolution output from the revolution setting device (1) and the current rotation angle of the throttle control rod (4). The engine revolution control device realizes real-time, accurate and stable revolution control according to working conditions of the engine, and has the advantages of accurate, timely and stable control of revolution, low load of the engine and long service life.
Description
Technical field
The utility model relates to engineering machinery field, is specifically related to a kind of engine rotational speed control apparatus of engineering machinery.
Background technique
Revolution speed control device is widely used in engineering machinery engine, and when engineering machinery during in different construction operating modes, motor need externally provide different power, need engine speed be adjusted to needed speed by revolution speed control device.At present, thus adopt extensively that the step motor drive mechanical linkage is flexible to be driven the throttle lever rotation and change engine speed.As shown in Figure 1, traditional revolution speed control device comprises speed setting gear 1, controller 2 and driving mechanism, speed setting gear 1 links to each other with driving mechanism by controller 2 and passes through the rotating speed that drive mechanism throttle lever 4 is controlled motors 5, controller 2 comprises the speed probe 21 of the current rotating speed of detection of engine 5, speed setting gear 1 provides target velocity, and controller 2 is according to target velocity and according to the driving mechanism that outputs control signals to of engineering machinery movement velocity.Wherein, driving mechanism comprises motor 302, mechanical linkage 303 and backguy 304, motor 302 links to each other with controller 2 by motor driver 301, backguy 304 links to each other with throttle lever 4, it is flexible that motor 302 drives mechanical linkage 303, and then drive backguy 304 flexible drive throttle lever 4 rotations to regulate the rotating speed of motor 5.
But, the throttle lever 4 of this revolution speed control device rotates around an axle center, make the axle of mechanical linkage 303 and motor 302 be subjected to certain radial force, vibrating the situation that fracture takes place the axle that occurs mechanical linkage 303 or motor 302 on the violent engineering machinery easily, cause whole device lifetime short, fault is many, the construction of influence even interruption engineering machinery, and, this revolution speed control device adopts the method for the single closed loop control of speed, when throttle lever 4 and mechanical linkage 303, the axle of motor 302 waits when having the gap, the phenomenon that will have speed regulation to lag behind causes the actual speed fluctuation big.At this problem, some corrective measures also occurred: 1, adopt hydraulic cylinder piston rod directly to drive throttle lever, cylinder support can rotate around erection support, has strengthened the intensity and the load capacity of driving mechanism.It is loaded down with trivial details that but oil pipe connects, and action is slow than electrical control.2, adopt the size of the motor and the increasing mechanical linkage in larger axis footpath, to strengthen radially bearing capacity.And the power of the essential expanded motor of this method, otherwise have the danger that overload is burnt motor.3, adopt the method for motor band flexible axle, yet the flexible axle telescopic displacement is difficult for detection, is not easy to accurate control, all can't satisfies the needs of the engine speed control of engineering machinery.
The model utility content
The utility model is at the shortcoming of above-mentioned prior art, provide a kind of can be according to the different operating modes of motor real-time, accurate, stable adjustment rotating speed to desired value, speed controlling accurately in time, control steadily, the engine rotational speed control apparatus of the engineering machinery of little, the long service life of motor load.
In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of engine rotational speed control apparatus of engineering machinery, comprise speed setting gear, controller and driving mechanism, described speed setting gear links to each other with driving mechanism by controller and passes through the rotating speed that the drive mechanism throttle lever is controlled motor, described controller is used to detect throttle lever and links to each other when the rotary angle transmitter of front hook with one, and described controller outputs control signals to described driving mechanism according to the rotating speed of target of speed setting gear output and the front hook of working as of throttle lever.
Further improvement as the engine rotational speed control apparatus of the utility model engineering machinery:
Described controller comprises speed control unit, corner control unit and is used for the speed probe of the current rotating speed of detection of engine, described speed control unit link to each other with speed probe with speed setting gear respectively and according to rotating speed of target and current rotating speed output set angular signal to the corner control unit, described corner control unit links to each other with rotary angle transmitter with speed control unit respectively and according to described setting corner with work as front hook and output control signals to described driving mechanism.
Described driving mechanism comprises interconnective motor driver and motor, and the control signal input end of described motor driver links to each other with the output terminal of described corner control unit, and the output terminal of described motor links to each other with throttle lever.
Described driving mechanism also comprises reducing gear, and described motor via reducer structure links to each other with throttle lever.
Described driving mechanism also comprises fitting seat, and described motor and speed reducer structure all is fixedly arranged on the fitting seat.
Described motor is a stepper motor.
The utlity model has following advantage:Controller of the present utility model has been realized closed loop control to throttle lever by rotary angle transmitter and driving mechanism, makes the influence of mechanical clearance and extraneous load disturbance reduce to minimum, has optimized controlling method, has improved its rotational speed regulation control performance.The utility model can also be realized two closed loop controls based on speed and angle together by speed probe and rotary angle transmitter, can be according to the different operating modes of motor quick, accurate, stable adjustment rotating speed is to desired value, speed controlling accurately in time, control steadily; The motor via reducer structure links to each other with throttle lever, and three parts stressed is in same direction, moves more flexibly, and the motor and speed reducer structure is not subjected to radial pull, and motor load is little, and has improved the life-span of device; The motor and speed reducer structure all is fixedly arranged on the fitting seat, does not vibrate relatively between the motor and speed reducer structure, helps guaranteeing the smoothness of speed regulation.
Description of drawings
Fig. 1 is the frame structure schematic representation of prior art;
Fig. 2 is the utility model embodiment's a frame structure schematic representation;
Fig. 3 is two closed loop controlling structure schematic representation of the utility model embodiment;
Fig. 4 is the mounting structure schematic representation of the utility model embodiment driving mechanism;
Fig. 5 is the control flow schematic representation of the utility model embodiment's controller.
Marginal data: 1, speed setting gear; 2, controller; 21, speed probe; 22, rotary angle transmitter; 23, speed control unit; 231, speed regulator; 24, corner control unit; 241, corner regulator; 301, motor driver; 302, motor; 303, mechanical linkage; 304, backguy; 31, reducing gear; 32, fitting seat; 33, coupling; 4, throttle lever; 5, motor.
Embodiment
As shown in Figure 2, the engine rotational speed control apparatus of the utility model embodiment's engineering machinery comprises speed setting gear 1, controller 2 and driving mechanism, speed setting gear 1 links to each other with driving mechanism by controller 2 and passes through the rotating speed that drive mechanism throttle lever 4 is controlled motors 5, controller 2 is used to detect throttle lever 4 and links to each other when the rotary angle transmitter 22 of front hook with one, and controller 2 outputs control signals to driving mechanism according to the rotating speed of target of speed setting gear 1 output and the front hook of working as of throttle lever 4.
As shown in Figure 3, the controller 2 of present embodiment comprises speed control unit 23, corner control unit 24 and is used for the speed probe 21 of detection of engine 5 current rotating speeds, speed control unit 23 links to each other with speed probe 21 with speed setting gear 1 respectively and sets angular signal to corner control unit 24 according to rotating speed of target and the output of current rotating speed, and corner control unit 24 links to each other with rotary angle transmitter 22 with speed control unit 23 respectively and outputs control signals to driving mechanism according to setting corner and working as front hook.
In the present embodiment, speed control unit 23 comprises speed regulator 231, and speed regulator 231 is used for obtaining the setting corner that is used to control corner control unit 24 by preset algorithm according to rotating speed of target, current rotating speed; Corner control unit 24 comprises corner regulator 241, and corner regulator 241 is used for according to setting corner, obtaining the drive signal that is used for controlling and driving mechanism by preset algorithm when front hook.Driving mechanism comprises interconnective motor driver 301 and motor 302, the control signal input end of motor driver 301 links to each other with the output terminal of corner control unit 24, the output terminal of motor 302 links to each other with throttle lever 4, and motor 302 receives the corner of the corner control command control throttle lever 4 of corner control unit 24 outputs by motor driver 301.Motor 302 adopts stepper motor in the present embodiment, and the drive signal that is used for controlling and driving mechanism is a pulse signal.
As shown in Figure 4, in the present embodiment, driving mechanism also comprises reducing gear 31, fitting seat 32 and coupling 33.Motor 302 links to each other with throttle lever 4 by reducing gear 31; Motor 302 and reducing gear 31 all are fixedly arranged on the fitting seat 32, are used to prevent take place between motor 302 and the reducing gear 31 vibration relatively; Reducing gear 31 links to each other with throttle lever 4 by coupling 33; Speed probe 21 is installed near the flywheel of motor 5.
As shown in Figure 5, the control step of the system device 2 of present embodiment is as follows:
1) at first, supposes that speed probe 21 output speeds are n on the present engine 5
Current, and be n by the rotating speed of target that speed setting gear 1 provides
Aim
2) controller 2 carries out difference to both and calculates Δ n=|n
Aim-n
Current|.
3) 2 couples of Δ n of controller and predefined ε
nCompare: if Δ n≤ε
n, then withdraw from control program and enter step 8); If Δ n＞ε
n, then enter next step 4).
4) controller 2 internal programs begin to call speed regulator 231, with n
Current, n
AimTwo parameters are input to speed regulator 231, and speed regulator 231 is according to predetermined speed regulation algorithm, calculate the setting corner Θ that the throttle lever 4 of motor 5 should reach
Set, speed regulator 231 plays the outer shroud regulating action of feedback control.
5) 2 pairs of controllers are set corner Θ
SetWith the in real time detected front hook Θ that works as
CurrentCarry out difference calculate Δ Θ=| Θ
Set-Θ
Current|.
6) 2 couples of Δ Θ of controller and predefined ε
ΘCompare: if Δ Θ≤ε
Θ, then enter step 3); If Δ Θ＞ε
Θ, then enter next step 7).
7) controller 2 internal programs begin to call corner regulator 241, with Θ
Set, Θ
CurrentTwo parameters are input to corner regulator 241, corner regulator 241 is according to predetermined angle adjustment algorithm, calculate the pulse that motor 302 should move, and output to the action of motor driver 301 drive motor 302, thereby rotate through reducing gear 31 control throttle levers 4, corner regulator 241 plays the interior ring regulating action of feedback control.
Then controller 2 returns above-mentioned steps 6).
8) in this step, because Δ n≤ε
n, satisfied the requirement of machine, reached the effect of regulating, then controller 2 finishing control.
From top description as can be seen: adjustment process or in the wait process; flexible movements between motor 302, throttle lever 4, the reducing gear 31; and there is not radial pull; therefore motor 302 and relevant mechanical connecting element have effectively been protected; two closed loop controls of speed and angle (position) simultaneously; make the influence of mechanical clearance and extraneous load disturbance reduce to minimum, optimized controlling method, improved its performance.For convenience, the present embodiment driving mechanism adopts stepper motor to realize, also can adopt electronically controlled proportional valve control oil hydraulic motor to realize in this external engineering machinery.
The above only is a preferred implementation of the present utility model, and protection domain of the present utility model also not only is confined to the foregoing description, and all technological schemes that belongs under the utility model thinking all belong to protection domain of the present utility model.Should be pointed out that for those skilled in the art in the some improvements and modifications that do not break away under the utility model principle prerequisite, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (6)
1. the engine rotational speed control apparatus of an engineering machinery, comprise speed setting gear (1), controller (2) and driving mechanism, described speed setting gear (1) links to each other with driving mechanism by controller (2) and passes through the rotating speed that drive mechanism throttle lever (4) is controlled motor (5), it is characterized in that: described controller (2) is used to detect throttle lever (4) and links to each other when the rotary angle transmitter (22) of front hook with one, and described controller (2) outputs control signals to described driving mechanism according to the rotating speed of target of speed setting gear (1) output and throttle lever (4) when front hook.
2. according to the engine rotational speed control apparatus of the engineering machinery of claim 1, it is characterized in that: described controller (2) comprises speed control unit (23), corner control unit (24) and be used for the speed probe (21) of the current rotating speed of detection of engine (5), described speed control unit (23) link to each other with speed probe (21) with speed setting gear (1) respectively and according to rotating speed of target and current rotating speed output set angular signal to corner control unit (24), described corner control unit (24) links to each other with rotary angle transmitter (22) with speed control unit (23) respectively and according to described setting corner with work as front hook and output control signals to described driving mechanism.
3. according to the engine rotational speed control apparatus of the engineering machinery of claim 2, it is characterized in that: described driving mechanism comprises interconnective motor driver (301) and motor (302), the control signal input end of described motor driver (301) links to each other with the output terminal of described corner control unit (24), and the output terminal of described motor (302) links to each other with throttle lever (4).
4. according to the engineering machinery engine revolution speed control device of claim 3, it is characterized in that: described driving mechanism also comprises reducing gear (31), and described motor (302) links to each other with throttle lever (4) by reducing gear (31).
5. according to the engineering machinery engine revolution speed control device of claim 4, it is characterized in that: described driving mechanism also comprises fitting seat (32), and described motor (302) and reducing gear (31) all are fixedly arranged on the fitting seat (32).
6. according to the engineering machinery engine revolution speed control device of claim 3 or 4 or 5, it is characterized in that: described motor (302) is a stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205992513U CN201858030U (en) | 2010-11-10 | 2010-11-10 | Engine revolution control device for engineering machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205992513U CN201858030U (en) | 2010-11-10 | 2010-11-10 | Engine revolution control device for engineering machinery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201858030U true CN201858030U (en) | 2011-06-08 |
Family
ID=44103839
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205992513U Expired - Fee Related CN201858030U (en) | 2010-11-10 | 2010-11-10 | Engine revolution control device for engineering machinery |
Country Status (1)
| Country | Link |
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| CN (1) | CN201858030U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102493869A (en) * | 2011-11-14 | 2012-06-13 | 三一重工股份有限公司 | Power system and engineering machine |
| CN102661206A (en) * | 2012-05-11 | 2012-09-12 | 三一重工股份有限公司 | Engine control device, engineering vehicle and engine control method |
| CN102733961A (en) * | 2012-04-01 | 2012-10-17 | 中联重科股份有限公司 | Calibration method, device and system for gears and rotating speeds of engineering machinery and engine |
| CN103061371A (en) * | 2012-12-28 | 2013-04-24 | 上海华兴数字科技有限公司 | Method and system for engineering machinery control and excavator |
| CN114562453A (en) * | 2022-02-09 | 2022-05-31 | 三一汽车制造有限公司 | Engineering vehicle and pumping operation control method and device thereof |
-
2010
- 2010-11-10 CN CN2010205992513U patent/CN201858030U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102493869A (en) * | 2011-11-14 | 2012-06-13 | 三一重工股份有限公司 | Power system and engineering machine |
| CN102733961A (en) * | 2012-04-01 | 2012-10-17 | 中联重科股份有限公司 | Calibration method, device and system for gears and rotating speeds of engineering machinery and engine |
| CN102733961B (en) * | 2012-04-01 | 2015-05-13 | 中联重科股份有限公司 | Calibration method, device and system for gears and rotating speeds of engineering machinery and engine |
| CN102661206A (en) * | 2012-05-11 | 2012-09-12 | 三一重工股份有限公司 | Engine control device, engineering vehicle and engine control method |
| CN102661206B (en) * | 2012-05-11 | 2015-07-15 | 三一重工股份有限公司 | Engine control device, engineering vehicle and engine control method |
| CN103061371A (en) * | 2012-12-28 | 2013-04-24 | 上海华兴数字科技有限公司 | Method and system for engineering machinery control and excavator |
| CN103061371B (en) * | 2012-12-28 | 2014-12-10 | 上海华兴数字科技有限公司 | Method and system for engineering machinery control and excavator |
| CN114562453A (en) * | 2022-02-09 | 2022-05-31 | 三一汽车制造有限公司 | Engineering vehicle and pumping operation control method and device thereof |
| CN114562453B (en) * | 2022-02-09 | 2024-01-30 | 三一汽车制造有限公司 | Engineering vehicle and pumping operation control method and device thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110608 Termination date: 20141110 |
|
| EXPY | Termination of patent right or utility model |