CN202831050U - Hydraulic pump control system for engineering machinery - Google Patents
Hydraulic pump control system for engineering machinery Download PDFInfo
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- CN202831050U CN202831050U CN 201220509842 CN201220509842U CN202831050U CN 202831050 U CN202831050 U CN 202831050U CN 201220509842 CN201220509842 CN 201220509842 CN 201220509842 U CN201220509842 U CN 201220509842U CN 202831050 U CN202831050 U CN 202831050U
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Abstract
The utility model discloses a hydraulic pump control system for engineering machinery. The hydraulic pump control system for the engineering machinery comprises a detecting device which is used for obtaining actual pose parameters of a rotating body, a main arm, each auxiliary arm and a loading part, a trajectory planning device which is used for presetting objective pose parameters according to the engineering machinery, controllers which are arranged at the output ends of the detecting device and the trajectory planning device and are used for receiving the actual pose parameters and the objective pose parameters, obtaining demand flow of a hydraulic pump when the engineering machinery operates according to the objective pose parameters and outputting a control instruction according to the demand flow, and executive devices which are arranged at the output ends of the controllers and are used for receiving the control instruction and controlling flow of the hydraulic pump so that the hydraulic pump is enabled to output the demand flow. With the help of the hydraulic pump control system for the engineering machinery, precision of the flow control of the hydraulic pump can be greatly improved, and automation control of an excavator is achieved.
Description
Technical field
The utility model relates to technical field of engineering machinery, relates in particular to a kind of hydraulic pump control for engineering machinery.
Background technology
Excavator is a kind of engineering machinery of commonly using, and it generally includes body part and jib part, and body part comprises running body, rotary body and the slewing equipment between the two, and jib partly comprises principal arm, auxiliary and scraper bowl.In the course of work, control respectively principal arm, auxiliary and scraper bowl threes' the anglec of rotation by three hydraulic cylinders, slewing equipment drives the rotary body revolution, three hydraulic cylinders and slewing equipment are by the hydraulic pump supply flow rate, therefore, flow how accurately to control hydraulic pump becomes the key point that the excavator action is accurately controlled in automation.
The control method of existing hydraulic pump of excavator can be divided into two classes:
A kind of is by operating grip control pilot pressure, the displacement of control banked direction control valves spool, and the flow of the change in displacement control pump of banked direction control valves spool is such as negative-feedback, Load sensing system.In this type of control mode, the link that the flow-control of hydraulic pump need to be passed through is more, reacts sensitive not, has hysteresis quality, and the flow required with excavator automation control has larger error.
The hydraulic pump control mode of another kind of excavator is that such as the positive feedback flow-control, pilot pressure is divided into two-way by operating grip control pilot pressure: the displacement of one tunnel control banked direction control valves spool, and then the speed of control excavator hydraulic cylinder; Another road control flow.When this type of excavator being carried out automation control, because in the previous excavator matching process, there are certain error in pilot pressure and required flow, simultaneously since excavator (such as principal arm lifting interflow or the excessive generation earial drainage of load pressure time) speed of service under changeable operating mode can change.Simultaneously, when load variations, engine speed changes, and the stability of the output flow of hydraulic pump can't guarantee.
In view of this, demand urgently for above-mentioned technical problem, hydraulic pump control and the method that has excavator now is optimized design, improve the accuracy of hydraulic pump of excavator flow-control, guarantee the stability of hydraulic pump output flow.
The utility model content
The purpose of this utility model is for providing a kind of hydraulic pump control for engineering machinery, to realize the accurate control to the hydraulic pump flow of engineering machinery, guarantee the stability of hydraulic pump output flow, thereby realize that engineering machinery degree of precision ground is according to the operation of desired trajectory.
For solving the problems of the technologies described above, the utility model provides a kind of hydraulic pump control for engineering machinery, described engineering machinery comprises running body, the rotary body that is connected with described running body horizontal rotation, vertically turn round principal arm, at least one auxiliary that is connected with described rotary body successively head and the tail, described auxiliary end is connected with loading part, slewing equipment drives the rotary body revolution, described rotary body, described principal arm, each auxiliary and the loading part of being connected every adjacent the two connect by Driven by Hydraulic Cylinder, described hydraulic cylinder and slewing equipment are by the hydraulic pump supply flow rate; Described hydraulic pump control comprises:
Checkout gear is for the attained pose parameter of obtaining described rotary body, principal arm, each auxiliary and loading part;
The trajectory planning device is used for according to described engineering machinery goal-selling pose parameter;
Controller, be located at the output of described checkout gear, trajectory planning device, be used for receiving described attained pose parameter and default object pose parameter, the demand volume of hydraulic pump is exported control instruction according to described demand volume when obtaining described engineering machinery and move according to target trajectory;
Actuating unit is located at the output of described controller, is used for receiving described control instruction, controls the flow of described hydraulic pump, so that described hydraulic pump is exported described demand volume.
Preferably, described checkout gear is a plurality of obliquity sensors, be respectively applied to detect the axis of rotation of inclination angle, rotary body and running body and the inclination angle of gravity in default perpendicular of inclination angle, loading part and gravity of inclination angle, each auxiliary and the gravity of described principal arm and gravity, described checkout gear also comprises and detects rotary body with respect to the angle of revolution sensor of the actual angle of revolution of running body:
Described controller comprises the DSP module, be used for obtaining according to the testing result of described checkout gear the physical length of each hydraulic cylinder, and obtain the hydraulic pump demand flow with the angle of revolution difference of target length difference, actual angle of revolution and the target angle of revolution of presetting, adjust demand volume according to the physical length of hydraulic cylinder; Described controller also comprises the register of exporting corresponding PWM pulse-width signal according to the result of DSP module;
Described actuating unit comprises the electromagnetic proportional valve amplifier that the PWM pulse-width signal is amplified and the flow control valve of exporting demand volume according to the result of electromagnetic proportional valve amplifier.
Preferably, described controller also is used for obtaining correction factor, revising demand volume according to actual flow, the target flow of control procedure hydraulic pump last time.
Preferably, also comprise: detect the inclination detecting device at described hydraulic pump inclination angle and the flow detector of the described hydraulic pump flow of detection;
Described controller also is used for according to the inclination angle that detects hydraulic pump and/or flow increase or reduces to work as top rake, so that described hydraulic pump is exported described correction demand volume.。
Preferably, described controller also be used for according to last time control procedure obtain discharge coefficient and/or power coefficient, result of calculation is fed back to the trajectory planning device of engineering machinery, and according to described discharge coefficient and/or power coefficient, increase or reduce the speed of service of described hydraulic cylinder, so that described hydraulic pump is exported described demand volume.
Preferably, also comprise: the pressure-detecting device that detects described hydraulic pump outlet pressure;
Described controller also is used for reaching the described hydraulic pump flow of senior general according to described outlet pressure and reduces to minimum.
Preferably, also comprise:
Detect the accelerator open degree checkout gear of described engine throttle opening;
Described controller also is used for obtaining described power coefficient according to described accelerator open degree, and according to described power coefficient greater than 1 output flow that reduces pump, increase accelerator open degree.
Preferably, also comprise:
It is zero to reduce described engine throttle to idling mode that described controller also is used for according to described demand.
Preferably, described engineering machinery is excavator.
The utility model also provides a kind of hydraulic pump control for engineering machinery, and it comprises:
Checkout gear is for the attained pose parameter of obtaining rotary body, principal arm, each auxiliary and loading part;
The trajectory planning device is used for according to engineering machinery goal-selling pose parameter;
Controller is located at the output of checkout gear, trajectory planning device, is used for receiving attained pose parameter and default object pose parameter, the demand volume of hydraulic pump when obtaining engineering machinery and move according to target trajectory, and flow is exported control instruction according to demand;
Actuating unit is located at the output of controller, is used for receiving control instruction, and the flow of control hydraulic pump is so that hydraulic pump output demand volume.
Adopt this control system, by comparison and the analysis of controller to attained pose parameter and object pose parameter, the demand volume of hydraulic pump in the time of can obtaining directly, exactly engineering machinery and move according to target trajectory, the output flow of control hydraulic pump, thus excavator is moved according to desired trajectory.Compared with prior art, this control system need not through operating grip control pilot pressure, again by the flow of pilot pressure control pump, or by pilot pressure control banked direction control valves, again by the flow of banked direction control valves control pump, overcome the long shortcoming of response time that relatively too much causes owing to intermediate link, greatly improved the precision of hydraulic pump flow-control, realized the automation control of excavator.
Description of drawings
Fig. 1 is the structural representation of a kind of specific embodiment of hydraulic pump control that the utility model provides;
Fig. 2 is the control flow block diagram of hydraulic pump control shown in Figure 1;
Fig. 3 is the structural representation of the hydraulic pump control method corresponding with Fig. 2;
Fig. 4 is the structural representation of the second specific embodiment of hydraulic pump control that the utility model provides;
Fig. 5 is the control flow block diagram of hydraulic pump control shown in Figure 4;
Fig. 6 is the structural representation of the jib among Fig. 3;
Fig. 7 is the corresponding relation figure of the first angle and the first oil cylinder length;
Fig. 8 is the corresponding relation figure of the second angle and the second oil cylinder length;
Fig. 9 is the corresponding relation figure of the 3rd angle and the 3rd oil cylinder length;
Figure 10 is the difference of actual angle of revolution and target angle of revolution and the corresponding relation figure of required flow;
Figure 11 is the control flow block diagram of another specific embodiment of hydraulic pump control that the utility model provides;
Figure 12 is the structural representation of the hydraulic pump control method corresponding with Figure 11.
Wherein, the Reference numeral among Fig. 1 to Figure 12 and the corresponding relation between the component names are:
Actuating unit 3; Electromagnetic proportional valve amplifier 31; Flow control valve 32;
Body 10; Slewing equipment 101; Running body 102; Rotary body 103;
Jib 20; Principal arm 201; Auxiliary 202; Loading part 203; The first hydraulic cylinder 204; The second hydraulic cylinder 205; The 3rd hydraulic cylinder 206.
The specific embodiment
Core of the present utility model is for providing a kind of hydraulic pump control for engineering machinery, and this control method and system can improve the accuracy of hydraulic pump flow, and the realization engineering machinery is moved according to desired trajectory exactly.
In order to make those skilled in the art understand better the technical solution of the utility model, the utility model is described in further detail below in conjunction with the drawings and specific embodiments.
Please refer to Fig. 1 to Fig. 3, Fig. 1 is the structural representation of a kind of specific embodiment of hydraulic pump control that the utility model provides; Fig. 2 is the control flow block diagram of hydraulic pump control shown in Figure 1; Fig. 3 is the structural representation of the hydraulic pump control method corresponding with Fig. 2.
In a kind of specific embodiment, as shown in Figures 1 to 3, the utility model provides a kind of hydraulic pump 4 control systems for engineering machinery, engineering machinery comprises running body 102, the rotary body 103 that is connected with running body 102 horizontal rotations, slewing equipment 101 drives rotary body 103 revolutions, vertically turn round the principal arm 201 that is connected with rotary body 103 successively head and the tail, at least one auxiliary 202, auxiliary 202 ends are connected with loading part 203, rotary body 103, principal arm 201, each auxiliary 202 are connected with loading part every adjacent the two connect by Driven by Hydraulic Cylinder, hydraulic cylinder and slewing equipment 101 are by hydraulic pump 4 supply flow rates; Hydraulic pump 4 control systems comprise:
As shown in Figure 2, above-mentioned hydraulic pump control adopts following steps to control:
S11: obtain the attained pose parameter of rotary body 103, principal arm 201, each auxiliary 202 and loading part 203 and default object pose parameter;
S12: according to attained pose parameter and object pose parameter, the demand volume Q of hydraulic pump 4 when obtaining engineering machinery and moving according to target trajectory, according to demand flow Q output control instruction;
S13: flow Q exports control instruction according to demand, and the flow of control hydraulic pump 4 is so that the described demand volume of described hydraulic pump 4 outputs.
Adopt this control system, comparison and analysis by 2 pairs of attained pose parameters of controller and object pose parameter, the demand volume of hydraulic pump in the time of can obtaining directly, exactly engineering machinery and move according to target trajectory, the output flow of control hydraulic pump, thus excavator is moved according to desired trajectory.Compared with prior art, this control system need not through operating grip control pilot pressure, again by the flow of pilot pressure control pump, or by pilot pressure control banked direction control valves, again by the flow of banked direction control valves control pump, overcome the long shortcoming of response time that relatively too much causes owing to intermediate link, greatly improved the precision of hydraulic pump 4 flow-controls, realized the automation control of excavator.
Please refer to Fig. 4 and Fig. 5, Fig. 4 is the structural representation of the second specific embodiment of hydraulic pump control that the utility model provides; Fig. 5 is the control flow block diagram of hydraulic pump control shown in Figure 4.
In the concrete scheme, as shown in Figure 4, checkout gear 1 comprises a plurality of obliquity sensors, and inclination angle, each auxiliary 202 of being respectively applied to detect principal arm 201 and gravity also comprise that with axis of rotation and gravity inclination angle, this checkout gear 1 in default perpendicular of running body 102 detection rotary body 103 is with respect to the actual angle of revolution θ of running body 102 with inclination angle, the rotary body 103 of gravity with inclination angle, the loading part 203 of gravity
RAngle of revolution sensor 15:
Adopt above-mentioned control system, as shown in Figure 5, its control procedure specifically comprises step S21:
Adopt a plurality of obliquity sensors to detect the inclination angle, rotary body 103 of the inclination angle, loading part 203 of the inclination angle, each auxiliary 202 of principal arms 201 and gravity and gravity and gravity and the axis of rotation and the inclination angle of gravity in default perpendicular (for example XOZ plane) of running body 102, the actual angle of revolution between employing angle of revolution sensor 15 measurement rotary bodies 103 and the running body 102.
The below is take excavator as example, specifically describe the control procedure of above-mentioned hydraulic pump control, the loading part 203 of excavator is scraper bowl, the number of its auxiliary 202 is one, is provided with between rotary body 103 and the principal arm 201 to be provided with between the first hydraulic cylinder 204, principal arm 201 and the auxiliary 202 to be provided with the 3rd hydraulic cylinder 206 between the second hydraulic cylinder 205, auxiliary 202 and the scraper bowl.
For above-mentioned excavator, please refer to Fig. 6, Fig. 6 is the structural representation of the jib 20 among Fig. 3.The model three-dimensional system of coordinate can specifically adopt the first obliquity sensor 11 of being installed on the principal arm 201, is installed on the second obliquity sensor 12 on the auxiliary 202, is installed on the 3rd obliquity sensor 13 on the scraper bowl, is installed on the 4th obliquity sensor 14 on the rotary body 103 and is installed on the first inclination angle theta that angle of revolution sensor 15 on the slewing equipment 101 detects respectively principal arm 201 and gravity as shown in Figure 3
1, auxiliary 202 and gravity the second inclination angle theta
2, scraper bowl and gravity the 3rd inclination angle theta
3, rotary body 103 and running body 102 axis of rotation and four inclination angle theta of gravity in perpendicular XOZ
X, the actual angle of revolution θ between rotary body 103 and the running body 102
RCalculate again the first length L of the first hydraulic cylinder 204 that connects rotary body 103 and principal arm 201
1, connect the second length L of the second hydraulic cylinder 205 of principal arm 201 and auxiliary 202
2, connect the 3rd length L of the 3rd hydraulic cylinder 206 of auxiliary 202 and scraper bowl
3
Particularly,
By the first inclination angle theta
1With rotary body 103 on plane X OZ with the 4th inclination angle theta
X, through formula θ
L1=θ
1-θ
X+ θ
L01Obtain the first angle theta of rotary body 103 and principal arm 201
L1
θ wherein
L01Be principal arm 201 angle compensation numerical value.Because detection angles θ
1With θ
XDifference and θ
L1The difference of actual angle is with compensation numerical value θ
L01Compensate, also be used for compensating simultaneously the alignment error of obliquity sensor.
In like manner, by
θ
L2=θ
2-θ
1+ θ
L02Obtain the second angle theta of principal arm 201 and auxiliary 202
L2, pass through θ
L3=θ
3-θ
2+ θ
L03Obtain the 3rd angle theta of auxiliary 202 and scraper bowl
L3
Further, can obtain the first angle theta according to the geometry relation
L1With the first length L
1Corresponding relation, as shown in Figure 7, the second angle theta
L2With the second length L
2Corresponding relation, as shown in Figure 8, the 3rd angle theta
L3With the 3rd length L
3Corresponding relation, as shown in Figure 9.After obtaining elementary attained pose parameter, only need to obtain according to corresponding relation the length of each hydraulic cylinder.A nearlyer step ground, above-mentioned accompanying drawing can also be made into corresponding table uses for inquiry in the control procedure, the method that can avoid like this adopting geometry to calculate is carried out a large amount of computings, accelerates the reaction speed of control procedure, further improves the efficient of control procedure.In addition, above-mentioned angle of revolution θ
RCan directly obtain by the angle of revolution sensor 15 that is installed on the slewing equipment.
Attained pose parameter in the above-mentioned hydraulic pump control method can comprise elementary pose parameter, middle pose parameter and ultimate pose parameter, excavator shown in Figure 3 for example, and the elementary pose parameter of this excavator can be specially above-mentioned the first inclination angle theta
1, the second inclination angle theta
2, the 3rd inclination angle theta
3, the 4th inclination angle theta
XWith angle of revolution θ
RThe middle pose parameter of this excavator can be specially the first angle theta
L1, the second angle theta
L2, the 3rd angle theta
L3With angle of revolution θ
RThe ultimate pose parameter of this excavator can be specially the first length L
1, the second length L
2, the 3rd length L
3With angle of revolution θ
RIn the above-mentioned process of obtaining hydraulic cylinder length, adopted obliquity sensor detection of primary pose parameter, then the algorithm by the space conversion calculates above-mentioned ultimate pose parameter comparatively exactly.
Can expect that the method for above-mentioned detection hydraulic cylinder length is not limited in said method, can also go out by the linear transducer direct-detection length of each hydraulic cylinder.
In addition, can also be connected the first angular transducer on the pivot with principal arm 201 by being installed on rotary body 103, be installed on principal arm 201 and be connected the second angular transducer on the pivot with auxiliary 202, be installed on auxiliary 202 and be connected third angle degree sensor on the pivot with scraper bowl, be used for respectively measuring the first angle theta
L1, the second angle theta
L2With the 3rd angle theta
L3, and then by the first angle theta
L1, the second angle theta
L2With the 3rd angle theta
L3Obtain hydraulic cylinder length.
Because excavator automation control all is provided with trajectory planning device 6 usually, this trajectory planning device 6 can be by substance parameter and the operative goals of current excavator, direct goal-selling pose parameter.With the similar ground of above-mentioned pose parameter, can export elementary object pose parameter, intermediate object pose parameter or directly obtain ultimate aim pose parameter by this trajectory planning device 6.
Above-mentioned control system is execution in step S221 behind step S21: according to the physical length of each hydraulic cylinder and the difference of the target length of presetting, again by the angle of revolution difference of actual angle of revolution with the target angle of revolution of presetting, obtain the demand volume of hydraulic pump 4, with the engine speed of demand volume divided by engineering machinery, obtain the adjustment demand volume again;
Execution in step S222 again: the result according to step S221 exports corresponding PWM pulse-width signal.
At first can obtain demand volume Q by the computing of controller 2, its concrete computational process is as follows:
Demand volume Q=the first hydraulic cylinder demand volume Q
1The+the second hydraulic cylinder demand volume Q
2The+the three hydraulic cylinder demand volume Q
3+ revolution demand volume Q
R
The first hydraulic cylinder demand volume Q
1=(target hydraulic cylinder length L
1-actual hydraulic pressure cylinder length L
1) * the first hydraulic cylinder area A
1
The second hydraulic cylinder demand volume Q
2=(target hydraulic cylinder length L
2-actual hydraulic pressure cylinder length L
2) * the second hydraulic cylinder area A
2
The 3rd hydraulic cylinder demand volume Q
3=(target hydraulic cylinder length L
3-actual hydraulic pressure cylinder length L
3) * the 3rd hydraulic cylinder area A
3
The first hydraulic cylinder area A wherein
1, the second hydraulic cylinder area A
2, the 3rd hydraulic cylinder area A
3Being the piston small end area of corresponding hydraulic cylinder when hydraulic cylinder shrinks, is that corresponding piston large end face is long-pending when hydraulic cylinder extends.
Please refer to Figure 10, Figure 10 is actual angle of revolution θ
R, target angle of revolution θ
RDifference with the revolution demand volume corresponding relation figure; As angle delta θ
RHour be directly proportional with the angle difference size, to guarantee and required motion is complementary, as angle delta θ
RWhen larger, because the restriction of hydraulic pump 4 flows, flow is limited in certain flow.Thus, according to detecting the actual angle of revolution θ of excavator
RWith target angle of revolution θ
RDifference obtain Δ θ
R, again according to difference DELTA θ
ROrder of magnitude draw revolution demand volume Q according to relation shown in Figure 10
R
After obtaining the demand flow Q, can also adopt pid algorithm to reduce the fluctuation of the demand flow Q, remove simultaneously and disturb the error that causes.For example, needed flow is larger when the order of rotation is arranged, and namely the demand volume Q of pump changes greatly, and just need to change steadily demand volume Q with pid algorithm this moment, can reduce like this flow attack to pump, improves the application life of pump.Need to prove that the above-mentioned fluctuation that reduces the demand flow Q can also be passed through method for distinguishing, for example can be by filtering and the method for averaging.
Then further the demand flow Q is carried out adjustment of rotational speed.Because engine speed N
rCan velocity variations occur because of the difference of load, thus after the demand flow Q determines, if directly determine the inclination angle of pump, can be because engine speed N
rVariation the output flow of pump is changed thereupon.For this impact is compensated, can speed probe be installed at motor 5, be used for detecting the rotational speed N of motor 5
r, then use above-mentioned demand volume Q divided by engine speed N
r, just obtain variable displacement hydraulic pump 4 revolutions output discharge capacity.
Then, export the inclination angle value that the displacement method corresponding proportion draws pump with variable displacement hydraulic pump 4 revolutions, by the control register 22 that the PMW pulse-width signal is set, thereby export corresponding PWM pulse-width signal.
Execution in step S23 behind the step S222 is specially:
S231: the PWM pulse-width signal is amplified through electromagnetic proportional valve amplifier 31;
S232: the PWM pulse-width signal after will amplifying is exported to the flow control valve 32 of hydraulic pump 4, in order to adjust the inclination angle of hydraulic pump 4, realizes the control to hydraulic pump 4 flows.
More than describe the open loop control procedure to the flow of hydraulic pump 4 in detail, in fact, the control system of above-mentioned hydraulic pump 4 is not limited in open loop control, can also it be set to closed loop feedback control.
In the another kind of specific embodiment, controller 2 also be used for according to last time control procedure hydraulic pump 4 actual flow, target flow obtain adjusted coefficient K
f=last time, required flow/finish flow obtained correction demand volume=adjustment demand volume * adjusted coefficient K again
f, at last also comprise step behind the demand volume according to revising PWM pulse-width signal corresponding to demand volume Q output, namely in the step S221 of above-mentioned control procedure, obtain to adjust:
S2211: actual flow, target flow according to hydraulic pump 4 in the last time control procedure obtain adjusted coefficient K
f=last time, required flow/finish flow obtained correction demand volume=adjustment demand volume * adjusted coefficient K again
f
Wherein, according to formula K
f=Q/Q
fDetermine adjusted coefficient K
f, make hydraulic flow and actual demand coupling.
Wherein Q is the required flow that last execution cycle calculates, Q
fFor finishing flow:
Q
f＝ΔL
1×A
1+ΔL
2×A
2+ΔL
3×A
3+Δθ
R×q
Δ L
1Be actual hydraulic pressure cylinder length L
1Changing value in execution cycle of controller; Δ L
2Be actual hydraulic pressure cylinder length L
2Changing value; Δ L
3Be actual hydraulic pressure cylinder length L
3Changing value; Δ θ
RBe the central centre of gyration angle of reality θ
RChanging value.
A
1As Δ L
1Be principal arm 201 hydraulic cylinder piston small end areas during shortening, as Δ L
1Be that principal arm 201 hydraulic cylinder piston large end faces are long-pending during elongation.A
2As Δ L
2Be auxiliary 202 hydraulic cylinder piston small end areas during shortening, as Δ L
2Be that auxiliary 202 hydraulic cylinder piston large end faces are long-pending during elongation.A
3As Δ L
3Be scraper bowl hydraulic cylinder piston small end area during shortening, as Δ L
3Be that scraper bowl hydraulic cylinder piston large end face is long-pending during elongation.Q is the required flow that rotatablely moves that rotary motor drives rotary body 103 unit's of doing angles.
Above-mentioned flow modificatory coefficient K
f=Q/Q
f, work as K
fGreater than 1 o'clock, the expression flow can not satisfy required fully, just need to be by K for flow can be met the demands
fRatio is amplified the deficiency of ability compensating flowrate; Work as K
fLess than 1 o'clock, the expression flow was supplied with greater than required, just need to be by K for flow can be met the demands
fRatio is dwindled and just can be made flow reduce to satisfy required.
Like this, solenoid-operated proportional amplifier 31 receives is PWM pulse-width signal according to the correspondence of revising demand volume output, subsequent step is according to the flow of revising demand volume control hydraulic pump, to realize to the replenishing of hydraulic pump 4 flows, with further raising control accuracy.
In the another kind of specific embodiment, controller 2 also be used for according to last time control procedure obtain discharge coefficient and/or power coefficient, result of calculation is fed back to the trajectory planning device 6 of engineering machinery, and when described discharge coefficient greater than the first preset value and/or power coefficient during greater than the second preset value, reduce the speed of service of described hydraulic cylinder, in case the situation of fluid stopping quantity not sufficient, and can play the effect of optimizing track.When described discharge coefficient during less than the second preset value, increases the speed of service of described hydraulic cylinder less than the first preset value and described power coefficient.Wherein,
Flow coefficient k
Flow=Q/Q
MAX, Q is demand volume, Q
MAXMaximum stream flow for hydraulic pump 4; Work as flow coefficient k
FlowGreater than the maximum stream flow Q of the demand volume Q that represented pump at 1 o'clock greater than pump
MAX, this moment, the maximum stream flow of pump can not satisfy the excavator traffic demand, and this demand volume Q also can be multiplied each other by oil pump inclination angle value and engine speed value and also draw after the ratio amplification.Above-mentioned and flow coefficient k
FlowThe first corresponding preset value is set to 1 usually, certainly in particular cases also can be other numerical value.
Power coefficient K
Power=P
Power/ P
Max, P
PowerBe the power that hydraulic pump 4 consumes, the flow Q of hydraulic pump 4 multiply by the delivery side of pump pressure P and draws the power P that hydraulic pump 4 consumes
Power, P
MaxThe peak power under the current throttle aperture for motor 5; Work as K
PowerGreater than 1 o'clock, show that the power of required motor 5 has surpassed peak power.In order to make the duty of excavator the best, above-mentioned power coefficient K
PowerThe second corresponding preset value is set to 0.8 usually, certainly in particular cases also can be other numerical value.Need to prove above-mentioned power coefficient K
PowerCan also obtain by other mode, the rotating speed that speed detector 18 detects motor for example can be set, then obtain power coefficient K according to rotating speed
PowerP when required precision is not high
MaxThe peak power that also can be motor 5 replaces.
In the another kind of specific embodiment, above-mentioned hydraulic pump 4 control systems also comprise:
Detect the oil pump inclination detecting device 120 at hydraulic pump 4 inclination angles and the flow detector 19 of detection hydraulic pump 4 flows; Controller 2 also be used for when the inclination angle that detects hydraulic pump 4 and/or flow less than when revising demand volume and export corresponding inclination angle and/or flow, top rake is worked as in increase; When the inclination angle that detects hydraulic pump 4 and/or flow greater than when revising demand volume and export corresponding inclination angle and/or flow, reduce work as top rake so that hydraulic pump output demand volume, the enhancing control accuracy.
Other structures of above-mentioned hydraulic pump 4 control systems can also further be set.
In the another kind of specific embodiment, above-mentioned control system also comprises the pressure-detecting device 16 that detects hydraulic pump 4 outlet pressures, and controller 2 also is used for when described outlet pressure reaches maximum described hydraulic pump 4 flows being reduced to minimum, realizes the pressure break-in facility.Like this, can reduce the overflow loss, the hydraulic system of excavator is played a protective role.And hydraulic pump 4 pressure feedback if maximum pressure is lasting constant, show that excavating resistance on excavator is too large to tracking controller 2 at this moment, and tracking controller 2 is planned trajectory again, to keep away obstacle.
In the another kind of specific embodiment, above-mentioned control system also comprises the accelerator open degree checkout gear 17 that detects engine throttle opening, and controller 2 also is used for obtaining power coefficient K according to engine throttle opening
Power, and when power coefficient greater than 1 the time, reduce the output flow of pump, increase accelerator open degree.Namely after pressure output control, comprise the steps:
Detect the accelerator open degree of motor 5, obtain the power coefficient K of motor 5 this moment
PowerAs power coefficient K
PowerGreater than 1 o'clock, flow control valve 2 is transferred to the antioverloading state, reduce the flow of pump, open up the engine prevents that motor 5 is flame-out.Need to prove above-mentioned power coefficient K
PowerCan also obtain by other mode, the rotating speed that speed detector 18 detects motor for example can be set, then obtain power coefficient K according to rotating speed
Power
In the another kind of specific embodiment, the controller 2 of above-mentioned control system also is used for reducing the throttle of motor 5 to idling mode when demand volume is zero.Be to increase the idle speed control step in the control procedure, namely in the Preset Time section, when the demand flow Q is zero, flow control valve 2 transferred to idling mode, reduce the throttle of motor 5, make excavator be in idling mode, save fuel oil.
More than describe the excavator that hydraulic pump control is applied to a hydraulic pump 4 control all hydraulic cylinder flows in detail, the below introduces the control procedure that above-mentioned hydraulic pump is applied to comprise the excavator of two hydraulic pumps 4.
Please refer to Figure 11 and Figure 12, Figure 11 is the control flow block diagram of another specific embodiment of hydraulic pump control that the utility model provides; Figure 12 is the structural representation of the hydraulic pump control method corresponding with Figure 11.
In the another kind of specific embodiment, such as Figure 11 and Figure 12, above-mentioned excavator can comprise two hydraulic pumps, i.e. the first hydraulic pump 4a and the second hydraulic pump 4b, the first hydraulic pump 4a provides flow to the first hydraulic cylinder 204, the 3rd hydraulic cylinder 206, and pump 4b provides flow to the second hydraulic cylinder 205, slewing equipment 101, and the pump discharge pressure checkout gear has two 16a, 16b, electromagnetic proportional valve amplifier 31a, 31b, the flow control valve of pump has 32a, 32b.
The most of control procedure of the control system of this biliquid press pump 4 is similar to the control procedure of above-mentioned single hydraulic pump 4, and its control procedure mainly comprises the steps:
S31: default object pose parameter and the attained pose parameter of obtaining rotary body 103, principal arm 201, auxiliary 202 and loading part 203;
S32: according to attained pose parameter and object pose parameter, the first demand volume Qa, the second demand volume Qb of the second hydraulic pump 4b of the first hydraulic pump 4a export control instruction according to the first demand volume Qa, the second demand volume Qb when obtaining respectively engineering machinery and moving according to target trajectory;
S33: receive control instruction, the first demand volume Qa is exported to the first hydraulic pump 4a, the second demand volume Qb output the second hydraulic pump 4b.
Wherein, the engineering machinery of the computational methods of individual parameters and above-mentioned single hydraulic pump difference to some extent:
The first demand volume Q
aThe=the first hydraulic cylinder demand volume Q
1The+the three hydraulic cylinder demand volume Q
3
The second demand volume Q
bThe=the second hydraulic cylinder demand volume Q
2+ rotation motor demand volume Q
R
Adjusted coefficient K
Fa=Q
a/ Q
Fa, Q
Fa=Δ L
1* A
1+ Δ L
3* A
3
Adjusted coefficient K
Fb=Q
b/ Q
Fb, Q
Fb=Δ L
2* A
2+ Δ θ
R* q
Q wherein
FaAnd Q
FbFor excavator detects the actual flow of finishing of respective pump.Δ L
1Be actual hydraulic pressure cylinder length L
1Changing value in execution cycle of flow excavator, Δ L
2Be actual hydraulic pressure cylinder length L
2Changing value, Δ L
3Be actual hydraulic pressure cylinder length L
3Changing value, Δ θ
RBe the central centre of gyration angle of reality θ
RChanging value.
The first flow COEFFICIENT K
AflowThe demand volume Q of the=the second hydraulic pump 4a
aThe maximum stream flow Q of/pump
MAxa
The second flow coefficient k
B flowThe demand volume Q of the=the second hydraulic pump 4b
bThe maximum stream flow Q of/pump
MAXb
With above-mentioned single pump embodiment, P
MaxThe peak power under certain accelerator open degree for motor 5;Two power that hydraulic pump 4 consumes: the flow Q of the first hydraulic pump 4a
aMultiply by the delivery side of pump pressure P
aDraw the power P that the first hydraulic pump 4a consumes
A power, the flow Q of the second hydraulic pump 4b
bMultiply by the delivery side of pump pressure P
bDraw the power P that the second hydraulic pump 4b consumes
Bpower
Power coefficient K
Power=(P
Apower+ P
Bp0wer)/P
Max
Need to prove above-mentioned power coefficient K
PowerCan also obtain by other mode, the rotating speed that speed detector 18 detects motor for example can be set, then obtain power coefficient K according to rotating speed
PowerP when required precision is not high
MaxThe peak power that also can be motor 5 replaces.
According to last time control procedure obtain flow coefficient k
Aflow, K
BflowAnd/or power coefficient K
PowerResult of calculation is fed back to the trajectory planning device 6 of engineering machinery, and when described discharge coefficient greater than the first preset value and/or power coefficient during greater than the second preset value, reduce the speed of service of described hydraulic cylinder, when described discharge coefficient during less than the second preset value, increases the speed of service of described hydraulic cylinder less than the first preset value and described power coefficient;
Last PWM output is divided into two-way, controls respectively the first hydraulic pump 4a and the second hydraulic pump 4b.
Need to prove, above only introduced the concrete control procedure of above-mentioned hydraulic pump control as an example of excavator example, in fact, above-mentioned hydraulic pump control only for being used for excavator, can also not be used for the various engineering machineries such as fork truck, concrete mixer.
More than a kind of hydraulic pump control for engineering machinery provided by the utility model is described in detail.Used specific case herein principle of the present utility model and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present utility model and core concept thereof.Should be understood that; for those skilled in the art; under the prerequisite that does not break away from the utility model principle, can also carry out some improvement and modification to the utility model, these improvement and modification also fall in the protection domain of the utility model claim.
Claims (9)
1. hydraulic pump control that is used for engineering machinery, described engineering machinery comprises running body (102), the rotary body (103) that is connected with described running body (102) horizontal rotation, vertically turn round the principal arm (201) that is connected with described rotary body (103) successively head and the tail, at least one auxiliary (202), described auxiliary (202) end is connected with loading part (203), slewing equipment (101) drives rotary body (103) revolution, described rotary body (103), described principal arm (201), each auxiliary (202) be connected loading part (203) every adjacent the two connect by Driven by Hydraulic Cylinder, described hydraulic cylinder and slewing equipment (101) are by hydraulic pump (4) supply flow rate; It is characterized in that described hydraulic pump control comprises:
Checkout gear (1) is for the attained pose parameter of obtaining described rotary body (103), principal arm (201), each auxiliary (202) and loading part (203);
Trajectory planning device (6) is used for according to described engineering machinery goal-selling pose parameter;
Controller (2), be located at the output of described checkout gear (1), trajectory planning device (6), be used for receiving described attained pose parameter and default object pose parameter, the demand volume of hydraulic pump (4) when obtaining described engineering machinery and moving according to target trajectory is according to described demand volume output control instruction;
Actuating unit (3) is located at the output of described controller (2), is used for receiving described control instruction, controls the flow of described hydraulic pump (4), so that described hydraulic pump (4) is exported described demand volume.
2. the hydraulic pump control for engineering machinery according to claim 1 is characterized in that,
Described checkout gear (1) is a plurality of obliquity sensors, be respectively applied to detect the inclination angle, loading part (203) of the inclination angle, each auxiliary (202) of described principal arm (201) and gravity and gravity and the axis of rotation and the inclination angle of gravity in presetting perpendicular of inclination angle, rotary body (103) and the running body (102) of gravity, described checkout gear (1) comprises that also detection rotary body (103) is with respect to the angle of revolution sensor (15) of the actual angle of revolution of running body (102):
Described controller (2) comprises the DSP module, be used for obtaining according to the testing result of described checkout gear (1) physical length of each hydraulic cylinder, and obtain hydraulic pump (4) demand volume with the angle of revolution difference of target length difference, actual angle of revolution and the target angle of revolution of presetting, adjust demand volume according to the physical length of hydraulic cylinder; Described controller (2) also comprises the register (22) of exporting corresponding PWM pulse-width signal according to the result of DSP module;
Described actuating unit (3) comprises electromagnetic proportional valve amplifier that the PWM pulse-width signal is amplified (310 and export the flow control valve (32) of demand volume according to the result of electromagnetic proportional valve amplifier (31).
3. the hydraulic pump control for engineering machinery according to claim 2, it is characterized in that described controller (2) also is used for obtaining correction factor, revising demand volume according to actual flow, the target flow of control procedure hydraulic pump last time (4).
4. the hydraulic pump control for engineering machinery according to claim 1 is characterized in that, also comprises:
Detect the inclination detecting device (120) at described hydraulic pump (4) inclination angle and the flow detector (19) of detection described hydraulic pump (4) flow;
Described controller (2) also is used for according to the inclination angle that detects hydraulic pump (4) and/or flow increase or reduces to work as top rake, so that the described correction demand volume of described hydraulic pump (4) output.
5. each described hydraulic pump control for engineering machinery according to claim 1-4, it is characterized in that, described controller (2) also be used for according to last time control procedure obtain discharge coefficient and/or power coefficient, result of calculation is fed back to the trajectory planning device of engineering machinery, and according to described discharge coefficient and/or power coefficient, increase or reduce the speed of service of described hydraulic cylinder, so that described hydraulic pump (4) is exported described demand volume.
6. each described hydraulic pump control for engineering machinery is characterized in that according to claim 1-4, also comprises:
Detect the pressure-detecting device (16) of described hydraulic pump (4) outlet pressure;
Described controller (2) also is used for reaching the described hydraulic pump of senior general (4) flow according to described outlet pressure and reduces to minimum.
7. each described hydraulic pump control for engineering machinery is characterized in that according to claim 1-4, also comprises:
Detect the accelerator open degree checkout gear (17) of described engine throttle opening;
Described controller (2) also is used for obtaining described power coefficient according to described accelerator open degree, and according to described power coefficient greater than 1 output flow that reduces pump, increase accelerator open degree.
8. each described hydraulic pump control for engineering machinery is characterized in that according to claim 1-4, also comprises:
It is zero to reduce described engine throttle to idling mode that described controller (2) also is used for according to described demand.
9. each described hydraulic pump control for engineering machinery is characterized in that according to claim 1-4, and described engineering machinery is excavator.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220509842 CN202831050U (en) | 2012-09-29 | 2012-09-29 | Hydraulic pump control system for engineering machinery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220509842 CN202831050U (en) | 2012-09-29 | 2012-09-29 | Hydraulic pump control system for engineering machinery |
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| CN202831050U true CN202831050U (en) | 2013-03-27 |
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|---|---|---|---|
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102900121A (en) * | 2012-09-29 | 2013-01-30 | 张国军 | Hydraulic pump control system and hydraulic pump control method used for engineering machinery |
| CN104295543A (en) * | 2014-09-09 | 2015-01-21 | 柳州柳工挖掘机有限公司 | Hybrid power engineering machine composite motion control method |
| CN104612194A (en) * | 2013-12-30 | 2015-05-13 | 柳州柳工挖掘机有限公司 | Control method of rotation of excavator working device |
| CN105714873A (en) * | 2016-02-17 | 2016-06-29 | 柳州柳工挖掘机有限公司 | Hydraulic control system and control method for excavators |
| CN105940162A (en) * | 2014-03-31 | 2016-09-14 | 住友建机株式会社 | Shovel |
| CN106948405A (en) * | 2015-11-18 | 2017-07-14 | 斗山英维高株式会社 | The control method of construction machinery |
| CN107191440A (en) * | 2017-07-05 | 2017-09-22 | 河南工程学院 | Control method for construction machinery hydraulic system |
| CN111847320A (en) * | 2020-08-26 | 2020-10-30 | 合肥工业大学 | Self-calibration system and method for material handling tool |
| CN112791617A (en) * | 2019-10-28 | 2021-05-14 | 广州极飞科技股份有限公司 | Calibration method for dispensing machine, control device, dispensing machine and medicine filling system |
| CN115288218A (en) * | 2022-07-28 | 2022-11-04 | 中联重科股份有限公司 | Method for controlling arm support, excavator, storage medium and processor |
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- 2012-09-29 CN CN 201220509842 patent/CN202831050U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102900121B (en) * | 2012-09-29 | 2015-10-14 | 张国军 | A kind of hydraulic pump control for engineering machinery and method |
| CN102900121A (en) * | 2012-09-29 | 2013-01-30 | 张国军 | Hydraulic pump control system and hydraulic pump control method used for engineering machinery |
| CN104612194A (en) * | 2013-12-30 | 2015-05-13 | 柳州柳工挖掘机有限公司 | Control method of rotation of excavator working device |
| CN105940162B (en) * | 2014-03-31 | 2019-08-16 | 住友建机株式会社 | Excavator |
| CN105940162A (en) * | 2014-03-31 | 2016-09-14 | 住友建机株式会社 | Shovel |
| CN104295543A (en) * | 2014-09-09 | 2015-01-21 | 柳州柳工挖掘机有限公司 | Hybrid power engineering machine composite motion control method |
| CN106948405A (en) * | 2015-11-18 | 2017-07-14 | 斗山英维高株式会社 | The control method of construction machinery |
| CN105714873A (en) * | 2016-02-17 | 2016-06-29 | 柳州柳工挖掘机有限公司 | Hydraulic control system and control method for excavators |
| CN107191440A (en) * | 2017-07-05 | 2017-09-22 | 河南工程学院 | Control method for construction machinery hydraulic system |
| CN107191440B (en) * | 2017-07-05 | 2019-05-28 | 河南工程学院 | Control method for construction machinery hydraulic system |
| CN112791617A (en) * | 2019-10-28 | 2021-05-14 | 广州极飞科技股份有限公司 | Calibration method for dispensing machine, control device, dispensing machine and medicine filling system |
| CN111847320A (en) * | 2020-08-26 | 2020-10-30 | 合肥工业大学 | Self-calibration system and method for material handling tool |
| CN111847320B (en) * | 2020-08-26 | 2022-01-28 | 合肥工业大学 | Self-calibration system and method for material handling tool |
| CN115288218A (en) * | 2022-07-28 | 2022-11-04 | 中联重科股份有限公司 | Method for controlling arm support, excavator, storage medium and processor |
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