EP4030003B1 - System und verfahren zur steuerung eines hydraulischen baggers - Google Patents

System und verfahren zur steuerung eines hydraulischen baggers

Info

Publication number
EP4030003B1
EP4030003B1 EP19944808.5A EP19944808A EP4030003B1 EP 4030003 B1 EP4030003 B1 EP 4030003B1 EP 19944808 A EP19944808 A EP 19944808A EP 4030003 B1 EP4030003 B1 EP 4030003B1
Authority
EP
European Patent Office
Prior art keywords
hydraulic excavator
main pump
engine
controller
power
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP19944808.5A
Other languages
English (en)
French (fr)
Other versions
EP4030003A1 (de
EP4030003A4 (de
Inventor
Zhike SONG
Jiawen GENG
Dongdong NIU
Lixiang LIU
Lu Wang
Xutong WANG
Zecheng XING
Ji SONG
Hongmin WEI
Qing Wang
Qingrong BIAN
Xiangwei LIN
Chuanwei LV
Ding Wang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xuzhou XCMG Excavator Machinery Co Ltd
Original Assignee
Xuzhou XCMG Excavator Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xuzhou XCMG Excavator Machinery Co Ltd filed Critical Xuzhou XCMG Excavator Machinery Co Ltd
Publication of EP4030003A1 publication Critical patent/EP4030003A1/de
Publication of EP4030003A4 publication Critical patent/EP4030003A4/de
Application granted granted Critical
Publication of EP4030003B1 publication Critical patent/EP4030003B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2282—Systems using center bypass type changeover valves
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump

Definitions

  • the present invention relates to a hydraulic excavator control system and method, and belongs to the technical field of hydraulic excavators.
  • CN 104074225B discloses a hydraulic excavator power adaptive control system and method, wherein a main pump pressure signal and a pilot pressure signal are collected and the requirement of the excavator working for real-time power is calculated; the change trend of the power requirement to enable an engine to work nearby a preset power output point is conducted, and meanwhile, without any delay, state parameters of a power system is adjusted online.
  • US 6161522 discloses a controller of an engine and a variable capacity pump performing a speedy work under a heavy load and a strong work at the critical moment, wherein at a time of increasing to the engine rotational number Na, a command is output to the TVC valve so as to become the pump absorption torque coinciding with the engine output torque curve.
  • the purpose of the present invention is to overcome disadvantages in the prior at and provide a hydraulic excavator control system and method to solve the technical problems of reduction of the working efficiency when the engine is suddenly loaded in a low load state and the occurrence of black smoke when the engine is suddenly loaded in an idle state.
  • the present invention provides a hydraulic excavator control method, including the following steps:
  • the oil circuit pressure signal includes a main oil circuit pressure value of the hydraulic excavator and each pilot pressure value corresponding to a current action of the hydraulic excavator.
  • the present invention provides a hydraulic excavator control system including a controller, an engine ECM, and an oil circuit pressure collection unit, where the engine ECM and the oil circuit pressure collection unit are respectively communicationally connected to the controller;
  • the controller is communicationally connected to the engine ECM using a CAN bus.
  • the oil circuit pressure collection unit includes a first pressure sensor configured to collect a main oil circuit pressure value of the hydraulic excavator and a second pressure sensor configured to collect each pilot pressure value corresponding to a current action of the hydraulic excavator.
  • the beneficial effects achieved by the present invention are the time for the engine ECM to start to adjust the engine fuel injection amount is earlier than the time for adjusting the main pump to the required main pump power, so as to greatly reduce a loading response time of the engine, improve a working efficiency of the whole machine, avoid the problem of black smoke from idle loading, and may further reduce an idle rotation speed of the engine and reduce fuel oil consumption.
  • the control method further has advantages of simple implementations, low costs, and high reliability.
  • FIG. 1 is a flowchart of a hydraulic excavator control method according to an embodiment of the present invention.
  • the method mainly includes the following steps: collecting a main oil circuit pressure value of the hydraulic excavator and each pilot pressure value corresponding to a current action of the hydraulic excavator; obtaining, by the controller, a required main pump power according to the main oil circuit pressure value and each pilot pressure value corresponding to the current action of the hydraulic excavator, and sending the required main pump power to an engine ECM; the controller being capable of adjusting the main pump power according to the required main pump power; the engine ECM being capable of adjusting an engine fuel injection amount according to the required main pump power, and the time for the engine ECM to start to adjust the engine oil injection being earlier than the time for the controller to start to adjust the main pump power.
  • the time for the engine ECM to start to adjust the engine oil injection being earlier than the time for the controller to start to adjust the main pump power can greatly reduce a loading response time of the engine, improve a working efficiency of the whole machine, avoid the problem of black smoke from idle loading, and may further reduce an idle rotation speed of the engine and reduce fuel oil consumption.
  • the control method further has advantages of simple implementations, low costs, and high reliability.
  • the time for the engine ECM to start to adjust the engine fuel injection amount is ahead of the time for the controller to start to adjust the main pump power by 0.05-0.6 second, which matches and is consistent with the hydraulic system requirements, and improves the working efficiency of the entire machine by 1-5%.
  • FIG. 2 is a hydraulic principle diagram of a hydraulic excavator control system according to an embodiment of the present invention.
  • the system includes an engine 10, a main pump 11, a pilot pump 12, an electromagnetic proportional valve 13, a main value 14, a hydraulic pilot handle 15, a controller 16, a first pressure collection unit, and a second pressure collection unit.
  • the engine 10 is connected to the main pump 11 and the pilot pump 12 for providing power for the main pump 11 and the pilot pump 12.
  • the main valve 14 includes a traveling valve core 17, a rotation value core 18, a moving arm valve core 19, a scraper pan valve core 20, and a pan rod valve core 21. After an outlet of the main pump 11 is connected to an inlet of the main valve 14 through a pipeline, it is sequentially connected to the traveling valve core 17, the rotation value core 18, the moving arm valve core 19, the scraper pan valve core 20, and the pan rod valve core 21 for providing oil for each action valve core and constituting a main oil circuit; an oil return port of the main valve 14 is connected to an oil tank after passing through an electromagnetic valve 22.
  • the hydraulic pilot handle 15 is separately connected to a pilot control oil port of each action valve core for controlling connection and disconnection of each action valve core.
  • the first pressure collection unit and the second pressure collection unit are respectively in communicative connection to the controller 16.
  • the first pressure collection unit is used for collecting the main oil circuit pressure value of the hydraulic excavator;
  • the second pressure collection unit is used for collecting the pilot control oil circuit pressure value of each action valve core;
  • the controller 16 can obtain the required main pump power according to the main oil circuit pressure value and the pilot control oil circuit pressure value of each action valve core and adjust the power of the main pump 11 of the hydraulic excavator according to the required main pump power.
  • the controller 16 is communicationally connected to the engine ECM for delivering the required main pump power to the engine ECM of the hydraulic excavator.
  • FIG. 3 is a relation diagram between an engine fuel injection amount of a hydraulic excavator and time in the prior art.
  • FIG. 4 is a relation diagram between an engine fuel injection amount of a hydraulic excavator and time according to an embodiment of the present invention.
  • a hydraulic excavator provided in embodiment II of the present invention can greatly reduce a loading response time of the engine 10, so as to improve a working efficiency of the whole machine, and avoid the problem of black smoke from idle loading, and may further reduce an idle rotation speed of the engine 10 and reduce fuel oil consumption.
  • it further has advantages of simple implementations, low costs, and high reliability.
  • the first pressure collection unit, the second pressure collection unit, and the engine ECM can be connected to the controller 16 through the CAN bus.
  • the first pressure collection unit and the second pressure collection unit are pressure sensors; as shown in FIG. 2 , a pressure sensor is separately disposed on the pilot control oil circuit of the rotation value core 18, the moving arm valve core 19, the scraper pan valve core 20, and the pan rod valve core 21.
  • the hydraulic excavator control system and method provided by the embodiment of the present invention includes: collecting a main oil circuit pressure value of the hydraulic excavator; obtaining, by a controller, a required main pump power according to the oil circuit pressure value; the controller being used for adjusting, according to the required main pump power, the power of the main pump and delivering the required main pump power to an engine ECM; the time for the engine ECM to start to adjust the engine oil injection being earlier than the time for the controller to start to adjust the main pump power so as to greatly reduce a loading response time of the engine, improve a working efficiency of the whole machine, avoid the problem of black smoke from idle loading, and further reduce an idle rotation speed of the engine and reduce fuel oil consumption.
  • the control method further has advantages of simple implementations, low costs, and high reliability.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Fluid-Pressure Circuits (AREA)

Claims (5)

  1. Verfahren zur Steuerung eines Hydraulikbaggers, das die folgenden Schritte umfasst:
    Erfassen eines Öldrucksignals eines Hydraulikbaggers durch eine Steuereinheit (16) und Berechnen einer erforderlichen Leistung der Hauptpumpe (11) anhand des Öldrucksignals;
    Senden der erforderlichen Leistung der Hauptpumpe (11) durch die Steuereinheit (16) an ein Motor-ECM; und
    erstes Einstellen einer Kraftstoffeinspritzmenge des Motors durch das Motor-ECM entsprechend der erforderlichen Leistung der Hauptpumpe (11) und anschließendes Einstellen einer Leistung der Hauptpumpe (11) durch die Steuereinheit (16) entsprechend der erforderlichen Leistung der Hauptpumpe (11),
    dadurch gekennzeichnet, dass
    der Zeitpunkt, zu dem das Motor-ECM mit der Einstellung der Kraftstoff-Einspritzmenge des Motors beginnt, dem Zeitpunkt, zu dem die Steuereinheit (16) mit der Einstellung der Leistung der Hauptpumpe (11) beginnt, um 0,05 bis 0,6 Sekunden vorausgeht.
  2. Verfahren zur Steuerung eines Hydraulikbaggers gemäß Anspruch 1, wobei das Ölkreislaufdrucksignal einen Hauptölkreislaufdruckwert des Hydraulikbaggers und jeden Vorsteuerdruckwert umfasst, der einer aktuellen Aktion des Hydraulikbaggers entspricht.
  3. Hydraulikbagger-Steuersystem, das eine Steuereinheit (16), ein Motor-ECM und eine Ölkreislaufdruck-Erfassungseinheit umfasst, wobei das Motor-ECM und die Ölkreislaufdruck-Erfassungseinheit jeweils mit der Steuereinheit (16) verbunden sind;
    die Steuerung (16) so ausgelegt ist, dass sie anhand eines von der Ölkreislaufdruck-Erfassungseinheit erfassten Ölkreislaufdrucksignals eines Hydraulikbaggers die erforderliche Leistung der Hauptpumpe (11) des Hydraulikbaggers berechnet und so konfiguriert ist, dass sie die erforderliche Leistung der Hauptpumpe (11) an das Motor-ECM sendet; und
    das Hydraulikbagger-Steuersystem so konfiguriert ist, dass das Motor-ECM zunächst eine Motor-Kraftstoffeinspritzmenge entsprechend der erforderlichen Hauptpumpenleistung (11) einstellt und dann die Steuereinheit (16) eine Hauptpumpenleistung (11) entsprechend der erforderlichen Hauptpumpenleistung (11) einstellt;
    dadurch gekennzeichnet, dass
    der Zeitpunkt, zu dem das Motor-ECM mit der Anpassung der Kraftstoff-Einspritzmenge des Motors beginnt, dem Zeitpunkt, zu dem die Steuereinheit (16) mit der Anpassung der Leistung der Hauptpumpe (11) beginnt, um 0,05 bis 0,6 Sekunden vorausgeht.
  4. Hydraulikbagger-Steuersystem nach Anspruch 3, wobei die Steuereinheit (16) über einen CAN-Bus mit dem Motor-ECM verbunden ist.
  5. Hydraulikbagger-Steuersystem nach Anspruch 3, wobei die Öldruckerfassungseinheit einen ersten Drucksensor, der zum Erfassen eines Hauptöldruckwerts des Hydraulikbaggers konfiguriert ist, und einen zweiten Drucksensor umfasst, der zum Erfassen jedes Vorsteuerungsdruckwerts entsprechend einer aktuellen Aktion des Hydraulikbaggers konfiguriert ist.
EP19944808.5A 2019-09-11 2019-09-11 System und verfahren zur steuerung eines hydraulischen baggers Active EP4030003B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/105276 WO2021046736A1 (zh) 2019-09-11 2019-09-11 一种液压挖掘机控制系统及方法

Publications (3)

Publication Number Publication Date
EP4030003A1 EP4030003A1 (de) 2022-07-20
EP4030003A4 EP4030003A4 (de) 2022-10-12
EP4030003B1 true EP4030003B1 (de) 2025-12-24

Family

ID=74866816

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19944808.5A Active EP4030003B1 (de) 2019-09-11 2019-09-11 System und verfahren zur steuerung eines hydraulischen baggers

Country Status (4)

Country Link
EP (1) EP4030003B1 (de)
AU (1) AU2019465349B2 (de)
CA (1) CA3150007C (de)
WO (1) WO2021046736A1 (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114045897B (zh) * 2021-11-17 2023-06-02 江苏徐工工程机械研究院有限公司 一种正流量系统负载突变掉速控制方法、系统及挖掘机
CN114687876B (zh) * 2022-04-12 2023-01-06 潍柴动力股份有限公司 一种车辆怠速响应控制方法及车辆
CN115324149B (zh) * 2022-06-30 2023-10-27 三一重机有限公司 液压泵控制方法、装置及作业机械
CN115110596B (zh) * 2022-07-26 2023-12-19 山河智能装备股份有限公司 一种液压控制系统
CN120042835A (zh) * 2025-04-24 2025-05-27 柳工常州机械有限公司 一种电控先导装置及其控制方法

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Publication number Priority date Publication date Assignee Title
JPH101978A (ja) * 1996-06-13 1998-01-06 Yutani Heavy Ind Ltd バッテリ駆動の作業機械
JP3925666B2 (ja) * 1997-01-20 2007-06-06 株式会社小松製作所 エンジンおよび可変容量型ポンプの制御装置
US7797934B2 (en) * 2007-04-30 2010-09-21 Caterpillar Inc Anti-stall system utilizing implement pilot relief
CN104074225B (zh) * 2014-07-08 2017-02-08 湖南机电职业技术学院 一种液压挖掘机功率自适应控制系统
CN104405002A (zh) * 2014-10-10 2015-03-11 龙工（上海）挖掘机制造有限公司 一种提高液压挖掘机工作效率的控制装置及方法
CN106869222A (zh) * 2015-12-13 2017-06-20 姚秋丽 一种液压挖掘机工作装置多模式功率自动控制系统
CN107044147B (zh) * 2016-02-05 2023-02-14 贵州詹阳动力重工有限公司 一种电喷发动机轮式液压挖掘机行驶控制系统及控制方法

Also Published As

Publication number Publication date
WO2021046736A1 (zh) 2021-03-18
CA3150007A1 (en) 2021-03-18
EP4030003A1 (de) 2022-07-20
CA3150007C (en) 2025-02-04
AU2019465349A1 (en) 2022-03-24
AU2019465349B2 (en) 2023-07-27
EP4030003A4 (de) 2022-10-12

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