GB2565429A - Engine controller of construction machine - Google Patents

Engine controller of construction machine Download PDF

Info

Publication number
GB2565429A
GB2565429A GB1810962.9A GB201810962A GB2565429A GB 2565429 A GB2565429 A GB 2565429A GB 201810962 A GB201810962 A GB 201810962A GB 2565429 A GB2565429 A GB 2565429A
Authority
GB
United Kingdom
Prior art keywords
injection amount
rotational frequency
engine
fuel injection
frequency deviation
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.)
Granted
Application number
GB1810962.9A
Other versions
GB201810962D0 (en
GB2565429B (en
Inventor
Okashiro Takashi
Kinoshita Nobuyuki
Fujimoto Hiroaki
Muraoka Hideyasu
Iwabe Kazuya
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.)
Kawasaki Heavy Industries Ltd
Kawasaki Motors Ltd
Original Assignee
Kawasaki Heavy Industries Ltd
Kawasaki Jukogyo KK
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 Kawasaki Heavy Industries Ltd, Kawasaki Jukogyo KK filed Critical Kawasaki Heavy Industries Ltd
Publication of GB201810962D0 publication Critical patent/GB201810962D0/en
Publication of GB2565429A publication Critical patent/GB2565429A/en
Application granted granted Critical
Publication of GB2565429B publication Critical patent/GB2565429B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D41/1402—Adaptive control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D1/00—Controlling fuel-injection pumps, e.g. of high pressure injection type
    • F02D1/02—Controlling fuel-injection pumps, e.g. of high pressure injection type not restricted to adjustment of injection timing, e.g. varying amount of fuel delivered
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/0097—Electrical control of supply of combustible mixture or its constituents using means for generating speed signals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/021—Introducing corrections for particular conditions exterior to the engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/04—Introducing corrections for particular operating conditions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1438—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor
    • F02D41/1486—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor with correction for particular operating conditions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1497—With detection of the mechanical response of the engine
    • F02D41/1498—With detection of the mechanical response of the engine measuring engine roughness
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
    • F02D41/2406—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using essentially read only memories
    • F02D41/2425—Particular ways of programming the data
    • F02D41/2429—Methods of calibrating or learning
    • F02D41/2451—Methods of calibrating or learning characterised by what is learned or calibrated
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/141—Introducing closed-loop corrections characterised by the control or regulation method using a feed-forward control element
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/02—Input parameters for engine control the parameters being related to the engine
    • F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
    • F02D2200/1006—Engine torque losses, e.g. friction or pumping losses or losses caused by external loads of accessories
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/02—Input parameters for engine control the parameters being related to the engine
    • F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
    • F02D2200/101—Engine speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2250/00—Engine control related to specific problems or objectives
    • F02D2250/18—Control of the engine output torque

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Provided is an engine controller of a construction machine in which a hydraulic pump of a construction machine is driven by an engine, the engine controller of a construction machine having: a storage means for storing an injection amount determination map expressing the correlation between requested engine torque, actual rotational speed, and an appropriate fuel injection amount; an injection amount determination means for determining the fuel injection amount for the engine from the requested torque and the actual rotational speed on the basis of the injection amount determination map; a rotational speed deviation calculation means for calculating a rotational speed deviation obtained by subtracting the actual rotational speed from a desired rotational speed; and an injection amount correction means for correcting the fuel injection amount determined by the injection amount determination means so that the rotational speed deviation approaches 0; whereby the fuel injection amount needed in order to achieve the desired rotational speed is more accurately found, fluctuations in the actual rotational speed relative to the desired rotational speed are minimized, and the construction machine has excellent fuel consumption and operability.

Description

DESCRIPTION
ENGINE CONTROL APPARATUS OF CONSTRUCTION MACHINE
TECHNICAL FIELD
[0001]
This disclosure relates to an engine control apparatus of a construction machine.
BACKGROUND ART
[0002]
When an oil pressure pump of a construction machine is driven by an engine, feedback control has traditionally been performed according to which an actual rotational frequency of the engine is measured and then a fuel injection amount is corrected based on a rotational frequency deviation between the actual rotational frequency and an aimed rotational frequency. However, the feedback control requires that the actual rotational frequency of the engine differs from the aimed rotational frequency, and thus fluctuation of the rotational frequency relative to the aimed rotational frequency occurs according to the feedback control alone,. [0003]
Based on the above, it is proposed that feedforward control is performed in addition to the feedback control (see, e.g., Patent Document 1). The feedforward control of Patent Document 1 determines load of the oil pressure pump from a discharge pressure and a discharge flow of the oil pressure pump, and then estimates a required load of the engine from the determined load of the oil pressure pump, and then determines a fuel injection amount based on the required load. In particular, the feedforward control of Patent Document 1 sets an increase of the injection amount of the engine to be in proportion to the required load of the engine.
PRIOR ART DOCUMENT
PATENT DOCUMENT
[0004]
Patent Document 1: Japanese Laid-Open Patent Publication No. 2014-125949
SUMMARY OF THE INVENTION
PROBLEMS TO BE SOLVED BY THE INVENTION
[0005]
With the feedforward control described in Patent Document 1, however, such a setting can suppress the fluctuation of the rotational frequency to some extent, but precision is insufficient for determining the necessary fuel injection amount relative to the required load. Also, a state of the engine of the construction machine is varied from second to second depending on a temperature, a fuel, and operation, while the feedforward control cannot cope with such variation and thus has a limitation in suppressible fluctuation of the rotational frequency.
[0006]
Therefore, an object of this disclosure is to provide an engine control apparatus of a construction machine that can more accurately determine the fuel injection amount necessary for realizing the aimed rotational frequency of the engine, that can suppress any fluctuation of the actual rotational frequency relative to the aimed rotational frequency, and that is excellent in the fuel economy and the operability.
MEANS FOR SOLVING PROBLEMS
[0007]
To achieve the object, this disclosure is configured as below.
[0008]
An aspect of this disclosure provides an engine control apparatus of a construction machine, configured to control an engine of the construction machine for driving an oil pressure pump of the construction machine, the engine control apparatus comprising: a storing means that stores an injection amount determination map that indicates a correlative relation among a required torque, an actual rotational frequency, and a proper fuel injection amount of the engine; an injection amount determining means configured to determine a fuel injection amount of the engine from a required torque and an actual rotational frequency based on the injection amount determination map; a rotational frequency deviation calculating means configured to calculate a rotational frequency deviation by subtracting the actual rotational frequency from an aimed rotational frequency; and an injection amount correcting means configured to correct the fuel injection amount determined by the injection amount determining means such that the rotational frequency deviation moves closer to zero.
EFFECT OF THE INVENTION
[0009]
According to the engine control apparatus of the construction machine of this disclosure, the fuel injection amount necessary for realizing the aimed rotational frequency of the engine can more accurately be determined, any fluctuation of the actual rotational frequency relative to the aimed rotational frequency can be suppressed, and the fuel economy and the operability can be improved.
BRIEF DESCRIPTION OF DRAWINGS
[0010]
These aspects and features of the present invention will become apparent when reading the following description in relation to a preferred embodiment herein with reference to the accompanying drawings.
Fig. 1 is a block diagram of a schematic configuration of a construction machine in the embodiment.
Fig. 2 is a block line diagram for determining a fuel injection amount of an engine.
Fig. 3 depicts an injection amount determination map before correction.
Fig. 4 is a diagram of a processing flow for correcting the injection amount determination map.
Fig. 5 is a diagram of an example of sampling for calculating an average rotational frequency deviation.
Fig. 6 is a diagram of the injection amount determination map after correction.
MODES FOR CARRYING OUT THE INVENTION
[0011j
According to a first aspect of this disclosure, an engine control apparatus of the construction machine, configured to control an engine of the construction machine for driving an oil pressure pump of the construction machine is provided, the engine control apparatus comprising: a storing means that stores an injection amount determination map that indicates a correlative relation among a required torque, an actual rotational frequency, and a proper fuel injection amount of the engine; an injection amount determining means configured to determine a fuel injection amount of the engine from a required torque and an actual rotational frequency based on the injection amount determination map; a rotational frequency deviation calculating means configured to calculate a rotational frequency deviation by subtracting the actual rotational frequency from an aimed rotational frequency; and an injection amount correcting means configured to correct the fuel injection amount determined by the injection amount determining means such that the rotational frequency deviation moves closer to zero. As such, correcting the injection amount determination map such that the rotational frequency deviation that is the difference between the aimed rotational frequency and the actual rotational frequency moves closer to zero leads to accurate determination of the fuel injection amount necessary for realizing the aimed rotational frequency of the engine, suppression of any fluctuation of the actual rotational frequency relative to the aimed rotational frequency, and improvement of the fuel economy and the operability.
[0012]
According to a second aspect of this disclosure, the engine control apparatus of the construction machine in the first aspect is provided, wherein the injection amount correcting means corrects the proper fuel injection amount in the injection amount determination map. As such, correcting the proper fuel injection amount in the injection amount determination map leads to a simple method of correcting the fuel injection amount.
[0013]
According to a third aspect of this disclosure, the engine control apparatus of the construction machine in the second aspect is provided, the engine control apparatus further including an average rotational frequency deviation calculating means configured to calculate an average rotational frequency deviation that is an average of rotational frequency deviations, wherein the injection amount correcting means corrects the proper fuel injection amount in the injection amount determination map such that the average rotational frequency deviation moves closer to zero. As such, correcting the injection amount determination map such that the average rotational frequency deviation that is the average of the rotational frequency deviations moves closer to zero leads to more accurate determination of the fuel injection amount necessary for realizing the aimed rotational frequency of the engine, suppression of any fluctuation of the actual rotational frequency relative to the aimed rotational frequency, and improvement of the fuel economy and the operability.
[0014]
According to a fourth aspect of this disclosure, the engine control apparatus of the construction machine in the third aspect is provided, wherein the average rotational frequency deviation calculating means classifies the rotational frequency deviations calculated by the rotational frequency deviation calculating means into a plurality of ranges based on corresponding actual rotational frequencies and, when the number of the rotational frequency deviations classified in a range reaches a predetermined number, calculates the average rotational frequency deviation for the range, and wherein the injection amount correcting means corrects the proper fuel injection amount associated with the actual rotational frequencies in the range based on the average rotational frequency deviation of the range. As such, classifying the sampled rotational frequency deviations into the plurality of ranges based on the actual rotational frequencies, calculating the average rotational frequency deviation when the number of the sampling in the range reaches the predetermined number, and using the average rotational frequency deviation in the correction of the fuel injection amount lead to more precise correction of the fuel injection amount. Therefore, the fuel injection amount necessary for realizing the aimed rotational frequency of the engine can be more accurately determined, any fluctuation of the actual rotational frequency relative to the aimed rotational frequency can be suppressed, and the fuel economy and the operability can be improved.
[0015]
According to a fifth aspect of this disclosure, the engine control apparatus of the construction machine in the third aspect or the fourth aspect is provided, wherein the average rotational frequency deviation calculating means classifies the rotational frequency deviations calculated by the rotational frequency deviation calculating means into a plurality of ranges based on corresponding required torques and, when the number of the rotational frequency deviations classified in a range reaches a predetermined number, calculates the average rotational frequency deviation for the range, and wherein the injection amount correcting means corrects the proper fuel injection amount associated with the required torques in the range based on the average rotational frequency deviation of the range. As such, classifying the sampled rotational frequency deviations into the ranges based on the required torques of the engine, calculating the average rotational frequency deviation when the number of the sampling for the range reaches the predetermined number, and using the average rotational frequency deviation in the correction of the fuel injection amount lead to more precise correction of the fuel injection amount. Therefore, the fuel injection amount necessary for realizing the aimed rotational frequency of the engine can be more accurately determined, any fluctuation of the actual rotational frequency relative to the aimed rotational frequency can be suppressed, and the fuel economy and the operability can be improved.
[0016]
According to a sixth aspect of this disclosure, the engine control apparatus of the construction machine in any one of the third aspect to the fifth aspect is provided, wherein the injection amount determination map is a map indicating a correlative relation among the required torque, the actual rotational frequency, an engine water temperature, and the proper fuel injection amount, wherein the injection amount determining means determines the fuel injection amount of the engine from the required torque, the actual rotational frequency, and the engine water temperature based on the injection amount determining map, wherein the average rotational frequency deviation calculating means classifies the rotational frequency deviations calculated by the rotational frequency deviation calculating means into a plurality of ranges based on corresponding engine water temperatures and, when the number of the rotational frequency deviations classified in a range reaches a predetermined number, calculates the average rotational frequency deviation for the range, and wherein the injection amount correcting means corrects the proper fuel injection amount associated with the engine water temperatures in the range based on the average rotational frequency deviation of the range. Therefore, the fuel injection amount necessary for realizing the aimed rotational frequency of the engine can be more accurately determined, any fluctuation of the actual rotational frequency relative to the aimed rotational frequency can be suppressed, and the fuel economy and the operability can be improved.
[0017]
According to a seventh aspect of this disclosure, the engine control apparatus of the construction machine in any one of the first aspect to the sixth aspect is provided, further including a feedback control means configured to perform feedback control for the fuel injection amount determined by the injection amount determining means based on the rotational frequency deviations calculated by the rotational frequency deviation calculating means.
[0018]
An embodiment of the present invention will be described below with reference to the drawings.
[0019] (Embodiment)
Fig. 1 depicts a schematic configuration of a construction machine 1 according to this embodiment.
[0020]
The construction machine 1 includes an oil pressure pump 2, an engine 3, an engine control unit (ECU) 4, and a control apparatus 5. Driving the oil pressure pump 2 using an output of the engine 3 causes the construction machine 1 to conduct various types of works. The engine 3 is controlled by the ECU 4. The control apparatus 5 is a controller for the overall construction machine 1 to control overall components including the oil pressure pump 2 and the ECU 4. In the construction machine 1, a fuel injection amount to be output from the ECU 4 to the engine 3 is determined by the control apparatus 5.
[0021]
For determining the fuel injection amount of the engine 3, the control apparatus 5 in this embodiment performs feedforward control that determines the fuel injection amount using an injection amount determination map. Especially, the control apparatus 5 performs feedforward control to correct the injection amount determination map based on a rotational frequency deviation (or an average rotational frequency deviation) that is a difference between an aimed rotational frequency and an actual rotational frequency of the engine 3 in order to cause the actual rotational frequency to more precisely approach the aimed rotational frequency. Exemplary feedforward control will be described below with reference to Fig. 2. Fig. 2 is a block line diagram for the control apparatus 5 to determine the fuel injection amount.
[0022]
As depicted in Fig. 2, a required load of the engine 3 is first calculated (Processing P1). For example, a required load (kW) of the engine 3 is calculated by adding a load (kW) of the oil pressure pump 2 estimated using measurement values measured by a predetermined measuring device (not depicted) disposed in the construction machine 1 and other loads (kW) to each other. The other loads may include loads concerning various components of the construction machine 1 and examples thereof is a load (kW) of a charging pump, or a load (kW) of a cooling fan, etc.
[0023]
Next, a required torque of the engine 3 is calculated (Processing P2). For example, a required torque (Nm) of the engine 3 is calculated by dividing the required load (kW) of the engine 3 calculated in Processing P1 by an actual rotational frequency (rpm) that is an actual result of the rotational frequency of the engine 3. The actual rotational frequency of the engine 3 is measured by a certain measuring device (not depicted) disposed in the construction machine 1. [0024]
Next, a fuel injection amount to be output to the engine 3 is determined (Processing P3). For example, in Processing P3, a fuel injection amount of the engine 3 is determined using an injection amount determination map. Fig. 3 depicts an example of the injection amount determination map.
[0025]
As depicted in Fig. 3, the injection amount determination map of this embodiment is a map that defines a proper fuel injection amount (mg/cyc) with respect to the actual rotational frequency (rpm) and the required torque of the engine 3. Fig. 3 depicts plural lines (a required torque line T1 to a required torque line T4) each as a line that indicates a proper fuel injection amount corresponding to an actual rotational frequency of the engine 3. Linear-supplementing of a gap between each two of these lines can determine the proper fuel injection amount with respect to the actual rotational frequency and the required torque of the engine 3. Which of the required torque lines to be used may be determined based on what range the required torque calculated in Processing P2 falls within. For example, it is determined in advance that one certain required torque line should be used if the required torque falls within a predetermined range. From the above, the injection amount determination map depicted in Fig. 3 can be referred to as a map that indicates correlative relation among the actual rotational frequency, the required torque, and the proper fuel injection amount of the engine 3.
[0026]
Based on the injection amount determination map depicted in Fig. 3, the control apparatus 5 refers to a corresponding proper fuel injection amount from the required torque of the engine 3 calculated in Processing P2 and the separately measured actual rotational frequency. Then, the control apparatus 5 determines this proper fuel injection amount as the fuel injection amount of the engine 3.
[0027]
Types of works conducted by the construction machine 1 are various in situations (for example, excavation or ground leveling). Once a work is started, the same or similar type of work is likely to be conducted for a certain period. In consideration of such a fact, the construction machine 1 corrects the fuel injection amount to be output to the engine 3 based on a real-time actual result of the construction machine 1, thereby more accurately determining the fuel injection amount necessary for realizing the aimed rotational frequency of the engine 3, suppressing any fluctuation of the actual rotational frequency relative to the aimed rotational frequency, and improving a fuel economy and an operability. The correction is performed in Processing P4 to the injection amount determination map used in Processing P3. An exemplary correction method will be described with reference to Fig. 4 and Fig. 5.
[0028]
Fig. 4 is a diagram of a processing flow for correcting the injection amount determination map. Fig. 5 is a diagram of an example of sampling for calculating an average rotational frequency deviation for use in the correction of the injection amount determination map. As depicted in Fig. 4, in this embodiment, the actual rotational frequency, the required torque, and the rotational frequency deviation of the engine 3 are used as information to correct the injection amount determination map. The rotational frequency deviation is a value determined by subtracting the actual rotational frequency from the aimed rotational frequency of the engine 3. The rotational frequency deviation is an index that represents how much the actual rotational frequency is different from the aimed rotational frequency.
[0029]
Sampling of the rotational frequency deviations is performed using the information as depicted in Fig. 5. Fig. 5 is a diagram showing a relation among the sampled rotational frequency deviations, and the corresponding actual rotational frequencies and the corresponding required torques. For descriptive purposes, an axis representing the required torque of the engine 3 is presented in a direction perpendicular to a paper surface of Fig. 5.
[0030]
As the engine 3 is operated, pieces of data are sequentially accumulated by sampling in real time. A sampling interval may be any time period such as a constant period.
[0031]
In this embodiment, actual rotational frequencies (and the required torques) of the engine 3 are divided into groups each having a predetermined range. Then, an average value of the rotational frequency deviations (that is, an average rotational frequency deviation) for each range is calculated. As an updating condition for the injection amount determination map, correction is performed if the number of sampling for each range becomes equal to a threshold value or greater than the threshold value. The threshold value may be variable for each range.
[0032]
Fig. 6 depicts an example of the injection amount determination map acquired after the correction. As depicted in Fig. 6, the proper fuel injection amounts are corrected with respect to the corresponding actual rotational frequencies for each range. For example, the proper fuel injection amounts in a range are corrected such that the rotational frequency deviations in the range depicted in Fig. 5 moves closer to zero. More specifically, when the value of the average rotational frequency deviation is positive, it means that the actual rotational frequencies are smaller than the aimed rotational frequencies, so the correction is performed such that the corresponding proper fuel injection amounts are increased. In this case, the lines shown in Fig.6 will be moved upward. On the other hand, when the value of the average rotational frequency deviation is negative, it means that the actual rotational frequencies are greater than the aimed rotational frequencies, so the correction is performed such that the corresponding proper fuel injection amounts are reduced. In this case, the lines shown in Fig. 6 will be moved downward.
[0033]
When correcting the proper fuel injection amounts in the injection amount determination map, correction amounts may be set to be larger, for example, as an absolute value |Arave| of the average rotational frequency deviation is greater. The correction amount relative to the |Arave| may be determined in advance by an experiment, etc.
[0034]
The correction will be completed by the above processing flow. The example depicted in Fig. 6 is a schematic example and may not correspond to the graph of Fig. 5.
[0035]
Next, feedback control is performed (Processing P5). For example, based on the rotational frequency deviations, PID control is performed for the fuel injection amounts determined based on the injection amount determination map corrected in Processing P4. As such, final fuel injection amounts are output to the engine 3.
[0036]
Not described in the above, the control apparatus 5 may include a storing means, an injection amount determining means, a rotational frequency deviation calculating means, an average rotational frequency deviation calculating means, and an injection amount correcting means therein. For example, the storing means is a means storing the injection amount determination map therein that indicates the correlative relation among the required torque, the actual rotational frequency, and the proper fuel injection amount of the engine 3 in relation to Processing P3. The injection amount determining means is a means configured to determine the fuel injection amount of the engine 3 from the required torque and the actual rotational frequency based on the injection amount determination map in relation to Processing P3. The rotational frequency deviation calculating means is a means configured to calculate the rotational frequency deviation by subtracting the actual rotational frequency from the aimed rotational frequency in relation to Process 4. The average rotational frequency deviation calculating means is a means configured to calculate the average rotational frequency deviation that is the average of the rotational frequency deviations in relation to Processing P4. The injection amount correcting means is a means configured to correct the fuel injection amount (especially, the proper fuel injection amount of the injection amount determination map) determined by the injection amount determining means such that the (average) rotational frequency deviation moves closer to zero in relation to Processing P4. More specifically, when the value of the average rotational frequency deviation is positive, the injection amount correcting means performs the correction such that the fuel injection amount to be determined by the injection amount determining means is increased and, when the value of the average rotational frequency deviation is negative, the injection amount correcting means performs the correction such that the fuel injection amount to be determined by the injection amount determining means is reduced. [0037]
The control apparatus 5 may include, for example, a memory, and a processing circuit corresponding to a processor such as a CPU. In the control apparatus 5, the storing means, the injection amount determining means, the rotational frequency deviation calculating means, the average rotational frequency deviation calculating means, and the injection amount correcting means may each be implemented by an integrated circuit for functioning them.
[0038]
As described above, in this embodiment, the fuel injection amount to be output to the engine 3 is corrected such that the rotational frequency deviation that is the difference between the aimed rotational frequency and the actual rotational frequency moves closer to zero. The fuel injection amount necessary for realizing the aimed rotational frequency can thereby be more accurately determined, any fluctuation of the actual rotational frequency relative to the aimed rotational frequency can be suppressed, and the fuel economy and the operability can be improved.
[0039]
Especially, in this embodiment, the proper fuel injection amount in the injection amount determination map is corrected. That is, the injection amount correcting means can be referred to as an injection amount determination map correcting means that corrects the injection amount determination map. As such, correcting the proper fuel injection amount of the injection amount determination map leads to a simple correcting method of the fuel injection amount.
[0040]
According to this embodiment, the proper fuel injection amount in the injection amount determination map is corrected such that the average rotational frequency deviation that is the average of the rotational frequency deviations moves closer to zero. Correcting the proper fuel injection amount in the injection amount determination map using the rotational frequency deviations, in particular, the average rotational frequency deviation, leads to more accurate determination of the fuel injection amount necessary for realizing the aimed rotational frequency. Therefore, any fluctuation of the actual rotational frequency relative to the aimed rotational frequency can be suppressed, and the fuel economy and the operability can be improved.
[0041]
According to this embodiment, the calculated rotational frequency deviations are classified, based on the corresponding actual rotational frequencies, into the plurality of groups each having a range, and when the number of the rotational frequency deviations classified in a range reaches the predetermined number, the average rotational frequency deviation for the range is calculated. Furthermore, the proper fuel injection amount corresponding to the actual rotational frequency in the range is corrected based on the average rotational frequency deviation of the range. As such, classifying the actual rotational frequencies into the ranges, calculating the average rotational frequency deviation when the number of the sampling in the range reaches the predetermined number, and using the average rotational frequency deviation in the correction of the fuel injection amount lead to more precise correction of the fuel injection amount. Therefore, the fuel injection amount necessary for realizing the aimed rotational frequency can be more accurately determined, any fluctuation of the actual rotational frequency relative to the aimed rotational frequency can be suppressed, and the fuel economy and the operability can be improved.
[0042]
This disclosure has been described with reference to the embodiment, but this disclosure is not limited to the above embodiment. The embodiment describes a case where the proper fuel injection amount in the injection amount determination map is corrected in order to correct the fuel injection amount of the engine 3, but it is not limited thereto. Not correcting the proper fuel injection amount in the injection amount determination map, the fuel injection amount of the engine 3 may be corrected by multiplying the fuel injection amount determined by the injection amount determination map by a gain coefficient. In this case, when the value of the average rotational frequency deviation is positive, the gain coefficient may be adjusted to be 1 or greater such that the actual fuel injection amount is increased and, when the value of the average rotational frequency deviation is negative, the gain coefficient may be adjusted to be 1 or smaller such that the actual fuel injection amount is reduced. As such, the injection amount determination map may not be corrected.
[0043]
The embodiment describes a case where the injection amount determination map is corrected such that the average rotational frequency deviation moves closer to zero, while the average rotational frequency may be any types of average such as a simple arithmetic average or a weighted average. The injection amount determination map may be corrected such that not the average rotational frequency deviation but the rotational frequency deviations themselves moves closer to zero. As such, performing the correction such that "rotational frequency deviation" encompassing the rotational frequency deviations themselves, the average rotational frequency deviation, and the like moves closer to zero, leads to more accurate determination of the fuel injection amount necessary for realizing the aimed rotational frequency, suppressing any fluctuation of the actual rotational frequency relative to the aimed rotational frequency, and improving the fuel economy and the operability.
[0044]
The embodiment describes a case where the control apparatus 5 determines the fuel injection amount and transmits the determined fuel injection amount to the ECU 4 as a signal, but it is not limited thereto. For example, the ECU 4 may determine the fuel injection amount. That is, the ECU 4 may be a part of the engine control apparatus of the construction machine 1.
[0045]
The embodiment describes a case where the rotational frequency deviations are classified into the plurality of ranges based on the corresponding actual rotational frequencies of the engine 3, but not limited thereto the classification may be performed based on other elements such as the required torque of the engine 3. Alternatively, the rotational frequency deviations may be classified into a plurality of ranges based on both of the actual rotational frequency and the required torque of the engine 3.
[0046]
The embodiment describes a case where the required torque and the actual rotational frequency are used as the indexes to determine the proper fuel injection amount of the engine 3 in the injection amount determination map, but not limited thereto other indexes may be applied. For example, a water temperature of the cooling water to cool the engine 3 (that is, an engine water temperature) may be added to the indexes to determine the proper fuel injection amount.
[0047]
It is to be noted that, by properly combining the arbitrary embodiments of the aforementioned various embodiments, the effects possessed by them can be produced.
[0048]
This disclosure is applicable to any engine control apparatus of a construction machine.
[0049]
The present invention has sufficiently been described in relation to the preferred embodiment with reference to the accompanying drawings while various changes and modifications thereto are obvious for those skilled in the art. It should be understood that such changes and modifications are encompassed therein without departing from the scope of this disclosure defined by the appended claims.

Claims (7)

1. An engine control apparatus of a construction machine, configured to control an engine of the construction machine for driving an oil pressure pump of the construction machine, the engine control apparatus comprising: a storing means that stores an injection amount determination map that indicates a correlative relation among a required torque, an actual rotational frequency, and a proper fuel injection amount of the engine; an injection amount determining means configured to determine a fuel injection amount of the engine from a required torque and an actual rotational frequency based on the injection amount determination map; a rotational frequency deviation calculating means configured to calculate a rotational frequency deviation by subtracting the actual rotational frequency from an aimed rotational frequency; and an injection amount correcting means configured to correct the fuel injection amount determined by the injection amount determining means such that the rotational frequency deviation moves closer to zero.
2. The engine control apparatus of the construction machine according to claim 1, wherein the injection amount correcting means corrects the proper fuel injection amount in the injection amount determination map.
3. The engine control apparatus of the construction machine according to claim 2, further comprising: an average rotational frequency deviation calculating means configured to calculate an average rotational frequency deviation that is an average of rotational frequency deviations, wherein the injection amount correcting means corrects the proper fuel injection amount in the injection amount determination map such that the average rotational frequency deviation moves closer to zero.
4. The engine control apparatus of the construction machine according to claim 3, wherein the average rotational frequency deviation calculating means classifies the rotational frequency deviations calculated by the rotational frequency deviation calculating means into a plurality of ranges based on corresponding actual rotational frequencies and, when the number of the rotational frequency deviations classified in a range reaches a predetermined number, calculates the average rotational frequency deviation for the range, and wherein the injection amount correcting means corrects the proper fuel injection amount associated with the actual rotational frequencies in the range based on the average rotational frequency deviation of the range.
5. The engine control apparatus of the construction machine according to claim 3 or 4, wherein the average rotational frequency deviation calculating means classifies the rotational frequency deviations calculated by the rotational frequency deviation calculating means into a plurality of ranges based on corresponding required torques and, when the number of the rotational frequency deviations classified in a range reaches a predetermined number, calculates the average rotational frequency deviation for the range; and wherein the injection amount correcting means corrects the proper fuel injection amount associated with the required torques in the range based on the average rotational frequency deviation of the range.
6. The engine control apparatus of the construction machine according to any one of claims 3 to 5, wherein the injection amount determination map is a map indicating a correlative relation among the required torque, the actual rotational frequency, an engine water temperature, and the proper fuel injection amount, wherein the injection amount determining means determines the fuel injection amount of the engine from the required torque, the actual rotational frequency, and the engine water temperature based on the injection amount determining map, wherein the average rotational frequency deviation calculating means classifies the rotational frequency deviations calculated by the rotational frequency deviation calculating means into a plurality of ranges based on corresponding engine water temperatures and, when the number of the rotational frequency deviations classified in a range reaches a predetermined number, calculates the average rotational frequency deviation for the range, and wherein the injection amount correcting means corrects the proper fuel injection amount associated with the engine water temperatures in the range based on the average rotational frequency deviation of the range.
7. The engine control apparatus of the construction machine according to any one of claims 1 to 6, further comprising: a feedback control means configured to perform feedback control for the fuel injection amount determined by the injection amount determining means based on the rotational frequency deviations calculated by the rotational frequency deviation calculating means.
GB1810962.9A 2016-01-06 2017-01-06 Engine controller of construction machine Active GB2565429B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016001006A JP6644551B2 (en) 2016-01-06 2016-01-06 Engine control device for construction machinery
PCT/JP2017/000199 WO2017119466A1 (en) 2016-01-06 2017-01-06 Engine controller of construction machine

Publications (3)

Publication Number Publication Date
GB201810962D0 GB201810962D0 (en) 2018-08-15
GB2565429A true GB2565429A (en) 2019-02-13
GB2565429B GB2565429B (en) 2021-02-10

Family

ID=59273912

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1810962.9A Active GB2565429B (en) 2016-01-06 2017-01-06 Engine controller of construction machine

Country Status (4)

Country Link
JP (1) JP6644551B2 (en)
CN (1) CN108350820B (en)
GB (1) GB2565429B (en)
WO (1) WO2017119466A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114270024A (en) * 2019-09-26 2022-04-01 株式会社小松制作所 Engine control system, work machine, and work machine control method

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109630298B (en) * 2018-12-12 2021-05-07 三一汽车制造有限公司 Control method and control system of power system and engineering machinery
CN111946468B (en) * 2020-07-31 2021-10-29 东风汽车集团有限公司 Anti-impact control method for power transmission system of gasoline engine

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006006375A1 (en) * 2004-07-12 2006-01-19 Yanmar Co., Ltd. Fuel control method for multi-cylinder engine, fuel injection amount control method for engine and engine operating state discrimination method using the said method, propelling device for multiple engines, and fuel injection control method at crush astern in engine with speed reducing and reversing machine for marine use
JP2014125949A (en) * 2012-12-26 2014-07-07 Isuzu Motors Ltd Engine control device for construction machine
JP2014224487A (en) * 2013-05-16 2014-12-04 ダイハツ工業株式会社 Control device for internal combustion engine

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4333668B2 (en) * 2005-11-22 2009-09-16 株式会社デンソー Control device for internal combustion engine
US9593630B2 (en) * 2012-01-25 2017-03-14 Hitachi Construction Machinery Tierra Co., Ltd. Engine output control device for a construction machine
US9091041B2 (en) * 2012-01-25 2015-07-28 Hitachi Construction Machinery Co., Ltd. Construction machine

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006006375A1 (en) * 2004-07-12 2006-01-19 Yanmar Co., Ltd. Fuel control method for multi-cylinder engine, fuel injection amount control method for engine and engine operating state discrimination method using the said method, propelling device for multiple engines, and fuel injection control method at crush astern in engine with speed reducing and reversing machine for marine use
JP2014125949A (en) * 2012-12-26 2014-07-07 Isuzu Motors Ltd Engine control device for construction machine
JP2014224487A (en) * 2013-05-16 2014-12-04 ダイハツ工業株式会社 Control device for internal combustion engine

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114270024A (en) * 2019-09-26 2022-04-01 株式会社小松制作所 Engine control system, work machine, and work machine control method
US11795662B2 (en) 2019-09-26 2023-10-24 Komatsu Ltd. Engine control system, work machine, and control method for work machine
CN114270024B (en) * 2019-09-26 2024-07-23 株式会社小松制作所 Engine control system, work machine, and control method for work machine

Also Published As

Publication number Publication date
JP6644551B2 (en) 2020-02-12
GB201810962D0 (en) 2018-08-15
WO2017119466A1 (en) 2017-07-13
GB2565429B (en) 2021-02-10
CN108350820A (en) 2018-07-31
JP2017122392A (en) 2017-07-13
CN108350820B (en) 2021-05-07

Similar Documents

Publication Publication Date Title
AU2015219814B2 (en) Control Device for Machine Apparatus and Gain Determination Method for Friction Compensation
KR100957330B1 (en) Method for controlling motor torque of HEV
CN104047748B (en) A kind of fuel pressure controller based on active disturbance observation and control method thereof
GB2565429A (en) Engine controller of construction machine
RU2719355C1 (en) Control device and control method
KR102692489B1 (en) Control method of engine combustion for decreasing irregular vibration
EP3066328B1 (en) Method and apparatus for controlling an internal combustion engine
CN108869069B (en) Method, device and system for controlling opening of throttle valve of automobile
CN108073071B (en) Method and device for performing a position adjustment for adjusting a transmitter unit
CN109252970B (en) Engine rotating speed control method, engine and vehicle
US8650011B2 (en) Method for determining an engine response characteristic
EP3168578B1 (en) Estimating system parameters from sensor measurements
JP2013514478A5 (en)
CN109343588A (en) The dynamic assessment method and acceleration control method of vehicle acceleration characteristics
JP2009293387A (en) Controller of internal combustion engine
JP2008075663A (en) Method and device for estimating intake pipe pressure for internal combustion engine
KR101376779B1 (en) Control apparatus of engine for vehicle and control method of the same
JP7348468B2 (en) Dead time estimation device and testing device equipped with the same
Zhang et al. Engine speed coordination control method of auxiliary power unit
US10690076B2 (en) Method for compensating valve drift in an internal combustion engine
JP6564732B2 (en) Transmission control device
Greshake Identification-based control of engine oil pressure
JP6707333B2 (en) Method and controller for operating an internal combustion engine
CN116517715A (en) Engine torque control method, engine torque control device, electronic equipment and storage medium
KR20230008597A (en) Method and system for engine idle speed optimization