WO2013082913A1 - Throttle control device and method for excavator - Google Patents

Throttle control device and method for excavator Download PDF

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Publication number
WO2013082913A1
WO2013082913A1 PCT/CN2012/074382 CN2012074382W WO2013082913A1 WO 2013082913 A1 WO2013082913 A1 WO 2013082913A1 CN 2012074382 W CN2012074382 W CN 2012074382W WO 2013082913 A1 WO2013082913 A1 WO 2013082913A1
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WO
WIPO (PCT)
Prior art keywords
stepping motor
frequency
excavator
sequence
throttle control
Prior art date
Application number
PCT/CN2012/074382
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French (fr)
Chinese (zh)
Inventor
耿彪
魏学勇
王宗强
Original Assignee
湖南三一智能控制设备有限公司
三一重机有限公司
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Application filed by 湖南三一智能控制设备有限公司, 三一重机有限公司 filed Critical 湖南三一智能控制设备有限公司
Publication of WO2013082913A1 publication Critical patent/WO2013082913A1/en

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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
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/2066—Control of propulsion units of the type combustion engines
    • 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
    • F02D1/08—Transmission of control impulse to pump control, e.g. with power drive or power assistance
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
    • F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
    • F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
    • F02D11/105—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
    • 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
    • F02D1/08—Transmission of control impulse to pump control, e.g. with power drive or power assistance
    • F02D2001/082—Transmission of control impulse to pump control, e.g. with power drive or power assistance electric
    • F02D2001/087—Transmission of control impulse to pump control, e.g. with power drive or power assistance electric using step motors
    • 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
    • F02D41/30—Controlling fuel injection
    • F02D41/38—Controlling fuel injection of the high pressure type
    • F02D41/40—Controlling fuel injection of the high pressure type with means for controlling injection timing or duration
    • F02D41/406—Electrically controlling a diesel injection pump

Definitions

  • the present invention relates to an excavator control device, and more particularly to an excavator throttle control device and control method.
  • An excavator also known as a digging machine, is a earthmoving machine that uses a bucket to excavate materials above or below the surface of the carrier and into a transport vehicle or to a stockyard.
  • the materials excavated are mainly soil, coal, silt and pre-slung soil and rock.
  • the existing crawler hydraulic excavator throttle motor control system is mostly dedicated equipment, which has a large dependence on the supplier, there is a large procurement risk, and the supply period is long, the maintenance is also very difficult, and the throttle control accuracy is not High, seriously restricting the development of the excavator industry.
  • the throttle motor In the control of the throttle motor of the excavator, due to different models, the throttle motor is installed at different positions, so that the length and bending angle of the throttle cable are also different, so that the throttle motor has different loads, so it is necessary to target different excavator models. For commissioning, the motor controller is less adaptable, increasing the cost of maintenance and replacement of product parts.
  • the present invention provides a digging machine throttle control device and a control method.
  • An excavator throttle control device comprising an engine fuel injection pump and a throttle setting component, further comprising a controller and a stepping motor, wherein the throttle setting component is connected to the controller, the step The electric motor is mechanically connected to the engine fuel injection pump through a transmission structure, and the stepping motor is electrically connected to the controller;
  • the controller receives a throttle setting signal from the throttle setting unit and converts a driving signal converted into a stepping motor to the stepping motor, and the stepping motor drives the engine fuel injection pump through the transmission structure jobs.
  • the above-described excavator throttle control device wherein the stepping motor is a high speed bidirectional four-stepping stepping motor.
  • the transmission structure of the transmission structure and the engine fuel injection pump is a wire.
  • the transmission structure includes a speed reducing member
  • the speed reduction ratio of the speed reducing member is 1:44.
  • the above-described excavator throttle control device wherein the controller includes a subdivision driver, and the subdivision driver operates in a 1/16 subdivision state.
  • the stepping motor is connected to the transmission structure via a gear on the output end, and the number of teeth of the gear is 50 teeth.
  • An excavator throttle control method includes a stepping motor connected to an engine fuel injection pump through a transmission structure, wherein the method comprises the following steps:
  • Step a setting an incremental or decreasing sequence of discrete frequency points; the operating frequency of the stepping motor is stable after each frequency point in the sequence of frequency points, and then to the next frequency point in the sequence of frequency points Variety.
  • the first frequency point of the frequency point sequence is the starting frequency of the stepping motor when the frequency sequence is incremented, and the last frequency point of the frequency point sequence is The highest frequency of the stepper motor.
  • the excavator throttle control method wherein the first frequency point of the frequency point sequence is the highest frequency of the stepping motor when the frequency sequence is decremented, and the last frequency point of the frequency point sequence is The starting frequency of the stepper motor.
  • FIG. 1 is a schematic structural view of an excavator throttle control device according to the present invention.
  • FIG. 2 is a flow chart of a method for controlling a throttle of an excavator according to the present invention
  • FIG. 3 is a stepping motor speed increasing curve of an excavator throttle control method according to the present invention.
  • an excavator throttle control device includes an engine fuel injection pump and a throttle setting component, wherein the controller further includes a controller and a stepping motor, and the throttle setting component is connected to the controller, and the stepping motor passes a transmission structure is mechanically connected to the engine fuel injection pump, and the stepping motor is electrically connected to the controller;
  • the controller receives the throttle setting signal from the throttle setting unit and converts it into a stepping motor to output the driving signal to the stepping motor.
  • the stepping motor drives the engine fuel injection pump through the transmission structure.
  • the stepping motor is a high-speed bidirectional four-stepping stepping motor
  • the transmission structure includes a speed reducing component, and the reduction ratio of the speed reducing component is 1:44
  • the stepping motor passes the gear on the output end and the transmission structure Connection
  • the number of gear teeth is 50 teeth
  • the step angle of the stepping motor is 1.8 degrees when the whole step is driven.
  • the output shaft rotation angle of the unit pulse is 0.04 degrees, which makes the engine throttle accuracy. Guaranteed.
  • the controller includes a subdivision driver, the subdivision driver works with a 1/16 subdivision state, so that the low frequency oscillation is improved, and the vibration of the stepping motor can be further improved by the damping method.
  • the transmission structure and the engine fuel injection pump are connected by a pull wire, and the pull-wire connection enables the throttle control device of the present invention to cooperate with the fuel injection pump of most excavator engines.
  • the position of the throttle motor is different, so that the length and bending angle of the throttle cable are also different, so that the throttle motor has different loads, so the control scheme has a strong control scheme.
  • the system must have an adaptive function, that is, different starting frequencies for different loads. In the case of load, the starting frequency is too high, the motor can not start normally, and out-of-step or stalling may occur.
  • the invention utilizes the position sensor inside the high-speed stepping motor.
  • the controller In the process of starting the high-speed stepping motor, the controller first generates several output signals of a certain frequency, and then according to the actual rotating position of the high-speed stepping motor, the starting frequency is self-made. Adapt to adjustment The high-speed stepping motor drive signal) forms a closed loop control.
  • an excavator throttle control method includes a stepping motor connected to an engine fuel injection pump through a transmission structure, and specifically includes the following steps:
  • Step a setting an increasing or decreasing sequence of discrete frequency points; wherein, the frequency point sequence is incremented, the first frequency point in the time-frequency point sequence is the starting frequency of the stepping motor, and the last frequency point in the frequency point sequence is The highest frequency of the stepping motor; the first frequency point in the sequence of decreasing frequency points is the highest frequency of the stepping motor, and the last frequency in the sequence of frequency points is the starting frequency of the stepping motor.
  • Step b The controller sends a driving signal to cause the stepping motor to sequentially change the operating frequency in a frequency sequence, and the operating frequency of the stepping motor is stably operated after each frequency point in the frequency sequence, and then in the frequency sequence. The next frequency change.
  • the present invention designs a stepping motor automatic acceleration/deceleration control method, which overcomes the disadvantages of adopting software delay or hardware timing.
  • a discrete adaptive stepwise approximation control algorithm Generally speaking, the acceleration and deceleration processes are the same. The following is an example of acceleration.
  • the acceleration process consists of a starting frequency and an acceleration curve. In the actual debugging process, it is difficult to realize the acceleration by exponential curve.
  • the control algorithm with discrete adaptive stepwise approximation can obtain the ideal speed-up and down curve.
  • the stepper motor starts at "starting frequency”, accelerates in exponential frequency, and achieves adaptive stepwise approximation adjustment at each frequency point (according to the actual rotational position of the high-speed stepper motor) to the specified frequency. After the motion is stabilized, change the next frequency (with the highest frequency limit) until the target value is reached.

Abstract

A throttle control device for excavator comprises an engine oil injection pump, a throttle setting part, a controller and a stepping motor. The throttle setting part is connected with the controller, and the stepping motor is mechanically connected with the engine oil injection pump through a transmission structure and electrically connected with the controller. The controller is used for receiving a throttle setting signal sent by the throttle setting part, converting the throttle setting signal into a driving signal for the stepping motor and outputting the driving signal to the stepping motor, and the stepping motor is used for driving the engine oil injection pump to operate by the transmission structure. Also disclosed is a throttle control method for excavator having a stepping motor connected with an engine oil injection pump through a transmission structure, which comprises the following steps: step a: setting an ascending or descending discrete frequency sequence; step b: making the stepping motor change operating frequency according to the frequency sequence, and making the operating frequency of the stepping motor change to the next frequency point after running stably at each frequency point.

Description

一种挖掘机油门控制装置及控制方法 本申请要求于 2011 年 12 月 07 日提交中国专利局、 申请号为 201110402913.2、 发明名称为 "一种挖掘机油门控制装置及控制方法"的中 国专利申请的优先权， 其全部内容通过引用结合在本申请中。  Excavator throttle control device and control method The present application claims to be Chinese patent application filed on December 7, 2011, the Chinese Patent Office, the application number is 201110402913.2, and the invention name is "an excavator throttle control device and control method" Priority is hereby incorporated by reference in its entirety.
技术领域 Technical field
本发明涉及一种挖掘机控制装置， 尤其是一种挖掘机油门控制装置及 控制方法。  The present invention relates to an excavator control device, and more particularly to an excavator throttle control device and control method.
背景技术 Background technique
挖掘机， 又称挖掘机械， 是用铲斗挖掘高于或低于承机面的物料， 并 装入运输车辆或卸至堆料场的土方机械。 挖掘的物料主要是土壤、 煤、 泥 沙以及经过预松后的土壤和岩石。广泛应用于工程建设和矿山开发等行业， 随着近年挖掘机的快速发展， 使之成为工程建设中最主要的工程机械机型 之一， 其中履带式挖掘机由于其对地形的适应性较好， 成为最常见的挖掘 机机型。  An excavator, also known as a digging machine, is a earthmoving machine that uses a bucket to excavate materials above or below the surface of the carrier and into a transport vehicle or to a stockyard. The materials excavated are mainly soil, coal, silt and pre-slung soil and rock. Widely used in engineering construction and mine development industries. With the rapid development of excavators in recent years, it has become one of the most important construction machinery models in engineering construction. Among them, crawler excavators have better adaptability to terrain. , become the most common excavator model.
公知的履带式挖掘机由于其恶劣的作业环境以及剧烈多变的作业负 荷， 对其合理使用与控制提出了极高的要求。  Known crawler excavators place extremely high demands on their rational use and control due to their harsh working environment and drastic and varied operating loads.
现有的履带式液压挖掘机油门马达控制系统大多为专用设备， 对供货 厂家的依赖较大， 存在较大的采购风险， 且供货周期较长， 维修也很困难， 加之油门控制精度不高， 严重制约了挖掘机行业的发展。 在挖掘机油门马 达的控制方面， 由于不同机型， 油门马达安装位置不同， 使得油门拉线的 长度和弯曲角度也不相同， 从而油门马达具有不同的负载， 所以， 要针对 不同的挖掘机机型进行调试， 马达控制器自适应性差， 增加了产品零件的 维护和更换成本。  The existing crawler hydraulic excavator throttle motor control system is mostly dedicated equipment, which has a large dependence on the supplier, there is a large procurement risk, and the supply period is long, the maintenance is also very difficult, and the throttle control accuracy is not High, seriously restricting the development of the excavator industry. In the control of the throttle motor of the excavator, due to different models, the throttle motor is installed at different positions, so that the length and bending angle of the throttle cable are also different, so that the throttle motor has different loads, so it is necessary to target different excavator models. For commissioning, the motor controller is less adaptable, increasing the cost of maintenance and replacement of product parts.
发明内容 Summary of the invention
针对现有挖掘机油门控制系统中存在的上述问题， 本发明提供一种挖 掘机油门控制装置及控制方法。  In view of the above problems existing in the existing excavator throttle control system, the present invention provides a digging machine throttle control device and a control method.
本发明解决技术问题所采用的技术方案为：  The technical solution adopted by the present invention to solve the technical problem is:
一种挖掘机油门控制装置， 包括发动机喷油泵和油门设定部件，其中， 还包括控制器和步进电机， 所述油门设定部件与所述控制器连接， 所述步 进电机通过一传动结构与所述发动机喷油泵机械连接， 所述步进电机与所 述控制器电性连接； An excavator throttle control device comprising an engine fuel injection pump and a throttle setting component, further comprising a controller and a stepping motor, wherein the throttle setting component is connected to the controller, the step The electric motor is mechanically connected to the engine fuel injection pump through a transmission structure, and the stepping motor is electrically connected to the controller;
所述控制器接收所述油门设定部件发出的油门设定信号并转换成步进 电机的驱动信号输出至所述步进电机, 所述步进电机通过所述传动结构驱 动所述发动机喷油泵工作。  The controller receives a throttle setting signal from the throttle setting unit and converts a driving signal converted into a stepping motor to the stepping motor, and the stepping motor drives the engine fuel injection pump through the transmission structure jobs.
上述挖掘机油门控制装置， 其中, 所述步进电机为高速双向四拍步进 电机。  The above-described excavator throttle control device, wherein the stepping motor is a high speed bidirectional four-stepping stepping motor.
上述挖掘机油门控制装置， 其中, 所述传动结构与所述发动机喷油泵 的连接方式为拉线。  In the above-described excavator throttle control device, the transmission structure of the transmission structure and the engine fuel injection pump is a wire.
上述挖掘机油门控制装置， 其中, 所述传动结构包括减速部件， 所述 减速部件的减速比为 1 : 44。  In the above-described excavator throttle control device, wherein the transmission structure includes a speed reducing member, and the speed reduction ratio of the speed reducing member is 1:44.
上述挖掘机油门控制装置， 其中, 所述控制器包括细分驱动器， 所述 细分驱动器工作与 1/16细分状态。  The above-described excavator throttle control device, wherein the controller includes a subdivision driver, and the subdivision driver operates in a 1/16 subdivision state.
上述挖掘机油门控制装置， 其中, 所述步进电机通过输出端上的齿轮 与所述传动结构连接， 所述齿轮齿数为 50齿。  In the above-described excavator throttle control device, the stepping motor is connected to the transmission structure via a gear on the output end, and the number of teeth of the gear is 50 teeth.
一种挖掘机油门控制方法， 包括通过传动结构与发动机喷油泵连接的 步进电机， 其中， 具体包括如下步骤：  An excavator throttle control method includes a stepping motor connected to an engine fuel injection pump through a transmission structure, wherein the method comprises the following steps:
步骤 a、 设定一递增或者递减的离散频点序列； 述步进电机的运转频率于所述频点序列中的每个频点稳定运转后再向所述 频点序列中的下一个频点变化。  Step a, setting an incremental or decreasing sequence of discrete frequency points; the operating frequency of the stepping motor is stable after each frequency point in the sequence of frequency points, and then to the next frequency point in the sequence of frequency points Variety.
上述挖掘机油门控制方法， 其中， 所述频点序列递增时所述频点序列 中的第一个频点为所述步进电机的启动频率， 所述频点序列中的最后一个 频点为所述步进电机的最高频率。  In the above-described excavator throttle control method, the first frequency point of the frequency point sequence is the starting frequency of the stepping motor when the frequency sequence is incremented, and the last frequency point of the frequency point sequence is The highest frequency of the stepper motor.
上述挖掘机油门控制方法， 其中， 所述频点序列递减时所述频点序列 中的第一个频点为所述步进电机的最高频率， 所述频点序列中的最后一个 频点为所述步进电机的启动频率。  The excavator throttle control method, wherein the first frequency point of the frequency point sequence is the highest frequency of the stepping motor when the frequency sequence is decremented, and the last frequency point of the frequency point sequence is The starting frequency of the stepper motor.
本发明的有益效果是：  The beneficial effects of the invention are:
发动机油门控制精准度高， 提高了产品的通用性， 降低了产品零件的 维护和更换成本。 附图说明 High engine throttle control accuracy increases product versatility and reduces maintenance and replacement costs for product parts. DRAWINGS
图 1是本发明一种挖掘机油门控制装置的结构示意图；  1 is a schematic structural view of an excavator throttle control device according to the present invention;
图 2是本发明一种挖掘机油门控制方法的流程图；  2 is a flow chart of a method for controlling a throttle of an excavator according to the present invention;
图 3是本发明一种挖掘机油门控制方法的步进电机升速曲线。  3 is a stepping motor speed increasing curve of an excavator throttle control method according to the present invention.
具体实施方式 detailed description
下面结合附图和具体实施例对本发明作进一步说明， 但不作为本发明 的限定。  The invention is further illustrated by the following figures and specific examples, but is not to be construed as limiting.
如图 1所示， 本发明一种挖掘机油门控制装置， 包括发动机喷油泵和 油门设定部件， 其中， 还包括控制器和步进电机， 油门设定部件与控制器 连接， 步进电机通过一传动结构与发动机喷油泵机械连接， 步进电机与控 制器电性连接；  As shown in FIG. 1 , an excavator throttle control device includes an engine fuel injection pump and a throttle setting component, wherein the controller further includes a controller and a stepping motor, and the throttle setting component is connected to the controller, and the stepping motor passes a transmission structure is mechanically connected to the engine fuel injection pump, and the stepping motor is electrically connected to the controller;
控制器接收油门设定部件发出的油门设定信号并转换成步进电机的驱 动信号输出至步进电机， 步进电机通过传动结构驱动发动机喷油泵工作。  The controller receives the throttle setting signal from the throttle setting unit and converts it into a stepping motor to output the driving signal to the stepping motor. The stepping motor drives the engine fuel injection pump through the transmission structure.
于此基础上， 进一步的， 步进电机为高速双向四拍步进电机， 传动结 构包括减速部件， 减速部件的减速比为 1 : 44, 步进电机通过输出端上的 齿轮与所述传动结构连接，齿轮齿数为 50齿，进而可以得出整步驱动时步 进电机的步距角为 1.8度， 通过减速部件的减速后进而得到单位脉沖的输 出轴旋转角度为 0.04度， 使得发动机油门精度得到保证。  On the basis of this, further, the stepping motor is a high-speed bidirectional four-stepping stepping motor, the transmission structure includes a speed reducing component, and the reduction ratio of the speed reducing component is 1:44, and the stepping motor passes the gear on the output end and the transmission structure Connection, the number of gear teeth is 50 teeth, and then the step angle of the stepping motor is 1.8 degrees when the whole step is driven. After the deceleration of the deceleration component, the output shaft rotation angle of the unit pulse is 0.04 degrees, which makes the engine throttle accuracy. Guaranteed.
进一步的， 控制器中包括细分驱动器， 细分驱动器工作与 1/16细分状 态， 使得低频震荡得到改善， 还可以通过阻尼方法进一步改善步进电机的 震荡。  Further, the controller includes a subdivision driver, the subdivision driver works with a 1/16 subdivision state, so that the low frequency oscillation is improved, and the vibration of the stepping motor can be further improved by the damping method.
进一步的， 传动结构与发动机喷油泵的连接方式为拉线， 拉线式连接 使得本发明的油门控制装置可以配合大多数挖掘机发动机的喷油泵。 不同 机型的履带式液压挖掘机， 油门马达安装的位置是不同的， 使得油门拉线 的长度和弯曲角度也各不相同， 从而油门马达具有不同的负载， 因此要做 到控制方案具有较强的通用性， 系统就必须有自适应功能， 即针对不同的 负载产生不同的起动频率， 在有负载的情况下， 起动频率过高， 电机不能 正常起动， 可能发生失步或堵转。 本发明利用高速步进电机内部的位置传 感器， 在高速步进电机起动的过程中， 控制器先产生某频率若干个的输出 信号，再根据高速步进电机实际的旋转位置，做起动频率的自适应调整（输 出高速步进电机驱动信号）， 形成闭环控制。 Further, the transmission structure and the engine fuel injection pump are connected by a pull wire, and the pull-wire connection enables the throttle control device of the present invention to cooperate with the fuel injection pump of most excavator engines. For crawler hydraulic excavators of different models, the position of the throttle motor is different, so that the length and bending angle of the throttle cable are also different, so that the throttle motor has different loads, so the control scheme has a strong control scheme. Generality, the system must have an adaptive function, that is, different starting frequencies for different loads. In the case of load, the starting frequency is too high, the motor can not start normally, and out-of-step or stalling may occur. The invention utilizes the position sensor inside the high-speed stepping motor. In the process of starting the high-speed stepping motor, the controller first generates several output signals of a certain frequency, and then according to the actual rotating position of the high-speed stepping motor, the starting frequency is self-made. Adapt to adjustment The high-speed stepping motor drive signal) forms a closed loop control.
入图 2所示， 本发明一种挖掘机油门控制方法， 包括通过传动结构与 发动机喷油泵连接的步进电机， 其中， 具体包括如下步骤：  As shown in FIG. 2, an excavator throttle control method includes a stepping motor connected to an engine fuel injection pump through a transmission structure, and specifically includes the following steps:
步骤 a、 设定一递增或者递减的离散频点序列； 其中， 频点序列递增 时频点序列中的第一个频点为步进电机的启动频率， 频点序列中的最后一 个频点为步进电机的最高频率； 频点序列递减时频点序列中的第一个频点 为步进电机的最高频率， 频点序列中的最后一个频点为步进电机的启动频 率。  Step a: setting an increasing or decreasing sequence of discrete frequency points; wherein, the frequency point sequence is incremented, the first frequency point in the time-frequency point sequence is the starting frequency of the stepping motor, and the last frequency point in the frequency point sequence is The highest frequency of the stepping motor; the first frequency point in the sequence of decreasing frequency points is the highest frequency of the stepping motor, and the last frequency in the sequence of frequency points is the starting frequency of the stepping motor.
步骤 b、 控制器发出驱动信号使步进电机以频点序列依次改变运转频 率， 且使步进电机的运转频率于所述频点序列中的每个频点稳定运转后再 向频点序列中的下一个频点变化。  Step b: The controller sends a driving signal to cause the stepping motor to sequentially change the operating frequency in a frequency sequence, and the operating frequency of the stepping motor is stably operated after each frequency point in the frequency sequence, and then in the frequency sequence. The next frequency change.
要使挖掘机换档后发动机迅速达到指定转速， 必须要有加 /减速起动过 程， 但在加 /减速过程中脉沖信号变化太快， 步进电机由于惯性将跟随不上 电信号变化， 这时会产生堵转和失步现象。 因此， 本发明设计了步进电机 自动加减速控制方法， 克服了采用软件延时或硬件定时的缺点。 采用离散 自适应逐步逼近的控制算法。 一般来说加速和减速过程规律相同， 以下以 加速为例进行说明， 加速过程由起动频率和升速曲线组成。 在实际的调试 过程中， 以指数曲线的方式实现加速比较困难， 采用离散自适应逐步逼近 的控制算法可以获得较理想的升降速曲线。 如图 3所示， 步进电机以 "起 动频率" 起动， 按指数形式的频率加速， 在每个频率点上实现自适应逐步 逼近调整（根据高速步进电机实际的旋转位置 ),到达指定频率稳定运动后， 再改变下一频率（有最高频率限制）， 直到达到目标值为止。  In order to make the engine reach the specified speed quickly after shifting the excavator, there must be an acceleration/deceleration starting process, but the pulse signal changes too fast during the acceleration/deceleration process, and the stepping motor will follow the non-powering signal change due to inertia. It will cause stalling and out of step. Therefore, the present invention designs a stepping motor automatic acceleration/deceleration control method, which overcomes the disadvantages of adopting software delay or hardware timing. A discrete adaptive stepwise approximation control algorithm. Generally speaking, the acceleration and deceleration processes are the same. The following is an example of acceleration. The acceleration process consists of a starting frequency and an acceleration curve. In the actual debugging process, it is difficult to realize the acceleration by exponential curve. The control algorithm with discrete adaptive stepwise approximation can obtain the ideal speed-up and down curve. As shown in Figure 3, the stepper motor starts at "starting frequency", accelerates in exponential frequency, and achieves adaptive stepwise approximation adjustment at each frequency point (according to the actual rotational position of the high-speed stepper motor) to the specified frequency. After the motion is stabilized, change the next frequency (with the highest frequency limit) until the target value is reached.
以上所述仅为本发明较佳的实施例， 并非因此限制本发明的申请专利 范围， 所以凡运用本发明说明书及图示内容所作出的等效结构变化， 均包 含在本发明的保护范围内。  The above description is only the preferred embodiment of the present invention, and is not intended to limit the scope of the claims of the present invention. Therefore, equivalent structural changes made by using the specification and the description of the present invention are included in the scope of the present invention. .

Claims

权 利 要 求 Rights request
1. 一种挖掘机油门控制装置， 包括发动机喷油泵和油门设定部件， 其 特征在于， 还包括控制器和步进电机， 所述油门设定部件与所述控制器连 接， 所述步进电机通过一传动结构与所述发动机喷油泵机械连接， 所述步 进电机与所述控制器电性连接；  An excavator throttle control device comprising an engine fuel injection pump and a throttle setting component, further comprising a controller and a stepping motor, wherein the throttle setting component is coupled to the controller, the stepping The motor is mechanically coupled to the engine fuel injection pump through a transmission structure, and the stepping motor is electrically connected to the controller;
所述控制器接收所述油门设定部件发出的油门设定信号并转换成步进 电机的驱动信号输出至所述步进电机， 所述步进电机通过所述传动结构驱 动所述发动机喷油泵工作。  The controller receives a throttle setting signal from the throttle setting unit and converts a driving signal converted into a stepping motor to the stepping motor, and the stepping motor drives the engine fuel injection pump through the transmission structure jobs.
2. 如权利要求 1所述挖掘机油门控制装置， 其特征在于， 所述步进电 机为高速双向四拍步进电机。  The excavator throttle control device according to claim 1, wherein the stepping motor is a high speed bidirectional four-stepping stepping motor.
3. 如权利要求 1所述挖掘机油门控制装置， 其特征在于， 所述传动结 构与所述发动机喷油泵的连接方式为拉线。  The excavator throttle control device according to claim 1, wherein the transmission structure is connected to the engine fuel injection pump as a wire.
4. 如权利要求 2所述挖掘机油门控制装置， 其特征在于， 所述传动结 构包括减速部件， 所述减速部件的减速比为 1 : 44。  The excavator throttle control device according to claim 2, wherein the transmission structure includes a speed reducing member, and the speed reduction ratio of the speed reducing member is 1:44.
5. 如权利要求 2所述挖掘机油门控制装置， 其特征在于， 所述控制器 包括细分驱动器， 所述细分驱动器工作与 1/16细分状态。  5. The excavator throttle control apparatus of claim 2, wherein the controller comprises a subdivision driver, the subdivision driver operating in a 1/16 subdivision state.
6. 如权利要求 3所述挖掘机油门控制装置， 其特征在于， 所述步进电 机通过输出端上的齿轮与所述传动结构连接， 所述齿轮齿数为 50齿。  6. The excavator throttle control apparatus according to claim 3, wherein the stepping motor is coupled to the transmission structure via a gear on the output end, the number of teeth of the gear being 50 teeth.
7. 一种挖掘机油门控制方法， 包括通过传动结构与发动机喷油泵连接 的步进电机， 其特征在于， 具体包括如下步骤：  An excavator throttle control method, comprising a stepping motor connected to an engine fuel injection pump through a transmission structure, wherein the method comprises the following steps:
步骤 a、 设定一递增或者递减的离散频点序列； 述步进电机的运转频率于所述频点序列中的每个频点稳定运转后再向所述 频点序列中的下一个频点变化。  Step a, setting an incremental or decreasing sequence of discrete frequency points; the operating frequency of the stepping motor is stable after each frequency point in the sequence of frequency points, and then to the next frequency point in the sequence of frequency points Variety.
8. 如权利要求 7所述挖掘机油门控制方法， 其特征在于， 所述频点序 列递增时所述频点序列中的第一个频点为所述步进电机的启动频率， 所述 频点序列中的最后一个频点为所述步进电机的最高频率。  8. The excavator throttle control method according to claim 7, wherein the first frequency point of the frequency point sequence is the starting frequency of the stepping motor when the frequency sequence is incremented, the frequency The last frequency point in the sequence of points is the highest frequency of the stepper motor.
9. 如权利要求 7所述挖掘机油门控制方法， 其特征在于， 所述频点序 列递减时所述频点序列中的第一个频点为所述步进电机的最高频率， 所述 频点序列中的最后一个频点为所述步进电机的启动频率。  The excavator throttle control method according to claim 7, wherein the first frequency point of the frequency point sequence is the highest frequency of the stepping motor when the frequency sequence is decremented, the frequency The last frequency point in the sequence of points is the starting frequency of the stepper motor.
PCT/CN2012/074382 2011-12-07 2012-04-19 Throttle control device and method for excavator WO2013082913A1 (en)

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