WO2022089574A1 - 双发起重机上车液压辅助驱动控制系统、方法及起重机 - Google Patents

双发起重机上车液压辅助驱动控制系统、方法及起重机 Download PDF

Info

Publication number
WO2022089574A1
WO2022089574A1 PCT/CN2021/127334 CN2021127334W WO2022089574A1 WO 2022089574 A1 WO2022089574 A1 WO 2022089574A1 CN 2021127334 W CN2021127334 W CN 2021127334W WO 2022089574 A1 WO2022089574 A1 WO 2022089574A1
Authority
WO
WIPO (PCT)
Prior art keywords
engine
controller
board
chassis
liquid
Prior art date
Application number
PCT/CN2021/127334
Other languages
English (en)
French (fr)
Inventor
曹宇
刘永赞
郭纪梅
田炯明
赵焜煜
Original Assignee
中联重科股份有限公司
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 中联重科股份有限公司 filed Critical 中联重科股份有限公司
Publication of WO2022089574A1 publication Critical patent/WO2022089574A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • 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
    • F02D29/02—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 vehicles; peculiar to engines driving variable pitch propellers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram

Definitions

  • the application relates to the field of construction machinery drive systems, in particular to a hydraulic auxiliary drive control system for a double-engine crane on board, a hydraulic auxiliary drive control method for a double-engine crane, and a double-engine crane.
  • the existing dual-launch crane has independent power sources for loading and unloading.
  • the chassis engine works, the chassis engine power drives the crane to travel through mechanical transmission, and the engine does not work.
  • the crane will not be able to go to the construction site for construction.
  • the engine on the crane is idle during the driving process of the chassis engine, resulting in a waste of effective resources.
  • the application number is 201610955418.7, and the name of the invention is an invention patent for a crane dual-engine drive system, which discloses a drive system that provides a sufficiently high dynamic performance by setting the chassis dual-engine.
  • the power provided by different chassis engines is distributed to different The axles are used to drive the crane.
  • the vehicle In the dual-engine drive state, the vehicle has a total of seven axles to drive the vehicle, improving the vehicle's power performance and climbing stroke.
  • the purpose of the embodiments of the present application is to provide a hydraulic auxiliary drive control system, method and crane for the loading of a dual-engine crane.
  • the chassis controller communicates with the loading controller, and the hydraulic drive mode is activated when driving under bad road conditions, and the lifting The controller sends the speed demand information.
  • the boarding controller controls the boarding engine to start through the boarding engine controller and assists driving the crane according to the speed demand information, and applies the boarding engine that is idle during the crane driving process in In bad road conditions, the driving power is enhanced, and the utilization rate of the engine on the vehicle is effectively improved.
  • a first aspect of the present application provides a hydraulic auxiliary drive control system for a double-engine crane on board, the system comprising:
  • the chassis controller which communicates with the boarding controller, is used to send the hydraulic drive on signal and the speed requirement information to the boarding controller according to the liquid drive starting command, and send the hydraulic drive to the boarding controller according to the liquid drive exit instruction. drive off signal;
  • the on-board controller communicates with the chassis controller and the on-board engine controller, and is used to send engine start to the on-board engine controller when receiving the liquid drive on signal and the rotational speed demand information command and the speed demand information, control the valves of each hydraulic driving force circuit to work in the liquid driving mode, and control the valves of each hydraulic driving force circuit to close when receiving the liquid driving closing signal, and send the control signal to the onboard engine control system.
  • the engine sends an engine shutdown command;
  • the on-board engine controller is configured to control the on-board engine to adjust the actual rotational speed according to the engine start command and the rotational speed demand information, and to control the on-board engine to perform a shutdown action according to the engine shutdown command.
  • the system further includes a liquid drive switch, the liquid drive switch is connected with the chassis controller, and is used for closing or opening according to the operation of the operator to generate the liquid drive start command or the liquid drive exit. instruction.
  • the liquid drive switch is used for the operator to turn on or off the liquid drive mode when the crane gets off the vehicle.
  • the system further includes a chassis relay and an on-board power contactor, the chassis relay is connected to the chassis controller and the on-board power contactor, and is used to control the on-board power supply when the hydraulic drive is turned on.
  • the contactor is powered; the on-board power contactor is connected to the on-board power supply, and is used to control the on-board power supply to supply power to the on-board controller.
  • the chassis controller realizes the on-off of the power supply of the power contactor on the vehicle by controlling the on-off of the chassis relay, so as to realize the on-off of the total power supply of the on-board vehicle.
  • the system further includes a chassis power supply, which is connected to the liquid drive switch and the chassis controller, and is used to input a liquid drive mode trigger to the chassis controller when the liquid drive switch is closed.
  • the signal is used as the liquid flooding start command, and the liquid flooding mode trigger signal is turned off when the liquid flooding switch is turned off as the liquid flooding mode exit command.
  • the chassis power supply is used to provide the liquid drive mode trigger signal for the chassis controller, and the liquid drive mode trigger signal is generally high level.
  • a second aspect of the present application provides a hydraulic auxiliary drive control method for a double-engine crane on board.
  • An operator chooses to turn on or off a hydraulic drive mode according to road conditions, and the method includes:
  • the chassis controller When receiving the liquid drive start command, the chassis controller sends the liquid drive start signal and the rotational speed demand information to the upper vehicle controller; the upper vehicle controller controls the upper vehicle engine when receiving the liquid drive start signal and the rotational speed demand information.
  • the on-board engine controller sends the engine start command and the rotational speed demand information; the on-board engine controller controls the on-board engine to adjust the actual rotational speed according to the engine start-up command and the rotational speed demand information; the on-board controller is in the hydraulic drive mode Control the operation of the valves of each hydraulic driving force circuit;
  • the chassis controller When receiving the liquid drive exit command, the chassis controller sends a liquid drive closing signal to the onboard controller; the onboard controller sends a liquid drive off signal to the onboard engine controller when receiving the liquid drive off signal engine shutdown command, and control the valves of each hydraulic driving force circuit to close; the onboard engine controller controls the onboard engine to perform a shutdown action according to the engine shutdown command.
  • the chassis controller when receiving the liquid drive start command, sends the liquid drive start signal and the rotational speed demand information to the upper vehicle controller; the upper vehicle controller receives the liquid drive start signal and the rotational speed demand information.
  • the on-board engine controller sends an engine start command and the rotational speed demand information; the on-board engine controller controls the on-board engine to adjust the actual rotational speed according to the engine start-up command and the rotational speed demand information; the on-board controller In the liquid drive mode, control the work of each hydraulic drive circuit valve, including:
  • the chassis controller After receiving the trigger signal of the hydraulic drive mode, the chassis controller outputs a high level to the chassis relay, the chassis relay is closed and turned on, and the power contactor on the vehicle is powered;
  • S103 The on-board power contactor is pulled in, the on-board power supply supplies power to the on-board controller, and the on-board controller is turned on;
  • the chassis controller sends the hydraulic drive on signal and the speed requirement information to the onboard controller;
  • S105 The on-board controller judges whether the liquid drive on signal is received for the first preset time, and if so, goes to S106, otherwise, repeats S105;
  • S106 The on-board controller judges whether the speed of the on-board engine is less than the first preset speed, if so, go to S107, if not, go to S108;
  • the on-board controller sends an engine start command to the on-board engine controller
  • the boarding controller sends rotational speed requirement information to the boarding engine controller, and the boarding engine controller adjusts the boarding engine rotational speed according to the rotational speed requirement information;
  • S109 The on-board controller judges whether the speed of the on-board engine is greater than the second preset speed and whether the output of each hydraulic driving force circuit valve is normal, if so, go to S110; otherwise, go to S111;
  • S110 The on-board engine enters the liquid drive mode successfully, and the on-board controller controls the valves of each hydraulic drive circuit to work in the liquid drive mode;
  • S112 Feedback information from the boarding controller to the chassis controller.
  • the chassis controller judges the demand of the liquid drive mode according to the on-off of the liquid drive switch, and then sends the liquid drive start signal, the required speed of the boarding transmitter to the boarding controller, and the boarding controller sends the feedback signal of the hydraulic drive start, the engine speed and other information to the chassis controller.
  • the on-board controller conducts a self-check, confirms the status of the valve group, engine, etc., determines whether the normal working conditions of the liquid drive mode are reached, and feeds back the liquid drive mode start feedback signal to the chassis controller.
  • the first preset rotational speed is lower than the idle rotational speed of the onboard engine when it starts normally
  • the second preset rotational speed is based on the first preset rotational speed and the idle speed when the onboard engine starts normally.
  • Speed setting When the speed of the boarding engine is lower than the idle speed, it means that the boarding engine is idle and can be used to provide auxiliary driving force.
  • the chassis controller when receiving the liquid drive exit instruction, sends a liquid drive off signal to the onboard controller; the onboard controller sends a liquid drive off signal to the onboard controller when receiving the liquid drive off signal.
  • the on-board engine controller sends an engine shutdown command, and controls the valves of each hydraulic driving force circuit to close; the on-board engine controller controls the on-board engine to perform a shutdown action according to the engine shutdown command, including:
  • S202 The chassis controller sends a liquid drive shutdown signal to the onboard controller and counts down the shutdown;
  • the boarding controller exits the liquid driving mode according to the received liquid driving closing signal, and controls the valves of each hydraulic driving force circuit to close;
  • S204 The on-board controller judges whether the received liquid drive shut-off signal is maintained for the second preset time, and if so, goes to S205, otherwise, repeats S204;
  • S205 The on-board controller sends an engine shutdown command to the on-board engine controller
  • the boarding engine controller controls the boarding engine to turn off;
  • S207 The chassis controller judges whether the shutdown countdown has reached the third preset time, and if so, enters S208, otherwise, repeats S207;
  • the chassis controller outputs a low level to the chassis relay, the chassis relay is disconnected, so that the power contactor of the power supply on the vehicle is disconnected, and the power supply on the vehicle is disconnected.
  • the engine and valve group When the liquid drive mode is stopped, the engine and valve group will be stopped at the second preset time after getting on the vehicle, and the chassis controller will turn off the chassis relay between the third preset time after receiving the flameout command, thereby disconnecting the power supply of the vehicle. Realize the orderly exit of the liquid drive mode when getting on the vehicle.
  • the third preset time is greater than the flameout reaction time of the engine on board, so as to ensure the orderly exit of the liquid drive mode on board.
  • the present application provides a dual-engine crane, and the dual-engine crane applies the hydraulic auxiliary drive control system for loading the double-engine crane.
  • the chassis controller communicates with the boarding controller, starts the liquid drive mode when driving in bad road conditions, sends the speed demand information to the upper vehicle controller, and the boarding controller enters the hydraulic drive mode through the boarding controller.
  • the engine controller controls the starting of the boarding engine and assists driving the crane according to the rotational speed demand information, and applies the boarding engine that is idle during the crane driving process to enhance the driving power in bad road conditions, effectively improving the utilization rate of the boarding engine.
  • the present application effectively reduces the engine power of the chassis under the condition that the driving power is required to be the same, thereby effectively reducing the size of the engine and improving the available space of the chassis.
  • FIG. 1 is an electrical block diagram of a hydraulic auxiliary drive control system for a dual-engine crane on board provided by an embodiment of the present application;
  • FIG. 2 is a flowchart of a method for starting a hydraulic drive mode of a hydraulic auxiliary drive control system for a dual-engine crane on board provided by an embodiment of the present application;
  • FIG. 3 is a flowchart of a method for exiting a drive mode of a hydraulic auxiliary drive control system for a dual-engine crane onboard provided by an embodiment of the present application.
  • A1-chassis controller A2-on-car controller, A3-on-car engine controller, K1-chassis relay, KA1-on-car contactor, S1-hydraulic drive switch, V1-chassis power supply, V2-on-car normal power supply .
  • FIG. 1 is an electrical block diagram of a hydraulic auxiliary drive control system for a double-engine crane on board provided by an embodiment of the present application. As shown in Figure 1, the system includes:
  • the chassis controller A1 communicates with the on-board controller A2, and is used to send the liquid-drive on signal and speed requirement information to the on-board controller A2 according to the liquid-drive start command, and to send the on-board control to the on-board controller according to the liquid-drive exit command.
  • Device A2 sends a liquid flood off signal.
  • the chassis controller A1 includes an input port I1 and an output port O1. In the normal mode, the output port O1 of the chassis controller A1 outputs a low level. In the hydraulic drive mode, the chassis controller The A1 output port O1 outputs a high level, and the chassis controller A1 communicates with the on-board controller A2 through the CAN bus;
  • the on-board controller A2 communicates with the chassis controller A1 and the on-board engine controller A3, and is used to send the on-board engine controller A3 to the on-board engine controller A3 when receiving the hydraulic drive on signal and the rotational speed requirement information.
  • the engine start command and the speed demand information in the liquid drive mode, control the valves of each hydraulic driving force circuit to work, and when receiving the liquid driving closing signal, control the valves of each hydraulic driving force circuit to close, and report to the on-board engine control
  • the controller A3 sends the engine shutdown command;
  • the boarding controller A2 is also used to control other actions of boarding, such as providing power during hoisting operations;
  • the on-board engine controller A3 communicates with the on-board controller A2, and is used to control the on-board engine to adjust the actual speed according to the engine start command and the speed requirement information, and to control the on-board engine to adjust the actual speed according to the engine start command and the speed requirement information.
  • the flameout command executes the flameout action.
  • the boarding engine controller A3 is also used to control the action of the boarding engine during operation, such as running to provide power during hoisting operations.
  • the boarding engine controller A3 communicates with the boarding controller A2 through the J1939 protocol.
  • the engine controller on the car adopts CPC4.
  • the system further includes a liquid drive switch S1, which is connected to the chassis controller A1 and used for closing or opening according to an operator's operation to generate the liquid drive start command or the The liquid drive exit command is transmitted to chassis controller A1.
  • the system further includes a chassis power supply V1, which is connected to the liquid drive switch S1 and the chassis controller A1, and is used to input liquid drive to the chassis controller A1 when the liquid drive switch S1 is closed.
  • the mode trigger signal is used as the liquid flood start command, and when the liquid flood switch S1 is turned off, the liquid flood mode trigger signal is turned off as the liquid flood mode exit command.
  • the liquid drive switch S1 is used for the operator to turn on or off the liquid drive mode when the crane gets off the vehicle.
  • the chassis power supply V1 is used to provide the chassis controller A1 with a trigger signal for the hydraulic drive mode, and the trigger signal for the hydraulic drive mode is generally at a high level.
  • the liquid drive switch S1 is disconnected, the input port I1 of the chassis controller A1 receives a low level.
  • the liquid drive switch S1 is closed, the input port I1 of the chassis controller A1 is connected to the chassis power supply V1 and receives a high level.
  • the system also includes a chassis relay K1 and a power contactor on board, the chassis relay K1 is connected with the chassis controller A1 and the power contactor on board, and is used to control the power supply when the hydraulic drive is turned on.
  • the on-board power contactor is powered; the on-board power contactor is connected to the on-board power supply, and is used to control the on-board power supply to supply power to the on-board controller A2.
  • the chassis relay K1 is also connected to the normal power supply V2 of the vehicle. In the normal mode, the chassis relay K1 is disconnected and the vehicle is not energized. In the hydraulic drive mode, the chassis relay K1 is closed and the vehicle is energized.
  • the chassis controller A1 realizes the on-off of the power supply of the power contactor on the vehicle by controlling the on-off of the chassis relay K1, so as to realize the on-off of the total power supply of the on-board vehicle.
  • a second aspect of the present application provides a hydraulic auxiliary drive control method for a double-engine crane on board.
  • An operator chooses to turn on or off a hydraulic drive mode according to road conditions, and the method includes:
  • the chassis controller A1 When receiving the liquid drive start command, the chassis controller A1 sends the upper vehicle controller A2 the hydraulic drive on signal and the rotational speed demand information; the on-board controller A2 upwards when receiving the liquid drive start signal and the rotational speed demand information.
  • the on-board engine controller A3 sends an engine start command and the rotational speed demand information; the on-board engine controller A3 controls the on-board engine to adjust the actual rotational speed according to the engine start-up command and the rotational speed demand information; the on-board controller A2 controls the valves of each hydraulic driving force circuit to work in the liquid driving mode;
  • the chassis controller A1 When receiving the liquid drive exit command, the chassis controller A1 sends a liquid drive off signal to the onboard controller A2; the onboard controller A2 sends a liquid drive off signal to the onboard engine when receiving the liquid drive off signal
  • the controller A3 sends an engine shutdown command, and controls the valves of each hydraulic driving force circuit to close; the onboard engine controller A3 controls the onboard engine to perform a shutdown action according to the engine shutdown command.
  • the chassis controller A1 sends the liquid drive start signal and the rotational speed demand information to the upper vehicle controller A2; the upper vehicle controller A2 receives the liquid drive start signal and the When the speed requirement information is sent to the upper vehicle engine controller A3, the engine start command and the described rotation speed requirement information are sent; the described upper vehicle engine controller A3 controls the upper vehicle engine to adjust the actual rotation speed according to the described engine start command and the described rotation speed requirement information;
  • the above-mentioned boarding controller A2 controls the operation of the valves of each hydraulic driving force circuit in the liquid driving mode.
  • the specific steps are shown in Figure 2, including:
  • the liquid drive switch S1 is closed, and the chassis power supply V1 inputs a liquid drive mode trigger signal to the chassis controller A1;
  • the chassis controller A1 After receiving the trigger signal of the hydraulic drive mode, the chassis controller A1 outputs a high level to the chassis relay K1, the chassis relay K1 is closed and turned on, and the power contactor on the vehicle is energized;
  • S103 The on-board power contactor is pulled in, the on-board power supply supplies power to the on-board controller A2, and the on-board controller A2 is turned on;
  • the chassis controller A1 sends the hydraulic drive on signal and the speed requirement information to the onboard controller A2;
  • the on-board controller A2 determines whether the first preset time is maintained after receiving the liquid drive on signal, and if so, it goes to S106, otherwise, repeats S105;
  • S106 The on-board controller A2 judges whether the speed of the on-board engine is less than the first preset speed, if so, go to S107, otherwise go to S108;
  • the on-board controller A2 sends an engine start command to the on-board engine controller A3;
  • the boarding controller A2 sends rotational speed requirement information to the boarding engine controller A3, and the boarding engine controller A3 adjusts the rotational speed of the boarding engine according to the rotational speed requirement information;
  • the on-board controller A2 judges whether the speed of the on-board engine is greater than the second preset speed and whether the output of each hydraulic driving force circuit valve is normal, if so, go to S110, otherwise go to S111;
  • S112 The on-board controller A2 feeds back information to the chassis controller A1.
  • the chassis controller A1 judges the demand of the liquid drive mode according to the on-off of the liquid drive switch S1, and then sends the liquid drive start signal, the required speed of the boarding transmitter to the boarding controller A2, and the boarding controller A2 sends the liquid driving start feedback signal, Information such as the engine speed on board is sent to the chassis controller A1.
  • the on-board controller A2 performs self-check before starting the liquid drive mode, confirms the status of the valve group, engine, etc., determines whether the normal working conditions of the liquid drive mode are reached, and feeds back the liquid drive mode start feedback signal to the chassis controller A1.
  • the first preset rotational speed is lower than the idle rotational speed of the onboard engine when it starts normally, and the second preset rotational speed is based on the first preset rotational speed and the idle speed when the onboard engine starts normally.
  • Speed setting When the speed of the boarding engine is lower than the idle speed, it means that the boarding engine is idle and can be used to provide auxiliary driving force.
  • the idle speed of the engine on the starter is 750 rpm, so the first preset speed only needs to be less than 750 rpm.
  • the first preset rotational speed is 500 rpm
  • the second preset rotational speed is 600 rpm.
  • the first preset time is used to prevent the liquid drive switch S1 from being triggered by mistake, and provide a certain period of time to recover the wrongly triggered liquid drive switch S1.
  • the first preset time is 1S.
  • the chassis controller A1 when receiving the liquid drive exit instruction, sends a liquid drive off signal to the onboard controller A2; the onboard controller A2 sends a liquid drive off signal to the onboard controller A2 when receiving the liquid drive off signal.
  • the on-board engine controller A3 sends an engine shutdown command, and controls the valves of each hydraulic driving force circuit to close; the on-board engine controller A3 controls the on-board engine to perform a shutdown action according to the engine shutdown command, and the specific steps are as follows: As shown in Figure 3, including:
  • the chassis controller A1 sends a liquid drive shutdown signal to the onboard controller A2 and counts down the shutdown;
  • the boarding controller A2 exits the liquid driving mode according to the received liquid driving closing signal, and controls the valves of each hydraulic driving force circuit to close;
  • S204 The on-board controller A2 judges whether the received liquid drive shut-off signal is maintained for the second preset time, and if so, goes to S205, otherwise, repeats S204;
  • the on-board controller A2 sends an engine shutdown command to the on-board engine controller A3;
  • the boarding engine controller A3 controls the boarding engine to turn off;
  • S207 The chassis controller A1 judges whether the shutdown countdown has reached the third preset time, if so, it goes to S208, and if otherwise, repeats S207;
  • the chassis controller A1 outputs a low level to the chassis relay K1, the chassis relay K1 is disconnected, the power contactor of the power supply on the vehicle is disconnected, and the power supply on the vehicle is disconnected.
  • the engine and valve group When the liquid drive mode is stopped, the engine and valve group will be stopped at the second preset time after getting on the vehicle, and the chassis controller A1 will close the chassis relay K1 between the third preset time after receiving the flameout command, thereby disconnecting the vehicle
  • the power supply can realize the orderly exit of the liquid drive mode when getting on the vehicle.
  • the third preset time is greater than the flameout reaction time of the engine on board.
  • the second preset time is similar to the first preset time, and both are used to prevent the liquid drive switch S1 from being triggered by mistake, and provide a certain period of time to recover the wrongly triggered liquid drive switch S1.
  • the second preset time is 5S
  • the third preset time is 30S.
  • hydraulic auxiliary drive control system for the dual-engine crane on board of the present application is used to control the boarding engine to act together with the chassis engine to provide power in the liquid drive mode to enhance the driving power and effectively improve the utilization rate of the boarding engine. .
  • the present application provides a dual-engine crane, and the dual-engine crane applies the hydraulic auxiliary drive control system for loading the double-engine crane.
  • the crane can effectively reduce the power of the chassis engine, thereby effectively reducing the size of the engine and improving the usable space of the chassis.
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

一种双发起重机上车液压辅助驱动控制系统、方法及起重机。该系统包括：底盘控制器（A1），用于根据液驱启动指令向上车控制器（A2）发送液驱开启信号和转速需求信息；以及根据液驱退出指令向上车控制器（A2）发送液驱关闭信号；上车控制器（A2），与底盘控制器（A1）和上车发动机控制器（A3）通讯，用于在接收到液驱开启信号和转速需求信息时向上车发动机控制器（A3）发送发动机启动命令和转速需求信息，在液驱模式下控制各液驱动力回路阀门工作，以及在接收到液驱关闭信号时向上车发动机控制器（A3）发送发动机熄火命令；上车发动机控制器（A3），与上车控制器（A2）通讯，用于控制上车发动机根据发动机启动命令和转速需求信息调节实际转动，以及控制上车发动机根据发动机熄火命令执行熄火动作。

Description

双发起重机上车液压辅助驱动控制系统、方法及起重机
相关申请的交叉引用
本申请要求2020年10月30日提交的中国专利申请202011190557.8的权益，该申请的内容通过引用被合并于本文。
技术领域
本申请涉及工程机械驱动系统领域，具体地涉及一种双发起重机上车液压辅助驱动控制系统、一种双发起重机上车液压辅助驱动控制方法以及一种双发起重机。
背景技术
现有的双发起重器上下车动力源独立，下车动力源于底盘发动机，用于起重机行驶，上车动力源于上车发动机，用于吊载作业。起重机在行驶过程中底盘发动机工作，底盘发动机动力通过机械传动驱动起重机行驶，上车发动机不工作。当在行驶在恶劣路况下时，如果其下车发动机动力饱和也无法维持通过这种恶劣路况，起重机将无法前往工地施工。同时起重机上车发动机在底盘发动机行驶过程中闲置，造成了有效资源的浪费。
申请号为201610955418.7，发明名称为一种起重机双发动机驱动系统的发明专利，公开了通过设置底盘双发动机来提供足够高的动力性能的驱动系统，该方案中不同的底盘发动机提供的动力分配给不同的轴，以驱动起重机行驶，在双发动机驱动状态，使整车共七轴驱动整车行驶，提高整车动力性能和爬坡行程。
现有技术的上述方案提供双发动机相当于是在原有底盘发动机的基础上进行发动机叠加，增加了起重机本身的自重，同样的，起重机上车发动机在底盘发动机行驶过程中闲置，造成了有效资源的浪费。
发明内容
本申请实施方式的目的是提供一种双发起重机上车液压辅助驱动控制系统、方法及起重机，通过底盘控制器与上车控制器通信，在行驶在恶劣路况下时启动液驱模式，向上车控制器发送转速需求信息，上车控制器在进入液驱模式后通过上车发动机控制器控制上车发动机启动并根据转速需求信息辅助驱动起重机行驶，将起重机行驶过程中闲置的上车发动机应用在恶劣路况时增强行驶动力，有效地提高上车发动机利用率。
为了实现上述目的，本申请第一方面提供一种双发起重机上车液压辅助驱动控制系统，所述系统包括：
底盘控制器，与上车控制器通讯，用于根据液驱启动指令向所述上车控制器发送液驱开启信号和转速需求信息，以及根据液驱退出指令向所述上车控制器发送液驱关闭信号；
所述上车控制器，与所述底盘控制器和上车发动机控制器通讯，用于在接收到所述液驱开启信号和所述转速需求信息时向所述上车发动机控制器发送发动机启动命令和所述转速需求信息，在液驱模式下控制各液驱动力回路阀门工作，以及在接收到所述液驱关闭信号时控制各液驱动力回路阀门关闭，并向所述上车发动机控制器发送发动机熄火命令；
所述上车发动机控制器，用于控制上车发动机根据所述发动机启动命令和所述转速需求信息调节实际转速，以及控制所述上车发动机根据所述发动机熄火命令执行熄火动作。
进一步地，所述系统还包括液驱开关，所述液驱开关与所述底盘控制器连接，用于根据操作人员的操作闭合或断开以生成所述液驱启动指令或所述液驱退出指令。液驱开关用于起重机下车操作人员进行液驱模式开启或关闭，设置在驾驶室内，便于操作人员根据起重机行驶路况手动进行液驱模式开启或关闭。
进一步地，所述系统还包括底盘继电器和上车电源接触器，所述底盘继电器与所述底盘控制器和所述上车电源接触器连接，用于在液驱开启时控制所述上车电源接触器得电；所述上车电源接触器与所述上车电源连接，用于控制所述上车电源为所述上车控制器供电。底盘控制器通过控制底盘继电器的通断来实现上车电源接触器电源的通断，从而实现控制上车总电源通断。
进一步地，所述系统还包括底盘电源，所述底盘电源与所述液驱开关和所述底盘控制器连接，用于在所述液驱开关闭合时向所述底盘控制器输入液驱模式触发信号作为所述液驱启动指令，以及在所述液驱开关断开时断开所述液驱模式触发信号作为所述液驱模式退出指令。底盘电源用于为底盘控制器提供液驱模式触发信号，液驱模式触发信号一般为高电平。
本申请第二方面提供一种双发起重机上车液压辅助驱动控制方法，操作人员根据路况选择开启或关闭液驱模式，所述方法包括：
在接收到液驱启动指令时，底盘控制器向上车控制器发送液驱开启信号和转速需求信息；所述上车控制器在接收到液驱开启信号和所述转速需求信息时向上车发动机控制器发送发动机启动命令和所述转速需求信息；所述上车发动机控制器控制上车发动机根据所述发动机启动命令和所述转速需求信息调节实际转速；所述上车控制器在液驱模式下控制各液驱动力回路阀门工作；
在接收到液驱退出指令时，所述底盘控制器向所述上车控制器发送液驱关闭信号；所述上车控制器在接收到液驱关闭信号时向所述上车发动机控制器发送发动机熄火命令，并控制各液驱动力回路阀门关闭；所述上车发动机控制器控制所述上车发动机根据所述发动机熄火命令执行熄火动作。
进一步地，所述在接收到液驱启动指令时，底盘控制器向上车控制器发送液驱开启信号和转速需求信息；所述上车控制器在接收到液驱开启信号和所述转速需求信息时向上车发动机控制器发送发动机启动命令和所述转速需求信息；所述上车发动机控制器控制上车发动机根据所述发动机启动命令和所述转速需求信息调节实际转速；所述上车控制器在液驱模式下控制各液驱动力回路阀门工作，包括：
S101：液驱开关闭合，底盘电源向所述底盘控制器输入液驱模式触发信号；
S102：底盘控制器接收到液驱模式触发信号后输出高电平到底盘继电器，底盘继电器闭合导通，上车电源接触器得电；
S103：上车电源接触器吸合，上车电源为所述上车控制器供电，所述上车控制器开启；
S104：底盘控制器向所述上车控制器发送液驱开启信号和转速需求信息；
S105：上车控制器判断接收到所述液驱开启信号是否保持第一预设时间，若是则进入S106，否则重复S105；
S106：上车控制器判断上车发动机转速是否小于第一预设转速，若是则进入S107，若否则进入S108；
S107：上车控制器向所述上车发动机控制器发送发动机启动命令；
S108：上车控制器向所述上车发动机控制器发送转速需求信息，所述上车发动机控制器根据转速需求信息调节上车发动机转速；
S109：上车控制器判断上车发动机转速是否大于第二预设转速且各液驱动力回路阀门是否输出正常，若是则进入S110，否则进入S111；
S110：上车发动机进入液驱模式成功，上车控制器在液驱模式下控制各液驱动力回路阀门工作；
S111：上车发动机进入液驱模式失败；
S112：上车控制器反馈信息给底盘控制器。
底盘控制器根据液驱开关通断判断液驱模式需求，进而发送液驱启动信号、上车发送机需求转速等给上车控制器，上车控制器发送液驱启动反馈信号、上车发动机转速等信息给底盘控制器。上车控制器在进行液驱模式启动前进行自检，确认阀组、发动机等状态，判断是否达到液驱模式正常工作条件，并将液驱模式启动反馈信号反馈给底盘控制器。
可选的，所述第一预设转速小于所述上车发动机正常启动时的怠速转速，所述第二预设转速根据所诉第一预设转速和所述上车发动机正常启动时的怠速转速设定。当上车发动机转速小于怠速转速时，说明上车发动机闲置，可以用于提供辅助驱动力。
进一步地，所述在接收到液驱退出指令时，所述底盘控制器向所述上车控制器发送液驱关闭信号；所述上车控制器在接收到液驱关闭信号时向所述上车发动机控制器发送发动机熄火命令，并控制各液驱动力回路阀门关闭；所述上车发动机控制器控制所述上车发动机根据所述发动机熄火命令执行熄火动作，包括：
S201：液驱开关断开，底盘电源断开；
S202：底盘控制器向所述上车控制器发送液驱关闭信号并进行关闭倒计时；
S203：上车控制器根据接收到的所述液驱关闭信号退出液驱模式，并控制各液驱动力回路阀门关闭；
S204：上车控制器判断接收到的液驱关闭信号是否保持第二预设时间，若是则进入S205，否则重复S204；
S205：上车控制器向所述上车发动机控制器发送发动机熄火命令；
S206：上车发动机控制器控制上车发动机熄火；
S207：底盘控制器判断关闭倒计时是否达到第三预设时间，若是则进入S208，否则重复S207；
S208：底盘控制器输出低电平到底盘继电器，底盘继电器断开使得上车电源接触器失电断开，上车电源断开。
液驱模式停止，上车在接收到熄火命令后第二预设时间停止发动机及阀组工作，底盘控制器接收到熄火命令后第三预设之间关闭底盘继电器，从而断开上车电源，实现上车有序退出液驱模式。
可选的，所述第三预设时间大于所述上车发动机的熄火反应时间，以保证上车液驱模式有序退出。
另一方面，本申请提供一种双发起重机，所述双发起重机应用所述的双发起重机上车液压辅助驱动控制系统。
通过上述技术方案，通过底盘控制器与上车控制器通信，在行驶在恶劣路况下时启动液驱模式，向上车控制器发送转速需求信息，上车控制器在进入液驱模式后通过上车发动机控制器控制上车发动机启动并根据转速需求信息辅助驱动起重机行驶，将起重机行驶过程中闲置的上车发动机应用在恶劣路况时增强行驶动力，有效地提高上车发动机利用率。
本申请在要求行驶动力相同的情况下有效减小底盘发动机功率，从而有效减小发动机大小，底盘可利用空间提高。
本申请实施方式的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本申请实施方式的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本申请实施方式，但并不构成对本申请实施方式的限制。在附图中：
图1是本申请一种实施方式提供的双发起重机上车液压辅助驱动控制系统电气框图；
图2是本申请一种实施方式提供的双发起重机上车液压辅助驱动控制系统液驱模式启动方法流程图；
图3是本申请一种实施方式提供的双发起重机上车液压辅助驱动控制系统驱模式退出方法流程图。
附图标记说明
A1-底盘控制器，A2-上车控制器，A3-上车发动机控制器，K1-底盘继电器，KA1-上车接触器，S1-液驱开关，V1-底盘电源，V2-上车常电。
具体实施方式
以下结合附图对本申请的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本申请，并不用于限制本申请。
图1是本申请一种实施方式提供的双发起重机上车液压辅助驱动控制系统电气框图。如图1所示，所述系统包括：
底盘控制器A1，与上车控制器A2通讯，用于根据液驱启动指令向所述上车控制器A2发送液驱开启信号和转速需求信息，以及根据液驱退出指令向所述上车控制器A2发送液驱关闭信号。特别的，如图1所示，底盘控制器A1包括一个输入口I1和一个输出口O1，在普通模式下，底盘控制器A1输出口O1输出低电平，在液驱模式下，底盘控制器A1输出口O1输出高电平，底盘控制器A1与上车控制器A2通过CAN总线进行通讯；
所述上车控制器A2，与所述底盘控制器A1和上车发动机控制器A3通讯，用于在接收到液驱开启信号和所述转速需求信息时向所述上车发动机控制器A3发送发动机启动命令和所述转速需求信息，在液驱模式下控制各液驱动力回路阀门工作，以及在接收到液驱关闭信号时控制各液驱动力回路阀门关闭，并向所述上车发动机控制器A3发送发动机熄火命令；上车控制器A2还用于控制上车的其他动作，例如吊载作业时提供动力；
所述上车发动机控制器A3，与所述上车控制器A2通讯，用于控制上车发动机根据所述发动机启动命令和所述转速需求信息调节实际转速，以及控制上车发动机根据所述发动机熄火命令执行熄火动作，上车发动机控制器A3还用于控制上车发动机在作业时动作，例如吊载作业时运转提供动力，上车发动机控制器A3通过J1939协议与上车控制器A2通讯，上车发动机控制器采用CPC4。
进一步地，所述系统还包括液驱开关S1，所述液驱开关S1与所述底盘控制器A1连接，用于根据操作人员的操作闭合或断开以生成所述液驱启动指令或所述液驱退出指令并传输到底盘控制器A1。述系统还包括底盘电源V1，所述底盘电源V1与所述液驱开关S1和所述底盘控制器A1连接，用于在所述液驱开关S1闭合时向所述底盘控制器A1输入液驱模式触发信号作为所述液驱启动指令，以及在所述液驱开关S1断开时断开所述液驱模式触发信号作为所述液驱模式退出指令。液驱开关S1用于起重机下车操作人员进行液驱模式开启或关闭，设置在驾驶室内，便于操作人员根据起重机行驶路况手动进行液驱模式开启或关闭。底盘电源V1用于为底盘控制器A1提供液驱模式触发信号，液驱模式触发信号一般为高电平。液驱开关S1断开时，底盘控制器A1输入口I1接收低电平，液驱开关S1闭合时，底盘控制器A1输入口I1与底盘电源V1相连，接收高电平。
进一步地，所述系统还包括底盘继电器K1和上车电源接触器，所述底盘继电器K1与所述底盘控制器A1和所述上车电源接触器连接，用于在液驱开启时控制所述上车电源接触器得电；所述上车电源接触器与所述上车电源连接，用于控制所述上车电源为所述上车控制器A2供电。底盘继电器K1还与上车常电V2连接，在普通模式下，底盘继电器K1断开，上车不通电，在液驱模式下，底盘继电器K1吸合，上车通电。底盘控制器A1通过控制底盘继电器K1的通断来实现上车电源接触器电源的通断，从而实现控制上车总电源通断。
本申请第二方面提供一种双发起重机上车液压辅助驱动控制方法，操作人员根据路况选择开启或关闭液驱模式，所述方法包括：
在接收到液驱启动指令时，底盘控制器A1向上车控制器A2发送液驱开启信号和转速需求信息；所述上车 控制器A2在接收到液驱开启信号和所述转速需求信息时向上车发动机控制器A3发送发动机启动命令和所述转速需求信息；所述上车发动机控制器A3控制上车发动机根据所述发动机启动命令和所述转速需求信息调节实际转速；所述上车控制器A2在液驱模式下控制各液驱动力回路阀门工作；
在接收到液驱退出指令时，所述底盘控制器A1向所述上车控制器A2发送液驱关闭信号；所述上车控制器A2在接收到液驱关闭信号时向所述上车发动机控制器A3发送发动机熄火命令，并控制各液驱动力回路阀门关闭；所述上车发动机控制器A3控制所述上车发动机根据所述发动机熄火命令执行熄火动作。
进一步地，所述在接收到液驱启动指令时，底盘控制器A1向上车控制器A2发送液驱开启信号和转速需求信息；所述上车控制器A2在接收到液驱开启信号和所述转速需求信息时向上车发动机控制器A3发送发动机启动命令和所述转速需求信息；所述上车发动机控制器A3控制上车发动机根据所述发动机启动命令和所述转速需求信息调节实际转速；所述上车控制器A2在液驱模式下控制各液驱动力回路阀门工作，具体步骤如图2所示，包括：
S101：液驱开关S1闭合，底盘电源V1向所述底盘控制器A1输入液驱模式触发信号；
S102：底盘控制器A1接收到液驱模式触发信号后输出高电平到底盘继电器K1，底盘继电器K1闭合导通，上车电源接触器得电；
S103：上车电源接触器吸合，上车电源为所述上车控制器A2供电，所述上车控制器A2开启；
S104：底盘控制器A1向所述上车控制器A2发送液驱开启信号和转速需求信息；
S105：上车控制器A2判断接收到所述液驱开启信号是否保持第一预设时间，若是则进入S106，否则重复S105；
S106：上车控制器A2判断上车发动机转速是否小于第一预设转速，若是则进入S107，否则进入S108；
S107：上车控制器A2向所述上车发动机控制器A3发送发动机启动命令；
S108：上车控制器A2向所述上车发动机控制器A3发送转速需求信息，所述上车发动机控制器A3根据转速需求信息调节上车发动机转速；
S109：上车控制器A2判断上车发动机转速是否大于第二预设转速且各液驱动力回路阀门是否输出正常，若是则进入S110，否则进入S111；
S110：上车发动机进入液驱模式成功，上车控制器A2在液驱模式下控制各液驱动力回路阀门工作；
S111：上车发动机进入液驱模式失败；
S112：上车控制器A2反馈信息给底盘控制器A1。
底盘控制器A1根据液驱开关S1通断判断液驱模式需求，进而发送液驱启动信号、上车发送机需求转速等给上车控制器A2，上车控制器A2发送液驱启动反馈信号、上车发动机转速等信息给底盘控制器A1。上车控制器A2在进行液驱模式启动前进行自检，确认阀组、发动机等状态，判断是否达到液驱模式正常工作条件，并将液驱模式启动反馈信号反馈给底盘控制器A1。
可选的，所述第一预设转速小于所述上车发动机正常启动时的怠速转速，所述第二预设转速根据所诉第一预设转速和所述上车发动机正常启动时的怠速转速设定。当上车发动机转速小于怠速转速时，说明上车发动机闲置，可以用于提供辅助驱动力。在一些实施例中，起动机上车发动机的怠速转速为750转，因此第一预设转速仅需要小于750转就可以。在本申请的一个具体实施例中第一预设转速为500转，第二预设转速为600转。
第一预设时间用于避免液驱开关S1被误触发，提供一定时间恢复误触发的液驱开关S1。在本申请的一个实施例中所述第一预设时间为1S。
进一步地，所述在接收到液驱退出指令时，所述底盘控制器A1向所述上车控制器A2发送液驱关闭信号； 所述上车控制器A2在接收到液驱关闭信号时向所述上车发动机控制器A3发送发动机熄火命令，并控制各液驱动力回路阀门关闭；所述上车发动机控制器A3控制所述上车发动机根据所述发动机熄火命令执行熄火动作，具体步骤如图3所示，包括：
S201：液驱开关S1断开，底盘电源V1断开；
S202：底盘控制器A1向所述上车控制器A2发送液驱关闭信号并进行关闭倒计时；
S203：上车控制器A2根据接收到的所述液驱关闭信号退出液驱模式，并控制各液驱动力回路阀门关闭；
S204：上车控制器A2判断接收到的液驱关闭信号是否保持第二预设时间，若是则进入S205，否则重复S204；
S205：上车控制器A2向所述上车发动机控制器A3发送发动机熄火命令；
S206：上车发动机控制器A3控制上车发动机熄火；
S207：底盘控制器A1判断关闭倒计时是否达到第三预设时间，若是则进入S208，若否则重复S207；
S208：底盘控制器A1输出低电平到底盘继电器K1，底盘继电器K1断开，上车电源接触器失电断开，上车电源断开。
液驱模式停止，上车在接收到熄火命令后第二预设时间停止发动机及阀组工作，底盘控制器A1接收到熄火命令后第三预设之间关闭底盘继电器K1，从而断开上车电源，实现上车有序退出液驱模式。
可选的，所述第三预设时间大于所述上车发动机的熄火反应时间。以保证上车液驱模式有序退出。第二预设时间与第一预设时间相似，都用于避免液驱开关S1被误触发，提供一定时间恢复误触发的液驱开关S1。在本申请的一个实施例中，第二预设时间为5S，第三预设时间为30S。
需要说明的是，本申请的双发起重机上车液压辅助驱动控制系统用于控制上车发动机在液驱模式时与底盘发动机共同作用提供动力，增强行驶动力，能有效地提高上车发动机利用率。
另一方面，本申请提供一种双发起重机，所述双发起重机应用所述的双发起重机上车液压辅助驱动控制系统。该起重机在要求行驶动力与现有起重机相同的情况下，有效减小底盘发动机的功率，从而有效减小发动机大小，底盘可利用空间提高。
本领域技术人员可以理解实现上述实施方式的方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序存储在一个存储介质中，包括若干指令用以使得单片机、芯片或处理器(processor)执行本申请各个实施方式所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上结合附图详细描述了本申请的可选实施方式，但是，本申请实施方式并不限于上述实施方式中的具体细节，在本申请实施方式的技术构思范围内，可以对本申请实施方式的技术方案进行多种简单变型，这些简单变型均属于本申请实施方式的保护范围。另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本申请实施方式对各种可能的组合方式不再另行说明。
此外，本申请的各种不同的实施方式之间也可以进行任意组合，只要其不违背本申请实施方式的思想，其同样应当视为本申请实施方式所公开的内容。

Claims (10)

  1. 一种双发起重机上车液压辅助驱动控制系统，其特征在于，所述系统包括：
    底盘控制器，与上车控制器通讯，用于根据液驱启动指令向所述上车控制器发送液驱开启信号和转速需求信息，以及根据液驱退出指令向所述上车控制器发送液驱关闭信号；
    所述上车控制器，与所述底盘控制器和上车发动机控制器通讯，用于在接收到所述液驱开启信号和所述转速需求信息时向所述上车发动机控制器发送发动机启动命令和所述转速需求信息，在液驱模式下控制各液驱动力回路阀门工作，以及在接收到所述液驱关闭信号时控制各液驱动力回路阀门关闭，并向所述上车发动机控制器发送发动机熄火命令；
    所述上车发动机控制器，用于控制上车发动机根据所述发动机启动命令和所述转速需求信息调节实际转速，以及控制所述上车发动机根据所述发动机熄火命令执行熄火动作。
  2. 根据权利要求1所述的双发起重机上车液压辅助驱动控制系统，其特征在于，所述系统还包括液驱开关，所述液驱开关与所述底盘控制器连接，用于根据操作人员的操作闭合或断开以生成所述液驱启动指令或所述液驱退出指令。
  3. 根据权利要求2所述的双发起重机上车液压辅助驱动控制系统，其特征在于，所述系统还包括底盘继电器和上车电源接触器，所述底盘继电器与所述底盘控制器和所述上车电源接触器连接，用于在液驱开启时控制所述上车电源接触器得电；所述上车电源接触器与所述上车电源连接，用于控制所述上车电源为所述上车控制器供电。
  4. 根据权利要求3所述的双发起重机上车液压辅助驱动控制系统，其特征在于，所述系统还包括底盘电源，所述底盘电源与所述液驱开关和所述底盘控制器连接，用于在所述液驱开关闭合时向所述底盘控制器输入液驱模式触发信号作为所述液驱启动指令，以及在所述液驱开关断开时断开所述液驱模式触发信号作为所述液驱模式退出指令。
  5. 一种双发起重机上车液压辅助驱动控制方法，操作人员根据路况选择开启或关闭液驱模式，其特征在于，所述方法包括：
    在接收到液驱启动指令时，底盘控制器向上车控制器发送液驱开启信号和转速需求信息；所述上车控制器在接收到所述液驱开启信号和所述转速需求信息时向上车发动机控制器发送发动机启动命令和所述转速需求信息；所述上车发动机控制器控制上车发动机根据所述发动机启动命令和所述转速需求信息调节实际转速；所述上车控制器在液驱模式下控制各液驱动力回路阀门工作；
    在接收到液驱退出指令时，所述底盘控制器向所述上车控制器发送液驱关闭信号；所述上车控制器在接收到所述液驱关闭信号时向所述上车发动机控制器发送发动机熄火命令，并控制各液驱动力回路阀门关闭；所述上车发动机控制器控制所述上车发动机根据所述发动机熄火命令执行熄火动作。
  6. 根据权利要求5所述的双发起重机上车液压辅助驱动控制方法，其特征在于，所述在接收到液驱启动指令时，底盘控制器向上车控制器发送液驱开启信号和转速需求信息；所述上车控制器在接收到所述液驱开启信 号和所述转速需求信息时向上车发动机控制器发送发动机启动命令和所述转速需求信息；所述上车发动机控制器控制上车发动机根据所述发动机启动命令和所述转速需求信息调节实际转速；所述上车控制器在液驱模式下控制各液驱动力回路阀门工作，包括：
    S101：液驱开关闭合，底盘电源向所述底盘控制器输入液驱模式触发信号；
    S102：所述底盘控制器接收到所述液驱模式触发信号后输出高电平到底盘继电器，底盘继电器闭合导通，上车电源接触器得电；
    S103：所述上车电源接触器吸合，上车电源为所述上车控制器供电，所述上车控制器开启；
    S104：所述底盘控制器向所述上车控制器发送液驱开启信号和转速需求信息；
    S105：所述上车控制器判断接收到所述液驱开启信号是否保持第一预设时间，若是则进入S106，否则重复S105；
    S106：上所述车控制器判断上车发动机转速是否小于第一预设转速，若是则进入S107，否则进入S108；
    S107：所述上车控制器向所述上车发动机控制器发送发动机启动命令；
    S108：所述上车控制器向所述上车发动机控制器发送转速需求信息，所述上车发动机控制器根据所述转速需求信息调节所述上车发动机转速；
    S109：所述上车控制器判断所述上车发动机转速是否大于第二预设转速且各液驱动力回路阀门是否输出正常，若是则进入S110，否则进入S111；
    S110：所述上车发动机进入液驱模式成功，所述上车控制器在液驱模式下控制各液驱动力回路阀门工作；
    S111：所述上车发动机进入液驱模式失败；
    S112：所述上车控制器反馈信息给所述底盘控制器。
  7. 根据权利要求6所述的双发起重机上车液压辅助驱动控制方法，其特征在于，所述第一预设转速小于所述上车发动机正常启动时的怠速转速，所述第二预设转速根据所述第一预设转速和所述上车发动机正常启动时的怠速转速设定。
  8. 根据权利要求5所述的双发起重机上车液压辅助驱动控制方法，其特征在于，所述在接收到液驱退出指令时，所述底盘控制器向所述上车控制器发送液驱关闭信号；所述上车控制器在接收到所述液驱关闭信号时向所述上车发动机控制器发送发动机熄火命令，并控制各液驱动力回路阀门关闭；所述上车发动机控制器控制所述上车发动机根据所述发动机熄火命令执行熄火动作，包括：
    S201：液驱开关断开，底盘电源断开；
    S202：所述底盘控制器向所述上车控制器发送液驱关闭信号并进行关闭倒计时；
    S203：所述上车控制器根据接收到的所述液驱关闭信号退出液驱模式，并控制各液驱动力回路阀门关闭；
    S204：所述上车控制器判断接收到的所述液驱关闭信号是否保持第二预设时间，若是则进入S205，否则重复S204；
    S205：所述上车控制器向所述上车发动机控制器发送发动机熄火命令；
    S206：所述上车发动机控制器控制上车发动机熄火；
    S207：所述底盘控制器判断所述关闭倒计时是否达到第三预设时间，若是则进入S208，否则重复S207；
    S208：所述底盘控制器输出低电平到底盘继电器，所述底盘继电器断开使得上车电源接触器失电断开，上车电源断开。
  9. 根据权利要求8所述的双发起重机上车液压辅助驱动控制方法，其特征在于，所述第三预设时间大于所述上车发动机的熄火反应时间。
  10. 一种双发起重机，其特征在于，所述双发起重机应用权利要求1至4中任意一项所述的双发起重机上车液压辅助驱动控制系统。
PCT/CN2021/127334 2020-10-30 2021-10-29 双发起重机上车液压辅助驱动控制系统、方法及起重机 WO2022089574A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011190557.8 2020-10-30
CN202011190557.8A CN112429642B (zh) 2020-10-30 2020-10-30 双发起重机上车液压辅助驱动控制系统、方法及起重机

Publications (1)

Publication Number Publication Date
WO2022089574A1 true WO2022089574A1 (zh) 2022-05-05

Family

ID=74694920

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/127334 WO2022089574A1 (zh) 2020-10-30 2021-10-29 双发起重机上车液压辅助驱动控制系统、方法及起重机

Country Status (2)

Country Link
CN (1) CN112429642B (zh)
WO (1) WO2022089574A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112429642B (zh) * 2020-10-30 2022-04-22 中联重科股份有限公司 双发起重机上车液压辅助驱动控制系统、方法及起重机
CN114475561A (zh) * 2021-12-23 2022-05-13 中联重科股份有限公司 用于工程设备的驱动控制方法、处理器、装置及工程设备

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001191807A (ja) * 1999-11-24 2001-07-17 Linde Ag 車 両
CN102729814A (zh) * 2012-06-27 2012-10-17 三一重工股份有限公司 工程机械车辆
CN105329096A (zh) * 2015-12-16 2016-02-17 徐州重型机械有限公司 液压辅助驱动系统及工程机械车辆
CN106241606A (zh) * 2016-08-26 2016-12-21 三汽车起重机械有限公司 一种起重机的驱动控制系统
CN112429642A (zh) * 2020-10-30 2021-03-02 中联重科股份有限公司 双发起重机上车液压辅助驱动控制系统、方法及起重机

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202266336U (zh) * 2011-09-19 2012-06-06 三江瓦力特特种车辆有限公司 一种双动力底盘的控制电路
JP5887818B2 (ja) * 2011-10-12 2016-03-16 コベルコクレーン株式会社 建設機械のエンジン始動制御装置
CN202325867U (zh) * 2011-11-09 2012-07-11 中联重科股份有限公司 发动机启动装置与工程机械
CN110901371A (zh) * 2019-12-03 2020-03-24 徐州重型机械有限公司 一种专项作业车及其控制方法
CN111746311A (zh) * 2020-05-30 2020-10-09 张永海 一种汽车起重机作业系统电动化节能的方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001191807A (ja) * 1999-11-24 2001-07-17 Linde Ag 車 両
CN102729814A (zh) * 2012-06-27 2012-10-17 三一重工股份有限公司 工程机械车辆
CN105329096A (zh) * 2015-12-16 2016-02-17 徐州重型机械有限公司 液压辅助驱动系统及工程机械车辆
CN106241606A (zh) * 2016-08-26 2016-12-21 三汽车起重机械有限公司 一种起重机的驱动控制系统
CN112429642A (zh) * 2020-10-30 2021-03-02 中联重科股份有限公司 双发起重机上车液压辅助驱动控制系统、方法及起重机

Also Published As

Publication number Publication date
CN112429642A (zh) 2021-03-02
CN112429642B (zh) 2022-04-22

Similar Documents

Publication Publication Date Title
WO2022089574A1 (zh) 双发起重机上车液压辅助驱动控制系统、方法及起重机
CN111532137B (zh) 一种新能源汽车高压上下电控制方法
KR101348898B1 (ko) 하이브리드 차량의 페일 세이프티 제어 방법
JP5816150B2 (ja) 電動駆動型ホイール式作業車両
JP5144978B2 (ja) 作業機の油圧供給装置
WO2023024750A1 (zh) 搅拌筒转速控制方法、装置和搅拌车
JP2009096383A (ja) 車両用電源管理装置
CN110641282B (zh) 在紧急情况下用于耗尽剩余电力的燃料电池系统
US10553883B2 (en) Industrial vehicle having a fuel cell system
KR101221798B1 (ko) 전기자동차의 제어방법
JP2021154870A5 (zh)
CN100412354C (zh) 发动机起动控制装置和发动机起动控制方法
CN104828065A (zh) 混合动力汽车及其充电控制方法
JP3774014B2 (ja) 油圧作業機械の制御装置
JP5977705B2 (ja) ミキサ車
JP2016199197A (ja) ハイブリッド車両の制御装置および制御方法
KR20140035030A (ko) 하이브리드 자동변속기의 전동식 오일펌프 제어방법 및 제어장치
JP2011122364A (ja) 作業車両
JP3253406B2 (ja) 自動冷機運転の安全装置
JP5430872B2 (ja) 列車制御システム
JP6329473B2 (ja) 車両用制御装置
CN113027874B (zh) 混凝土泵送设备能量回收系统、方法及混凝土泵送设备
JP2007321669A (ja) 作業機械のエンジン制御装置
CN113009852B (zh) 一种车载制氧机的启停控制方法及系统
JP2011015588A (ja) 車輌

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21885300

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21885300

Country of ref document: EP

Kind code of ref document: A1