WO2022247335A1

WO2022247335A1 - Engine rotating speed control method and apparatus, and engineering machinery

Info

Publication number: WO2022247335A1
Application number: PCT/CN2022/074317
Authority: WO
Inventors: 师建鹏; 刘效忠; 曹东辉
Original assignee: 三一重机有限公司
Priority date: 2021-05-24
Filing date: 2022-01-27
Publication date: 2022-12-01
Also published as: CN113202642B; CN113202642A

Abstract

An engine rotating speed control method for engineering machinery. The engine rotating speed control method comprises: obtaining an action execution sequence of engineering machinery in one operation period (S101); determining an action duration corresponding to each action in a plurality of actions in the operation period (S102); obtaining torque information of each action (S103); determining a target rotating speed of the engine corresponding to each action on the basis of the torque information and a relationship between a torque and a rotating speed under a preset optimal fuel consumption (S104); and controlling the rotating speed of the engine according to the action execution sequence, the action duration corresponding to each action, and the target rotating speed when the engineering machinery repeatedly executes the operation period (S105). According to the method, the energy consumption of the engine can be reduced, the continuity of the action in the operation process is ensured, the operation effect is guaranteed, periodic control of the rotating speed of the engine is achieved, independent regulation and control of each operation period are not needed, and the control mode is simpler and more convenient, thereby facilitating engineering applications. Also provided are an engine rotating speed control apparatus for engineering machinery, the engineering machinery, and a computer-readable storage medium.

Description

Engine speed control method, device and engineering machinery

technical field

The present application relates to the technical field of engineering machinery, in particular to a method and device for controlling engine speed and engineering machinery.

Background of the invention

Construction machinery such as excavators plays a very important role in engineering construction. Most construction machinery uses engines to provide power sources for various engineering operations. With the increasing demand for energy saving and emission reduction, how to improve the fuel consumption of engines has become the focus of research in the field of construction machinery.

At present, adjusting the engine speed is the most widely used method to improve fuel consumption. However, the existing engine speed adjustment method is likely to cause too frequent changes in the engine speed, resulting in incoherent movements of construction machinery, which in turn affects the normal operation of the project.

Contents of the invention

In view of this, the embodiments of the present invention provide an engine speed control method and device for construction machinery, and construction machinery, so as to overcome the problems in the prior art that the engine speed adjustment method affects the continuity of the construction machinery action and affects the normal operation.

According to the first aspect, an embodiment of the present invention provides a method for controlling the engine speed of a construction machine, where the work mode of the construction machine is a repetitive work mode, and the method includes: acquiring the engine speed of the construction machine in one work cycle Action execution sequence; determine the action duration corresponding to each action in the multiple actions in the work cycle; obtain the torque information of each action; based on the torque information and the relationship between the torque and the rotational speed under the preset optimal fuel consumption, Determine the target rotational speed of the engine corresponding to each action; when the construction machine repeatedly executes the work cycle, control the engine speed.

Optionally, controlling the speed of the engine according to the action execution sequence, the action duration corresponding to each action, and the target speed includes: controlling the engine to correspond to the current action within the action duration corresponding to the current action. Operate at the target speed of the action.

Optionally, the determining the action duration corresponding to each of the multiple actions in the work cycle includes: monitoring the action current of the construction machinery; based on the action execution sequence and the action current, determining the Action duration corresponding to each of the multiple actions mentioned above.

Optionally, the determining the action duration corresponding to each action in the plurality of actions based on the action execution order and the action current includes: based on the action execution order and the amplitude change of the action current, Sequentially determine the first action duration corresponding to each action in the same operation cycle; obtain the first action duration of each action in multiple operation cycles, calculate the average value of the first action duration corresponding to each action, and obtain the each The action duration corresponding to each action.

Optionally, the sequentially determining the first action duration corresponding to each action in the same operation cycle based on the action execution order and the amplitude change of the action current includes: determining the current duration according to the amplitude change of the action current. The first moment and the second moment of the action, wherein the first moment is the start moment of the action, and the second moment is the end moment of the action; based on the first moment and the second moment, calculate the corresponding The duration of the first action.

Optionally, the determining the first moment and the second moment of the current action according to the magnitude change of the action current includes: according to the action execution order, when the magnitude of the action current is greater than the first threshold When the time exceeds the first time, it is determined that the moment when the magnitude of the action current rises to the first threshold is the first moment; when the time when the magnitude of the action current is less than the second threshold exceeds the second time, determine The moment when the magnitude of the operating current drops to the second threshold is the second moment, wherein the first threshold is greater than the second threshold.

Optionally, before calculating the first action duration corresponding to the current action based on the first moment and the second moment, the method further includes: calculating the second moment and the next action duration of the current action the time difference between the first moments; judge whether the time difference is less than the third time; when the time difference is less than the third time, it is determined that the next action belongs to the current action, and the second moment of the current action Update to the second moment of the next action.

Optionally, the method further includes: when the construction machine is started to run, judging whether the construction machine is in an action mode; when the construction machine is in an action mode, controlling the engine to run at a first rotational speed.

Optionally, the method further includes: when the operation mode of the construction machine is not activated, controlling the engine to run at a second rotational speed, the second rotational speed being lower than the first rotational speed.

Optionally, the method further includes: when it is detected that the construction machine has not turned on the action mode for a fourth time, controlling the engine to run at a third speed, the third speed being lower than the second speed.

Optionally, the construction machine is an excavator.

According to the second aspect, an embodiment of the present invention provides an engine speed control device for a construction machine, the working mode of the construction machine is a repetitive operation mode, and the device includes: an acquisition module, configured to acquire the Action execution sequence in a job cycle; the first processing module is used to determine the action duration corresponding to each action among the multiple actions in the job cycle; the second processing module is used to obtain the torque of each action information; the third processing module is used to determine the target speed of the engine corresponding to each action based on the torque information and the relationship between torque and speed under the preset optimal fuel consumption; the fourth processing module is used to When the construction machine repeatedly executes the work cycle, the engine speed is controlled according to the action execution sequence, the action duration corresponding to each action, and the target speed.

According to a third aspect, an embodiment of the present invention provides a construction machine, the construction machine is provided with an engine and a controller, and the working mode of the construction machine is set as a repetitive operation mode, wherein,

The controller includes: a memory and a processor, the memory and the processor are connected in communication with each other, computer instructions are stored in the memory, and when the processor executes the computer instructions, the first aspect or The method described in any one of the optional embodiments of the first aspect.

According to the fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and the computer instructions are used to make the computer execute the first aspect or any one of the first aspect. Choose the method described in the implementation mode.

The technical scheme of the present application has the following advantages:

The engine speed control method, device and construction machine for construction machinery provided by the embodiments of the present invention are applied to construction machinery in repetitive operation mode, and the engine speed is adjusted by using the operation duration as the adjustment cycle, which not only reduces the energy consumption of the engine, It also ensures the continuity of the action of the construction machinery during the operation and ensures the effect of the operation. Moreover, in the repetitive operation mode, after obtaining the action duration and target speed corresponding to each action, the periodic control of the engine speed can be automatically realized, and there is no need to individually regulate each operation cycle, and the control method is more convenient and effective. Good for engineering applications.

Brief description of the drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

Fig. 1 is a schematic structural diagram of a construction machine according to an embodiment of the present invention.

Fig. 2 is a flowchart of a method for controlling engine speed of a construction machine according to an embodiment of the present invention.

Fig. 3 is a flow chart of an engine speed control method for a construction machine according to another embodiment of the present invention.

Fig. 4 is a flowchart of an engine speed control method for construction machinery according to another embodiment of the present invention.

Fig. 5 is a flow chart of an engine speed control method for a construction machine according to another embodiment of the present invention.

FIG. 6 is a specific schematic diagram of motion recognition based on motion current according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of an engine speed control device according to an embodiment of the present invention.

Fig. 8 is a schematic structural diagram of a controller of a construction machine according to an embodiment of the present invention.

Modes of Carrying Out the Invention

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present application.

The technical features involved in different embodiments of the present invention described below may be combined with each other as long as they do not constitute a conflict with each other.

Construction machinery such as excavators plays a very important role in engineering construction. Most construction machinery uses engines to provide power sources for various engineering operations. With the increasing demand for energy saving and emission reduction, how to improve the fuel consumption of engines has become the focus of research in the field of construction machinery. Among them, adjusting the engine speed is the most widely used method for improving fuel consumption. For example, the following two types of engine speed adjustment methods: one is to adjust the speed in real time, and its advantage is that it can theoretically make the engine fuel consumption at the lowest fuel consumption in real time. However, Since the standard operation of construction machinery requires the coherent execution of each operation action, taking an excavator as an example, it needs to repeatedly execute multiple actions in actual working conditions. This real-time adjustment of the engine speed will seriously affect the coherence between the actions of the excavator In addition, it will cause additional consumption during the frequent adjustment of the speed, making it difficult to achieve the desired effect of actual fuel consumption; the other is to adjust the speed in the working mode, such as in the heavy-load mode with the universal characteristics of the engine corresponding to the heavy load Curve to adjust the speed. In the light load mode, the speed is adjusted according to the universal characteristic curve of the engine corresponding to the light load. Although it improves the fuel consumption, there may be multiple continuous actions of the excavator, such as loading, lifting, and rotation, which all belong to the heavy load mode. As a result, this speed adjustment method will still cause the problem of incoherent actions caused by frequent adjustment of the speed in the same working mode, which will affect the normal operation of the project. That is to say, the above-mentioned rotating speed adjustment methods all have the problem that the frequent adjustment of the rotating speed causes the movement of construction machinery to be incoherent, which in turn affects the normal operation of the project.

Based on the above problems, an embodiment of the present invention provides an engine speed control method for engineering machinery, which can be specifically applied to a controller in the engineering machinery, and the working mode of the engineering machinery can be a repetitive operation mode. Fig. 1 is a schematic structural diagram of a construction machine according to an embodiment of the present invention. As shown in Figure 1, the engineering machinery includes: an engine 1 and a controller 2, wherein the controller 2 is used to adjust the rotational speed of the engine. In the embodiment of the present invention, the engineering machinery is described with an excavator as an example. For other specific structures, reference may be made to related mechanical designs of excavators in the prior art, and details are not repeated here. Taking an excavator as an example, when its working mode is set to the repetitive operation mode, it is in the state of repeatedly performing a series of operation actions, that is to say, the repetitive operation mode can include multiple operation cycles, and each operation cycle includes multiple job action. For example, when performing excavation operations, the excavation, rotation, unloading, and rotation return operations are performed as one operation cycle. When the excavator is in the repetitive operation mode, it realizes repeated excavation operations by continuously executing multiple operation cycles.

Through the cooperation of the above-mentioned components, the construction machinery provided by the embodiment of the present invention, by determining the action duration of each action in a working cycle, and then determining the adjustment time point of the engine speed according to the action duration, not only reduces the energy consumption of the engine, It also ensures the continuity of the action of the construction machinery during the operation and ensures the effect of the operation. Moreover, in the repetitive operation mode, after obtaining the action duration and target speed corresponding to each action, the periodic control of the engine speed can be automatically realized, and there is no need to individually regulate each operation cycle, and the control method is more convenient and effective. Good for engineering applications.

Fig. 2 is a flowchart of a method for controlling engine speed of a construction machine according to an embodiment of the present invention. As shown in Figure 2, the engine speed control method for construction machinery provided by the embodiment of the present invention specifically includes the following steps:

Step S101: Acquiring the action execution order of the construction machinery in one operation cycle.

Among them, when the construction machinery is performing a certain construction operation, its action execution sequence is usually fixed. For example, when an excavator is performing excavation operations, it is a complete operation cycle to perform excavation, rotation, unloading and rotation return. Wherein, one job cycle may include multiple actions.

Step S102: Determine the action duration corresponding to each action in the plurality of actions.

When construction machinery is performing operations, each action needs to last for a period of time, that is to say, each action has a corresponding action duration. The duration of each action can be preset, or can be determined by the driver's actual operation, or can also be set in other ways. Therefore, when determining the action duration, the action duration corresponding to each action can be obtained directly from the operation parameters of the construction machinery, or the action duration corresponding to each action can be judged by monitoring the change of the action current of the operating handle. In other embodiments of the present invention, the corresponding action duration determination method can also be selected according to the actual action duration setting method.

Step S103: Obtain the torque information of each action.

Specifically, the torque information within the action duration corresponding to each action may be respectively determined based on the action execution sequence. Wherein, the torque information may be the torque percentage obtained directly from the engine, or it may be the torque value converted according to the torque percentage and the torque parameter of the engine itself. In the embodiment of the present invention, the torque value is taken as an example. Note, this is just an example, not a limitation.

Step S104: Based on the torque information and the relationship between the torque and the rotational speed under the preset optimum fuel consumption, determine the target rotational speed of the engine corresponding to each action.

Wherein, the relationship between the torque and the rotating speed under the preset optimal fuel consumption can be obtained according to the universal characteristic curve of the engine actually installed on the construction machine. For example, the torque value corresponds to the output power of the engine. On the universal characteristic curve, first draw a straight line through all the constant power curves, and move each point on the straight line along the constant power curve until you find the point with the lowest fuel consumption. The shifted points are connected to obtain an optimal fuel consumption shift curve, and the optimal fuel consumption shift curve can represent the above-mentioned relationship between torque and rotational speed under the preset optimal fuel consumption. It should be noted that the relationship between the torque and the rotational speed under the preset optimal fuel consumption can also be obtained by other methods, and the present application is not limited thereto.

Exemplarily, the target speed is given by taking points from the above optimal fuel consumption shift curve, wherein the corresponding relationship between torque and speed in the optimal fuel consumption shift curve may include: (260, 1500), (310, 1590), (440 , 1660), (750, 1750), (1000, 1910), (1016, 1950).

In practical applications, while controlling the engine speed, it is also possible to calculate the ratio of the engine speed to the previous speed change, and adjust the displacement of the hydraulic pump on the construction machinery according to the ratio to make the main pump discharge The volume changes in the opposite direction according to this ratio to ensure that the output flow of the hydraulic pump remains unchanged and the speed change action is more stable.

Step S105: When the construction machine repeatedly executes the work cycle, the engine speed is controlled according to the action execution sequence, the action duration corresponding to each action, and the target speed.

Specifically, the action duration and target speed corresponding to the current action may be determined according to the action execution sequence, and the engine may be controlled to run at the corresponding target speed within the action duration corresponding to the current action.

Wherein, when construction machinery performs repeated operations, the engine speed can be controlled according to the action duration and target speed corresponding to each action in each operation cycle. Still taking an excavator as an example, for example, a working cycle of an excavator can include excavation action and rotation action. Assume that the action duration of the excavation action is 30s, the corresponding target speed is 1800 rpm, and the action duration of the rotation action is 10s. The corresponding target speed is 1600 rpm. Then, when the excavator performs repeated operations, the engine can be controlled to run at a speed of 1800 rpm for 30s in each operation cycle, and then run at a speed of 1600 rpm for 10s. , and so on.

By performing the above steps, the engine speed control method provided by the embodiment of the present invention determines the action duration of each action in a working cycle, and takes the action duration of each action as the adjustment period of the engine speed, while reducing engine energy consumption. , to ensure the continuity of the construction machinery in the operation process and ensure the operation effect. Moreover, in the repetitive operation mode, after obtaining the action duration and target speed corresponding to each action, the periodic control of the engine speed can be automatically realized, and there is no need to individually regulate each operation cycle, and the control method is more convenient and effective. Good for engineering applications.

As shown in FIG. 3, in another embodiment, step S102 in the embodiment shown in FIG. 2 may include the following steps:

Step S201: Monitor the operating current of the construction machinery.

Step S202: Determine the action duration corresponding to each action in the plurality of actions based on the action execution sequence and action current.

Specifically, in the same work cycle, when the construction machine performs different actions, the type of the currently performed action can be distinguished according to the change of the action current.

When construction machinery is working, each action needs to be controlled by the operating handle. Therefore, by monitoring the operating current of the operating handle, the execution status of each action can be determined. Specifically, when the driver performs a certain action through the control handle, the action current gradually increases, and after the action is completed, the action current gradually decreases, and when the next action is performed, the change trend of the action current remains the same. Therefore, according to the action execution sequence and the change of the action current, the action duration corresponding to each action can be determined, that is, how long each action has been executed.

By performing the above steps, the engine speed control method provided by the embodiment of the present invention uses the operating current of the construction machine to analyze the action duration of each action in a work cycle, and can accurately obtain the action time of each action of the construction machine according to the actual situation, thereby realizing Real-time adjustment of engine speed further improves the continuity of construction machinery during operation.

As shown in FIG. 4, in another embodiment, step S202 in the embodiment shown in FIG. 3 may include the following steps:

Step S2021: Based on the action execution sequence and the magnitude change of the action current, sequentially determine the first action duration corresponding to each action in the same operation cycle.

Among them, the start time and end time of each action can be judged according to the action execution sequence according to the amplitude change of the action current, and the time length between the start time and the end time is the first action duration of the corresponding action. Specifically, when the time when the magnitude of the action current is greater than the first threshold exceeds the first time, the moment when the magnitude of the action current rises to the first threshold can be taken as the first moment of the action (that is, the opening moment); If the time during which the amplitude of the operating current is less than the second threshold exceeds the second time, the moment when the amplitude of the operating current drops to the second threshold can be taken as the second moment (ie, the end moment) of the action. Here, the first threshold is greater than or equal to the second threshold. Based on the first moment and the second moment, the first action duration corresponding to the current action is calculated.

Among them, the first threshold is the corresponding minimum current value when the action starts, and the second threshold is the corresponding maximum current value when the action ends. The first threshold and the second threshold can be the same or different, depending on the actual control accuracy requirements of the engine speed. and the anti-jamming ability can be flexibly set, and the embodiments of the present invention are not limited thereto. The first time and the second time are to avoid the problem of misjudgment of the start and/or end of the action caused by the sudden change of the action current due to external interference, and improve the accuracy of action recognition. In the time application, the first time and the second time may be the same or different, and the specific setting values may be set according to actual needs, and the embodiments of the present invention are not limited thereto.

Specifically, before calculating the first action duration corresponding to the current action based on the first moment and the second moment, the above engine speed control method further includes:

Calculate the time difference between the second moment of the current action and the first moment of the next action; judge whether the time difference is less than the third time; when the time difference is less than the third time, determine that the next action belongs to the current action, and set the The second moment is updated as the second moment of the next action.

That is to say, when the time difference between the two detected actions is too short, it can be considered that the two actions actually belong to the same action, that is, the current action has not really ended, and the amplitude change of the action current detects The next action of is actually still part of the current action. For example, when the excavator encounters a hard rock during the excavation action, it may cause a short-term drop in the action current and then rise again. The controller detects a second moment and a new first moment, but actually digs The action is not over, and the second moment detected by the controller is not the real second moment of the digging action. In this case, when the second moment of the current action (such as the moment when the current drops briefly) is detected, the current action is not over, and the real second moment of the current action should be the detected second moment of the next action. Two moments. Therefore, the real first action duration of the current action is actually the time difference between the first moment of the current action and the second moment of the next action detected by the controller.

For another example, the first action duration of the current action can also be determined through the following steps: calculating the time difference between the second moment corresponding to the previous action and the first moment of the current action; judging whether the time difference is less than the third time; At three times, it is determined that the current action and the previous action belong to the same action, and the first time corresponding to the previous action is used as the start time of the same action, and the second time of the current action is used as the end time of the same action.

Step S2022: Obtain the first action duration of each action in multiple operation cycles, calculate the average value of the first action duration corresponding to each action, and obtain the action duration corresponding to each action.

Specifically, the multiple working cycles can be set according to actual control precision requirements, such as: 3 working cycles or 5 working cycles, etc. In practical applications, in the repeated operations of excavators, the execution time of each action in each operation cycle may be affected by the actual working conditions, and there will be fluctuations in individual operation cycles. Therefore, by monitoring the execution time of actions in multiple operation cycles , and take the average time of the execution time as the execution time of the action to further improve the accuracy of the corresponding action time of each execution action, which is conducive to improving the accuracy of the speed control of the excavator during repeated operations.

Exemplarily, FIG. 6 is a specific schematic diagram of motion recognition based on motion current according to an embodiment of the present invention. As shown in Figure 6, A represents the no-action threshold, and points below A can be considered as no-action or invalid actions. And as the current increases and gradually exceeds A, it can be considered that the action is on. Over time, a complete action recognition process is as follows:

1) When the data is not higher than line A, no processing is performed, and the action remains closed;

2) Turn on the forward counter when the detected data is higher than point ①;

3) When the forward counter (that is, the current value is continuously higher than point ①) meets the threshold condition, mark point ① as the moment when the action is turned on;

4) When it is detected that the current value is lower than point ②, start the negative counter;

5) When the negative counter (that is, the current value continues to be lower than point ②) meets the threshold condition, mark point ② as the moment when the action ends.

Among them, the role of the positive counter and the negative counter is to avoid misjudgment due to instantaneous current fluctuations.

In addition, when the next action is detected, the difference between the end time of the current action and the last action will be compared. If the time difference is too short, it will be considered that the two belong to the same action. At this time, it will not be marked as a new action start, and The action duration corresponding to the previous action is updated, thereby further improving the accuracy of action recognition, and further improving the accuracy of engine speed control, which is conducive to maintaining the continuity of action execution and reducing engine fuel consumption.

For example, the following steps can be used: calculate the time difference between the second moment corresponding to the last action and the current first moment; judge whether the time difference is less than the third time; Extracting a third moment at which the time when the magnitude of the action current is less than the second threshold exceeds the second time; and updating the third moment to the second moment corresponding to the previous action.

As shown in FIG. 5 , in another embodiment, before step S101 shown in FIG. 2 is executed, the above-mentioned engine speed control method further includes the following steps:

Step S106: When the construction machine starts running, it is determined whether the construction machine is in an action mode.

Among them, taking an excavator as an example, after the excavator is started, the driver needs to turn on the "pilot" of the excavator before operating the handle to control the excavator to perform corresponding actions. Only when the "pilot" is turned on, can the excavator be controlled to perform actions. The "pilot" set on the excavator is the pilot switch, which is used to control the signal to start the action mode of the excavator. Only when the "pilot" is turned on, the excavator machine is in action mode.

Step S107: When the construction machine is in the action mode, control the engine to run at the first rotational speed.

Among them, the first speed is the speed set in order to prevent the driver from suddenly manipulating the handle to perform actions when the "pilot" of the excavator is turned on, resulting in a sudden increase in load and speed at the same time, resulting in a slow response of the engine speed control of the excavator , the rotational speed is a relatively high rotational speed, such as 1500 rpm, etc., and this embodiment of the present invention is only taken as an example, and is not limited thereto.

Step S108: When the construction machine is not in the action mode, control the engine to run at the second speed.

Wherein, the second rotational speed is smaller than the first rotational speed. Specifically, if the "pilot" of the excavator is off, it means that the excavator cannot perform actions. At this time, the engine is controlled to run at a lower speed to reduce fuel consumption. Exemplarily, the second speed may be 1300 rpm. In practical applications, the second speed can be set according to the actual needs of construction machinery. For example, the lower the setting, the lower the fuel consumption, but the response speed will be affected when performing actions. On the contrary, the higher the setting, the faster the response speed, but the higher the fuel consumption. , an appropriate second rotational speed can be selected according to the importance of the two conditions to the construction machine, and the embodiments of the present invention are not limited thereto.

Step S109: When it is detected that the construction machine has not started the operation mode for the fourth time, control the engine to run at the third speed.

Wherein, the third rotational speed is lower than the second rotational speed. Specifically, if the "pilot" of the excavator has been in the closed state for a fourth time such as 5s, the engine is further controlled to reduce the speed to ensure low-speed operation when there is no action. For example, the engine can be controlled to run at 1100 rpm to further reduce fuel consumption. Similarly, the third rotational speed and the fourth time can also be set according to the actual requirements of the construction machine, and the embodiments of the present invention are not limited thereto.

By performing the above steps, the engine speed control method provided by the embodiment of the present invention analyzes the action duration of each action in a work cycle by using the operating current of the construction machinery, and takes the action length of each action as the adjustment period of the engine speed, which reduces the It not only reduces the energy consumption of the engine, but also ensures the continuity of the action of the construction machinery during the operation process and the operation effect. Moreover, in the repetitive operation mode, after obtaining the action duration and target speed corresponding to each action, the periodic control of the engine speed can be automatically realized, and there is no need to individually regulate each operation cycle, and the control method is more convenient and effective. Good for engineering applications. In addition, the entire speed control process does not require manual intervention, and the operator does not feel the change in the actuator speed, which is in line with practical engineering applications.

The embodiment of the present invention also provides an engine speed control device for construction machinery, and the working mode of the construction machinery is a repetitive operation mode. Fig. 7 is a schematic structural diagram of an engine speed control device according to an embodiment of the present invention. As shown in Figure 7, the engine speed control device specifically includes:

The obtaining module 701 is used to obtain the action execution sequence of the construction machine in one operation cycle. For details, refer to the relevant description of step S101 in the above method embodiment, and details are not repeated here.

The first processing module 702 is configured to determine the action duration corresponding to each of the multiple actions in the job cycle. For details, refer to the relevant description of step S102 in the above method embodiment, and details are not repeated here.

The second processing module 703 is configured to acquire torque information of each action. For details, refer to the relevant description of step S103 in the above method embodiment, and details are not repeated here.

The third processing module 704 is configured to determine the target speed of the engine corresponding to the current action based on the torque information and the relationship between the torque and the speed under the preset optimal fuel consumption. For details, refer to the relevant description of step S104 in the above method embodiment, and details are not repeated here.

The fourth processing module 705 is configured to control the rotational speed of the engine according to the action execution sequence, the action duration corresponding to each action, and the target rotational speed when the construction machine repeatedly executes the work cycle. For details, refer to the relevant description of step S105 in the above method embodiment, and details are not repeated here.

The engine speed control device for engineering machinery provided by the embodiment of the present invention is used to execute the engine speed control method provided by the above embodiment, and its implementation method is the same as the principle. For details, refer to the relevant description of the above method embodiment, and will not repeat them here .

Through the cooperative cooperation of the above-mentioned components, the engine speed control device for construction machinery provided by the embodiment of the present invention determines the action duration of each action in a work cycle, and uses the action duration of each action as the adjustment cycle of the engine speed , which not only reduces the energy consumption of the engine, but also ensures the continuity of the action of the construction machinery during the operation process and the operation effect. Moreover, in the repetitive operation mode, after obtaining the action duration and target speed corresponding to each action, the periodic control of the engine speed can be automatically realized, and there is no need to individually regulate each operation cycle, and the control method is more convenient and effective. Good for engineering applications.

Optionally, in another embodiment, the fourth processing module 705 is specifically configured to control the engine to run at a target speed corresponding to the current action within the action duration corresponding to the current action.

Optionally, in another embodiment, the first processing module 702 is specifically configured to: monitor the action current of the construction machinery; determine the action duration corresponding to each action in the plurality of actions based on the action execution sequence and the action current.

Further, in another embodiment, the first processing module 702 is specifically configured to: based on the sequence of action execution and the magnitude change of the action current, sequentially determine the first action duration corresponding to each action in the same operation cycle; obtain multiple operation The first action duration of each action in the cycle, calculate the average value of the first action duration corresponding to each action, and obtain the action duration corresponding to each action.

Optionally, in another embodiment, the method for the first processing module 702 to determine the first action duration includes: determining the first moment and the second moment of the current action according to the amplitude change of the action current, wherein the first moment is the start time of the action, and the second time is the end time of the action; based on the first time and the second time, calculate the first action duration corresponding to the current action.

Specifically, in an embodiment, the manner in which the first processing module 702 determines the first moment and the second moment of the current action according to the change in the magnitude of the action current may include: according to the action execution order, when the magnitude of the action current When the time greater than the first threshold exceeds the first time, the moment when the amplitude of the action current rises to the first threshold is determined as the first moment; when the time when the amplitude of the action current is less than the second threshold exceeds the second time, the action is determined The moment when the magnitude of the current drops to the second threshold is the second moment. Wherein, the first threshold is greater than the second threshold.

Optionally, in another embodiment, before the first processing module 702 calculates the first action duration corresponding to the current action based on the first time and the second time, it may also judge the accuracy of the second time. Specifically, the first processing module 702 may calculate the time difference between the second moment of the current action and the first moment of the next action, and judge whether the time difference is less than the third time; when it is judged that the time difference is less than the third time, determine the next An action belongs to the current action, and the second moment of the current action is updated to the second moment of the next action.

Optionally, in another embodiment, the engine speed control device may also include:

The judging module is used to judge whether the construction machinery is in the action mode when the construction machinery starts running.

For details, refer to the relevant description of step S106 in the above method embodiment, and details are not repeated here.

The first control module is used to control the engine to run at the first speed when the construction machine is in the action mode. For details, refer to the relevant description of step S107 in the above method embodiment, and details are not repeated here.

The second control module is used to control the engine to run at the second speed when the construction machine is not in the action mode. For details, refer to the relevant description of step S108 in the above method embodiment, and details are not repeated here.

Optionally, in another embodiment, the second control module may also be used to: control the engine to run at the third speed when it is detected that the construction machine has not started the action mode for a fourth time. For details, refer to the relevant description of step S109 in the above method embodiment, and details are not repeated here.

An embodiment of the present invention also provides a construction machine, for details, reference may be made to the construction machine shown in FIG. 1 . Fig. 8 is a schematic structural diagram of a controller of a construction machine according to an embodiment of the present invention. As shown in FIG. 8 , the controller in the construction machine includes: a processor 801 and a memory 802 , wherein the processor 801 and the memory 802 may be connected through a bus or in other ways. In FIG. 8 , the connection through a bus is taken as an example.

The processor 801 may be a central processing unit (Central Processing Unit, CPU). The processor 801 can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application-specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate array (Field-Programmable Gate Array, FPGA) or Other chips such as programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above-mentioned types of chips.

The memory 802, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as program instructions/modules corresponding to the methods in the above method embodiments. The processor 801 executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory 802, that is, implements the methods in the above method embodiments.

The memory 802 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created by the processor 801 and the like. In addition, the memory 802 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the storage 802 may optionally include storages that are remotely located relative to the processor 801, and these remote storages may be connected to the processor 801 through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

One or more modules are stored in the memory 802, and when executed by the processor 801, the methods in the foregoing method embodiments are executed.

The specific details of the above-mentioned controller can be understood by correspondingly referring to the corresponding relevant descriptions and effects in the above-mentioned method embodiments, and details are not repeated here.

Those skilled in the art can understand that realizing all or part of the processes in the methods of the above embodiments can be completed by instructing related hardware through computer programs, and the implemented programs can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods. Wherein, the storage medium can be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive) , abbreviation: HDD) or solid-state drive (Solid-State Drive, SSD), etc.; the storage medium may also include a combination of the above-mentioned types of memory.

Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall into the scope of the appended claims. within the limited range.

Claims

A method for controlling the engine speed of construction machinery, characterized in that the working mode of the construction machinery is a repetitive operation mode, and the method includes:

Obtaining the action execution sequence of the construction machinery in a work cycle;

Determining the action duration corresponding to each action in the multiple actions in the operation cycle;

Acquiring the torque information of each action;

determining a target speed of the engine corresponding to each action based on the torque information and the relationship between the torque and the speed under preset optimal fuel consumption;

When the construction machine repeatedly executes the work cycle, the engine speed is controlled according to the action execution sequence, the action duration corresponding to each action, and the target speed.
The engine speed control method according to claim 1, wherein the controlling the engine speed according to the action execution sequence, the action duration corresponding to each action, and the target speed includes:

The engine is controlled to run at a target speed corresponding to the current action within an action duration corresponding to the current action.
The engine speed control method according to claim 1 or 2, wherein the determining the action duration corresponding to each action in the plurality of actions in the operation cycle includes:

monitoring the operating current of the construction machinery;

Based on the action execution sequence and the action current, an action duration corresponding to each action in the plurality of actions is determined.
The engine speed control method according to claim 3, wherein the determining the action duration corresponding to each action in the plurality of actions based on the action execution sequence and the action current includes:

Based on the action execution sequence and the amplitude change of the action current, sequentially determine the first action duration corresponding to each action in the same operation cycle;

Obtaining the first action duration of each action in multiple operation cycles, calculating the average value of the first action duration corresponding to each action, and obtaining the action duration corresponding to each action.
The engine speed control method according to claim 4, wherein the sequentially determining the first action duration corresponding to each action in the same working cycle based on the action execution sequence and the amplitude change of the action current includes:

According to the amplitude change of the action current, determine the first moment and the second moment of the current action, wherein the first moment is the start moment of the action, and the second moment is the end moment of the action;

Based on the first moment and the second moment, a first action duration corresponding to the current action is calculated.
The engine speed control method according to claim 5, wherein the determining the first moment and the second moment of the current action according to the amplitude change of the action current comprises:

When the time during which the amplitude of the operating current is greater than the first threshold exceeds the first time, determine that the moment when the amplitude of the operating current rises to the first threshold is the first moment;

When the time during which the magnitude of the operating current is less than the second threshold exceeds the second time, determining that the moment when the magnitude of the operating current drops to the second threshold is the second moment,

Wherein, the first threshold is greater than or equal to the second threshold.
The engine speed control method according to claim 5, characterized in that before calculating the first action duration corresponding to the current action based on the first moment and the second moment, further comprising:

calculating the time difference between the second moment of the current action and the first moment of the next action;

judging whether the time difference is less than a third time;

When the time difference is less than the third time, it is determined that the next action belongs to the current action, and the second moment of the current action is updated to the second moment of the next action.
The engine speed control method according to claim 1, further comprising:

When the construction machine is started to run, it is judged whether the construction machine is in an action mode;

When the operation mode of the construction machine is turned on, the engine is controlled to run at the first rotational speed.
The engine speed control method according to claim 8, further comprising:

When the operation mode of the engineering machine is not turned on, the engine is controlled to run at a second rotational speed, and the second rotational speed is lower than the first rotational speed.
The engine speed control method according to claim 9, further comprising:

When it is detected that the construction machine has not turned on the operation mode for a fourth time, the engine is controlled to run at a third speed, and the third speed is lower than the second speed.
The engine speed control method according to claim 1, wherein the construction machine is an excavator.
An engine speed control device for construction machinery, characterized in that the working mode of the construction machinery is a repetitive operation mode, and the device includes:

An acquisition module, configured to acquire the execution order of actions of the construction machinery in a work cycle;

The first processing module is configured to determine the action duration corresponding to each action in the multiple actions in the operation cycle;

The second processing module is used to obtain the torque information of each action;

The third processing module is used to determine the target speed of the engine corresponding to each action based on the torque information and the relationship between torque and speed under the preset optimal fuel consumption;

The fourth processing module is configured to control the rotational speed of the engine according to the action execution sequence, the action duration corresponding to each action, and the target rotational speed when the construction machine repeatedly executes the work cycle.
A construction machine, characterized in that the construction machine is provided with an engine and a controller, and the work mode of the construction machine is a repetitive operation mode, wherein,

The controller includes: a memory and a processor, the memory and the processor are connected in communication, computer instructions are stored in the memory, and when the processor executes the computer instructions, any one of claims 1-11 is realized. The engine speed control method described in the item.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are used to make a computer execute the engine speed control method according to any one of claims 1-11.