WO2023185114A1 - Procédé de commande pour dispositif d'ingénierie, et processeur et dispositif d'ingénierie - Google Patents

Procédé de commande pour dispositif d'ingénierie, et processeur et dispositif d'ingénierie Download PDF

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Publication number
WO2023185114A1
WO2023185114A1 PCT/CN2022/140051 CN2022140051W WO2023185114A1 WO 2023185114 A1 WO2023185114 A1 WO 2023185114A1 CN 2022140051 W CN2022140051 W CN 2022140051W WO 2023185114 A1 WO2023185114 A1 WO 2023185114A1
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WO
WIPO (PCT)
Prior art keywords
engine
torque
pressure reducing
control
output torque
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Application number
PCT/CN2022/140051
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English (en)
Chinese (zh)
Inventor
宋建清
何伟
沈昌武
黄珍
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中联重科股份有限公司
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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 WO2023185114A1 publication Critical patent/WO2023185114A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

Definitions

  • the present invention relates to the technical field of engineering machinery, and specifically to a control method, a processor and engineering equipment for engineering equipment.
  • a variable piston pump with such a constant torque control device is called a constant power variable piston pump.
  • the constant power control valve continues to function. In order to prevent the engine from stalling, the constant power control valve puts the system in a constant torque state. At this time, only part of the displacement of the plunger pump is involved in the work, and the corresponding actuator of the engine cannot be used. Working at the maximum speed, the working efficiency is low; the engine is in a power-rich state, and the excess torque cannot participate in work.
  • the purpose of the present invention is to overcome the problem in the prior art that the actuator corresponding to the engine cannot work at the maximum speed and the working efficiency is low; the engine is in a power-rich state and the excess torque cannot participate in doing work, and provides an engineering equipment Control methods, processors and engineering equipment to solve the above problems.
  • the first aspect of the present invention provides a control method for engineering equipment.
  • the engineering equipment includes an engine, a proportional pressure reducing valve, a plunger pump and a control valve.
  • the control valve is connected to the proportional pressure reducing valve and the plunger pump respectively. Connection and control methods include:
  • the torque control value of the control valve is adjusted according to the output pressure of the proportional pressure reducing valve to adjust the displacement of the plunger pump, thereby adjusting the working speed of the corresponding actuator of the engine.
  • the control valve keeps the power of the plunger pump constant based on the torque control value. .
  • the first working condition includes an idle working condition;
  • the second working condition includes: the load pressure of the corresponding actuator of the engine is the largest and the displacement of the plunger pump is the largest.
  • the input current of the proportional pressure reducing valve satisfies the following formula (1):
  • I represents the current percentage of the proportional pressure reducing valve when the effective output torque of the engine is M.
  • the current percentage is the percentage of the input current and the maximum allowable current of the proportional pressure reducing valve.
  • M represents the current effective output torque of the engine, M1 Indicates the effective output torque of the engine under idling conditions, and M2 indicates the effective output torque of the engine under the second operating condition.
  • adjusting the torque control value of the control valve according to the output pressure of the proportional pressure reducing valve to adjust the displacement of the plunger pump, thereby adjusting the working speed of the corresponding actuator of the engine includes:
  • variable pressure causes the torque control value of the control valve to increase, thereby increasing the displacement of the plunger pump and increasing the working speed of the actuator.
  • increasing the variable pressure of the control valve includes:
  • variable pressure of the control valve is increased according to the increase in current of the proportional pressure reducing valve.
  • the engineering equipment also includes a control piston and a rocker.
  • the control piston is connected to the control valve and the rocker respectively.
  • the rocker is connected to the plunger pump.
  • the control method also includes:
  • control piston When the variable pressure of the control valve increases, the control piston is pushed to move and the rocker is driven to move, so that the displacement of the plunger pump increases, thereby increasing the working speed of the actuator.
  • the actuator includes an oil pump.
  • the torque of the oil pump satisfies the following formula (2):
  • M3 represents the torque of the oil pump
  • P represents the working pressure of the oil pump
  • q represents the displacement of the oil pump
  • C is the constant corresponding to the torque control value of the control valve, and C increases when the torque control value increases.
  • the engine speed increases and the effective output torque of the engine increases.
  • a second aspect of the present invention provides a processor configured to execute the above control method for engineering equipment.
  • a third aspect of the present invention provides engineering equipment, including the above-mentioned processor.
  • the effective output torque of the engine is detected, and the input current of the proportional pressure reducing valve is controlled according to the effective output torque of the engine. Specifically, when the effective output torque of the engine increases, the input current of the proportional pressure reducing valve is increased, so that the output pressure of the proportional pressure reducing valve is increased, which increases the torque control value of the constant power control valve, and subsequently increases The displacement of the plunger pump. In this way, the working speed of the actuator under heavy load conditions is effectively increased and the work efficiency is improved.
  • the output pressure of the proportional pressure reducing valve increases in proportion to the effective output torque of the engine, so that the effective output torque of the engine can fully participate in the operation and reduce torque waste. Under heavy load conditions, the utilization of the engine's effective torque is improved.
  • Figure 1 schematically shows one of the hardware connection diagrams of engineering equipment
  • Figure 2 schematically shows a flow chart of a control method for engineering equipment according to an embodiment of the present invention
  • Figure 3 schematically shows a hardware connection diagram of engineering equipment according to an embodiment of the present invention
  • Figure 4 schematically shows a graph of the output torque of the engine and the current of the proportional pressure reducing valve according to an embodiment of the present invention
  • FIG. 5 schematically shows a graph of current and pressure of a proportional pressure reducing valve according to an embodiment of the present invention.
  • a variable piston pump with such a constant torque control device is called a constant power variable piston pump.
  • Figure 1 shows the control system of a constant power variable plunger pump using a solenoid valve.
  • the control system of the constant power variable plunger pump involves: main valve throttle 10, damping 11, solenoid valve 12, load sensitive control valve 13, pressure cut-off control valve 14, constant power control valve 15, small Control piston 16, rocker 17, plunger pump 18, large control piston 19 and oil tank 20.
  • the working pressure acts on the rocker 17 through the constant power control valve 15, and the external adjustable spring force offsets this, which determines the constant power variable pressure setting P2 . If the working pressure exceeds the setting force P2 of the spring, the constant power control valve 15 drives the rocker 17, and the rocker 17 drives the plunger pump 18 to turn the pump back (towards qgmin).
  • M fmax p max *q max
  • p max is the maximum working pressure of the system
  • q max is the maximum displacement of the plunger pump.
  • the engineering equipment includes an engine, a proportional pressure reducing valve 21, a plunger pump 18 and a constant power control valve 15.
  • the constant power control valve 15 is connected to the proportional pressure reducing valve 21 and the plunger pump 18 respectively.
  • Figure 2 schematically shows a flow chart of a control method for engineering equipment according to an embodiment of the present invention. As shown in Figure 2, in one embodiment of the present invention, a control method for engineering equipment is provided, including the following steps:
  • Step 201 determine the first effective output torque of the engine under the first working condition
  • Step 202 determine the second effective output torque of the engine under the second operating condition
  • Step 203 determine the current effective output torque of the engine
  • Step 204 determine the input current of the proportional pressure reducing valve 21 according to the first effective output torque, the second effective output torque and the current effective output torque to determine the output pressure of the proportional pressure reducing valve 21;
  • Step 205 adjust the torque control value of the constant power control valve 15 according to the output pressure of the proportional pressure reducing valve 21 to adjust the displacement of the plunger pump 18, thereby adjusting the working speed of the corresponding actuator of the engine.
  • the control valve 15 is controlled based on torque. value to keep the power of the plunger pump 18 constant.
  • the effective output torque of the engine is detected, and the input current of the proportional pressure reducing valve 21 is controlled according to the effective output torque of the engine. Specifically, when the effective output torque of the engine increases, the input current of the proportional pressure reducing valve 21 is increased, so that the output pressure of the proportional pressure reducing valve 21 is increased, and the torque control value of the constant power control valve 15 is increased. As a result, the displacement of the plunger pump 18 is increased. In this way, the working speed of the actuator under heavy load conditions is effectively increased and the work efficiency is improved.
  • the output pressure of the proportional pressure reducing valve 21 increases in proportion to the effective output torque of the engine, so that the effective output torque of the engine can fully participate in the operation and reduce torque waste. Under heavy load conditions, the utilization of the engine's effective torque is improved.
  • control method for engineering equipment according to the embodiment of the present invention will be specifically described below with a specific embodiment.
  • Figure 3 schematically shows a hardware connection diagram of engineering equipment according to an embodiment of the present invention.
  • the invention discloses a constant power variable automatic adjustment control method of a plunger pump. Can be combined with Figure 2.
  • the first working condition (such as idling condition): the variable starting point pressure P1 of the constant power control valve, corresponding to the engine speed n1 and the effective output torque M1 of the engine.
  • the second working condition the highest working pressure of the system P2, which corresponds to the normal operating engine speed n2 of the maximum displacement and the effective output torque M2 of the engine.
  • the engine speed increases to n, and the current effective output torque of the engine is M.
  • the input current of the proportional pressure reducing valve 21 can be obtained through the following formula (1):
  • FIG. 4 schematically shows a graph of the output torque of the engine and the current of the proportional pressure reducing valve according to an embodiment of the present invention.
  • Maximum load torque parameters: pressure P max , engine speed n2, load maximum torque M2 P max *q max , the current of the proportional pressure reducing valve 21 is the maximum value, the current percentage is 100%, the current percentage is the proportional pressure reducing valve 21
  • the input current is a percentage of the maximum allowable current of the proportional pressure reducing valve 21.
  • the current of the electric proportional pressure reducing valve 21 is related to the change value of the effective output torque of the engine.
  • the effective output torque of the engine is M1
  • the current of the proportional pressure reducing valve 21 is zero
  • the variable pressure of the constant power control valve 15 is P1.
  • the current percentage of the proportional pressure reducing valve 21 is 100%
  • the variable pressure of the constant power control valve 15 is increased to P max .
  • FIG. 5 schematically shows a graph of current and pressure of a proportional pressure reducing valve according to an embodiment of the present invention.
  • the constant power control valve 15 drives the rocker 17 to increase the output displacement of the plunger pump 18 Increase.
  • the output torque of the engine is M
  • the current of the proportional pressure reducing valve 21 is:
  • variable pressure of the constant power control valve 15 increases to P', pushing the small control piston 16 to move to the right.
  • the small control piston 16 drives the rocker 17 to move to the right, and the displacement of the plunger pump 18 increases.
  • the variable pressure of the constant power control valve 15 increases to P max , the entire displacement of the plunger pump 18 participates in the work, and the corresponding actuator of the engine works at the maximum speed.
  • the effective output torque of the engine is maximized, so that the displacement of the plunger pump 18 is increased, and the displacement of the plunger pump 18 is effectively increased. improve the working efficiency of the actuator.
  • the displacement of the plunger pump 18 increases with the increase of the effective output torque of the engine under heavy load conditions, and the working speed of the actuator increases accordingly, effectively improving the execution efficiency. Component efficiency.
  • the output pressure of the electric proportional pressure reducing valve 21 is increased in proportion to the effective output torque of the engine, so that the effective output torque of the engine can fully participate in the operation without wasting torque. Under heavy load conditions, the utilization of the engine's effective torque is improved.
  • the current of the electric proportional pressure reducing valve 21 may also be related to the engine speed signal. Since the engine speed has an approximately linear relationship with the effective output torque before reaching the maximum effective output torque M fmax of the engine, it is feasible to use the engine speed signal as the control signal. The engine speed increases, the current of the electric proportional pressure reducing valve 21 increases, the output pressure of the proportional pressure reducing valve 21 increases, and the constant power control valve 15 drives the rocker 17 to increase the output displacement of the plunger pump 18.
  • the effective output torque signal of the engine controls the electric proportional pressure reducing valve 21.
  • the increase in current increases the output pressure of the electric proportional pressure reducing valve 21, increases the torque control value of the constant power control valve 15, and subsequently increases the displacement of the plunger pump 18, effectively improving the work of the actuator under heavy load conditions. speed, improving work efficiency.
  • An embodiment of the present invention provides a processor configured to execute any one of the control methods for engineering equipment in the above embodiments.
  • the engineering equipment includes an engine, a proportional pressure reducing valve, a plunger pump and a control valve.
  • the control valve is connected to the proportional pressure reducing valve and the plunger pump respectively.
  • the processor can be configured to:
  • the torque control value of the control valve is adjusted according to the output pressure of the proportional pressure reducing valve to adjust the displacement of the plunger pump, thereby adjusting the working speed of the corresponding actuator of the engine.
  • the control valve keeps the power of the plunger pump constant based on the torque control value. .
  • the processor is configured to:
  • the first working condition includes the idling condition; the second working condition includes: the load pressure of the corresponding actuator of the engine is the largest and the displacement of the plunger pump is the largest.
  • the processor is configured to:
  • I represents the current percentage of the proportional pressure reducing valve when the effective output torque of the engine is M.
  • the current percentage is the percentage of the input current and the maximum allowable current of the proportional pressure reducing valve.
  • M represents the current effective output torque of the engine.
  • M1 represents the engine.
  • the effective output torque under idling conditions, M2 represents the effective output torque of the engine under the second operating condition.
  • the processor is configured to:
  • Adjust the torque control value of the control valve according to the output pressure of the proportional pressure reducing valve to adjust the displacement of the plunger pump, thereby adjusting the working speed of the corresponding actuator of the engine including:
  • variable pressure causes the torque control value of the control valve to increase, thereby increasing the displacement of the plunger pump and increasing the working speed of the actuator.
  • the processor is configured to:
  • Increasing the variable pressure of the control valve includes:
  • variable pressure of the control valve is increased according to the increase in the output pressure of the proportional pressure reducing valve; and/or the variable pressure of the control valve is increased according to the increase in the current of the proportional pressure reducing valve.
  • the engineering equipment also includes a control piston and a rocker.
  • the control piston is connected to the control valve and the rocker respectively.
  • the rocker is connected to the plunger pump.
  • the processor is configured to:
  • control piston When the variable pressure of the control valve increases, the control piston is pushed to move and the rocker is driven to move, so that the displacement of the plunger pump increases, thereby increasing the working speed of the actuator.
  • the execution element includes an oil pump
  • the processor is configured to:
  • M3 represents the torque of the oil pump
  • P represents the working pressure of the oil pump
  • q represents the displacement of the oil pump
  • C is the constant corresponding to the torque control value of the control valve, and C increases when the torque control value increases.
  • the processor is configured to:
  • An embodiment of the present invention provides engineering equipment, including the above-mentioned processor.
  • any combination of various embodiments of the present invention can also be carried out. As long as they do not violate the idea of the present invention, they should also be regarded as the disclosed content of the present invention.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Valve Device For Special Equipments (AREA)
  • Control Of Positive-Displacement Pumps (AREA)

Abstract

Procédé de commande pour dispositif d'ingénierie, et processeur et dispositif d'ingénierie. Le dispositif d'ingénierie comprend un moteur, une soupape de réduction de pression proportionnelle (21), une pompe à piston (18) et une soupape de commande (15), la soupape de commande (15) étant respectivement reliée à la soupape de réduction de pression proportionnelle (21) et à la pompe à piston (18). Le procédé de commande comprend : la détermination d'un premier couple de sortie efficace d'un moteur dans une première condition de fonctionnement (201) ; la détermination d'un second couple de sortie efficace du moteur dans une seconde condition de fonctionnement (202) ; la détermination du couple de sortie effectif actuel du moteur (203) ; en fonction du premier couple de sortie efficace, du second couple de sortie efficace et du couple de sortie effectif actuel, la détermination d'un courant d'entrée d'une soupape de réduction de pression proportionnelle (21), de façon à déterminer une pression de sortie de la soupape de réduction de pression proportionnelle (21) (204) ; et le réglage d'une valeur de commande de couple d'une soupape de commande (15) en fonction de la pression de sortie de la soupape de réduction de pression proportionnelle (21), de façon à régler le déplacement d'une pompe à piston (18), ce qui permet d'ajuster la vitesse de fonctionnement d'un élément d'exécution correspondant du moteur (205). Un couple de sortie efficace d'un moteur peut pleinement participer à une opération, ce qui permet d'améliorer le taux d'utilisation du couple efficace du moteur, et d'améliorer ainsi l'efficacité de fonctionnement.
PCT/CN2022/140051 2022-03-31 2022-12-19 Procédé de commande pour dispositif d'ingénierie, et processeur et dispositif d'ingénierie WO2023185114A1 (fr)

Applications Claiming Priority (2)

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CN202210346051.4A CN114815603A (zh) 2022-03-31 2022-03-31 用于工程设备的控制方法、处理器及工程设备
CN202210346051.4 2022-03-31

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114815603A (zh) * 2022-03-31 2022-07-29 中联重科股份有限公司 用于工程设备的控制方法、处理器及工程设备

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4801247A (en) * 1985-09-02 1989-01-31 Yuken Kogyo Kabushiki Kaisha Variable displacement piston pump
CN204284038U (zh) * 2014-11-25 2015-04-22 无锡海天机械有限公司 一种用于伺服注塑机的节能动力系统
CN105351164A (zh) * 2015-10-26 2016-02-24 江苏恒立液压有限公司 轴向柱塞泵电比例扭矩控制装置及其控制方法
CN108180181A (zh) * 2017-12-27 2018-06-19 湖南响箭重工科技有限公司 一种液压系统、基于该液压系统的控制系统及强制搅拌机
CN211901133U (zh) * 2020-02-26 2020-11-10 上海波赫驱动系统有限公司 一种刮板输送机用闭式液压系统
CN212130921U (zh) * 2020-02-26 2020-12-11 上海波赫驱动系统有限公司 一种顺槽破碎机用闭式液压系统
CN114815603A (zh) * 2022-03-31 2022-07-29 中联重科股份有限公司 用于工程设备的控制方法、处理器及工程设备

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4801247A (en) * 1985-09-02 1989-01-31 Yuken Kogyo Kabushiki Kaisha Variable displacement piston pump
CN204284038U (zh) * 2014-11-25 2015-04-22 无锡海天机械有限公司 一种用于伺服注塑机的节能动力系统
CN105351164A (zh) * 2015-10-26 2016-02-24 江苏恒立液压有限公司 轴向柱塞泵电比例扭矩控制装置及其控制方法
CN108180181A (zh) * 2017-12-27 2018-06-19 湖南响箭重工科技有限公司 一种液压系统、基于该液压系统的控制系统及强制搅拌机
CN211901133U (zh) * 2020-02-26 2020-11-10 上海波赫驱动系统有限公司 一种刮板输送机用闭式液压系统
CN212130921U (zh) * 2020-02-26 2020-12-11 上海波赫驱动系统有限公司 一种顺槽破碎机用闭式液压系统
CN114815603A (zh) * 2022-03-31 2022-07-29 中联重科股份有限公司 用于工程设备的控制方法、处理器及工程设备

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