WO2024040629A1 - 挖掘装载机控制方法以及挖掘装载机 - Google Patents

挖掘装载机控制方法以及挖掘装载机 Download PDF

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Publication number
WO2024040629A1
WO2024040629A1 PCT/CN2022/116138 CN2022116138W WO2024040629A1 WO 2024040629 A1 WO2024040629 A1 WO 2024040629A1 CN 2022116138 W CN2022116138 W CN 2022116138W WO 2024040629 A1 WO2024040629 A1 WO 2024040629A1
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Prior art keywords
backhoe loader
engine
variable pump
power
mode
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PCT/CN2022/116138
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English (en)
French (fr)
Inventor
李明帅
耿彦波
吉哲
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江苏徐工工程机械研究院有限公司
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Priority to EP22941880.1A priority Critical patent/EP4350087A1/en
Publication of WO2024040629A1 publication Critical patent/WO2024040629A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/963—Arrangements on backhoes for alternate use of different tools
    • E02F3/964—Arrangements on backhoes for alternate use of different tools of several tools mounted on one machine
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives

Definitions

  • the present disclosure relates to the field of construction machinery, and specifically relates to a backhoe loader control method and an backhoe loader.
  • the backhoe loader is a multi-functional engineering machine that integrates excavation, loading and traveling. All functions are powered by the engine. Among them: when the excavation end is working, loading and walking do not work; when traveling long distances, excavation and loading do not work; when the loading end works, a compound action with walking is required.
  • the traveling system includes the engine, gearbox, drive axle and tire drive; loading operations and excavation operations are powered by the hydraulic system, driven by the engine, gearbox, hydraulic pump and cylinder.
  • the existing backhoe loader hydraulic system is a fixed-power pump hydraulic system or a constant-power variable pump hydraulic system.
  • the power of the hydraulic system is too small and the engine power cannot be fully utilized.
  • Some embodiments of the present disclosure provide a backhoe loader control method, including the following steps:
  • the power upper limit threshold P 0 of the variable pump of the backhoe loader is set;
  • the backhoe loader includes an engine, a variable pump, a travel system, a loading operation system and an excavation operation system;
  • the work Modes include: driving mode, loading operation mode, and excavation operation mode;
  • the power upper limit threshold P 0 of the variable pump is adjusted according to the actual load of the backhoe loader in the current working mode.
  • adjusting the power upper limit threshold P 0 of the variable pump according to the actual load of the backhoe loader in the current working mode includes the following steps:
  • the power upper limit threshold P 0 of the variable pump is reduced.
  • the following steps are used to determine whether there is an overload risk: determine whether there is an overload risk based on working condition characteristics, load changes, and engine speed changes.
  • adjusting the power upper limit threshold P 0 of the variable pump according to the actual load of the backhoe loader in the current working mode includes the following steps:
  • If there is no risk of overloading the backhoe loader obtain the actual load of the engine, determine the working condition characteristics based on the load situation within the set time, and determine the maximum load allowed for the engine based on the working condition characteristics;
  • the power upper limit threshold P 0 of the variable pump is increased.
  • setting the power upper limit threshold P 0 of the variable pump according to the working mode of the backhoe loader specifically includes:
  • the power upper limit threshold of the variable pump of the backhoe loader is set to P 01 , the power upper limit threshold P 01 and the maximum power required by the traveling system P W The sum is greater than the power of the engine P engine , that is: P 01 + P W > P engine .
  • setting the power upper limit threshold P 0 of the variable pump according to the working mode of the backhoe loader specifically includes:
  • the power upper limit threshold P02 of the variable pump of the backhoe loader is set to X0 % of the maximum available power of the engine, and the engine is at the same speed ,P 02 >P 01 .
  • the X 0 ranges from 85 to 100.
  • setting the power upper limit threshold P 0 of the variable pump according to the driving mode of the backhoe loader specifically includes:
  • the power upper limit threshold P 03 of the variable pump of the backhoe loader is set to the minimum power of the variable pump.
  • the backhoe loader control method further includes the following steps:
  • the set economic speed N 0 is 1500 rpm to 2000 rpm.
  • Some embodiments of the present disclosure provide an backhoe loader, which includes:
  • a variable displacement pump drivingly connected to the engine
  • a driving system drivingly connected to the engine
  • the loading operation system is hydraulically connected to the variable pump
  • a control system is communicatively connected to both the engine and the variable pump, and the control system is configured to execute the backhoe loader control method provided by any technical solution of this disclosure.
  • control system includes:
  • the whole machine controller is communicatively connected with the variable pump;
  • the engine ECM is communicatively connected with the whole machine controller and with the engine.
  • control system further includes:
  • the economic mode switch is communicatively connected with the whole machine controller.
  • the backhoe loader further includes:
  • the display is communicatively connected with the whole machine controller.
  • control system is configured to perform the following steps: use a set formula to calculate the engine speed n according to the implement flow rate Q input by the display, and generate the calculated engine speed signal Transmitted to the engine ECM to control the engine speed n.
  • control system is further configured to perform the following steps: when the control system receives the implement flow signal, the control system blocks the engine foot throttle signal and the hand throttle signal, and the control system The engine speed n is not controlled based on either the engine foot throttle signal or the hand throttle signal.
  • the backhoe loader includes an automatic shift mode and a power shift mode, and the automatic shift mode and the power shift mode are switched through the display.
  • control system is configured to set the economic speed of the engine.
  • speed N of the engine is within the value range of the set economic speed N 0
  • the power of the engine is set. is the rated power.
  • the set economic speed N 0 is 1500 rpm to 2000 rpm.
  • the backhoe loader control method provided by the above technical solution has an adjustable variable pump, and according to the working mode of the backhoe loader, the power upper limit threshold P 0 of the variable pump of the backhoe loader is set; according to the current working mode of the backhoe loader, According to the actual load in the mode, adjust the power upper limit threshold P 0 of the variable pump so that the actual power of the variable pump can be the highest power upper limit threshold P 0 .
  • the set power upper limit threshold P 0 is different in different working modes; in each working mode, according to the actual load condition of the system, the power of the variable pump can be adjusted in real time, steplessly and continuously. To maximize the use of engine output power, improve work efficiency, improve energy efficiency, and reduce energy consumption.
  • Figure 1 is a schematic structural diagram of an backhoe loader provided by some embodiments of the present disclosure.
  • Figure 2 is a schematic diagram of the connection relationship between the backhoe loader engine and the traveling system provided by some embodiments of the present disclosure.
  • Figure 3 is a schematic flowchart of an backhoe loader control method provided by some embodiments of the present disclosure.
  • FIG. 4 is a schematic flowchart of real-time adjustment of variable pump power by the backhoe loader control method provided by some embodiments of the present disclosure.
  • an backhoe loader is a device that can both dig and load.
  • the backhoe loader includes an engine 1, a variable displacement pump 2, a traveling system 3, a loading operation system 4, an excavation operation system 5 and a control system 6.
  • the variable pump 2 controls the hydraulic parts of the loading operation system 4 and the excavation operation system 5 .
  • the variable pump 2 and the respective hydraulic parts of the loading operation system 4 and the excavation operation system 5 together serve as the hydraulic system of the backhoe loader.
  • Engine 1 is used to provide the power required by the backhoe loader.
  • the maximum power allowed by the engine 1 refers to the maximum power that the engine 1 can use for work. If the load of the operation is greater than the maximum power allowed by engine 1, the backhoe loader may be overloaded, causing the backhoe loader to malfunction or not work properly.
  • the risk of overloading is not limited to the above situation, but there are other situations that may lead to the risk of overloading: for example, the speed of engine 1 drops a lot, and there may be a risk of overloading in the future; for example, the load has been increasing rapidly, and there may be a risk of overloading in the future. There may be a risk of overloading.
  • the backhoe loader has both a mechanical connection structure, a hydraulic system, and a signal connection part.
  • the engine 1, the variable pump 2, and the traveling system 3 all achieve driving connections through mechanical connections.
  • the variable pump 2, the loading operation system 4, and the excavation operation system 5 are hydraulically connected through hydraulic pipelines.
  • the control system 6 is connected through communication with the engine 1, the variable pump 2, the economic mode switch 7 and the display 8 introduced later.
  • the engine 1 is drivingly connected to the variable displacement pump 2. Specifically, the engine 1 is drivingly connected to the torque converter 31 , the torque converter 31 is drivingly connected to the gearbox 32 , and the gearbox 32 is drivingly connected to the variable pump 2 to drive the variable pump 2 to work.
  • the engine 1 is also drivingly connected to the driving system 3 .
  • the driving system 3 includes a transmission shaft 33 , an axle 34 , and tires 35 .
  • the engine 1 drives the gearbox 32 through the torque converter 31, the gearbox 32 drives the transmission shaft 33, the transmission shaft 33 drives the axle 34, and the axle 34 drives the tire 35 to rotate, thereby realizing the driving of the backhoe loader.
  • the variable pump 2 is hydraulically connected to the loading operation system 4 and the excavation operation system 5 .
  • the variable pump 2 selects one to drive the loading operation system 4 or the excavation operation system 5 according to different working modes.
  • the loading operation system 4 includes a loading multi-way valve, and the variable pump 2 is in fluid communication with the loading multi-way valve.
  • the excavation operation system 5 includes an excavation multi-way valve, and the variable pump 2 is in fluid communication with the excavation multi-way valve.
  • the loading operation system 4 and the excavation operation system 5 each include machines and tools.
  • the machines and tools of the loading operation system 4 are used to realize the loading side operation, and the machines and tools of the excavation operation system 5 are used to realize the excavation side operation.
  • various machines and tools of the loading operation system 4 and the excavation operation system 5 are collectively referred to as machines.
  • the backhoe loader has three operating modes: loading mode, excavation mode, and driving mode.
  • the backhoe loader performs both loading and driving operations, but there is no digging operation.
  • the power consumed by the backhoe loader is mainly used for loading and driving.
  • the backhoe loader In the excavation operation mode, the backhoe loader only performs excavation without driving or loading operations. In the excavation operation mode, the power consumed by the backhoe loader is mainly used for excavation operations.
  • the backhoe loader In travel mode, the backhoe loader only travels, without excavation or loading operations. In driving mode, the power consumed by the backhoe loader is mainly used for moving the vehicle.
  • the variable pump 2 is driven by the engine 1, and the engine 1 is controlled by a control system 6.
  • the control system 6 includes a complete machine controller 61 and an engine ECM 62 connected by communication.
  • Engine 1 is specifically controlled by engine ECM62.
  • ECM is the abbreviation of Engine Control Module.
  • the whole machine controller 61 is communicatively connected with the variable pump 2, the economic mode switch 7, the display 8, the loading multi-way valve, the excavation multi-way valve and other components.
  • Parameters related to the backhoe loader operation such as real-time power, vehicle speed, vehicle speed changes, load, load changes and other parameters, are transmitted to the display 8 by the whole machine controller 61 and displayed on the display 8 to facilitate the operator to know Current working parameters of the backhoe loader.
  • the main parameter of the variable pump 2 is power.
  • the maximum power of the variable pump 2 is adjusted through the variable pump power control valve 21, that is, the power upper limit threshold P 0 .
  • the power upper limit threshold P 0 After the power upper limit threshold P 0 is set, it does not remain unchanged, but is continuously adjusted according to the actual working conditions of the backhoe loader. That is, a power upper limit threshold P 0 will be determined in each adjustment cycle. After entering the next adjustment cycle , the power upper limit threshold P 0 will be adjusted again, that is, the power upper limit threshold P 0 changes in real time.
  • the variable pump power control valve 21 can adopt either direct proportional power control or inverse proportional control. If the variable pump power control valve 21 adopts inverse proportional control, when the variable pump power control valve 21 fails, the power of the variable pump 2 is always the maximum power, so that when the engine 1 of the excavator loader operates in the economic speed range, the engine The power of 1 is the set rated power, and the backhoe loader can work normally even if the variable pump power control valve 21 fails. If the variable pump power control valve 21 adopts proportional control, and the variable pump power control valve 21 fails, the power of the variable pump 2 will be the minimum power, making it difficult for the backhoe loader to operate normally.
  • the maximum displacement V MAX of the variable pump 2 is calculated and determined based on the flow required for conventional loader excavation operations and at the set economic speed N 0 . After the variable pump 2 is selected, the maximum displacement V MAX of the variable pump 2 is determined and is a fixed value. In some embodiments, the set economic speed N 0 of the variable pump 2 is 1500 rpm to 2000 rpm. When the excavation operation system 5 is in working condition, the maximum working speed of the excavation end is set to the optimal economic working speed N 0 .
  • V MAX is the maximum displacement of variable pump 2
  • N is the engine speed.
  • V MAX is a fixed value
  • V MAX is calculated based on the flow required for normal loading and excavation operations (excluding equipment) at the economic speed N 0 .
  • the required flow Q can be achieved by increasing the engine speed N1 to greater than the economic speed N0 .
  • the speed N calculated by the computer is transmitted to the engine ECM62, and the engine ECM62 controls the engine 1 to output the required speed.
  • the engine speed n will not be controlled based on the engine foot throttle signal and hand throttle signal.
  • control system 6 blocks the engine foot throttle signal and the hand throttle signal, and the control system 6 does not control the engine speed n based on either the engine foot throttle signal or the hand throttle signal, but based on the implement flow signal. Control the engine speed n. If the machine tool has no flow input signal, it means that the machine tool is not working.
  • the control system 6 determines the required engine 1 speed based on the hand throttle or foot throttle signal, and sends the signal to the engine ECM62.
  • the engine ECM62 controls the engine 1 to output the required speed.
  • the above process is also called the rotation speed required when the machine tool is working.
  • the N machine has a high priority.
  • an economic mode switch 7 is further set.
  • Economy mode switch 7 is a switch specially used to control the maximum value of the engine 1 speed N of the backhoe loader.
  • the economic mode switch 7 When the economic mode switch 7 is pressed, the highest value of the engine speed N is set to the economic speed NO, so that the backhoe loader can save more energy while ensuring operating efficiency.
  • the economic mode switch 7 is suitable for loading operation mode. Specifically, in the loading operation mode, when the distance that needs to be moved during the loading operation is relatively short, the function is started by controlling the economic mode switch 7.
  • the speed N of the engine 1 is: idle ⁇ N0, and the vehicle speed decreases, but due to the engine 1 is configured as follows:
  • the speed N of engine 1 is within the value range of the set economic speed N 0
  • the power of engine 1 is set to the rated power, so the hydraulic system of the backhoe loader can still reach the maximum flow and pressure. , making the backhoe loader more energy-saving without reducing its operating efficiency.
  • the traveling system 3 is used to control the traveling of the vehicle.
  • the backhoe loader includes an automatic shift mode and a power shift mode.
  • the automatic shifting mode is used to automatically switch the gear of the driving system 3 according to the input signal to change the driving speed.
  • the power shift mode the operator manually switches gears to change the driving speed.
  • Automatic shifting mode and power shifting mode can be switched between each other.
  • the operator selects the required shifting mode according to the actual situation, and switches between the two modes at any time as needed.
  • the signal input end of the switching module is set on the display 8, and the automatic shifting mode and the power shifting mode are switched by operating the display 8.
  • some embodiments of the present disclosure provide a backhoe loader control method, including the following steps:
  • Step S100 Set the power upper limit threshold P 0 of the variable pump 2 of the backhoe loader according to the working mode of the backhoe loader.
  • the backhoe loader includes an engine 1 , a variable displacement pump 2 , a traveling system 3 , a loading operation system 4 and an excavation operation system 5 .
  • Working modes include: driving mode, loading mode, and excavation mode.
  • step S100 the backhoe loader is in different working modes, and the power upper limit threshold P 0 that needs to be set is also different. Specifically, the power upper limit threshold P 0 of the backhoe loader is set in the following manner.
  • the power upper limit threshold of the variable pump 2 of the backhoe loader is set to P 01 . If the working mode of the backhoe loader is the loading operation mode, the variable pump 2 of the backhoe loader is set to P 01 . The power upper limit threshold of pump 2 is set to P 01 . The sum of the power upper limit threshold P 01 and the maximum power P W required by the driving system 3 is greater than the power P engine of engine 1, that is: P 01 + P W > P engine .
  • the technical solutions of some embodiments of the present disclosure also provide an economic mode. Specifically: in the loading operation mode, determine whether to adjust the loading operation system 4 to the economic mode; if it needs to be adjusted to the economic mode, then in the economic mode, the maximum value of the engine speed N of the engine 1 does not exceed the set economic speed N 0 .
  • the economic speed N 0 is set to 1500 rpm to 2000 rpm.
  • the power upper limit threshold P 02 of the variable pump 2 of the backhoe loader is set to X0% of the maximum available power of engine 1, and engine 1 is at the same speed, P 02 > P01 .
  • the value range of X0 is 85 ⁇ 100.
  • the power upper limit threshold P 02 is specifically 85% to 100% of the power of the engine 1 .
  • the power upper limit threshold P 03 of the variable pump 2 of the backhoe loader is set to the minimum power of the variable pump 2 .
  • the backhoe loader After the power upper limit threshold P 0 of the variable pump 2 is set, the backhoe loader first starts according to the power upper limit threshold P 0 as the power upper limit. The real-time power of the backhoe loader does not exceed the power upper limit threshold P 0 . When the real-time power of the backhoe loader Equal to the power upper limit threshold P 0 , the power is fully utilized. After the power upper limit threshold P 0 is set, it can be adjusted cyclically in the future.
  • the backhoe loader control method continuously increases or decreases the power upper limit threshold P 0 so that the excavator can The actual situation of the loader meets the set power upper limit threshold P 0 .
  • the change range of the actual power of the backhoe loader also changes accordingly; if the power upper limit threshold P 0 is increased, the maximum value that the actual power of the backhoe loader can reach also increases, so that Make full use of the engine 1 efficiency of the backhoe loader, improve energy utilization efficiency, improve energy efficiency, and be more energy-saving; if the power upper limit threshold P 0 is reduced, the maximum value that the actual power of the backhoe loader can reach is also reduced, which is not easy Without the risk of overloading, the backhoe loader works more reliably.
  • Step S200 Adjust the power upper limit threshold P 0 of the variable pump 2 according to the actual load of the backhoe loader in the current working mode.
  • the power of the variable pump 2 is adjusted specifically according to the following strategy, so that the power of the variable pump 2 is at the maximum power in the current working mode. If the maximum power allowed in the current working mode is greater than the power upper limit threshold P 0 , the power is increased based on the power upper limit threshold P 0 , that is, the power upper limit threshold P 0 is increased. If the maximum power allowed in the current working mode is less than the power upper limit threshold P 0 , the power is reduced based on the power upper limit threshold P 0 , and the power upper limit threshold P 0 is reduced.
  • the above technical solution specifically sets different power upper limit thresholds P 0 for the variable pump 2 based on the different working characteristics of the backhoe loader.
  • the maximum allowable power of the hydraulic system of the backhoe loader is adjusted in real time, steplessly and continuously, that is, the real-time power of the variable pump 2 is adjusted to fully utilize the engine 1 efficiency of the backhoe loader, improve energy utilization efficiency, and improve Energy efficient and more energy efficient.
  • the engine 1 In the loading operation mode, when the required traction force is low, that is, when the walking system consumes less power, more power is used for the loading part to improve the energy utilization power of the loading operation system 4, thereby improving the loading operation system. 4 operating efficiency.
  • the engine 1 In the excavation operation mode, the engine 1 is allowed to operate at an economical speed while ensuring that the operation efficiency of the excavation operation system 5 is not reduced.
  • Step S201 Determine whether the backhoe loader is at risk of overloading.
  • Overload risk means that the vehicle is about to be overloaded. It is a pre-judgment of the backhoe loader and an estimated risk. It does not mean that the backhoe loader is already overloaded at this time, but it means that if the backhoe loader continues to be set according to the current pump settings, If the operation continues with constant power parameters, the backhoe loader may be overloaded. Specifically, in some embodiments, the following method is used to determine whether there is an overload risk: based on working condition characteristics, load changes, and engine speed changes, it is determined whether there is an overload risk.
  • each working condition type corresponds to some parameters of the backhoe loader. Based on the collected actual parameters of the backhoe loader, determine which working condition type the backhoe loader currently belongs to. Each working condition type has a corresponding risk level, and working conditions that meet a certain risk level are deemed to have overload risks.
  • the parameters used when judging overloading are, for example: if the load of the job is greater than the maximum power allowed by engine 1, there is a risk of overloading. If the speed of engine 1 drops significantly, there is a risk of overloading. If the load has been increasing rapidly, there is a risk of overloading.
  • Step S202 If there is a risk of overloading the backhoe loader, reduce the power of the variable pump 2. After step S202, return to step S201 to perform the next cycle.
  • step S200 also includes the following control strategy:
  • Step S203 If there is no risk of overloading the backhoe loader, obtain the actual load of the engine 1, determine the working condition characteristics based on the load situation within the set time, and determine the maximum load allowed for the engine based on the working condition characteristics.
  • the actual load of engine 1 and the load condition within a set time are collected to find out the type of corresponding working conditions, and then the maximum load allowed by the engine is queried according to the type of working conditions.
  • the working condition characteristics of the backhoe loader are also determined, and the maximum load allowed by the engine is determined based on the working condition characteristics.
  • Step S204 Determine whether the actual load of the backhoe loader is less than the upper load limit allowed by the engine 1.
  • Step S205 If the actual load of the backhoe loader is less than the upper load limit allowed by the engine 1, increase the power upper limit threshold P 0 of the variable pump 2. After step S205, return to step S201 to perform the next cycle.
  • the maximum actual power of the variable pump 2 is the increased power upper limit threshold P 0 of the variable pump 2 .
  • the specific increased value range corresponds to the upper load limit allowed by engine 1.
  • the real-time power of variable pump 2 will no longer be increased.
  • Step S206 If the actual load of the backhoe loader is not less than the upper load limit allowed by the engine 1, the power upper limit threshold P 0 of the variable pump 2 is maintained unchanged. After step S206, return to step S201 to perform the next cycle.
  • the above technical solution realizes real-time and stepless adjustment of the actual power of the variable pump 2.
  • the actual maximum power of the variable pump 2 is always the maximum power allowed by the current working mode, which greatly improves the operating efficiency of the backhoe loader and improves the energy utilization efficiency of the backhoe loader.
  • the backhoe loader control method further includes the following steps: in the loading operation mode, determine whether to adjust the loading operation system 4 to the economic mode; if so, the rotation speed of the engine 1
  • the maximum value of N machine does not exceed the set economic speed N 0 .
  • the economic speed N 0 is set to 1500 rpm to 2000 rpm.
  • the whole machine controller 61 detects that the actual load of the engine 1 is low in real time through the engine ECM 62, and determines that there is no risk of overloading, and actively increases the load in real time.
  • the variable pump power of the variable pump 2 controls the set power of the valve 21.
  • the hydraulic system has greater power and higher loading efficiency.
  • the whole machine controller 61 detects that the load of the engine 1 is high in real time through the engine ECM62 and determines that there is a risk of overload, and actively reduces the power upper limit threshold P 0 of the variable pump 2 in real time, causing the backhoe loader to slow down.
  • the engine 1 speed range is within the range from idle speed to the set economic speed N 0 , and the maximum value of the engine 1 speed N does not exceed the set economic speed N 0 . Since when the speed N of the engine 1 is equal to the set economic speed N 0 , the power of the engine 1 is set to the rated power, the operating efficiency of the hydraulic system is not reduced and is more energy-saving.
  • the economic mode when the loading operation requires moving a short distance, the economic mode is adopted. At this time, the speed of the engine 1 and the maximum speed of the engine N are reduced to the economic speed N 0 .
  • the vehicle speed drops slightly, but when there is no risk of overloading, the whole machine controller 61 will actively increase the power upper limit threshold P 0 of the variable pump power control valve 21 of the variable pump 2 so that the hydraulic system can still reach the maximum flow and pressure. , while operating efficiency is not reduced, it is more energy-saving.
  • the maximum displacement V MAX of the variable pump 2 is calculated based on the flow required for normal loading and excavation operations (excluding implements) at the economic speed N 0 .
  • the engine speed N1 is greater than the economic speed N0 , it can achieve a flow rate greater than that required for conventional operations. Therefore, large-flow auxiliary equipment can be selected, which expands the range of equipment that the machine can adapt to.
  • the required flow rate of the equipment can be displayed on the display 8 panels to choose from.
  • the engine 1 When the backhoe loader is in the excavation operation mode, the engine 1 is controlled to be at different rotational speeds according to different gears, such as setting 6th gear. At each rotational speed, different power upper limit thresholds P 0 are given to the variable pump 2 .
  • the highest gear defaults to the economic speed N 0 .
  • Engine 1 is allowed to operate in the range from idle speed to economic speed N 0 , and the efficiency of the hydraulic system does not decrease.
  • the speed N of the engine 1 is equal to the economic speed N 0 , the power of the engine 1 can still reach the maximum value; the excavation operation system 5 can be equipped with a larger flow rate but lower required pressure than the conventional system. Work tools.
  • the required flow rate of the machine can be controlled, set and selected through the 8-panel display.

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Abstract

一种挖掘装载机控制方法以及挖掘装载机，涉及工程机械领域。挖掘装载机控制方法包括以下步骤：根据挖掘装载机的工作模式，设定所述挖掘装载机的变量泵（2）的功率上限阈值P0；挖掘装载机包括发动机（1）、变量泵（2）、行驶系统（3）、装载作业系统（4）以及挖掘作业系统（5）；工作模式包括：行驶模式、装载作业模式、挖掘作业模式；根据挖掘装载机在当前工作模式下的实际负载，调节所述变量泵（2）的功率上限阈值P0。在不同的工作模式下，所设定的功率上限阈值P0不相同；随后根据系统实际的负载情况，实时、无级、连续调节变量泵（2）的功率，以最大化利用发动机（1）的输出功率，提高工作效率，提高能效，降低能耗。

Description

挖掘装载机控制方法以及挖掘装载机
相关申请的交叉引用
本申请是以CN申请号为202211027155.5，申请日为2022年08月25日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及工程机械领域，具体涉及一种挖掘装载机控制方法以及挖掘装载机。
背景技术
挖掘装载机是集挖掘、装载、行走于一体的多功能工程机械，所有功能均由发动机提供动力。其中：挖掘端工作时，装载及行走不工作；长距离行驶时，挖掘及装载不工作；装载端作业时需要和行走复合动作。
行走系统包括发动机、变速箱、驱动桥以及轮胎驱动；装载作业及挖掘作业均由液压系统提供动力，由发动机、变速箱、液压泵、油缸驱动。
发明人发现，相关技术中至少存在下述问题：现有挖掘装载机液压系统为定量泵液压系统或者恒功率变量泵液压系统，在系统匹配时，液压系统功率偏小，不能充分利用发动机功率。
发明内容
本公开一些实施例提供了一种挖掘装载机控制方法，包括以下步骤：
根据挖掘装载机的工作模式，设定所述挖掘装载机的变量泵的功率上限阈值P 0；所述挖掘装载机包括发动机、变量泵、行驶系统、装载作业系统以及挖掘作业系统；所述工作模式包括：行驶模式、装载作业模式、挖掘作业模式；
根据所述挖掘装载机在当前工作模式下的实际负载，调节所述变量泵的功率上限阈值P 0。
在一些实施例中，所述根据所述挖掘装载机在当前工作模式下的实际负载，调节所述变量泵的功率上限阈值P 0，包括以下步骤：
判断所述挖掘装载机是否存在超载风险；
如果所述挖掘装载机存在超载风险，则降低所述变量泵的功率上限阈值P 0。
在一些实施例中，采用以下步骤判断是否存在超载风险：根据工况特点、负载变化情况以及发动机转速的变化情况，判断是否存在超载风险。
在一些实施例中，所述根据所述挖掘装载机在当前工作模式下的实际负载，调节所述变量泵的功率上限阈值P 0，包括以下步骤：
如果所述挖掘装载机不存在超载风险，则获取发动机的实际负载，根据设定时间内的负载情况判断工况特点，根据所述工况特点确定发动机允许取用的最大负载；
判断所述挖掘装载机的实际负载是否小于发动机允许取用的负载上限；
如果所述挖掘装载机的实际负载小于发动机允许取用的负载上限，则增加所述变量泵的功率上限阈值P 0。
在一些实施例中，所述根据所述挖掘装载机的工作模式，设定所述变量泵的功率上限阈值P 0，具体包括：
如果所述挖掘装载机的工作模式为装载作业模式，则将所述挖掘装载机的变量泵的功率上限阈值设定为P 01，该功率上限阈值P 01和行驶系统所需的最大功率P W之和大于发动机的功率P 发动机，即：P 01+P W>P 发动机。
在一些实施例中，所述根据所述挖掘装载机的工作模式，设定所述变量泵的功率上限阈值P 0，具体包括：
如果所述挖掘装载机的工作模式为挖掘作业模式，则将所述挖掘装载机的变量泵的功率上限阈值P 02设定为发动机最大可用功率的X 0％，且所述发动机处于相同转速下，P 02>P 01。
在一些实施例中，所述X 0为85～100。
在一些实施例中，所述根据所述挖掘装载机的行驶模式，设定所述变量泵的功率上限阈值P 0，具体包括：
如果所述挖掘装载机的工作模式为行驶模式，则将所述挖掘装载机的变量泵的功率上限阈值P 03设定为变量泵的最小功率。
在一些实施例中，如果所述工作模式为装载作业模式，所述挖掘装载机控制方法还包括以下步骤：
在装载作业模式下，判断是否将所述装载作业系统调节为经济模式；
如果是，则所述发动机的转速N 机的最大值不超过设定经济转速N 0。
在一些实施例中，所述设定经济转速N 0为1500rpm～2000rpm。
本公开一些实施例提供一种挖掘装载机，其中，包括：
发动机；
变量泵，与所述发动机驱动连接；
行驶系统，与所述发动机驱动连接；
装载作业系统，与所述变量泵液压连接；
挖掘作业系统，与所述变量泵液压连接；以及
控制系统，与所述发动机、所述变量泵均通信连接，控制系统被构造为执行本公开任一技术方案所提供的挖掘装载机控制方法。
在一些实施例中，所述控制系统包括：
整机控制器，与所述变量泵通信连接；以及
发动机ECM，与所述整机控制器通信连接，且与所述发动机通信连接。
在一些实施例中，所述控制系统还包括：
经济模式开关，与所述整机控制器通信连接。
在一些实施例中，挖掘装载机还包括：
显示器，与所述整机控制器通信连接。
在一些实施例中，所述控制系统被构造为执行以下步骤：根据所述显示器输入的机具流量Q，采用设定公式计算所述发动机的转速n，并将计算得到的所述发动机的转速信号传输至所述发动机ECM，以控制所述发动机的转速n。
在一些实施例中，所述设定公式为：n＝Q/V MAX；其中，n为发动机转速，Q为机具流量；V MAX为变量泵的最大排量。
在一些实施例中，所述控制系统还被构造为执行以下步骤：当所述控制系统接收到机具流量信号时，所述控制系统屏蔽发动机脚油门信号以及手油门的信号，且所述控制系统不根据发动机脚油门信号以及手油门的信号中的任一个控制发动机的转速n。
在一些实施例中，所述挖掘装载机包括自动换挡模式及动力换挡模式，通过所述显示器切换所述自动换挡模式及所述动力换挡模式。
在一些实施例中，所述控制系统被配置为设定发动机的经济转速，当所述发动机的转速N 机位于设定经济转速N 0的数值范围内时，所述发动机的功率都被设定为额定功率。
在一些实施例中，所述设定经济转速N 0为1500rpm～2000rpm。
上述技术方案提供的挖掘装载机控制方法，其具有可调节的变量泵，并且根据挖掘装载机的工作模式，设定挖掘装载机的变量泵的功率上限阈值P 0；根据挖掘装载机 在当前工作模式下的实际负载，调节变量泵的功率上限阈值P 0，以将变量泵的实际功率最高可以为功率上限阈值P 0。上述技术方案，在不同的工作模式下，所设定的功率上限阈值P 0不相同；在各个工作模式下，根据系统实际的负载情况，都能够实时、无级、连续调节变量泵的功率，以最大化利用发动机的输出功率，提高工作效率，提高能效，降低能耗。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开一些实施例提供的挖掘装载机结构示意图。
图2为本公开一些实施例提供的挖掘装载机发动机与行驶系统的连接关系示意图。
图3为本公开一些实施例提供的挖掘装载机控制方法流程示意图。
图4为本公开一些实施例提供的挖掘装载机控制方法实时调节变量泵功率的流程示意图。
附图标记：
1、发动机；2、变量泵；3、行驶系统；4、装载作业系统；5、挖掘作业系统；6、控制系统；7、经济模式开关；8、显示器；
21、变量泵功率控制阀；61、整机控制器；62、发动机ECM。
具体实施方式
下面结合图1～图4对本公开提供的技术方案进行更为详细的阐述。
参见图1，挖掘装载机是既能够实现挖掘，又能够实现装载的设备。挖掘装载机包括发动机1、变量泵2、行驶系统3、装载作业系统4、挖掘作业系统5以及控制系统6。变量泵2控制装载作业系统4、挖掘作业系统5的液压部分。变量泵2与装载作业系统4、挖掘作业系统5各自液压部分共同作为挖掘装载机的液压系统。
发动机1用于提供挖掘装载机所需要的动力。发动机1允许取用的最大功率是指发动机1能够用于作业的最大功率。如果作业的负载大于发动机1允许取用的最大功率，则挖掘装载机会出现超载风险，导致挖掘装载机出现故障或者无法正常工作。当然，超载风险不仅仅有上文一种情况，其还有其他情况可能会导致超载风险：比如发 动机1的转速掉速较多，后续也可能有超载风险；比如负载一直在快速增加，后续也可能有超载风险。
发动机1提供的功率，被用于作业的比例越大，则液压系统的使用效率越高。作业包括装载、挖掘以及行驶。
挖掘装载机即有机械连接结构，也有液压系统，也有信号连接部分。图1中，同时示意了上述三者连接方式。发动机1与变量泵2、行驶系统3均通过机械连接实现驱动连接。变量泵2与装载作业系统4、挖掘作业系统5则通过液压管路实现液压连接。而控制系统6与发动机1、变量泵2、以及后文介绍的经济模式开关7、显示器8则是通信连接。
发动机1与变量泵2驱动连接。具体来说，发动机1与变矩器31驱动连接，变矩器31与变速箱32驱动连接，变速箱32与变量泵2驱动连接，以驱动变量泵2工作。
发动机1还与行驶系统3驱动连接。参见图2，具体来说，行驶系统3包括传动轴33、车桥34、轮胎35。发动机1通过变矩器31驱动变速箱32，变速箱32驱动传动轴33，传动轴33驱动车桥34，车桥34驱动轮胎35转动，从而实现挖掘装载机的行驶。
变量泵2与装载作业系统4、挖掘作业系统5均液压连接。变量泵2根据工作模式的不同，择一驱动装载作业系统4、挖掘作业系统5工作。参见图1，装载作业系统4包括装载多路阀，变量泵2与该装载多路阀流体连通。挖掘作业系统5包括挖掘多路阀，变量泵2与该挖掘多路阀流体连通。装载作业系统4、挖掘作业系统5各自均包括机具，装载作业系统4的机具用于实现装载端作业，挖掘作业系统5的机具用于实现挖掘端作业。本文中，将装载作业系统4、挖掘作业系统5的各种机具统称为机具。
挖掘装载机的作业模式包括三种：装载作业模式、挖掘作业模式、行驶模式。
在装载作业模式下，挖掘装载机既进行装载，也有行驶操作，但是没有挖掘操作。装载作业模式下，挖掘装载机消耗的功率主要是用于装载、行驶两个操作。
在挖掘作业模式下，挖掘装载机只进行挖掘，没有行驶操作，也没有装载操作。挖掘作业模式下，挖掘装载机消耗的功率主要是用于挖掘操作。
在行驶模式下，挖掘装载机只行驶，不进行挖掘、也不进行装载作业。行驶模式下，挖掘装载机消耗的功率主要是用于车辆的行走。
变量泵2由发动机1驱动，发动机1被控制系统6控制，控制系统6包括通信连 接的整机控制器61、发动机ECM62。发动机1具体是被发动机ECM62控制。ECM是Engine Control Module的简称。整机控制器61与变量泵2、经济模式开关7、显示器8、装载多路阀、挖掘多路阀等部件通信连接。与挖掘装载机作业相关的参数，比如实时功率、车速、车速变化情况、负载、负载变化情况等参数，由整机控制器61传输至显示器8，并在显示器8上显示，以方便操作人员获知目前挖掘装载机的工作参数。
变量泵2的主要参数是功率，通过变量泵功率控制阀21调节变量泵2的最大功率，即功率上限阈值P 0。功率上限阈值P 0设定之后，不是一直不变的，而是不断地根据掘装载机的实际工作情况进行，即每个调节周期内会确定一个功率上限阈值P 0，进入下一次调节周期后，会再调节该功率上限阈值P 0，即功率上限阈值P 0是实时变化的。
变量泵功率控制阀21采用正比例功率控制、反比例控制均可。如果变量泵功率控制阀21采用反比例控制，在变量泵功率控制阀21出现故障的情况下，变量泵2的功率始终是最大功率，这样使得挖掘装载机的发动机1在经济转速范围工作时，发动机1的功率是设定好的额定功率，挖掘装载机在变量泵功率控制阀21出现故障的情况下也是正常工作的。而如果变量泵功率控制阀21采用正比例控制，在变量泵功率控制阀21出现故障的情况下，则变量泵2的功率则是最小功率，挖掘装载机难以正常工作。
下面介绍如何选择所需要的变量泵2。变量泵2的最大排量V MAX按照常规装载机挖掘作业所需流量、在设定经济转速N 0下计算确定。变量泵2选定之后，变量泵2的最大排量V MAX是确定的，是定值。在一些实施例中，变量泵2的设定经济转速N 0为1500rpm～2000rpm。挖掘作业系统5处于工作状态时，挖掘端的最大工作转速设定为最佳经济工作转速N 0。
液压系统机具所需要的流量Q计算公式如下：Q＝V MAX*N 机。其中，V MAX为变量泵2的最大排量，N 机为发动机的转速。上述公式中，V MAX为定值，V MAX是在经济转速N 0下、根据装载及挖掘常规作业(不包括机具)所需流量计算得到的。在机具Q确定的情况下，根据该公式计算可得发动机的转速N 机；在发动机的转速N 机驱动的情况下，根据该公式计算可得机具所需要的流量Q。
当机具所需流量Q较大(大于常规装载或挖掘作业所需流量)、且工作压力不高时，将发动机1转速N 机提高至大于经济转速N 0即可实现所需要的流量Q。
机具作业时，系统优先满足机具所需要的流量Q。如果控制系统6检测到显示器8上有机具流量输入信号，且控制机具的电磁阀(位于挖掘或者装载的多路阀上)接 收到了电流信号，则控制系统6根据上述公式Q＝V MAX*N 机计算出来的转速N 机传递给发动机ECM62，发动机ECM62控制发动机1按照要求的转速输出。而不会根据发动机脚油门信号、手油门信号控制发动机的转速n。即，在此情况下，控制系统6屏蔽发动机脚油门信号以及手油门的信号，控制系统6不根据发动机脚油门信号以及手油门信号中的任一个控制发动机的转速n，而是根据机具流量信号控制发动机的转速n。如果机具没有流量输入信号，则说明机具未工作，则控制系统6根据手油门或者脚油门信号确定所需发动机1转速，将该信号发给发动机ECM62，发动机ECM62控制发动机1按照要求的转速输出。上述过程也称为机具工作时所需的转速N 机优先级高。
在上述控制发动机转速N 机的过程中，还进一步设置经济模式开关7。经济模式开关7是一个专门用于控制挖掘装载机的发动机1转速N 机的最大值的开关。当经济模式开关7被按下后，发动机转速N 机的最高值被设定为经济转速NO，以使得挖掘装载机在保证作业效率的同时，更加节能。经济模式开关7适用于装载作业模式。具体来说，在装载作业模式下，装载作业时需要移动的距离较近时，通过控制经济模式开关7启动功能，此时发动机1的转速N 机为：怠速～N0，车速下降，但是由于发动机1被配置为：发动机1的转速N 机位于设定经济转速N 0的数值范围内时，发动机1的功率都被设定为额定功率，所以挖掘装载机的液压系统仍能达到最大流量及压力，使得挖掘装载机在作业效率不降低的同时，更加节能。
行驶系统3用于控制车辆的行走。在一些实施例中，挖掘装载机包括自动换挡模式及动力换挡模式。自动换挡模式用于实现根据输入的信号自动切换行驶系统3所处的挡位，以改变行驶速度。动力换挡模式则通过操作人员手动切换挡位，以改变行驶速度。自动换挡模式及动力换挡模式两者之间是可相互切换的。在挖掘装载机行驶过程中，操作人员根据实际情况选择所需要的换挡模式，并根据需要随时切换两种模式。切换模块的信号输入端设置于显示器8，通过操作显示器8切换自动换挡模式及动力换挡模式。
下面详细介绍本公开一些实施例提供的挖掘装载机控制方法。
参见图2，本公开一些实施例提供一种挖掘装载机控制方法，包括以下步骤：
步骤S100、根据挖掘装载机的工作模式，设定挖掘装载机的变量泵2的功率上限阈值P 0。挖掘装载机包括发动机1、变量泵2、行驶系统3、装载作业系统4以及挖掘作业系统5。工作模式包括：行驶模式、装载作业模式、挖掘作业模式。
在步骤S100中，挖掘装载机所处的工作模式不同，所需要设定的功率上限阈值 P 0也不相同。具体地，采用以下方式设定挖掘装载机的功率上限阈值P 0。
如果挖掘装载机的工作模式为装载作业模式，则将挖掘装载机的变量泵2的功率上限阈值设定为P 01，如果挖掘装载机的工作模式为装载作业模式，则将挖掘装载机的变量泵2的功率上限阈值设定为P 01，该功率上限阈值P 01和行驶系统3所需的最大功率P W之和大于发动机1的功率P 发动机，即：P 01+P W>P 发动机。
在装载作业模式下，本公开一些实施例的技术方案还提供有经济模式。具体地：在装载作业模式下，判断是否将装载作业系统4调节为经济模式；如果需要调节为经济模式，则在经济模式下，发动机1的转速N 机的最大值不超过设定经济转速N 0。在一些实施例中，设定经济转速N 0为1500rpm～2000rpm。
如果挖掘装载机的工作模式为挖掘作业模式，则将挖掘装载机的变量泵2的功率上限阈值P 02设定为发动机1最大可用功率的X0％，且发动机1处于相同转速下，P 02>P 01。X0的取值范围为85～100。功率上限阈值P 02具体为发动机1功率的85％～100％。
在一些实施例中，如果挖掘装载机的工作模式为行驶模式，则将挖掘装载机的变量泵2的功率上限阈值P 03设定为变量泵2的最小功率。
变量泵2的功率上限阈值P 0设定之后，挖掘装载机先按照该功率上限阈值P 0作为功率上限启动，挖掘装载机的实时功率不超过功率上限阈值P 0，当挖掘装载机的实时功率等于功率上限阈值P 0，功率利用最充分。功率上限阈值P 0设定之后，后续还可以循环调节，即各个不同的工作模式下，根据挖掘装载机的实际负载情况，挖掘装载机控制方法不断增加或者减少功率上限阈值P 0，以使得挖掘装载机的实际情况满足所设的功率上限阈值P 0。当功率上限阈值P 0调整后，挖掘装载机的实际功率的变化区间也随之改变；如果增加功率上限阈值P 0，则挖掘装载机的实际功率所能达到的最大值也增加，这样就能充分利用挖掘装载机的发动机1效率，提高能量利用效率，提高能效，且更加节能；如果减小功率上限阈值P 0，则挖掘装载机的实际功率所能达到的最大值也减小，这样不易出现超载风险，挖掘装载机工作的可靠性更高。
步骤S200、根据挖掘装载机在当前工作模式下的实际负载，调节变量泵2的功率上限阈值P 0。
在上述的步骤S200中，具体按照以下策略调整变量泵2的功率，以使得变量泵2的功率处于当前工作模式下的最大功率。如果当前工作模式所允许的最大功率大于功率上限阈值P 0，则以功率上限阈值P 0为基准增加功率，即增加功率上限阈值P 0。如果 当前工作模式所允许的最大功率小于功率上限阈值P 0，则以功率上限阈值P 0为基准减少功率，减小功率上限阈值P 0。
上述技术方案，根据挖掘装载机不同的工作特点，针对性地设定了变量泵2不同的功率上限阈值P 0，在挖掘装载机工作过程中，根据挖掘装载机的实际工作情况，基于发动机1的实际负载，实时、无级、连续调节挖掘装载机的液压系统的所允许的最大功率，即调节变量泵2的实时功率，以充分利用挖掘装载机的发动机1效率，提高能量利用效率，提高能效，且更加节能。
在装载作业模式下，当所需要的牵引力较低，即行走系统所消耗的功率较少时，将更多的功率用于装载部分，以提高装载作业系统4能量利用的功率，进而提高装载作业系统4的作业效率。在挖掘作业模式下，在保证挖掘作业系统5的作业效率不降低的情况下，使得发动机1在经济转速下工作。
参见图4，下面介绍如何在挖掘装载机工作过程中，调节变量泵2的功率上限阈值P 0。该调节过程循环进行，一次调节完成后，进入下一次的循环判断中。
步骤S201、判断挖掘装载机是否存在超载风险。
超载风险是车辆即将超载，是一种对挖掘装载机的预先判断，是一种预估的风险，并不表示挖掘装载机此时已经处于超载状态，而是说明如果继续按照当前的泵的设定功率参数继续作业，挖掘装载机接下来可能会出现超载。具体地，在一些实施例中，按照以下方法判断是否存在超载风险：根据工况特点、负载变化情况以及发动机转速的变化情况，判断是否存在超载风险。
比如设定一些工况类型，每种工况类型对应挖掘装载机的一些参数。根据采集到的挖掘装载机的实际参数，判断挖掘装载机当前属于哪种工况类型。而每种工况类型又对应设置有风险等级，满足一定风险等级的工况则被认定为具有超载风险。
判断超载时所使用的参数比如为：如果作业的负载大于发动机1允许取用的最大功率，则存在超载风险。如果发动机1的转速掉速较大，则存在超载风险。如果负载一直在快速增加，则存在超载风险。
步骤S202、如果挖掘装载机存在超载风险，则降低变量泵2的功率。步骤S202之后，回到步骤S201进行下一次的循环。
如果存在超载风险，说明挖掘装载机如果继续按照当前变量泵2的功率设定值运行，则有可能会实际发生超载，从而使得作业难以正常进行。所以，需要降低变量泵2的功率。
在一些实施例中，上述的步骤S200还包括以下控制策略：
步骤S203、如果挖掘装载机不存在超载风险，则获取发动机1的实际负载，根据设定时间内的负载情况判断工况特点，根据工况特点确定发动机允许取用的最大负载。
工况特点与发动机1的实际负载、设定时间内的负载情况存在对应关系，该对应关系预先设定好，存储在控制系统6中。
工况特点与发动机允许取用的最大负载之间也存在对应关系，该对应关系也是预先设定好的，存储在控制系统6中。
挖掘装载机实际工作过程中，采集发动机1的实际负载、设定时间内的负载情况查出所对应的工况的类型，再根据工况的类型查询发动机允许取用的最大负载。
需要说明的是，在另一些实施例中，存在超载风险时，也判断挖掘装载机的工况特点，根据工况特点确定发动机允许取用的最大负载。
步骤S204、判断挖掘装载机的实际负载是否小于发动机1允许取用的负载上限。
如果挖掘装载机不存在超载风险，且实际负载未超过发动机1允许取用的负载上限，则说明当前运行参数并没有达到挖掘装载机允许的最大参数，挖掘装载机进一步提高了工作效率或者以更加充足的功率完成作业。
步骤S205、如果挖掘装载机的实际负载小于发动机1允许取用的负载上限，则增加变量泵2的功率上限阈值P 0。步骤S205之后，回到步骤S201进行下一次的循环。
此时，变量泵2的实际功率的最大值为增加后的变量泵2的功率上限阈值P 0。具体增加的数值范围与发动机1允许取用的负载上限对应，当变量泵2的实际功率已经接近或者等于发动机1允许取用的负载上限时，不再增加变量泵2的实时功率。
步骤S206、如果挖掘装载机的实际负载不小于发动机1允许取用的负载上限，则维持变量泵2的功率上限阈值P 0不变。步骤S206之后，回到步骤S201进行下一次的循环。
可见，上述技术方案，实现了实时、无级调节变量泵2的实际功率。并且变量泵2的实际最大功率始终为当前工作模式所允许的最大功率，大大提高了挖掘装载机的作业效率，提高挖掘装载机的能量利用效率。
在一些实施例中，如果工作模式为装载作业模式，挖掘装载机控制方法还包括以下步骤：在装载作业模式下，判断是否将装载作业系统4调节为经济模式；如果是，则发动机1的转速N 机的最大值不超过设定经济转速N 0。在一些实施例中，设定经济转速N 0为1500rpm～2000rpm。
下面介绍一些具体的应用场景。
当挖掘装载机处于装载作业模式时，在松散物料轻载工况时，整机控制器61通过发动机ECM62实时检测到发动机1的实际负载偏低，且判断不存在超载风险时，实时主动增大变量泵2的变量泵功率控制阀21的设定功率，液压系统功率更大，装载效率更高。在密实物料重载工况，整机控制器61通过发动机ECM62实时检测到发动机1负载偏高，且判断存在超载风险时，实时主动降低变量泵2的功率上限阈值P 0，挖掘装载机掉速小，不熄火。可见挖掘装载机在装载工作模式下，上述的挖掘装载机控制方法在轻载工况下增加作业效率，在重载工况下具有防掉速的作用。
在一些实施例中，在装载作业模式下，进一步选择是否使用经济模式。如果选择经济模式，发动机1转速范围处于怠速至设定经济转速N 0范围内，发动机1的转速N 机的最大值不超过设定经济转速N 0。由于当发动机1的转速N 机等于设定经济转速N 0时，发动机1的功率都被设定为额定功率，所以液压系统作业效率不降低，更节能。
在一些实施例中，当装载作业需要移动的距离较近时，采用经济模式，此时发动机1的转速N 机的最大转速降为经济转速N 0。车速略有下降，但是在没有超载风险的情况下，整机控制器61会主动增大变量泵2的变量泵功率控制阀21的功率上限阈值P 0，使得液压系统仍能达到最大流量及压力，作业效率不降低的同时，更加节能。
变量泵2的最大排量V MAX是在经济转速N 0下、根据装载及挖掘常规作业(不包括机具)所需流量计算得到的。当发动机1转速N 机大于经济转速N 0时，能够达到大于常规作业所需的流量，因此可以选配大流量辅助机具，扩大了本机器可适配的机具范围，机具所需流量可通过显示器8面板进行选择。
当挖掘装载机在挖掘作业模式下，根据不同档位，比如设置6档，控制发动机1处于不同的转速，每个转速下，赋予变量泵2的不同的功率上限阈值P 0。
在挖掘装载机处于挖掘作业模式下，最高档位默认为经济转速N 0。发动机1在怠速至经济转速N 0范围内工作都是允许的，且液压系统效率不降低。并且，挖掘作业模式下，在发动机1的转速N 机等于经济转速N 0时，发动机1功率仍能达到最大值；挖掘作业系统5可以选配比系统常规流量更大但是所需压力较低的作业机具。在挖掘作业模式下，机具所需流量可通过显示器8面板进行控制、设定、选择。
在本公开的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公 开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制。
最后应当说明的是:以上实施例仅用以说明本公开的技术方案而非对其限制；尽管参照较佳实施例对本公开进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本公开的具体实施方式进行修改或者对部分技术特征进行等同替换；而不脱离本公开技术方案的精神，其均应涵盖在本公开请求保护的技术方案范围当中。

Claims (20)

  1. 一种挖掘装载机控制方法，包括以下步骤：
    根据挖掘装载机的工作模式，设定所述挖掘装载机的变量泵(2)的功率上限阈值P 0；所述挖掘装载机包括发动机(1)、变量泵(2)、行驶系统(3)、装载作业系统(4)以及挖掘作业系统(5)；所述工作模式包括：行驶模式、装载作业模式、挖掘作业模式；
    根据所述挖掘装载机在当前工作模式下的实际负载，调节所述变量泵(2)的功率上限阈值P 0。
  2. 根据权利要求1所述的挖掘装载机控制方法，其中所述根据所述挖掘装载机在当前工作模式下的实际负载，调节所述变量泵(2)的功率上限阈值P 0，包括以下步骤：
    判断所述挖掘装载机是否存在超载风险；
    如果所述挖掘装载机存在超载风险，则降低所述变量泵(2)的功率上限阈值P 0。
  3. 根据权利要求2所述的挖掘装载机控制方法，其中采用以下步骤判断是否存在超载风险：
    根据工况特点、负载变化情况以及发动机(1)转速的变化情况，判断是否存在超载风险。
  4. 根据权利要求1所述的挖掘装载机控制方法，其中所述根据所述挖掘装载机在当前工作模式下的实际负载，调节所述变量泵(2)的功率上限阈值P 0，包括以下步骤：
    如果所述挖掘装载机不存在超载风险，则获取发动机(1)的实际负载，根据设定时间内的负载情况判断工况特点，根据所述工况特点确定发动机(1)允许取用的最大负载；
    判断所述挖掘装载机的实际负载是否小于发动机(1)允许取用的负载上限；
    如果所述挖掘装载机的实际负载小于发动机(1)允许取用的负载上限，则增加所述变量泵(2)的功率上限阈值P 0。
  5. 根据权利要求1～4任一所述的挖掘装载机控制方法，其中所述根据所述挖掘 装载机的工作模式，设定所述变量泵(2)的功率上限阈值P 0，具体包括：
    如果所述挖掘装载机的工作模式为装载作业模式，则将所述挖掘装载机的变量泵(2)的功率上限阈值设定为P 01，该功率上限阈值P 01和行驶系统(3)所需的最大功率P W之和大于发动机(1)的功率P 发动机，即：P 01+P W>P 发动机。
  6. 根据权利要求1～5任一所述的挖掘装载机控制方法，其中所述根据所述挖掘装载机的工作模式，设定所述变量泵(2)的功率上限阈值P 0，具体包括：
    如果所述挖掘装载机的工作模式为挖掘作业模式，则将所述挖掘装载机的变量泵(2)的功率上限阈值P 02设定为发动机(1)最大可用功率的X 0％，且所述发动机(1)处于相同转速下，P 02>P 01。
  7. 根据权利要求6所述的挖掘装载机控制方法，其中所述X 0为85～100。
  8. 根据权利要求1～7任一所述的挖掘装载机控制方法，其中所述根据所述挖掘装载机的行驶模式，设定所述变量泵(2)的功率上限阈值P 0，具体包括：
    如果所述挖掘装载机的工作模式为行驶模式，则将所述挖掘装载机的变量泵(2)的功率上限阈值P 03设定为变量泵(2)的最小功率。
  9. 根据权利要求1～8任一所述的挖掘装载机控制方法，其中如果所述工作模式为装载作业模式，所述挖掘装载机控制方法还包括以下步骤：
    在装载作业模式下，判断是否将所述装载作业系统(4)调节为经济模式；
    如果是，则所述发动机(1)的转速N 机的最大值不超过设定经济转速N 0。
  10. 根据权利要求9所述的挖掘装载机控制方法，其中所述设定经济转速N 0为1500rpm～2000rpm。
  11. 一种挖掘装载机，包括：
    发动机(1)；
    变量泵(2)，与所述发动机(1)驱动连接；
    行驶系统(3)，与所述发动机(1)驱动连接；
    装载作业系统(4)，与所述变量泵(2)液压连接；
    挖掘作业系统(5)，与所述变量泵(2)液压连接；以及
    控制系统(6)，与所述发动机(1)、所述变量泵(2)均通信连接，控制系统(6)被构造为执行权利要求1～10任一所述的挖掘装载机控制方法。
  12. 根据权利要求11所述的挖掘装载机，其中所述控制系统(6)包括：
    整机控制器(61)，与所述变量泵(2)通信连接；以及
    发动机ECM(62)，与所述整机控制器(61)通信连接，且与所述发动机(1)通信连接。
  13. 根据权利要求12所述的挖掘装载机，其中所述控制系统(6)还包括：
    经济模式开关(7)，与所述整机控制器(61)通信连接。
  14. 根据权利要求12或者13所述的挖掘装载机，还包括：
    显示器(8)，与所述整机控制器(61)通信连接。
  15. 根据权利要求14所述的挖掘装载机，其中所述控制系统(6)被构造为执行以下步骤：根据所述显示器输入的机具流量Q，采用设定公式计算所述发动机的转速n，并将计算得到的所述发动机的转速信号传输至所述发动机ECM，以控制所述发动机的转速n。
  16. 根据权利要求15所述的挖掘装载机，其中所述设定公式为：n＝Q/V MAX；其中，n为发动机转速，Q为机具流量；V MAX为变量泵(1)的最大排量。
  17. 根据权利要求15或者16所述的挖掘装载机，其中所述控制系统(6)还被构造为执行以下步骤：当所述控制系统(6)接收到机具流量信号时，所述控制系统(6)屏蔽发动机脚油门信号以及手油门的信号，且所述控制系统(6)不根据发动机脚油门信号以及手油门的信号控制发动机的转速n。
  18. 根据权利要求14～18任一所述的挖掘装载机，其中所述挖掘装载机包括自动 换挡模式及动力换挡模式，通过所述显示器(8)切换所述自动换挡模式及所述动力换挡模式。
  19. 根据权利要求11～18任一所述的挖掘装载机，其中所述控制系统(6)被配置为设定发动机(1)的经济转速，当所述发动机(1)的转速N 机位于设定经济转速N 0的数值范围内时，所述发动机(1)的功率都被设定为额定功率。
  20. 根据权利要求19所述的挖掘装载机，其中所述设定经济转速N 0为1500rpm～2000rpm。
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