CN101761469B - Hydraulic pump control device for building machine - Google Patents
Hydraulic pump control device for building machine Download PDFInfo
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- CN101761469B CN101761469B CN200910261528.3A CN200910261528A CN101761469B CN 101761469 B CN101761469 B CN 101761469B CN 200910261528 A CN200910261528 A CN 200910261528A CN 101761469 B CN101761469 B CN 101761469B
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- 238000010521 absorption reaction Methods 0.000 claims abstract description 34
- 239000012530 fluid Substances 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 7
- 230000003111 delayed effect Effects 0.000 abstract 1
- 239000003921 oil Substances 0.000 description 85
- 239000000446 fuel Substances 0.000 description 10
- 230000009471 action Effects 0.000 description 4
- 230000009194 climbing Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000004043 responsiveness Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000010721 machine oil Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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Classifications
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- 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
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- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20523—Internal combustion engine
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Control Of Positive-Displacement Pumps (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides a hydraulic pump control device for building machine, which is suitable for a building machine comprising an engine and a hydraulic pump. The hydraulic pump is connected with the engine and is driven by the engine, and the absorption toque changes according to the applied control signal. The hydraulic pump control device comprises a control portion that when the information related to the target rotation speed of the engine (Ncmd), the information related to the oil amount needed by the hydraulic pump (Qcmd), and the current output pressure of the hydraulic pump (Ppress), the torque needed by the pump (Trequest) is calculated according to the oil amount needed by the hydraulic pump (Qcmd) and the current output pressure of the pump (Ppress), the absorption torque of the hydraulic pump is changed, so that the time when the absorption torque of the hydraulic pump reaches the torque needed by the pump (Trequest) is delayed, which is correspondent to the time when the engine reaches the target engine torque corresponding to the target rotation speed of the engine (Ncmd).
Description
Technical field
The present invention relates to the building machinery of excavator etc., particularly can change according to the torque of motor the fluid pump control apparatus of the building machinery of the absorption torque of controlling oil hydraulic pump.
Background technique
In order to improve fuel efficiency, for example the such building machinery of excavator is set to, and makes the rotating speed of motor automatically reduce in the situation that not driving working machine.Now, the engine speed of reduction is that responsiveness while driving again according to working machine is set.
As an example, motor drives with the IDLE RPM of about 800RPM at first.And worker, in order to drive working machine, is set as about 2000RPM left and right by engine speed and drives working machine.But driven if working machine does not have within a certain period of time, even if engine speed is set to 2000RPM, engine speed also can be reduced to about 1200RPM(AUTO IDLE RPM automatically).This is that the fuel of motor consumption in order to make not carry out operation reaches irreducible minimum, thereby improves the fuel efficiency of building machinery.
On the contrary, if the operation unit of worker's operation task machine, engine speed rises to according to operation signal the 2000RPM that worker sets again.In addition, the swash plate inclination angle of pump becomes greatly according to the operation signal of operation unit, and pump absorbs torque and the oil mass that spues rising thus.
But as shown in Figure 1, it is shorter than the torque rise time of above-mentioned motor that said pump absorbs the rise time of torque.Thereby motor is subject to the excessive load coming from pump transmission, its transmitter rotating speed sharply declines.This is the phenomenon occurring because the torque response of motor is different with the torque response of pump.
As the phenomenon occurring, can cause noise or unplessantness displeasure, make worker experience strong sense of fatigue, and reduce fuel efficiency.
Summary of the invention
The present invention proposes in view of the above problems, and its object is to provide a kind of fluid pump control apparatus of building machinery, and this control gear is controlled the torque climbing of oil hydraulic pump according to engine torque climbing, thereby improves runnability and fuel efficiency.
In order to realize the object of the invention described above, a kind of fluid pump control apparatus of building machinery is provided, it is applicable to comprise the building machinery of motor 10 and oil hydraulic pump 20, wherein this oil hydraulic pump 20 is connected to described motor 10 and is driven by described motor 10, and the absorption torque of this oil hydraulic pump 20 changes according to applied control signal, described fluid pump control apparatus comprises carries out the following control device 30 of processing: when the input information (Ncmd*) relevant to the rotating speed of target (Ncmd) of described motor 10, when the information relevant to the required oil mass (Qcmd) of described oil hydraulic pump 20 and the current pressure that spues (Ppress) of described oil hydraulic pump 20, according to the required oil mass of described pump (Qcmd) with when the front pump pressure (Ppress) that spues, calculate the required torque of pump (Trequest), and change the absorption torque of described oil hydraulic pump 20, so that arriving the time of the required torque of described pump (Trequest), the absorption torque of described oil hydraulic pump 20 postpones accordingly with the time that described motor 10 arrives the target engine torque corresponding with the rotating speed of target (Ncmd) of described motor 10.
According to one embodiment of the invention, above-mentioned control device is when the rotating speed of target (Ncmd) of the described motor 10 of input, calculate the engine torque time constant (tconst) corresponding with inputted rotating speed of target (Ncmd), and calculate the torque variable order value (Tcmd) of described oil hydraulic pump 20 according to the required torque of described pump (Trequest), current pump running torque (Tcur) and described engine torque time constant (tconst), and to the described oil hydraulic pump 20 output control signal corresponding with calculated torque variable order value (Tcmd).
On the other hand, the torque variable order value (Tcmd) of described oil hydraulic pump 20 is calculated according to the identical mode of time that makes the described motor 10 arrival time of target engine torque corresponding with the rotating speed of target (Ncmd) of described motor 10 and the absorption torque of described oil hydraulic pump 20 arrive the required torque of described pump (Trequest).
Described control device 30 comprises: pump capacity calculating section 35, and it calculates required pump capacity (qcmd*) according to inputted present engine rotating speed (Nrpm) and the required oil mass of described pump (Qcmd), torque limit portion 36, it calculates engine torque time constant (tconst) according to the rotating speed of target of described motor 10 (Ncmd), and spue pressure (Ppress) and the required pump capacity (qcmd*) of being calculated by described pump capacity calculating section 35 is calculated the required torque of described pump (Trequest) according to described pump, according to spue pressure (Ppress) and current pump capacity (qcmd0) of described pump, calculate current pump running torque (Tcur), according to described engine torque time constant (tconst), the required torque of described pump (Trequest) and described current pump running torque (Tcur) are calculated the described torque variable order value (Tcmd) changing according to the time, according to the calculated described torque variable order value (Tcmd) changing according to the time and the described pump pressure (Ppress) that spues, calculate target pump capacity (qcmd), and swash plate control device 37, it is transformed to the current instruction value (Icmd) for controlling the swash plate of described oil hydraulic pump 20 by the target pump capacity (qcmd) of being calculated by described torque limit portion 36, to described oil hydraulic pump 20 outputs.
According to the technological means of solution problem as above, the absorption torque that postpones oil hydraulic pump arrives the time of oil hydraulic pump target torque, make itself and motor arrive time of target engine torque of motor corresponding, thereby first rising, reduces the absorption torque ratio engine torque that prevents oil hydraulic pump the problem of the rotating speed of motor, not only improve thus the runnability of building machinery, but also can improve fuel efficiency.
Particularly, make motor arrive the time of target engine torque of motor identical with the time of the absorption torque of oil hydraulic pump arrival oil hydraulic pump target torque, thereby further improve runnability and the fuel efficiency of building machinery.
Further, utilize engine torque time constant (tconst) and the absorption torque of change oil hydraulic pump, thereby make motor identical with the time that oil hydraulic pump arrives target torque, and because both changing patteries are similar, thereby make the variable quantity that absorbs the engine speed of torque according to pump reach irreducible minimum, not only improve thus runnability, and can also make fuel efficiency maximization.
Accompanying drawing explanation
Fig. 1 is the plotted curve that roughly represents the variation of available engine torque and the required torque of pump and engine speed.
Fig. 2 is the control block diagram of building machinery that has been suitable for the fluid pump control apparatus of one embodiment of the invention.
Fig. 3 is the control block diagram of the control device shown in presentation graphs 2 roughly.
Fig. 4 is the control block diagram of the torque limit portion in presentation graphs 3 roughly.
Fig. 5 is the figure that roughly represents to have set the engine torque time constant based on engine speed.
Fig. 6 a and Fig. 6 b are respectively the plotted curves that roughly represents the variation of engine torque that fluid pump control apparatus is as shown in Figure 2 controlled and pump running torque and engine speed, represent the situation of different target engine speed.
Description of symbols:
10: motor 20: oil hydraulic pump
30: control device 31: the required oil mass calculating section of pump
32: the highest permission torque calculating section 33: the highest permission oil mass calculating section
34: comparing section 35: pump capacity calculating section
36: the Ncmd* of torque limit portion: the information relevant to target engine speed (Ncmd)
Nrpm: present engine rotational speed N cmd: target engine speed
Tconst: engine torque time constant Tmax: absorption maximum torque
Trequest: required pump running torque Tcur: current pump running torque
Qicmd*: the required oil mass Qdcmd* of operation unit: the maximum oil mass that allows of pump
Qcmd: required pump oil mass qcmd*: required pump capacity
Qcmd: target pump capacity qcmd0: current pump capacity
Icmd: current instruction value Ppress: the pump pressure that spues
Embodiment
Below, illustrate according to the fluid pump control apparatus of the building machinery of one embodiment of the invention.
With reference to figure 2, according to the fluid pump control apparatus of the building machinery of one embodiment of the invention, comprise control device 30, this control device 30 is for controlling the torque climbing of oil hydraulic pump 20, so that it is corresponding with the torque climbing of motor 10.
Above-mentioned oil hydraulic pump 20 is connected on motor 10, and therefore the torque of above-mentioned oil hydraulic pump 20 direct effect on above-mentioned motor 10 is load.Therefore, if the torque of above-mentioned oil hydraulic pump 20 is excessive, there will be the rotating speed of above-mentioned motor 10 to decline, the situation that the driving of motor 10 is stopped.
Above-mentioned oil hydraulic pump 20 possesses swash plate 20a, and the oil mass that spues can change according to the inclination angle of swash plate 20a.Therefore,, in the situation that the pressure that spues of oil hydraulic pump 20 is identical, the inclination angle of above-mentioned swash plate 20a is directly proportional to the absorption torque of oil hydraulic pump 20.In order to adjust the inclination angle of the swash plate 20a of such oil hydraulic pump 20, on above-mentioned oil hydraulic pump 20, possess regulator 21, and be provided with electrohydraulic proportional control valve 22 on above-mentioned regulator 21.By such structure, according to the magnitude of current that is supplied to above-mentioned electrohydraulic proportional control valve 22, control the inclination angle of swash plate 20a.Be supplied to the magnitude of current of above-mentioned electrohydraulic proportional control valve 22 from above-mentioned control device 30 outputs.
On the other hand, by main control valve 2, control the flow direction of the action oil spuing from above-mentioned oil hydraulic pump 20, and flow to controlled action oil and be fed into working machine oil cylinder 4.At this, above-mentioned main control valve 2 changes according to the signal that is applied to operation unit 3, thereby controls the flow direction of above-mentioned action oil.
By ECU11, control the driving of above-mentioned motor 10.Therefore, from output relevant to rotating speed of target motor 10 (Ncmd) instruction of above-mentioned control device 30, be sent to above-mentioned ECU11, above-mentioned ECU11 controls above-mentioned motor 10 according to the rotating speed of target (Ncmd) being transmitted.This structure is known technology, and therefore description thereof is omitted.
On the other hand, above-mentioned control device 30 absorbs torque according to the target of calculating above-mentioned oil hydraulic pump 20 from the operation signal of above-mentioned working machine operation unit 3 inputs, and calculate the torque rate of change of above-mentioned oil hydraulic pump 20 based on this, thereby to above-mentioned electrohydraulic proportional control valve 22 output current command value.And above-mentioned control device 30 is according to calculating target engine speed (Ncmd) from the signal of above-mentioned working machine operation unit 3 or accelerator pedal, the input of instrument panel operation unit, and the target engine speed of calculating (Ncmd) is outputed to above-mentioned ECU11.
Particularly, on above-mentioned control device 30, inputted the information (Ncmd*) relevant to the target engine speed (Ncmd) of above-mentioned motor 10, when the information relevant to the required oil mass of pump (Qcmd) of above-mentioned oil hydraulic pump 20 and the current pressure that spues (Ppress) of above-mentioned oil hydraulic pump 20, according to the required oil mass of said pump (Qcmd) with when the front pump pressure (Ppress) that spues, calculate the required torque of pump (Trequest), control the variable quantity of the absorption torque of above-mentioned oil hydraulic pump 20, so that the time that above-mentioned motor 10 arrives the time of engine target torque corresponding with the rotating speed of target (Ncmd) of above-mentioned motor 10 and the absorption torque of the above-mentioned oil hydraulic pump 20 arrival required torque of said pump (Trequest) is identical.So, above-mentioned control device 30 makes the time of torque arrival engine target torque of above-mentioned motor 10 identical with the time of the absorption torque arrival required torque of pump (Trequest) of above-mentioned oil hydraulic pump 20, thereby prevent due to the absorption torque of oil hydraulic pump 20 phenomenon of the rotating speed fast-descending that makes motor 10 that sharply rises, and improve thus the fuel efficiency of motor 10 and improve the runnability of building machinery.
On the other hand, although the present embodiment was controlled as identical situation exemplified with the time that motor 10 is arrived to the time of engine target torque and the absorption torque of the above-mentioned oil hydraulic pump 20 arrival required torque of pump (Trequest), but for can to arrive time of engine target torque corresponding with motor, and the absorption torque that postpones above-mentioned oil hydraulic pump 20 arrives in the situation of the required torque of pump (Trequest), compare with existing building machinery system, also still can produce better effect, therefore also belong to thought of the present invention.
As shown in Figure 3, realizing the control device 30 of function as mentioned above comprises: the required oil mass calculating section 31 of operation unit, the highest permission torque calculating section 32, the highest permission oil mass calculating section 33, comparing section 34, pump capacity calculating section 35, torque limit portion 36 and swash plate control device 37.
The required oil mass calculating section of aforesaid operations portion 31 according to the operation signal from working machine operation unit 3, be that operation amount is calculated the required oil mass of operation unit (Qicmd*).Herein, the required oil mass of operation unit (Qicmd*) represents the oil mass that spues of the oil hydraulic pump 20 corresponding with the operation amount of operation unit 3.
The highest above-mentioned permission torque calculating section 32 is for calculating the maximum value of the absorption torque of oil hydraulic pump 20.In more detail, to inputting the operation signal from above-mentioned working machine operation unit 3 in the highest above-mentioned permission torque calculating section 32, from the ECU11 input present engine rotating speed (Nrpm) of motor 10, from accelerator pedal or the instrument panel operation unit input information (Ncmd*) relevant to target engine speed (Ncmd).Like this, first above-mentioned the highest permission torque calculating section 32 calculates target engine speed (Ncmd) according at least one in operation signal and the information (Ncmd*) relevant to target engine speed (Ncmd).The target engine speed of so calculating (Ncmd) is imported into torque limit portion 36.In addition, the highest above-mentioned permission torque calculating section 32 is calculated target engine torque according to calculated target engine speed (Ncmd), and calculates present engine torque according to present engine rotating speed (Nrpm).Can calculate above-mentioned target engine torque and above-mentioned present engine torque according to the torque curve of motor 10 herein.
Afterwards, the difference between 32 pairs of target engine torque of calculating of the highest above-mentioned permission torque calculating section and present engine torque is multiplied by certain weighted value, and the maximum pump of calculating oil hydraulic pump 20 absorbs torque (Tmax)., more than the torque of oil hydraulic pump 20 can not change to the maximum pump absorption torque (Tmax) of being calculated by the highest permission torque calculating section 32.This is due to the excessive rising of absorption torque of oil hydraulic pump 20, to make the phenomenons such as the driving of motor 10 stops in order to prevent.
Above-mentioned the highest permission oil mass calculating section 33 spues pressure (Ppress) according to the pump from pressure transducer 1 input and the maximum oil mass (Qdcmd*) that allows of pump is calculated in the absorption maximum torque (Tmax) of being calculated by the highest above-mentioned permission torque calculating section 32.
The above-mentioned comparing section 34 required oil masses of compare operation portion (Qicmd*) and said pump are maximum allows oil mass (Qdcmd*), and wherein less oil mass is exported as the required oil mass of pump (Qcmd).This is also as described above, in order to prevent that absorption torque due to excessive pump from stop the driving of motor 10 or the rotating speed fast-descending of motor 10.
Said pump capacity calculating section 35 is according to calculating required pump capacity (qcmd*) from the required oil mass of pump (Qcmd) and the present engine rotating speed (Nrpm) of above-mentioned comparing section 34 and ECU11 input respectively.Herein, capacity represents the deal of the action oil that oil hydraulic pump 20 spues being rotated the driving of 1 time.Therefore, its unit can be expressed as cc/rev.At pump, spue pressure (Ppress) identical in the situation that, such capacity can be proportional to pump and absorb torque.Thereby, above-mentioned capacity can be regarded as to pump and absorb torque, and by controlling above-mentioned capacity, carry out the absorption torque of control pump.
Above-mentioned torque limit portion 36 is for controlling, so that pump absorbs the variable quantity per hour of torque is identical with the variable quantity per hour of engine torque.As shown in Figure 4, the torque limit portion 36 that realizes above-mentioned functions comprises: the current torque calculating section of pump 36a, the required torque calculating section of pump 36b, time constant calculating section 36c, target torque calculating section 36d and target pump capacity calculating section 36e.
The current torque calculating section of said pump 36a calculates current pump running torque (Tcur) from inputted current pump capacity (qcmd0) and the pump pressure (Ppress) that spues.
The required torque calculating section of said pump 36b calculates the required torque of pump (Trequest) according to inputted required pump capacity (qcmd*) and the pump pressure (Ppress) that spues.
Above-mentioned time constant calculating section 36c based target engine speed (Ncmd) is calculated engine torque time constant (tconst).Engine torque time constant (tconst) refers to the constant of the torque response that determines motor 10, and this engine torque time constant determines for reaching the engine torque variable quantity of target engine torque.As shown in Figure 5, such engine torque time constant (tconst) changes according to engine speed.Therefore,, when input target engine speed (Ncmd), the table of above-mentioned time constant calculating section 36c from Fig. 5 calculated the engine torque time constant (tconst) corresponding with inputted target engine speed (Ncmd).
Above-mentioned target torque calculating section 36d calculates the torque variable order value (Tcmd) of oil hydraulic pump 20 according to engine torque time constant (tconst), the required torque of pump (Trequest) and the current pump running torque (Tcur) inputted respectively from the current torque calculating section of said pump 36a, said pump required torque calculating section 36b and above-mentioned time constant calculating section 36c.Above-mentioned torque variable order value (Tcmd) is according to calculating with following formula 1.
[formula 1]
Tcmd=Trequest+(Tcur-Trequest)*exp(-t/tconst)
Herein, t represents that the absorption torque of oil hydraulic pump 20 arrives the time of the required torque of pump.
Such formula 1 is identical with the formula of calculating engine torque responsiveness, utilizes engine torque time constant (tconst), therefore identical with the time of engine torque arrival target engine torque.On the other hand, torque variable order value (Tcmd) changed according to formula 1 according to the time, and the absorption torque of oil hydraulic pump 20 changes according to variable like this torque variable order value (Tcmd).
On the other hand, cannot control according to torque variable order value described above (Tcmd) angle of the swash plate 20a of oil hydraulic pump 20.Reason be because the angle of swash plate 20a according to spue pressure and the difference of current oil hydraulic pump 20.Due to like this, target pump capacity calculating section 36e calculates target pump capacity (qcmd) from spue pressure (Ppress) and torque variable order value (Tcmd) of pump.
Above-mentioned swash plate control device 37 is for determining to be supplied to the current instruction value (Icmd) of above-mentioned electrohydraulic proportional control valve 22 according to calculated target pump capacity (qcmd).The current instruction value of so calculating (Icmd) is fed into electrohydraulic proportional control valve 22, and regulator 21 is corresponding with current instruction value (Icmd) by the angular adjustment of swash plate 20a thus.
As shown in Fig. 6 a and Fig. 6 b, the absorption torque of the oil hydraulic pump 20 of being controlled by formula 1 as above, in the identical time of the time with motor generation torque arrival target engine torque, arrives the required torque of pump (Trequest).Herein, above-mentioned Fig. 6 a represents respectively the asynchronous situation of target engine torque with Fig. 6 b, is the situation that target engine speed is different.As shown in Figure 5, when target engine speed is different, engine torque time constant (tconst) difference, arrives the asynchronism(-nization) of target engine torque and the required torque of pump thus.
On the other hand, utilize engine torque time constant (tconst) to make the absorption torque of oil hydraulic pump 20 variable, therefore the time that not only arrives target torque is identical, and because changing pattern is similar and can also make the variable quantity of rotating speed that absorbs the motor 10 of torque based on pump minimize.Thus, not only can make fuel efficiency maximization, but also can further improve noise abatement and runnability.
Claims (2)
1. the fluid pump control apparatus of a building machinery, it comprises motor (10) and oil hydraulic pump (20), this oil hydraulic pump (20) is connected and is driven by described motor (10) with described motor (10), and the absorption torque of this oil hydraulic pump (20) changes according to applied control signal
Described fluid pump control apparatus is characterised in that,
Described fluid pump control apparatus comprises carries out the following control device (30) of processing:
When the input information (Ncmd*) relevant to the rotating speed of target (Ncmd) of described motor (10), when the information relevant to the required oil mass (Qcmd) of described oil hydraulic pump (20) and the current pressure that spues (Ppress) of described oil hydraulic pump (20), according to the required oil mass of described pump (Qcmd) with when the front pump pressure (Ppress) that spues, calculate the required torque of pump (Trequest), change the absorption torque of described oil hydraulic pump (20), the time that makes the absorption torque of described oil hydraulic pump (20) arrive the required torque of described pump (Trequest) arrives with described motor (10) and the time of the target engine torque that the rotating speed of target (Ncmd) of described motor (10) is corresponding postpones accordingly,
When inputting the rotating speed of target (Ncmd) of described motor (10), calculate the engine torque time constant (tconst) corresponding with inputted rotating speed of target (Ncmd), according to the required torque of described pump (Trequest), current pump running torque (Tcur) and described engine torque time constant (tconst), calculate the torque variable order value (Tcmd) of described oil hydraulic pump (20), to described oil hydraulic pump (20) the output control signal corresponding with calculated torque variable order value (Tcmd)
The torque variable order value (Tcmd) of described oil hydraulic pump (20) is calculated according to the identical mode of time that makes described motor (10) the arrival time of target engine torque corresponding with the rotating speed of target (Ncmd) of described motor (10) and the absorption torque of described oil hydraulic pump (20) arrive the required torque of described pump (Trequest).
2. the fluid pump control apparatus of building machinery according to claim 1, is characterized in that, described control device (30) comprising:
Pump capacity calculating section (35), it calculates required pump capacity (qcmd*) according to inputted present engine rotating speed (Nrpm) and the required oil mass of described pump (Qcmd);
Torque limit portion (36), it calculates engine torque time constant (tconst) according to the rotating speed of target of described motor (10) (Ncmd), according to described pump, spue pressure (Ppress) and the required pump capacity (qcmd*) of being calculated by described pump capacity calculating section (35) is calculated the required torque of described pump (Trequest), according to spue pressure (Ppress) and current pump capacity (qcmd0) of described pump, calculate current pump running torque (Tcur), according to described engine torque time constant (tconst), the required torque of described pump (Trequest) and described current pump running torque (Tcur) are calculated the described torque variable order value (Tcmd) changing according to the time, according to the calculated described torque variable order value (Tcmd) changing according to the time and the described pump pressure (Ppress) that spues, calculate target pump capacity (qcmd), and
Swash plate control device (37), it is transformed to the target pump capacity (qcmd) of being calculated by described torque limit portion (36) for controlling the current instruction value (Icmd) of the swash plate of described oil hydraulic pump (20), to described oil hydraulic pump (20), exports.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020080130892A KR101527219B1 (en) | 2008-12-22 | 2008-12-22 | Hydraulic pump control apparatus for contruction machinery |
| KR10-2008-0130892 | 2008-12-22 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101761469A CN101761469A (en) | 2010-06-30 |
| CN101761469B true CN101761469B (en) | 2014-04-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910261528.3A Expired - Fee Related CN101761469B (en) | 2008-12-22 | 2009-12-18 | Hydraulic pump control device for building machine |
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| Country | Link |
|---|---|
| KR (1) | KR101527219B1 (en) |
| CN (1) | CN101761469B (en) |
Families Citing this family (10)
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| KR101754423B1 (en) * | 2010-12-22 | 2017-07-20 | 두산인프라코어 주식회사 | Hydraulic pump controlling method for an excavator |
| KR102005128B1 (en) * | 2012-01-05 | 2019-07-29 | 히다찌 겐끼 가부시키가이샤 | Device for controlling construction machinery |
| KR101326850B1 (en) | 2012-10-04 | 2013-11-11 | 기아자동차주식회사 | System and method for controlling an oil pump |
| KR102014547B1 (en) * | 2013-03-21 | 2019-08-26 | 두산인프라코어 주식회사 | Control system and method of Hydraulic Pump for Construction Machinery |
| KR102067838B1 (en) * | 2013-03-25 | 2020-01-17 | 두산인프라코어 주식회사 | Hydraulic system of Construction machinery |
| KR102015141B1 (en) * | 2013-03-29 | 2019-08-27 | 두산인프라코어 주식회사 | Control system and method of Hydraulic Pump for Construction Machinery |
| JP6619939B2 (en) * | 2015-02-16 | 2019-12-11 | 川崎重工業株式会社 | Hydraulic drive system |
| KR102306786B1 (en) | 2015-03-27 | 2021-09-30 | 두산인프라코어 주식회사 | Apparatus and method for controlling hydraulic pump of construction machinery, construction machinery including the same |
| KR20160142583A (en) | 2015-06-03 | 2016-12-13 | 두산인프라코어 주식회사 | Hydraulic pump control apparatus and method for construction machinery |
| JP7245582B2 (en) | 2018-11-16 | 2023-03-24 | 株式会社小松製作所 | WORK VEHICLE AND CONTROL METHOD FOR WORK VEHICLE |
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|---|---|---|---|---|
| EP0851122A2 (en) * | 1996-12-27 | 1998-07-01 | Shin Caterpillar Mitsubishi Ltd. | Hydraulic pump control system |
| JP2004108155A (en) * | 2002-09-13 | 2004-04-08 | Hitachi Constr Mach Co Ltd | Pump torque control device for hydraulic construction machine |
| JP2005120881A (en) * | 2003-10-15 | 2005-05-12 | Hitachi Constr Mach Co Ltd | Control device for construction machine |
| CN1842660A (en) * | 2003-08-28 | 2006-10-04 | 日立建机株式会社 | Engine lag down suppressing device of construction machinery |
| CN1950614A (en) * | 2004-05-07 | 2007-04-18 | 株式会社小松制作所 | Hydraulic drive apparatus of work machine |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0783084A (en) * | 1993-09-16 | 1995-03-28 | Hitachi Constr Mach Co Ltd | Hydraulic construction machine |
| JP2996891B2 (en) * | 1995-02-09 | 2000-01-11 | 株式会社小松製作所 | Construction machine control device and control method thereof |
| JP4342848B2 (en) * | 2003-06-19 | 2009-10-14 | 日立建機株式会社 | Hydraulic drive device for work equipment |
| JP4413122B2 (en) * | 2004-10-13 | 2010-02-10 | 日立建機株式会社 | Control equipment for hydraulic construction machinery |
-
2008
- 2008-12-22 KR KR1020080130892A patent/KR101527219B1/en active IP Right Grant
-
2009
- 2009-12-18 CN CN200910261528.3A patent/CN101761469B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0851122A2 (en) * | 1996-12-27 | 1998-07-01 | Shin Caterpillar Mitsubishi Ltd. | Hydraulic pump control system |
| JP2004108155A (en) * | 2002-09-13 | 2004-04-08 | Hitachi Constr Mach Co Ltd | Pump torque control device for hydraulic construction machine |
| CN1842660A (en) * | 2003-08-28 | 2006-10-04 | 日立建机株式会社 | Engine lag down suppressing device of construction machinery |
| JP2005120881A (en) * | 2003-10-15 | 2005-05-12 | Hitachi Constr Mach Co Ltd | Control device for construction machine |
| CN1950614A (en) * | 2004-05-07 | 2007-04-18 | 株式会社小松制作所 | Hydraulic drive apparatus of work machine |
Also Published As
| Publication number | Publication date |
|---|---|
| KR101527219B1 (en) | 2015-06-08 |
| KR20100072473A (en) | 2010-07-01 |
| CN101761469A (en) | 2010-06-30 |
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