CN102345735B - Locking and unlocking method and related device applied to hydraulic torque converter of engineering machine - Google Patents
Locking and unlocking method and related device applied to hydraulic torque converter of engineering machine Download PDFInfo
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Abstract
The embodiment of the invention discloses a locking and unlocking method and a related device applied to a hydraulic torque converter of an engineering machine. The locking and unlocking method comprises the following steps of: fitting mathematical models of an engine and the hydraulic torque converter according to original performance parameters of the engine and the hydraulic torque converter; acquiring a common working point of the engine and the hydraulic torque converter according to the acquired mathematical models, and generating a combined input and output characteristic curve of the engine and the hydraulic torque converter; calculating turbine rotating speeds of the engine and the hydraulic torque converter in different working states; and acquiring locking points of the hydraulic torque converter under different gears and different accelerator opening degrees according to the working condition characteristics of the engineering machine. According to the technical scheme provided by the invention, the locking points are acquired by combining the traction and running working condition characteristics of a transmission system of the engineering machine, and calculation precision and speed of the locking points are effectively improved.
Description
Technical field
The present invention relates to the hydraulic torque converter of engineering machine technical field, relate in particular to a kind of be applied to hydraulic torque converter of engineering machine close dislock method and relevant apparatus.
Background technique
Concerning the engineering machinery such as bulldozer, fluid torque converter is dominate in its transmission system.In order to improve the transmission efficiency of fluid torque converter, basically eliminated complex structure, large, the inefficient torque-converters of torque ratio, and main the simplest three element one-stage torque converter and the lockable torque-converters of adopting.Lockable hydraulic torque converter is owing to taking into account hydraudynamic drive and mechanically operated advantage, and becomes the development trend of fluid torque converter.
Obviously, carry out lock-in control to hydraulic torque converter of engineering machine, at first will draw according to engineering machinery transmission, the runnability during driving cycle, select reasonably to close dislock method.Should guarantee working efficiency and functional reliability that fluid torque converter is higher, guarantee again good power performance and the economy performance.At present, the application of the control of the industrial wheeled equipment converter lockout take loader as representative mainly is the lock-in control rule of using for reference automobile.But engineering vehicle and automobile have very large difference, and especially the working condition of the tracked construction equipment such as bulldozer is significantly different from vehicle behavior.Therefore, need to select to be fit to the scheme that engineering machinery is closed the solution lock control for special operation condition and the work characteristics of engineering machinery.
Summary of the invention
The embodiment of the invention provide a kind of be applied to hydraulic torque converter of engineering machine close dislock method and relevant apparatus, be used for improving calculation accuracy and the speed of hydraulic torque converter of engineering machine locking point.
For solving the problems of the technologies described above, the embodiment of the invention provides following technological scheme:
A kind of dislock method that closes that is applied to hydraulic torque converter of engineering machine comprises:
Generate the characteristic curve of above-mentioned motor according to the original performance parameter of the motor of engineering machinery, wherein, rotating speed and torque that the characteristic abscissa of above-mentioned motor and y coordinate are respectively above-mentioned motor;
Generate the input characteristic curve of above-mentioned fluid torque converter according to the original performance parameter of the motor of engineering machinery and fluid torque converter, wherein, the abscissa of the input characteristic curve of above-mentioned fluid torque converter and y coordinate are respectively rotating speed and the torque of above-mentioned fluid torque converter;
Generate above-mentioned motor and the cooperative associating input characteristic curve of above-mentioned fluid torque converter according to the characteristic curve of above-mentioned motor and the input characteristic curve of above-mentioned fluid torque converter;
Obtain the common working point of above-mentioned motor and above-mentioned fluid torque converter according to above-mentioned associating input characteristic curve, wherein, above-mentioned common working point is the intersection point of the input characteristic curve of the characteristic curve of above-mentioned motor in the above-mentioned associating input characteristic curve and above-mentioned fluid torque converter;
With torque ratio and the rotating ratio that torque value and the tachometer value of above-mentioned common working point multiply by respectively fluid torque converter corresponding to above-mentioned common working point, obtain the associating output point of above-mentioned motor and fluid torque converter;
Generate above-mentioned motor and the cooperative associating output characteristic curve of fluid torque converter according to above-mentioned associating output point;
Features according to above-mentioned associating input characteristic curve, above-mentioned associating output characteristic curve and above-mentioned engineering machinery, calculate that different accelerator open degrees are lower and upper states the locking point of fluid torque converter under the different operating state, in order to utilize above-mentioned locking point that above-mentioned fluid torque converter is carried out lock-in control;
The tachometer value of above-mentioned locking point is deducted the solution drop lock that presets, obtain the tachometer value of release point corresponding to above-mentioned locking point, in order to utilize above-mentioned release point that above-mentioned fluid torque converter is separated lock control.
A kind of tripper that closes that is applied to hydraulic torque converter of engineering machine comprises:
The first generation unit is used for generating according to the original performance parameter of the motor of engineering machinery the characteristic curve of above-mentioned motor, wherein, and rotating speed and torque that the characteristic abscissa of above-mentioned motor and y coordinate are respectively above-mentioned motor;
The second generation unit, be used for generating according to the original performance parameter of the motor of engineering machinery and fluid torque converter the input characteristic curve of above-mentioned fluid torque converter, wherein, the abscissa of the input characteristic curve of above-mentioned fluid torque converter and y coordinate are respectively rotating speed and the torque of above-mentioned fluid torque converter;
The 3rd generates the unit, is used for generating above-mentioned motor and the cooperative associating input characteristic curve of above-mentioned fluid torque converter according to the characteristic curve of above-mentioned motor and the input characteristic curve of above-mentioned fluid torque converter;
The common working point acquiring unit, be used for obtaining according to the above-mentioned the 3rd above-mentioned associating input characteristic curve that generates the unit generation common working point of above-mentioned motor and above-mentioned fluid torque converter, wherein, above-mentioned common working point is the intersection point of the input characteristic curve of the characteristic curve of above-mentioned motor in the above-mentioned associating input characteristic curve and above-mentioned fluid torque converter;
Associating output point computing unit, for the torque value of the above-mentioned common working point that above-mentioned common working point acquiring unit is got access to and torque ratio and the rotating ratio that tachometer value multiply by respectively fluid torque converter corresponding to above-mentioned common working point, obtain the associating output point of above-mentioned motor and fluid torque converter;
The 4th generation unit, the associating output point that is used for getting access to according to above-mentioned associating output point computing unit generates above-mentioned motor and the cooperative associating output characteristic curve of fluid torque converter;
Locking point computing unit, be used for the associating input characteristic curve that generates according to above-mentioned the 3rd generation unit, the associating output characteristic curve that above-mentioned the 4th generation unit generates, and the features of above-mentioned engineering machinery, calculate that different accelerator open degrees are lower and upper states the locking point of fluid torque converter under the different operating state, in order to utilize above-mentioned locking point that above-mentioned fluid torque converter is carried out lock-in control;
Release point computing unit, tachometer value for the locking point that above-mentioned locking point computing unit is calculated deducts the solution drop lock that presets, obtain the tachometer value of release point corresponding to above-mentioned locking point, in order to utilize above-mentioned release point that above-mentioned fluid torque converter is separated lock control.
Therefore, generate the input of uniting of motor and fluid torque converter in the embodiment of the invention according to the original performance parameter of the motor of engineering machinery and fluid torque converter, output characteristic curve, and the traction of incorporation engineering machine driven system, the driving cycle characteristics are obtained the locking point, calculation accuracy and the speed of locking point have been improved, on the one hand, guaranteed that fluid torque converter can possess higher working efficiency and functional reliability when utilizing above-mentioned locking point to carry out lock-in control, on the other hand, also guarantee fuel economy and the driving comfort of engineering machinery, improved the Integrated using performance of hydraulic torque converter of engineering machine.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technological scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing in the following describes only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 be provided by the invention a kind of be applied to hydraulic torque converter of engineering machine close embodiment's schematic flow sheet of dislock method;
The characteristic curve schematic diagram of the X-type bulldozer engine that Fig. 2 provides for the embodiment of the invention;
The input characteristic curve schematic diagram of the X-type bulldozer fluid torque converter that Fig. 3 provides for the embodiment of the invention;
X-type bulldozer engine and the cooperative associating input characteristic curve of fluid torque converter schematic diagram that Fig. 4 provides for the embodiment of the invention;
X-type bulldozer engine and the cooperative associating output characteristic curve of fluid torque converter schematic diagram that Fig. 5 provides for the embodiment of the invention;
The lock-in control area schematic of X-type bulldozer fluid torque converter under different gears and accelerator open degree that Fig. 6 provides for the embodiment of the invention;
The characteristic curve schematic diagram of the Y type bulldozer engine that Fig. 7 provides for the embodiment of the invention;
The input characteristic curve schematic diagram of the Y type bulldozer fluid torque converter that Fig. 8 provides for the embodiment of the invention;
Y type bulldozer engine and the cooperative associating input characteristic curve of fluid torque converter schematic diagram that Fig. 9 provides for the embodiment of the invention;
Y type bulldozer engine and the cooperative associating output characteristic curve of fluid torque converter schematic diagram that Figure 10 provides for the embodiment of the invention;
The lock-in control area schematic of Y type bulldozer fluid torque converter under different gears and accelerator open degree that Figure 11 provides for the embodiment of the invention;
Figure 12 be provided by the invention a kind of be applied to hydraulic torque converter of engineering machine close example structure schematic diagram of tripper.
Embodiment
The embodiment of the invention provide a kind of be applied to hydraulic torque converter of engineering machine close dislock method and relevant apparatus.
For so that goal of the invention of the present invention, feature, advantage can be more obvious and understandable, below in conjunction with the accompanying drawing in the embodiment of the invention, technological scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, but not whole embodiment.
The below is described a kind of dislock method that closes that is applied to hydraulic torque converter of engineering machine in the embodiment of the invention, sees also Fig. 1, comprising:
101, generate the characteristic curve of this motor according to the original performance parameter of the motor of engineering machinery;
In embodiments of the present invention, every motor all is accompanied with the original performance parameter when dispatching from the factory, and the original performance parameter of motor comprises tachometer value and the torque value under several test points (being generally 10 to 20 test points).
In inventive embodiments, engineering machinery close tripper generates this motor according to the original performance parameter of the motor of engineering machinery characteristic curve, generative process can be as follows:
At first, can be according to the original performance parameter of the motor of engineering machinery, utilize the fitting polynomial formulas of method of least squares structure to set up the model of above-mentioned motor:
Wherein, M
eRepresent the torque of this motor, n
eThe rotating speed that represents this motor, α
0, α
1, α
2, b
0, b
1Be the coefficient that match obtains, n
EHBe the idling speed under the different accelerator open degrees, α is accelerator open degree, and wherein, the relational expression of idling speed and accelerator open degree is n
EH=α (n
R-n
L)+n
L, wherein, n
RThe high idle speed rotating speed that represents this motor, n
LThe minimum idling speed that represents this motor, n
RAnd n
LCan be from the original performance gain of parameter of this motor;
After setting up the model of this motor, according to the characteristic curve of the model generation motor of this motor, wherein, the characteristic abscissa of above-mentioned motor is the rotating speed of this motor, and the characteristic y coordinate of above-mentioned motor is the torque of this motor.
102, generate the input characteristic curve of this fluid torque converter according to the original performance parameter of the motor of engineering machinery and fluid torque converter;
In embodiments of the present invention, every fluid torque converter all is accompanied with the original performance parameter when dispatching from the factory, the original performance parameter of fluid torque converter comprises rotating ratio, torque ratio, working efficiency and the conversion conefficient M that (is generally 10-20 test point) under several test points
Bg
In inventive embodiments, engineering machinery close tripper generates this fluid torque converter according to the original performance parameter of the fluid torque converter of engineering machinery input characteristic curve, generative process can be as follows:
At first, with the rotating speed of the above-mentioned motor original input speed n as this fluid torque converter
T, according to formula M
T=M
Bgn
2/ 1000000 obtain the original input torque M of above-mentioned fluid torque converter corresponding to n
T, wherein, M
BgBe the torque coefficient of this fluid torque converter, can be by the original performance gain of parameter of this fluid torque converter.
Secondly, according to the original input speed and the original input torque that obtain, the fitting polynomial formulas that utilizes method of least squares to construct is set up the model of this fluid torque converter:
Wherein, c is the coefficient that match obtains;
After setting up the model of this fluid torque converter, according to the input characteristic curve of this fluid torque converter of model generation of this fluid torque converter.
103, generate this motor and the cooperative associating input characteristic curve of this fluid torque converter according to the characteristic curve of above-mentioned motor and the input characteristic curve of above-mentioned fluid torque converter;
In embodiments of the present invention, the tripper that closes of engineering machinery is inputted the characteristic curve of motor and the input characteristic curve of fluid torque converter in the same system of coordinates, generates motor and the cooperative associating input characteristic curve of this fluid torque converter.
104, obtain the common working point of motor and fluid torque converter according to above-mentioned associating input characteristic curve;
Wherein, above-mentioned common working point is the intersection point of the input characteristic curve of the characteristic curve of motor in the associating input characteristic curve and fluid torque converter, namely at above-mentioned common working point place, the rotating speed of motor equals the rotating speed of fluid torque converter, and the torque of motor equals the torque of fluid torque converter.
105, the torque ratio and the rotating ratio that torque value and the tachometer value of above-mentioned common working point be multiply by respectively fluid torque converter corresponding to this common working point obtain the associating output point of above-mentioned motor and fluid torque converter;
In embodiments of the present invention, torque ratio and the rotating ratio of fluid torque converter corresponding to above-mentioned common working point can be obtained by the original performance parameter interpolation of fluid torque converter.
106, generate above-mentioned motor and the cooperative associating output characteristic curve of fluid torque converter according to above-mentioned associating output point.
107, according to the features of associating input characteristic curve, associating output characteristic curve and engineering machinery, calculate under the different accelerator open degrees and the locking point of fluid torque converter under the different operating state;
The transmission system of engineering machinery will be advanced usually according to need of work, and gear is divided into the work gear and the gear that travels.In embodiments of the present invention, engineering machinery close the associating output characteristic curve that associating input characteristic curve that tripper obtains according to step 103 and step 106 obtain, the features of incorporation engineering machinery, calculate under the different accelerator open degrees and the locking point of fluid torque converter under the different operating state, in order to utilize the locking point that calculates that this fluid torque converter is carried out lock-in control.
Take the gear that advances of bulldozer as example, one gear is traction working condition (gear of namely working), two gears, three gears are driving cycle (gear namely travels), one gear travelling speed is 3.5-4.0km/h, two gear travelling speeds are 6.0-7.0km/h, three gear travelling speeds are 11-12km/h, bulldozer is subject to periodically work loads jumpy, therefore when a gear job, in order to improve the load adaptation ability of Bulldozer, bulldozer should be got higher secondary speed when a gear job, the locking point is taken at the coupling point place, improve the stability of transmission system, reduce the impact of transmission system.When bulldozer at two gears, three gears or retreat gear when travelling, work loads changes little, the secondary speed of fluid torque converter can reduce, when bulldozer when second gear is worked, the locking point is taken near the pressure point of maximum efficiency, can give full play to transmission efficiency, when bulldozer at three gears and when retreating gear work, the locking point is taken near the first high-efficiency point (being that working efficiency is the lower secondary speed of 75% correspondence), namely after travelling steadily, the normal startup of bulldozer carries out locking, take full advantage of mechanically operated advantage, improve efficient and the Economy of transmission system.Under above-mentioned application scenarios, calculate respectively under the different accelerator open degrees fluid torque converter at the locking point at coupling point, pressure point of maximum efficiency and first high-efficiency point place, with the locking point of fluid torque converter when the locking point of coupling point is defined as bulldozer and is operated in a gear, locking point when the locking point of fluid torque converter at the pressure point of maximum efficiency place is defined as the low gear that bulldozer is operated in the gear that travels (i.e. two gears), the locking point when the locking point of fluid torque converter at first high-efficiency point place is defined as bulldozer and is operated in the high gear (namely three keeping off) that retreats gear and the gear that travels.Be appreciated that, features according to different engineering machinery self, the locking point of different engineering machinery when different gears work may be different, therefore, can according to engineering machinery reality features determine the locking point of this project machinery when different gears are worked.
108, the tachometer value with locking point deducts the solution drop lock that presets, and obtains the tachometer value of release point corresponding to locking point;
In embodiments of the present invention, for guaranteeing that fluid torque converter closes the stability of releasing process, the tachometer value that closes the locking point that tripper obtains step 107 of engineering machinery deducts the solution drop lock that presets, obtain the tachometer value of release point corresponding to locking point, in order to utilize above-mentioned release point that fluid torque converter is separated lock control.
Therefore, generate the input of uniting of motor and fluid torque converter in the embodiment of the invention according to the original performance parameter of the motor of engineering machinery and fluid torque converter, output characteristic curve, and the traction of incorporation engineering machine driven system, the driving cycle characteristics are obtained the locking point, improved the calculation accuracy of locking point, on the one hand, guaranteed that fluid torque converter can possess higher working efficiency and functional reliability when utilizing above-mentioned locking point to carry out lock-in control, on the other hand, also guarantee fuel economy and the driving comfort of engineering machinery, improved the Integrated using performance of hydraulic torque converter of engineering machine.
For ease of understanding better technological scheme of the present invention, the below is described with a kind of dislock method that closes that is applied to hydraulic torque converter of engineering machine of a concrete application examples to the embodiment of the invention.
Take certain X-type bulldozer as example, the original performance parameter of this X-type bulldozer engine is as shown in table 1, and the original performance parameter of this X-type bulldozer fluid torque converter is as shown in table 2.
Table 1
| Rotating speed (rpm) | 1000 | 1100 | 1200 | 1300 | 1400 | 1500 | 1600 | 1700 | 1800 | 1900 |
| Torque (Nm) | 2825 | 2900 | 2980 | 3025 | 3000 | 2980 | 2825 | 2650 | 2375 | 0 |
Table 2
| Rotating ratio i | Torque ratio k | Efficiency eta | M bg(Nm) | Remarks |
| 0.000 | 2.520 | 0.000 | 1073.63 | Damped condition |
| 0.100 | 2.336 | 22.454 | 1065.57 | |
| 0.200 | 2.120 | 43.500 | 1044.16 | |
| 0.300 | 1.949 | 57.947 | 1013.33 | |
| 0.400 | 1.760 | 69.323 | 983.52 | |
| 0.462 | 1.635 | 75.000 | 961.45 | High-efficiency point |
| 0.500 | 1.560 | 77.991 | 945.99 | |
| 0.600 | 1.390 | 83.710 | 892.26 | |
| 0.700 | 1.243 | 86.469 | 810.71 | |
| 0.750 | 1.150 | 86.740 | 751.18 | Best efficiency point |
| 0.800 | 1.075 | 85.915 | 694.05 | |
| 0.846 | 1.000 | 84.304 | 633.57 | Coupling point |
| 0.900 | 0.900 | 80.735 | 525.97 | |
| 0.940 | 0.800 | 75.000 | 407.37 | High-efficiency point |
A1, according to the original performance parameter of the X-type bulldozer engine shown in the table 1, utilize the fitting polynomial formulas of method of least squares structure to describe rotating speed and the torque output model of motor, motor matched curve equation is:
Wherein, M
eThe torque of expression X-type bulldozer engine, n
eThe rotating speed of expression X-type bulldozer engine, n
EHRepresent the idling speed under the different accelerator open degrees, α is accelerator open degree, and wherein, high idle speed rotating speed and the minimum idling speed that can be obtained this motor by table 1 are respectively 1900r/min and 1000r/min, therefore, and by formula n
EH=α (n
R-n
L)+n
LCan obtain the accelerator open degree of this motor and the relational expression of idling speed is n
EH=900 α+1000.
Generate the characteristic curve of motor according to above-mentioned motor matched curve equation, as shown in Figure 2, the characteristic curve of motor when wherein, curve 1,2,3,4,5,6 and 7 represents respectively that accelerator open degree is 40%, 50%, 60%, 70%, 80%, 90% and 100%.
A2, table 1 provide the rotating speed of X-type bulldozer engine under 10 test points, in embodiments of the present invention, and with the original input speed n of the rotating speed of motor under these 10 test points as X-type bulldozer fluid torque converter
T, according to formula
Obtain and this original input speed n
TThe original input torque M of this corresponding fluid torque converter
TThereby, can obtain 10 original input point (M
T, n
T) wherein, M
BgBe the torque coefficient of this fluid torque converter, as shown in Table 2 M
BgRotating ratio i corresponding to this fluid torque converter;
According to the original input speed and the original input torque that obtain, i.e. above-mentioned original input point adopts the fitting polynomial formulas of method of least squares structure to set up the model of this fluid torque converter: M
T=0.001197n
T 2(i=0); M
T=0.001152n
T 2(i=0.1); M
T=0.001023n
T 2(i=0.2); M
T=0.001017n
T 2(i=0.3); M
T=0.0009835n
T 2(i=0.4); M
T=0.009811n
T 2(i=0.462); M
T=0.000946n
T 2(i=0.5); M
T=0.0008923n
T 2(i=0.6); M
T=0.000845n
T 2(i=0.7); M
T=0.000826n
T 2(i=0.75); M
T=0.0006941n
T 2(i=0.8); M
T=0.000679n
T 2(i=0.846); M
T=0.000511n
T 2(i=0.9); M
T=0.0004074n
T 2(i=0.94); M
T=0.0000561n
T 2(i=1).
According to the input characteristic curve of the model generation fluid torque converter of above-mentioned fluid torque converter, as shown in Figure 3.
A3, generation X-type bulldozer engine and the cooperative associating input characteristic curve of fluid torque converter, as shown in Figure 4.
A4, by M
e=M
T, n
e=n
TCommon working point (the M of calculation engine and fluid torque converter
e, n
e).
The common working point that A5, basis obtain, and by formula M
T=kMe, n
T=in
eObtain the associating output point of motor and fluid torque converter, wherein, k is the torque ratio of fluid torque converter corresponding to common working point, and i is the rotating ratio of fluid torque converter corresponding to common working point, and above-mentioned torque ratio and rotating ratio can be obtained by the parameter interpolation in the table 2.
The associating output point that A6, basis obtain generates motor and the cooperative associating output characteristic curve of fluid torque converter, as shown in Figure 5.
A7, the motor that obtains according to steps A 3 and A6 and fluid torque converter unite input, output characteristic curve, calculate the locking point under the different fluid torque converter working staties under the different accelerator open degrees: coupling point i
m(i
m=0.846) locate accelerator open degree be 40%, 50%, 60% ..., 100% the time, corresponding secondary speed is respectively 1065,1146,1226,1302,1374,1442,1446r/min; Pressure point of maximum efficiency i* (i*=0.75) locate accelerator open degree be 40%, 50% ..., 100% the time, corresponding secondary speed is respectively 939,1010,1080,1147,1211,1245,1245r/min; First high-efficiency point, the i.e. lower some i of working efficiency 75% correspondence
Min (η 75%)(i
Min (η 75%)=0.462) locate accelerator open degree be 40%, 50% ..., 100% the time, corresponding secondary speed is respectively 572,614,658,698,725,725,725r/min.Will be at coupling point i
mThe locking point of locating under the different accelerator open degrees is defined as the locking point of X-type bulldozer when advancing a gear job; To be defined as at the locking point under the different accelerator open degrees in pressure point of maximum efficiency i* place the locking point of X-type bulldozer when advancing two gear work; To (be the lower some i of working efficiency 75% correspondence at first high-efficiency point
Min (η 75%)) locating the locking point that locking point under the different accelerator open degrees is defined as the ahead three gear and retreats gear, regional S1 is the degating region of a gear of advancing as shown in Figure 6, and regional S2 is the degating regions of two gears of advancing, and regional S3 is ahead three gear and the degating region that retreats gear.
A8, for guaranteeing to close the stable of releasing process, the secondary speed value of the locking point that steps A 7 is obtained deducts the solution drop lock that presets, and as being 50r/min, 60r/min, 70r/min etc., obtains the release point corresponding with locking point.
Therefore, generate the input of uniting of motor and fluid torque converter in the embodiment of the invention according to the original performance parameter of the motor of engineering machinery and fluid torque converter, output characteristic curve, and the traction of incorporation engineering machine driven system, the driving cycle characteristics are obtained the locking point, calculation accuracy and the speed of locking point have been improved, on the one hand, guaranteed that fluid torque converter can possess higher working efficiency and functional reliability when utilizing above-mentioned locking point to carry out lock-in control, on the other hand, also guarantee fuel economy and the driving comfort of engineering machinery, improved the Integrated using performance of hydraulic torque converter of engineering machine.
The below is take certain Y type bulldozer as example, and a kind of dislock method that closes that is applied to hydraulic torque converter of engineering machine of the embodiment of the invention is described.
The original performance parameter of this Y type bulldozer engine is as shown in table 3, and the original performance parameter of this Y type bulldozer fluid torque converter is as shown in table 4.
Table 3
| Rotating speed (rpm) | 1000 | 1100 | 1200 | 1300 | 1400 | 1500 | 1600 | 1700 | 1800 | 1900 | 2000 | 2100 |
| Torque (Nm) | 934.04 | 978.43 | 1010.1 | 1029.1 | 1035.4 | 1029 | 1009.9 | 978.05 | 933.5 | 876.3 | 788 | 0 |
Table 4
| Rotating ratio i | Torque ratio k | Efficiency eta | M bg(Nm) | Remarks |
| 0.000 | 2.520 | 0 | 335.10 | Damped condition |
| 0.100 | 2.336 | 22.454 | 335.30 | |
| 0.200 | 2.120 | 43.500 | 329.30 | |
| 0.300 | 1.949 | 57.947 | 320.90 | |
| 0.400 | 1.760 | 69.323 | 313.20 | |
| 0.441 | 1.635 | 75.000 | 311.50 | High-efficiency point |
| 0.500 | 1.560 | 77.991 | 310.00 | |
| 0.600 | 1.390 | 83.710 | 298.40 | |
| 0.700 | 1.243 | 86.469 | 275.30 | |
| 0.719 | 1.150 | 86.740 | 269.70 | Best efficiency point |
| 0.800 | 1.075 | 85.915 | 242.50 | |
| 0.900 | 1.000 | 84.304 | 183.00 | Coupling point |
| 0.953 | 0.900 | 80.735 | 136.10 | |
| 1.000 | 0.800 | 75.000 | 77.50 | High-efficiency point |
B1, according to the original performance parameter of the Y type bulldozer engine shown in the table 3, utilize the fitting polynomial formulas of method of least squares structure to describe rotating speed and the torque output model of motor, motor matched curve equation is:
Wherein, M
eThe torque of expression Y type bulldozer engine, n
eThe rotating speed of expression Y type bulldozer engine, n
EHRepresent the idling speed under the different accelerator open degrees, α is accelerator open degree, and wherein, high idle speed rotating speed and the minimum idling speed that can be obtained this motor by table 3 are respectively 2100r/min and 1000r/min, therefore, and by formula n
EH=α (n
R-n
L)+n
LCan obtain the accelerator open degree of this motor and the relational expression of idling speed is n
EH=1100 α+1000.
Generate the characteristic curve of motor according to above-mentioned motor matched curve equation, as shown in Figure 7, the characteristic curve of motor when wherein, curve 1,2,3,4,5,6 and 7 represents respectively that accelerator open degree is 40%, 50%, 60%, 70%, 80%, 90% and 100%.
B2, table 3 provide the rotating speed of Y type bulldozer engine under 10 test points, in embodiments of the present invention, and with the original input speed n of the rotating speed of motor under these 10 test points as Y type bulldozer fluid torque converter
T, according to formula
Obtain and this original input speed n
TThe original input torque M of this corresponding fluid torque converter
TThereby, can obtain 10 original input point (M
T, n
T) wherein, M
BgBe the torque coefficient of this fluid torque converter, as shown in Table 4 M
BgRotating ratio i corresponding to this fluid torque converter;
According to the original input speed and the original input torque that obtain, i.e. above-mentioned original input point adopts the model of the fitting of a polynomial fluid torque converter of method of least squares structure: M
T=0.0003351n
T 2(i=0); M
T=0.0003353n
T 2(i=0.1); M
T=0.0003293n
T 2(i=0.2); M
T=0.0003209n
T 2(i=0.3); M
T=0.0003132n
T 2(i=0.4); M
T=0.0003115n
T 2(i=0.441); M
T=0.00031n
T 2(i=0.5); M
T=0.0002984n
T 2(i=0.6); M
T=0.0002753n
T 2(i=0.7); M
T=0.0002697n
T 2(i=0.719); M
T=0.0002425n
T 2(i=0.8); M
T=0.000183n
T 2(i=0.9); M
T=0.0001361n
T 2(i=0.953); M
T=0.0000775n
T 2(i=1).
According to the input characteristic curve of the model generation fluid torque converter of above-mentioned fluid torque converter, as shown in Figure 8.
B3, generation Y type bulldozer engine and the cooperative associating input characteristic curve of fluid torque converter, as shown in Figure 9.
B4, by M
e=M
T, n
e=n
TCommon working point (the M of calculation engine and fluid torque converter
e, n
e).
The common working point that B5, basis obtain, and by formula M
T=kMe, n
T=in
eObtain the associating output point of motor and fluid torque converter, wherein, k is the torque ratio of fluid torque converter corresponding to common working point, and i is the rotating ratio of fluid torque converter corresponding to common working point, and above-mentioned torque ratio and rotating ratio can be obtained by the parameter interpolation in the table 4.
The associating output point that B6, basis obtain generates motor and the cooperative associating output characteristic curve of fluid torque converter, as shown in figure 10.
B7, the motor that obtains according to step B3 and B6 and fluid torque converter unite input, output characteristic curve, calculate the locking point under the different fluid torque converter working staties under the different accelerator open degrees: coupling point i
m(i
m=0.846) locate accelerator open degree be 40%, 50%, 60% ..., 100% the time, corresponding secondary speed is respectively 1231,1313,1392,1469,1544,1598,1634r/min; Pressure point of maximum efficiency i* (i*=0.75) locate accelerator open degree be 40%, 50% ..., 100% the time, corresponding secondary speed is respectively 1021,1101,1166,1229,1277,1277,1277r/min; First high-efficiency point, the i.e. lower some i of working efficiency 75% correspondence
Min (η 75%)(i
Min (η 75%)=0.462) locate accelerator open degree be 40%, 50% ..., 100% the time, corresponding secondary speed is respectively 632,671,710,743,743,743,753r/min.Will be at coupling point i
mThe locking point of locating under the different accelerator open degrees is defined as the locking point of Y type bulldozer when advancing a gear job; To be defined as at the locking point under the different accelerator open degrees in pressure point of maximum efficiency i* place the locking point of Y type bulldozer when advancing two gear work; To (be the lower some i of working efficiency 75% correspondence at first high-efficiency point
Min (η 75%)) locating the locking point that locking point under the different accelerator open degrees is defined as the ahead three gear and retreats gear, regional Q1 is the degating region of a gear of advancing as shown in figure 11, and regional Q2 is the degating regions of two gears of advancing, and regional Q3 is ahead three gear and the degating region that retreats gear.
B8, for guaranteeing to close the stable of releasing process, the secondary speed value of the locking point that step B7 is obtained deducts the solution drop lock that presets, and as being 50r/min, 60r/min, 70r/min etc., obtains the release point corresponding with locking point.
Therefore, generate the input of uniting of motor and fluid torque converter in the embodiment of the invention according to the original performance parameter of the motor of engineering machinery and fluid torque converter, output characteristic curve, and the traction of incorporation engineering machine driven system, the driving cycle characteristics are obtained the locking point, calculation accuracy and the speed of locking point have been improved, on the one hand, guaranteed that fluid torque converter can possess higher working efficiency and functional reliability when utilizing above-mentioned locking point to carry out lock-in control, on the other hand, also guarantee fuel economy and the driving comfort of engineering machinery, improved the Integrated using performance of hydraulic torque converter of engineering machine.
The below is described a kind of tripper that closes in the embodiment of the invention, sees also Figure 12, and the tripper 1200 that closes in the invention process comprises:
The first generation unit 1201 is used for generating according to the original performance parameter of the motor of engineering machinery the characteristic curve of above-mentioned motor, wherein, and rotating speed and torque that the characteristic abscissa of this motor and y coordinate are respectively this motor;
In embodiments of the present invention, the first generation unit 1201 comprises:
Engine mockup is set up unit and first and is generated subelement;
Wherein, engine mockup is set up the unit and is used for original performance parameter according to the motor of engineering machinery, utilizes the fitting polynomial formulas of method of least squares structure to set up the model of this motor:
Wherein, M
eRepresent the torque of above-mentioned motor, n
eThe rotating speed that represents above-mentioned motor, α
0, α
1, α
2, b
0, b
1Be the coefficient that match obtains, n
EHRepresent the idling speed under the different accelerator open degrees, α is accelerator open degree, wherein, and n
EHWith the relational expression of α be: n
EH=α (n
R-n
L)+n
L, wherein, n
RThe high idle speed rotating speed that represents above-mentioned motor, n
LThe minimum idling speed that represents above-mentioned motor, n
RAnd n
LCan be by the original performance gain of parameter of this motor;
The first generation subelement is used for the characteristic curve according to the above-mentioned motor of model generation of above-mentioned motor.
The second generation unit 1202, be used for generating according to the original performance parameter of the motor of engineering machinery and fluid torque converter the input characteristic curve of above-mentioned fluid torque converter, wherein, the abscissa of the input characteristic curve of above-mentioned fluid torque converter and y coordinate are respectively rotating speed and the torque of above-mentioned fluid torque converter;
In embodiments of the present invention, the second generation unit 1202 comprises:
Acquiring unit, fluid torque converter model are set up unit and second and are generated subelement;
Wherein, acquiring unit is used for the rotating speed of the above-mentioned motor original input speed n as above-mentioned fluid torque converter
T, according to formula
Obtain n
TThe original input torque M of corresponding fluid torque converter
T, wherein, M in the formula
BgBe the torque coefficient of above-mentioned fluid torque converter, can be by the original performance gain of parameter of this fluid torque converter;
Wherein, the fluid torque converter model is set up the unit for the original input speed and the original input torque that obtain according to above-mentioned acquiring unit, and the fitting polynomial formulas that utilizes method of least squares to construct is set up the model of fluid torque converter:
Wherein, c is the coefficient that match obtains;
Wherein, the second generation subelement is used for the input characteristic curve according to the above-mentioned fluid torque converter of model generation of above-mentioned fluid torque converter.
The 3rd generates unit 1203, is used for generating above-mentioned motor and the cooperative associating input characteristic curve of above-mentioned fluid torque converter according to the characteristic curve of above-mentioned motor and the input characteristic curve of above-mentioned fluid torque converter.
Common working point acquiring unit 1204, be used for obtaining according to the 3rd associating input characteristic curve that generates unit 1203 generations the common working point of motor and fluid torque converter, wherein, above-mentioned common working point is the intersection point of the input characteristic curve of the characteristic curve of motor in the associating input characteristic curve and fluid torque converter.
Associating output point computing unit 1205, for the torque value of the common working point that common working point acquiring unit 1204 is got access to and torque ratio and the rotating ratio that tachometer value multiply by respectively fluid torque converter corresponding to common working point, obtain the associating output point of motor and fluid torque converter.
The 4th generation unit 1206 is used for generating motor and the cooperative associating output characteristic curve of fluid torque converter according to the associating output point that associating output point computing unit 1205 gets access to;
Locking point computing unit 1207, be used for generating the associating input characteristic curve of unit 1203 generations, the associating output characteristic curve that the 4th generation unit 1206 generates according to the 3rd, and the features of above-mentioned engineering machinery, calculate under the different accelerator open degrees and the locking point of fluid torque converter under the different operating state, in order to utilize above-mentioned locking point that above-mentioned fluid torque converter is carried out lock-in control;
The transmission system of engineering machinery will be advanced usually according to need of work, and gear is divided into the work gear and the gear that travels.In embodiments of the present invention, locking point computing unit 1207 is according to associating input characteristic curve and associating output characteristic curve, and the features of incorporation engineering machinery calculates under the different accelerator open degrees and the locking point of fluid torque converter under the different operating state.Take bulldozer as example, one gear is traction working condition (gear of namely working), two gears, three gears are driving cycle (gear namely travels), one gear travelling speed is 3.5-4.0km/h, two gear travelling speeds are 6.0-7.0km/h, three gear travelling speeds are 11-12km/h, bulldozer is subject to periodically work loads jumpy, therefore when a gear job, in order to improve the load adaptation ability of Bulldozer, bulldozer should be got higher secondary speed when a gear job, the locking point is taken at the coupling point place, improve the stability of transmission system, reduce the impact of transmission system.When bulldozer at two gears, three gears or retreat gear when travelling, work loads changes little, the secondary speed of fluid torque converter can reduce, when bulldozer when second gear is worked, the locking point is taken near the pressure point of maximum efficiency, can give full play to transmission efficiency, when bulldozer at three gears and when retreating gear work, the locking point is taken near the first high-efficiency point (being that working efficiency is the lower secondary speed of 75% correspondence), locking after can making the normal startup of bulldozer travel steadily, take full advantage of mechanically operated advantage, improve efficient and the Economy of transmission system.Under above-mentioned application scenarios, locking point computing unit 1207 calculates respectively under the different accelerator open degrees fluid torque converter at the locking point at coupling point, pressure point of maximum efficiency and first high-efficiency point place.Close tripper 1200 and also comprise determining unit, be used for the locking point of fluid torque converter when the locking point of coupling point is defined as bulldozer and is operated in a gear; Locking point when the locking point of fluid torque converter at the pressure point of maximum efficiency place is defined as the low gear that bulldozer is operated in the gear that travels (i.e. two gears); The locking point of fluid torque converter at first high-efficiency point place is defined as bulldozer is operated in locking point when retreating gear and the high gear of the gear that travels (namely three keeping off).
Release point computing unit 1208, the tachometer value that is used for locking is put the locking point that computing unit 1207 calculates deducts the solution drop lock that presets, obtain the tachometer value of release point corresponding to above-mentioned locking point, in order to utilize above-mentioned release point that above-mentioned fluid torque converter is separated lock control.
Need to prove, the tripper 1200 that closes of the present embodiment can be such as the tripper that closes in the above-mentioned embodiment of the method, can be used for realizing whole technological schemes of said method embodiment, the function of its each function module can be according to the method specific implementation among the said method embodiment, its specific implementation process can with reference to the associated description in above-described embodiment, repeat no more herein.
Therefore, close tripper 1200 in the embodiment of the invention and generate the input of uniting of motor and fluid torque converter according to the original performance parameter of the motor of engineering machinery and fluid torque converter, output characteristic curve, and the traction of incorporation engineering machine driven system, the driving cycle characteristics are obtained the locking point, calculation accuracy and the speed of locking point have been improved, on the one hand, guaranteed that fluid torque converter can possess higher working efficiency and functional reliability when utilizing above-mentioned locking point to carry out lock-in control, on the other hand, also guarantee fuel economy and the driving comfort of engineering machinery, improved the Integrated using performance of hydraulic torque converter of engineering machine.
One of ordinary skill in the art will appreciate that all or part of step that realizes in above-described embodiment method is to come the relevant hardware of instruction to finish by program, described program can be stored in a kind of computer-readable recording medium, and the above-mentioned storage medium of mentioning can be ROM (read-only memory), random access memory, disk or CD etc.
Above to provided by the present invention a kind of be applied to hydraulic torque converter of engineering machine close dislock method and relevant apparatus is described in detail, for one of ordinary skill in the art, thought according to the embodiment of the invention, all will change in specific embodiments and applications, to sum up, this description should not be construed as limitation of the present invention.
Claims (8)
1. the dislock method that closes that is applied to hydraulic torque converter of engineering machine is characterized in that, comprising:
Generate the characteristic curve of described motor according to the original performance parameter of the motor of engineering machinery, wherein, rotating speed and torque that the characteristic abscissa of described motor and y coordinate are respectively described motor;
Generate the input characteristic curve of described fluid torque converter according to the original performance parameter of the motor of engineering machinery and fluid torque converter, wherein, the abscissa of the input characteristic curve of described fluid torque converter and y coordinate are respectively rotating speed and the torque of described fluid torque converter;
Generate described motor and the cooperative associating input characteristic curve of described fluid torque converter according to the characteristic curve of described motor and the input characteristic curve of described fluid torque converter;
Obtain the common working point of described motor and described fluid torque converter according to described associating input characteristic curve, wherein, described common working point is the intersection point of the input characteristic curve of the characteristic curve of motor described in the described associating input characteristic curve and described fluid torque converter;
With torque ratio and the rotating ratio that torque value and the tachometer value of described common working point multiply by respectively fluid torque converter corresponding to described common working point, obtain the associating output point of described motor and fluid torque converter;
Generate described motor and the cooperative associating output characteristic curve of fluid torque converter according to described associating output point;
Features according to described associating input characteristic curve, described associating output characteristic curve and described engineering machinery, calculate under the different accelerator open degrees and the locking point of described fluid torque converter under the different operating state, in order to utilize described locking point that described fluid torque converter is carried out lock-in control;
The tachometer value of described locking point is deducted the solution drop lock that presets, obtain the tachometer value of release point corresponding to described locking point, in order to utilize described release point that described fluid torque converter is separated lock control.
2. method according to claim 1 is characterized in that, the characteristic step of the described motor of described generation comprises:
The fitting polynomial formulas that utilizes method of least squares to construct is set up the model of described motor:
Wherein, M
eRepresent the torque of described motor, n
eThe rotating speed that represents described motor, α
0, α
1, α
2, b
0, b
1Be the coefficient that match obtains, n
EHRepresent the idling speed under the different accelerator open degrees, α is accelerator open degree, wherein, and n
EHWith the relational expression of α be: n
EH=α (n
R-n
L)+n
L, wherein, n
RThe high idle speed rotating speed that represents described motor, n
LThe minimum idling speed that represents described motor;
Characteristic curve according to the described motor of model generation of described motor.
3. method according to claim 2 is characterized in that, the step of the input characteristic curve of the described fluid torque converter of described generation comprises:
With the rotating speed of the described motor original input speed n as described fluid torque converter
T, according to formula
Obtain described n
TThe original input torque M of corresponding described fluid torque converter
T, wherein, described M
BgThe torque coefficient that comprises for described fluid torque converter original performance parameter;
According to described original input speed and described original input torque, the fitting polynomial formulas that utilizes method of least squares to construct is set up the model of described fluid torque converter:
Wherein, c is the coefficient that match obtains in the formula;
Input characteristic curve according to the described fluid torque converter of model generation of described fluid torque converter.
4. according to claim 1 to 3 each described methods, it is characterized in that,
Described engineering machinery is the earthwork engineering machinery;
The step of the different accelerator open degrees of described calculating and the locking point of described fluid torque converter under the different operating state comprises:
Calculate under the different accelerator open degrees described fluid torque converter at the locking point at coupling point, pressure point of maximum efficiency and first high-efficiency point place;
Also comprise after the step of the different accelerator open degrees of described calculating and the locking point of described fluid torque converter under the different operating state:
Locking point when the locking point of described fluid torque converter at the coupling point place is defined as described engineering machinery and is operated in the work gear;
Locking point when the locking point of described fluid torque converter at the pressure point of maximum efficiency place is defined as described engineering machinery and is operated in the low gear of the gear that travels;
The locking point of described fluid torque converter at first high-efficiency point place is defined as described engineering machinery is operated in locking point when retreating gear and the high gear of the gear that travels.
5. the tripper that closes that is applied to hydraulic torque converter of engineering machine is characterized in that, comprising:
The first generation unit is used for generating according to the original performance parameter of the motor of engineering machinery the characteristic curve of described motor, wherein, and rotating speed and torque that the characteristic abscissa of described motor and y coordinate are respectively described motor;
The second generation unit, be used for generating according to the original performance parameter of the motor of engineering machinery and fluid torque converter the input characteristic curve of described fluid torque converter, wherein, the abscissa of the input characteristic curve of described fluid torque converter and y coordinate are respectively rotating speed and the torque of described fluid torque converter;
The 3rd generates the unit, is used for generating described motor and the cooperative associating input characteristic curve of described fluid torque converter according to the characteristic curve of described motor and the input characteristic curve of described fluid torque converter;
The common working point acquiring unit, be used for obtaining according to the described the 3rd described associating input characteristic curve that generates the unit generation common working point of described motor and described fluid torque converter, wherein, described common working point is the intersection point of the input characteristic curve of the characteristic curve of motor described in the described associating input characteristic curve and described fluid torque converter;
Associating output point computing unit, for the torque value of the described common working point that described common working point acquiring unit is got access to and torque ratio and the rotating ratio that tachometer value multiply by respectively fluid torque converter corresponding to described common working point, obtain the associating output point of described motor and fluid torque converter;
The 4th generation unit, the associating output point that is used for getting access to according to described associating output point computing unit generates described motor and the cooperative associating output characteristic curve of fluid torque converter;
Locking point computing unit, be used for the associating input characteristic curve that generates according to described the 3rd generation unit, the associating output characteristic curve that described the 4th generation unit generates, and the features of described engineering machinery, calculate under the different accelerator open degrees and the locking point of described fluid torque converter under the different operating state, in order to utilize described locking point that described fluid torque converter is carried out lock-in control;
Release point computing unit, tachometer value for the locking point that described locking point computing unit is calculated deducts the solution drop lock that presets, obtain the tachometer value of release point corresponding to described locking point, in order to utilize described release point that described fluid torque converter is separated lock control.
6. device according to claim 5 is characterized in that, comprising:
Described the first generation unit comprises: engine mockup is set up unit and first and is generated subelement;
Described engine mockup is set up the unit and is used for original performance parameter according to the motor of engineering machinery, utilizes the fitting polynomial formulas of method of least squares structure to set up the model of described motor:
Wherein, M
eRepresent the torque of described motor, n
eThe rotating speed that represents described motor, α
0, α
1, α
2, b
0, b
1Be the coefficient that match obtains, n
EHRepresent the idling speed under the different accelerator open degrees, α is accelerator open degree, wherein, and n
EHWith the relational expression of α be: n
EH=α (n
R-n
L)+n
L, wherein, n
RThe high idle speed rotating speed that represents described motor, n
LThe minimum idling speed that represents described motor;
Described the first generation subelement is used for the characteristic curve according to the described motor of model generation of described motor.
7. device according to claim 6 is characterized in that,
Described the second generation unit comprises: acquiring unit, fluid torque converter model are set up unit and second and are generated subelement;
Described acquiring unit is used for the rotating speed of the described motor original input speed n as described fluid torque converter
T, according to formula
Obtain described n
TThe original input torque M of corresponding described fluid torque converter
T, wherein, described M
BgThe torque coefficient that comprises for described fluid torque converter original performance parameter;
Described fluid torque converter model is set up the unit for the original input speed and the original input torque that obtain according to described acquiring unit, and the fitting polynomial formulas that utilizes method of least squares to construct is set up the model of described fluid torque converter:
Wherein, c is the coefficient that match obtains in the formula;
Described the second generation subelement is used for the input characteristic curve according to the described fluid torque converter of model generation of described fluid torque converter.
8. according to claim 5 to 7 each described devices, it is characterized in that,
Described engineering machinery is the earthwork engineering machinery;
Described locking point computing unit specifically is used for calculating under the different accelerator open degrees described fluid torque converter at the locking point at coupling point, pressure point of maximum efficiency and first high-efficiency point place;
Described device also comprises:
Determining unit is used for the locking point when the locking point of described fluid torque converter at the coupling point place be defined as described engineering machinery and be operated in the work gear; Locking point when the locking point of described fluid torque converter at the pressure point of maximum efficiency place is defined as described engineering machinery and is operated in the low gear of the gear that travels; The locking point of described fluid torque converter at first high-efficiency point place is defined as described engineering machinery is operated in locking point when retreating gear and the high gear of the gear that travels.
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| CN102980779B (en) * | 2012-11-22 | 2015-11-11 | 北京二七轨道交通装备有限责任公司 | The preparation method of hydrodynamic drive locomotive traction curve |
| CN103967640B (en) * | 2014-05-21 | 2017-01-04 | 山推工程机械股份有限公司 | A kind of hydraulic type engineering machinery and torque control method, torque control device |
| CN104989802A (en) * | 2015-07-15 | 2015-10-21 | 长安大学 | Locking and unlocking method and locking and unlocking system for locking type hydraulic torque converter of bulldozer |
| CN106195255B (en) * | 2016-07-06 | 2017-11-07 | 厦门大学 | Automatic catch wheel loader fluid torque-converter control method |
| CN110758027A (en) * | 2019-10-17 | 2020-02-07 | 江苏徐工工程机械研究院有限公司 | Hydraulic transmission wheel type engineering machinery tire pressure monitoring and early warning method |
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