CN102493521B - Energy-saving control method for cooling system of excavator - Google Patents
Energy-saving control method for cooling system of excavator Download PDFInfo
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Abstract
The invention discloses an energy-saving control method for a cooling system of an excavator and belongs to the technical field of energy saving control of cooling systems of engineering machinery. The method comprises the following concrete steps that: a master controller sets a target rotation speed and power of a hydraulic main pump based on a power mode and an accelerator knob input signal; conditional judgment is carried out on cooling water temperature, air inlet temperature and hydraulic oil temperature signals of an engine, a PWM (pulse-width modulation) signal is output, and the power of an independent cooling pump is adjusted; load vibration of the excavator under different work conditions is judged according to the power required by the cooling pump, a PWM signal is output to adjust the power of the hydraulic main pump under the rotation speed sensing control of an ESS (engine speed sensor) through two-dimensional fuzzy PID (proportion-integral-differential) adjustment, so that the output power of the engine is matched with the power of the hydraulic main pump and the power of the cooling pump. The energy-saving control method disclosed by the invention has the beneficial effects that optimal matching between the output power of the engine of the excavator and the power of the hydraulic main pump and the power of the cooling pump can be realized, adaptive control can be realized, and the stationarity and working efficiency of system operation can be improved, while the oil consumption and noises are effectively lowered.
Description
Technical field
The present invention relates to a kind of energy-saving control method of engineering machinery field cooling system, specifically is a kind of energy-saving control method of excavator cooling system, belongs to the energy-conserving control technology field of engineering machinery cooling system.
Background technology
Present domestic shovel crawler cooling system comprises cooling water cooling system and hydraulic oil cooling system two parts, usually all adopting motor directly to drive radiator fan dispels the heat, and the rotating speed of radiator fan, power, driving moment are directly related with the rotating speed size of motor, the installation site also is restricted, thereby heat-sinking capability makes subject matters such as the complete machine operating temperature is too high, oil consumption is high, vibration is big, noise height inadequately when causing the operation of low speed heavy load.
In the existing domestic excavator power adaptive energy-conserving control technology, domestic construction machinery product is excavator particularly, the independent fully heat radiation of the rare employing of its cooling system.Consider the different operation operating mode of excavator, need maximum heat-sinking capability during excavator operation under hot environment, heat radiation power is bigger; And operation only needs the smaller power heat radiation under low temperature environment, does not even need heat radiation, and the heat radiation pump power of this moment needs less.Therefore, to disposing the excavator of independent cooling system, except considering that the complete machine engine output satisfies the power of hydraulic system normal operation needs, according under the different situation of various environment temperatures, the difference of independent cooling system watt level different needs, operation load changes, adjust power output and hydraulic pressure main pump power and the independent heat radiation pump power coupling of motor constantly, make it reach best, thereby improve excavator operation efficient and performance, heat dispersion the best greatly; Reduce complete machine oil consumption, noise and vibration, optimize the various performance indications of complete machine.At the domestic still space state of the power adaptive energy-conserving control technology of excavator independence cooling system, so, the power adaptive energy-saving control method of a kind of excavator independence of demand cooling system, in conjunction with electronic control system hydraulic pressure main pump and engine power are mated energy-conserving control technology, make energy-saving effect and the operating efficiency of excavator reach best, intelligent degree height satisfies market demand.
Summary of the invention
Problem at above-mentioned prior art existence, the invention provides a kind of energy-saving control method of excavator cooling system, when effectively reducing oil consumption, make the engine output of excavator and the power match of main pump power and independent heat radiation pump reach best, realize Self Adaptive Control, reduce oil consumption and noise, the stationarity of raising system operation and the purpose of operating efficiency.
To achieve these goals, the present invention is achieved through the following technical solutions: a kind of energy-saving control method of excavator cooling system, and it is as follows that it specifically controls step:
(1), behind the engine start, select power mode by the multifunction electronic watch-dog, master controller reads in this signal by the CAN bus, sets the maximum speed value of setting when motor is unloaded under each power mode;
(2), the operation grip, set the rotating speed target operating position of motor, master controller input port 1 collects this input signal;
(3), through computing, master controller by and the Engine ECU controller between the CAN EBI, according to the J1939 communications protocol, send the accelerator open degree percentages of grip correspondence, thus the rotating speed of control motor;
(4), master controller is by output port 2, the minimum unloaded idling of corresponding grip is to the highest unloaded idle position, set the pulse-width modulation PWM signal with the non-linear corresponding dutycycle from the minimum current value to the lowest high-current value of tach signal, namely preestablish main pump one and main pump two current values, adjust the swash plate angle of main pump one and main pump two, change the discharge capacity of main pump one and main pump two;
(5), the output port 1 by master controller, the pulse-width modulation PWM signal code value of output duty cycle is 0mA, adjusts the swash plate angle of heat radiation pump, makes its discharge capacity and heat radiation power maximum;
(6), master controller reads in coolant water temperature T1, the intake air temperature T2 of motor by the CAN bus, reads in hydraulic oil temperature T3 by the input port;
(7), carrying out logic judges:
Set, the minimum value of the coolant water temperature that T1min and T1max control when being respectively the motor operate as normal and maximum value, the minimum value of the intake air temperature that T2min and T2max control when being respectively the motor operate as normal and maximum value, the minimum value of the hydraulic oil temperature that T3min and T3max control when being respectively the motor operate as normal and maximum value;
When T1＞T1max or T2＞T2max or T3＞T3max, the maintenance output current value is 0mA, adjusts the swash plate angle of heat radiation pump, makes its discharge capacity maximum, the pump that namely dispels the heat (power reach maximum;
When T1＜T1min and T2＜T2min and T3＜T3min, output current value is maximum current, adjusts heat radiation pump swash plate angle, makes its discharge capacity minimum, the power minimum of the pump that namely dispels the heat;
When T1min＜T1＜T1max and T2min＜T2＜T2max and T3min＜T3＜T3max, the power of master controller output current value adjustment heat radiation pump, must satisfy priority principle according to heat radiation power---the cooling water cooling system power of motor has precedence over hydraulic oil temperature cooling system power, namely satisfies normal working temperature priority principle T1＞T2＞T3; T1, T2 and each temperature of T3 are divided into three kinds of temperature sections, carry out linearity adjustment with three kinds of slope K 1, K2 and K3, namely output current value carries out linearity adjustment to the discharge capacity of heat radiation pump (5);
(8), relatively what judge the power N of the pump actual needs that namely dispels the heat to master controller according to heat radiation power required under the various radiating conditions
0The dump power N that compares with the peak power Nmax of heat radiation pump
1=Nmax-N
0
(9), work as N
0During＜Nmax, with dump power N
1, convert through condition, take control strategy, on the power basis of the main pump one that sets in advance and main pump two, suitably increase the electric current preset value of hydraulic pressure main pump one, two electric proportional valves;
(10), main pump two pressure sensors, main pump one pressure sensor, the swing arm that read in by input port 3, input port 4, input port 5, input port 6, input port 7 of master controller plays pressure sensor, dipper and receives the signal that pressure sensor and scraper bowl are received pressure sensor, and actual speed and the rate of load condensate signal of the motor that reads in by the CAN bus, load variations when judging excavator operation, target setting rotating speed and the actual speed of comparison engine;
(11), carry out two-dimentional fuzzy and regulate, realize that ESS control is revolution speed sensing control, follow the tracks of the excavator operation load variations, adjust the hydraulic pressure main pump one of final output, the current value of two electric proportional valves, thereby adjust swash plate angle and the output displacement size of main pump one and main pump two in real time, thereby increase the absorbed power of main pump one and main pump two;
(12), work as N
0During=Nmax, main pump two pressure sensors that master controller reads in by input port 3, input port 4, input port 5, input port 6 and input port 7, main pump one pressure sensor, swing arm play the signal that pressure sensor, dipper receipts pressure sensor and scraper bowl are received pressure sensor, and actual speed and the rate of load condensate signal of the motor that reads in by the CAN bus, load conversion when judging excavator operation again, target setting rotating speed and the actual speed of comparison engine;
(13), carry out two-dimentional fuzzy adjusting, ESS control and revolution speed sensing control again, master controller output remains on the pulse-width modulation PWM signal that preestablishes the dutycycle corresponding with tach signal, it is the current value of hydraulic pressure main pump one, two electric proportional valves, namely keep the setting power of main pump one and main pump two constant, adjust the power output of main pump one and main pump two;
(14), finally control the assignment of traffic of each pump by master controller, utilize the power of motor, make the pump power summation that is assigned to main pump one, main pump two and heat radiation pump be no more than the power output of motor.
The invention has the beneficial effects as follows: when effectively reducing oil consumption and noise, make engine output and the main pump power of excavator and the pump power coupling of independently dispelling the heat reach best, realize Self Adaptive Control, improved stationarity and operating efficiency that system operates.
Description of drawings
Fig. 1 is control method flow chart of the present invention;
Fig. 2 is control system structural representation of the present invention;
Fig. 3 is Energy Saving Control method of adjustment schematic diagram of the present invention;
Fig. 4 is independent radiating control method of adjustment schematic diagram of the present invention.
Among the figure: 1, cooling water heat radiation motor, 2, hydraulic oil heat radiation motor, 3, hydraulic pressure main pump one, two electric proportional valves, 4, heat radiation pump electric proportional valve, 5, the heat radiation pump, 6, main pump one, 7, main pump two, 9, motor, 10, motor EUC controller, 11, the multifunction electronic watch-dog, 12, the hydraulic oil temperature sensor, 13, main pump one pressure sensor, 14, main pump two pressure sensors, 15, grip, 16, master controller, 17, swing arm plays pressure sensor, and 18, dipper is received pressure sensor, 19, scraper bowl is received pressure sensor, 20, hydraulic oil radiator, 21, the hydraulic oil fan that looses, 22, cooling water radiator, 23, the cooling water fan that looses.
The specific embodiment
The present invention will be further described below in conjunction with accompanying drawing.
As Fig. 1, Fig. 2 and shown in Figure 3, a kind of energy-saving control method of excavator cooling system, at first, after motor 9 starts, select power mode (H heavy duty pattern, S mode standard, L underloading pattern) by multifunction electronic watch-dog 11, master controller 16 reads in this signal by the CAN bus; Set the maximum speed value that motor under each power mode 9 is set when unloaded; Operation grip 15, the rotary speed working position of setting motor 9, master controller 16 input ports 1 collect this input signal; Through computing, master controller 16 by and Engine ECU controller 10 between the CAN EBI, according to the J1939 communications protocol, send the accelerator open degree percentages of grip 15 correspondences, thus the rotating speed of control motor 9; Master controller 16 is by output port 2 simultaneously, the minimum unloaded idling of corresponding grip 15 is to the highest unloaded idle position, set the pulse-width modulation PWM signal with the non-linear corresponding dutycycle from the minimum current value to the lowest high-current value of tach signal, namely preestablish main pump 1 and main pump 27 current values, adjust the swash plate angle of main pump 1 and main pump 27, change the discharge capacity of main pump 1 and main pump 27; By the output port 1 of master controller 16, the pulse-width modulation PWM signal code value of output duty cycle is 0mA, adjusts the swash plate angle of heat radiation pump 5, makes its discharge capacity reach maximum, and the power maximum of the pump 5 that namely dispels the heat has the safeguard protection effect; Drive each pump work by motor 9, main pump 1 and main pump 27 are realized the various operation functions of hydraulic system by each oil circuit, the pump 5 that dispels the heat drives cooling water heat radiation motor 1 by oil circuit and hydraulic oil heat radiation motor 2 drives the diffusing fan 23 of cooling water, the diffusing fan 21 of hydraulic oil respectively, realize the heat sinking function of hydraulic oil radiator 20 and cooling water radiator 22, thereby realize independent heat radiation.
Then, excavator begins operation, and master controller 16 reads in coolant water temperature T1, the intake air temperature T2 of motor 9 by the CAN bus, reads in hydraulic oil temperature T3 by input port 2, and hydraulic oil temperature T3 gathers by hydraulic oil temperature sensor 12; Carrying out logic judges:
As shown in Figure 4, set, minimum value and the maximum value of the coolant water temperature that T1min and T1max control when being respectively motor 9 operate as normal, minimum value and the maximum value of the intake air temperature that T2min and T2max control when being respectively motor 9 operate as normal, minimum value and the maximum value of the hydraulic oil temperature that T3min and T3max control when being respectively motor 9 operate as normal;
When T1＞T1max or T2＞T2max or T3＞T3max, the maintenance output current value is 0mA, adjusts the swash plate angle of heat radiation pump 5, makes its discharge capacity maximum, and it is maximum that the power of the pump 5 that namely dispels the heat reaches;
When T1＜T1min and T2＜T2min and T3＜T3min, output current value is maximum current, adjusts heat radiation pump 5 swash plate angles, makes its discharge capacity minimum, the power minimum of the pump 5 that namely dispels the heat;
When T1min＜T1＜T1max and T2min＜T2＜T2max and T3min＜T3＜T3max, the power of master controller 16 output current value adjustment heat radiation pump 5, must satisfy priority principle according to heat radiation power---the cooling water cooling system power of motor 9 has precedence over hydraulic oil temperature cooling system power, namely satisfies normal working temperature priority principle T1＞T2＞T3.
T1, T2 and each temperature of T3 are divided into three kinds of temperature sections, carry out linearity adjustment with three kinds of slope K 1, K2 and K3, realize that namely output current value carries out linearity adjustment to the discharge capacity of heat radiation pump 5.
At last, on the basis of above step, relatively what judge the power N of pump 5 actual needs that namely dispel the heat to master controller 16 according to heat radiation power required under the various radiating conditions
0The dump power N that compares with the peak power Nmax of heat radiation pump 5
1=Nmax-N
0, on the power basis of the main pump 1 that sets in advance and main pump 27, adjust the watt level of main pump 1 and main pump 27: namely work as N then
0During＜Nmax, will remain with power N
1, convert through condition, take control strategy, suitably increase the electric current preset value of hydraulic pressure main pump one, two electric proportional valves 3; Main pump two pressure sensors 14, main pump one pressure sensor 13, the swing arm that while master controller 16 reads in by input port 3, input port 4, input port 5, input port 6, input port 7 plays the signal that pressure sensor 17, dipper receipts pressure sensor 18 and scraper bowl are received pressure sensor 19, and actual speed and the rate of load condensate signal of the motor 9 that reads in by the CAN bus, load variations when judging excavator operation, target setting rotating speed and the actual speed of comparison engine 9; Carry out two-dimentional fuzzy adjusting, ESS control and revolution speed sensing control, follow the tracks of the excavator operation load variations, adjust the hydraulic pressure main pump one of final output, the current value of two electric proportional valves 3 in real time, adjust the swash plate angle of main pump 1 and main pump 27, then adjust the output displacement size of main pump 1 and main pump 27, thereby increase the power of main pump 1 and main pump 27, improve the complete machine operating efficiency;
Work as N
0During=Nmax, main pump two pressure sensors 14 that master controller 16 reads in by input port 3, input port 4, input port 5, input port 6 and input port 7, main pump one pressure sensor 13, swing arm play the signal that pressure sensor 17, dipper receipts pressure sensor 18 and scraper bowl are received pressure sensor 19, and actual speed and the rate of load condensate signal of the motor 9 that reads in by the CAN bus, load conversion when judging excavator operation again, target setting rotating speed and the actual speed of comparison engine 9; Carry out two-dimentional fuzzy adjusting, ESS control and revolution speed sensing control again, master controller 16 outputs remain on the pulse-width modulation PWM signal that preestablishes the dutycycle corresponding with tach signal, follow the tracks of the excavator operation load variations, adjust the hydraulic pressure main pump one of final output, the current value of two electric proportional valves 3 in real time, namely keep the setting power of main pump 1 and main pump 27 constant, adjust the power output of main pump 1 and main pump 27 in real time;
By the assignment of traffic of master controller 16 final each pump of control, utilize the power of motor 9, make the pump power summation that is assigned to main pump 1, main pump 27 and heat radiation pump 5 be no more than the power output of motor 9.
Claims (1)
1. the energy-saving control method of an excavator cooling system is characterized in that, it is as follows specifically to control step:
(1), after motor (9) starts, select power mode by multifunction electronic watch-dog (11), master controller (16) reads in this signal by the CAN bus, sets the maximum speed value that motor under each power mode (9) is set when unloaded;
(2), operation grip (15), set the rotating speed target operating position of motor (9), master controller (16) input port 1 collects this input signal;
(3), through computing, master controller (16) by and Engine ECU controller (10) between the CAN EBI, according to the J1939 communications protocol, send the corresponding accelerator open degree percentages of grip (15), thus the rotating speed of control motor (9);
(4), master controller (16) is by output port 2, the minimum unloaded idling of corresponding grip (15) is to the highest unloaded idle position, set the pulse-width modulation PWM signal with the non-linear corresponding dutycycle from the minimum current value to the lowest high-current value of tach signal, namely preestablish main pump one (6) and main pump two (7) current values, adjust the swash plate angle of main pump one (6) and main pump two (7), change the discharge capacity of main pump one (6) and main pump two (7);
(5), the output port 1 by master controller (16), the pulse-width modulation PWM signal code value of output duty cycle is 0mA, adjusts the swash plate angle of heat radiation pump (5), makes its discharge capacity and heat radiation power maximum;
(6), master controller (16) reads in coolant water temperature T1, the intake air temperature T2 of motor (9) by the CAN bus, reads in hydraulic oil temperature T3 by the input port;
(7), carrying out logic judges:
Set, minimum value and the maximum value of the coolant water temperature that T1min and T1max control when being respectively motor (9) operate as normal, minimum value and the maximum value of the intake air temperature that T2min and T2max control when being respectively motor (9) operate as normal, minimum value and the maximum value of the hydraulic oil temperature that T3min and T3max control when being respectively motor (9) operate as normal;
When T1＞T1max or T2＞T2max or T3＞T3max, the maintenance output current value is 0mA, adjusts the swash plate angle of heat radiation pump (5), makes its discharge capacity maximum, and it is maximum that the power of the pump (5) that namely dispels the heat reaches;
When T1＜T1min and T2＜T2min and T3＜T3min, output current value is maximum current, adjusts heat radiation pump (5) swash plate angle, makes its discharge capacity minimum, the power minimum of the pump (5) that namely dispels the heat;
When T1min＜T1＜T1max and T2min＜T2＜T2max and T3min＜T3＜T3max, the power of master controller (16) output current value adjustment heat radiation pump (5),. must satisfy priority principle according to heat radiation power---the cooling water cooling system power of motor (9) has precedence over hydraulic oil temperature cooling system power, namely satisfies normal working temperature priority principle T1＞T2＞T3; T1, T2 and each temperature of T3 are divided into three kinds of temperature sections, carry out linearity adjustment with three kinds of slope K 1, K2 and K3, namely output current value carries out linearity adjustment to the discharge capacity of heat radiation pump (5);
(8), relatively what judge the power N of pump (5) actual needs that namely dispels the heat to master controller (16) according to heat radiation power required under the various radiating conditions
0The dump power N that compares with the peak power Nmax of heat radiation pump (5)
1=Nmax-N
0
(9), work as N
0During＜Nmax, with dump power N
1, convert through condition, take control strategy, on the power basis of the main pump one (6) that sets in advance and main pump two (7), suitably increase the electric current preset value of hydraulic pressure main pump one, two electric proportional valves (3), namely increase its power;
(10), main pump two pressure sensors (14), main pump one pressure sensor (13), the swing arm that read in by input port 3, input port 4, input port 5, input port 6, input port 7 of master controller (16) plays the signal that pressure sensor (17), dipper are received pressure sensor (18) and scraper bowl receipts pressure sensors (19), and actual speed and the rate of load condensate signal of the motor (9) that reads in by the CAN bus, load variations when judging excavator operation, target setting rotating speed and the actual speed of comparison engine (9);
(11), carry out two-dimentional fuzzy and regulate, realize that ESS control is revolution speed sensing control, follow the tracks of the excavator operation load variations, adjust the hydraulic pressure main pump one of final output, the current value of two electric proportional valves (3), thereby adjust swash plate angle and the output displacement size of main pump one (6) and main pump two (7) in real time, thereby increase the power of main pump one (6) and main pump two (7);
(12), work as N
0During=Nmax, main pump two pressure sensors (14) that master controller (16) reads in by input port 3, input port 4, input port 5, input port 6, input port 7, main pump one pressure sensor (13), swing arm play the signal that pressure sensor (17), dipper receipts pressure sensor (18) and scraper bowl are received pressure sensors (19), and actual speed and the rate of load condensate signal of the motor (9) that reads in by the CAN bus, load conversion when judging excavator operation again, target setting rotating speed and the actual speed of comparison engine (9);
(13), carry out two-dimentional fuzzy adjusting, ESS control and revolution speed sensing control again, master controller (16) output keeps preestablishing the pulse-width modulation PWM signal of the dutycycle corresponding with tach signal, it is the current value of hydraulic pressure main pump one, two electric proportional valves (3), keep the setting power of main pump one (6) and main pump two (7) constant, adjust the power output of main pump one (6) and main pump two (7);
(14), finally control the assignment of traffic of each pump by master controller (16), utilize the power of motor (9), make the pump power summation that is assigned to main pump one (6), main pump two (7) and the pump (5) that dispels the heat be no more than the power output of motor (9).
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| CN102733441B (en) * | 2012-06-15 | 2015-04-22 | 三一重机有限公司 | Raising speed control energy saving system and method for excavator |
| CN102705088B (en) * | 2012-06-26 | 2015-11-25 | 上海三一重机有限公司 | The mine car of a kind of electric drive mine car transmission system controlling method and utilization the method |
| CN102777272A (en) * | 2012-07-23 | 2012-11-14 | 中联重科股份有限公司渭南分公司 | Overload protection control equipment, method and system and engineering machinery |
| CN103306332B (en) * | 2013-06-24 | 2019-03-01 | 上海三一重机股份有限公司 | A method of setting excavator main pump flow |
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| CN107882102A (en) * | 2017-11-09 | 2018-04-06 | 南京工业大学 | Energy-saving control method based on negative flow pump power valve current |
| CN109990090B (en) * | 2019-03-29 | 2020-07-10 | 长安大学 | Power matching method of engine and hydraulic torque converter for loader |
| CN113107917B (en) * | 2021-04-09 | 2023-05-23 | 三一重机有限公司 | Electrohydraulic control method and device and working machine |
| CN113738523B (en) * | 2021-08-02 | 2023-01-06 | 潍柴动力股份有限公司 | Vehicle system oil temperature control method and device |
| CN114137828B (en) * | 2021-12-30 | 2024-06-21 | 中联重科股份有限公司 | Dynamic PID control method, system and storage medium for engineering machinery power matching |
| CN114837790B (en) * | 2022-05-13 | 2024-03-12 | 徐州徐工基础工程机械有限公司 | Explosion-proof diesel engine heat balance management system and management strategy |
| CN115369937B (en) * | 2022-08-26 | 2024-04-12 | 中联重科土方机械有限公司 | Positive flow excavator, control method, control device and controller thereof |
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