CN102637047A - Suspension arm telescopic follow-up control method and system - Google Patents

Abstract

The invention discloses a suspension arm telescopic follow-up control method and a system, wherein the method comprises the following steps: when the telescopic oil cylinder drives the bolt mechanism to move, detecting whether the position of the bolt mechanism belongs to a high-speed moving area or a low-speed moving area in real time; obtaining the high-speed moving speed required by the bolt mechanism when the bolt mechanism belongs to the high-speed moving area, and obtaining the low-speed moving speed required by the bolt mechanism when the bolt mechanism belongs to the low-speed moving area; calculating the matching rotating speed N required by an engine driving the telescopic oil cylinder according to the high-speed moving speed or the low-speed moving speed of the bolt mechanism; the matching speed N is set as the current speed of the engine. According to the embodiment of the invention, the matching rotating speed N required by the engine is calculated according to the moving speed of the bolt mechanism, and the rotating speed of the engine is intelligently and accurately adjusted to be the matching rotating speed N, so that the rotating speed of the engine is matched with the stretching speed of the bolt mechanism, risk factors caused by manual operation errors are avoided, and the working efficiency is improved.

Description

Hoisting arm expansion follow-up control method and system

Technical field

The present invention relates to mechanical arm technical field, be specifically related to a kind of hoisting arm expansion follow-up control method and system of single telescopic oil cylinder single oil cylinder.

Background technology

In the prior art, mechanical arm particularly large-scale engineering machinery arm generally adopts the stretch mode of single telescopic oil cylinder single oil cylinder, and its principle of work comprises:

Step S01, telescopic oil cylinder drive the afterbody that bolt mechanism finds the j joint telescopic arm that will stretch;

Step S02 stretches out the work pin with this telescopic oil cylinder and the locking of this j joint telescopic arm, and this j joint telescopic arm of withdrawing is inserted in the bearing pins in the j-1 joint telescopic arm;

Step S03; Stretch this telescopic oil cylinder, this j joint telescopic arm and then stretches simultaneously, after being stretched over destination locations; This bolt mechanism releasing bearing pin; The bearing pins of this j joint telescopic arm is inserted in the j-1 joint telescopic arm,, accomplishes the stretching of j joint telescopic arm so that j joint telescopic arm and j-1 joint telescopic arm are locked once more;

Repeating step returns step S01, until the stretching of accomplishing all joint arms.

Wherein, said process is only described to the stretching of single oil cylinder, and the Principle of Process of the contractive action of single oil cylinder is basic identical, does not give unnecessary details at this.

In the above-mentioned principle of work, adopt to comprise manual control mode (superseded basically) and two kinds of concrete implementations of semiautomatic control mode.Wherein, semi-automatic extensible becomes mainstream technology gradually with its advance, and its control procedure comprises:

The telescopic oil cylinder of telescoping mechanism drives bolt mechanism and moves;

Electronic control unit is calculated the flexible progress percentage of bolt mechanism according to detected bolt mechanism state, telescopic oil cylinder length gauge;

When the percentages show bolt mechanism is in high-speed mobile when zone, electronic control unit is exported big electric current automatically and is given flexible proportioning valve, and prompting operation person's pedal of stepping on the throttle, and makes the engine speed-raising, to reach the purpose of flexible high-speed cruising; When the percentages show bolt mechanism was in the low speed moving area, electronic control unit was exported little electric current automatically and is given flexible proportioning valve, and the artificial engine speed that reduces of prompting operation person, thereby guaranteed the telescoping mechanism slow running.

Therefore in the process that bolt mechanism stretches automatically, though stretching speed has been realized automatic control, the rotating speed of engine needs come manually-operated by the operator according to the flexible progress prompt of display.In the process of manually-operated control, following technical matters appearring easily: at flexible low speed segment, because misoperation does not have timely reduction of speed, causes rotating speed too high, both wasted engine capacity, also possibly fail to the hole because of the too fast bolt mechanism that causes of stretching speed.In other words, behind the reduction of speed, speed is fallen lowly excessively, possibly cause the telescopic oil cylinder fuel feeding not enough, flexible creeping, and bolt mechanism is failed to the hole; And in flexible accelerating sections, high regime, it is slow that engine quickened, and power is not enough, causes engine kill, and expanding-contracting action stops.

In sum, in the prior art, owing to adopt the manual control engine, cause the stretching speed of bolt mechanism and engine speed not to match, the success ratio of extension and contraction control is on the low side.

How to solve in the prior art owing to adopt the manual control engine, cause the stretching speed of bolt mechanism and engine speed not to match, the technical matters that the success ratio of extension and contraction control is on the low side is the difficult problem that this area is needed solution badly.

Summary of the invention

The present invention mainly solves owing to adopt the manual control engine, causes the stretching speed of bolt mechanism and engine speed not to match, and the technical matters that the success ratio of extension and contraction control is on the low side provides a kind of hoisting arm expansion follow-up control method and system.

For solving the problems of the technologies described above; The technical scheme that the present invention adopts is: a kind of hoisting arm expansion follow-up control method is provided; Drive bolt mechanism inserted or pulled out bearing pins to single oil cylinder action through telescopic oil cylinder; May further comprise the steps: when telescopic oil cylinder drive bolt mechanism moves, detect the residing position of bolt mechanism in real time and belong to high-speed mobile district or low speed turnover zone; When belonging to the high-speed mobile district, obtain the required high-speed mobile speed of this bolt mechanism, when belonging to the low speed turnover zone, obtain the required low speed translational speed of this bolt mechanism; High-speed mobile speed or low speed translational speed according to this bolt mechanism are calculated the required coupling rotational speed N of engine that drives this telescopic oil cylinder; This coupling rotational speed N is set to the current rotating speed of this engine.

Wherein, When belonging to the high-speed mobile district, obtain the required high-speed mobile speed of this bolt mechanism at this, the step that when belonging to the low speed turnover zone, obtains the required low speed translational speed of this bolt mechanism also comprises afterwards: according to the high-speed mobile speed or the low speed translational speed output actual current I of this bolt mechanism _ValueTo flexible proportioning valve, to control the duty of this flexible proportioning valve; , this comprises in calculating the step of the required coupling rotational speed N of the engine that drives this telescopic oil cylinder according to the high-speed mobile speed of this bolt mechanism or low speed translational speed: the first coupling rotational speed N that calculates this engine by the traffic demand of this flexible proportioning valve and corresponding expansion pump thereof ₁, calculate the second coupling rotational speed N of this engine by the power demand of this flexible proportioning valve and corresponding expansion pump thereof ₂, mate rotational speed N in the hope of this:

$N_1=\frac{Q\×{10}^3}{q}\×A$

$W=\frac{P\×Q}{60\×\mathrm{\η}}\×A$

N＝Max(N ₁，N ₂)×K

In the aforementioned calculation formula, this first coupling rotational speed N ₁, second the coupling rotational speed N ₂And the unit of this coupling rotational speed N is r; Throttle servo-actuated control through this expansion pump is somebody's turn to do flexible pump capacity q (mL/r) to change; This engine driven expansion pump also passes through hydraulic path to this flexible proportioning valve pumping high-voltage oil liquid, and Q (L/min) is this flexible proportioning valve rated flow, and A is a coefficient of regime; P (MPa) is the flexible pressure in this hydraulic path; η is the efficient of this expansion pump, and W (KW) is the power input of this expansion pump, obtains this second coupling rotational speed N according to this power input W from the external characteristic curve of this engine ₂, the Max function is for getting maximal value, and K is a safety coefficient.

Wherein, Should be when telescopic oil cylinder drive bolt mechanism moves; Detecting in real time the residing position of bolt mechanism also comprises before belonging to the high-speed mobile district or the step of low speed turnover zone: import the purpose state of this arm and obtain the current state of this arm; Purpose state and current state according to this arm are calculated the required mobile total distance of this bolt mechanism, this total distance are divided into this high-speed mobile district and the low speed turnover zone of this bolt mechanism; Should when belonging to the high-speed mobile district, obtain the required high-speed mobile speed of this bolt mechanism; When belonging to the low speed turnover zone, obtain comprising in the step of the required low speed translational speed of this bolt mechanism: the state that detects this telescopic oil cylinder in real time to be obtaining telescopic oil cylinder length, the real-time distance that has moved according to detected this bolt mechanism of telescopic oil cylinder length computation; Judge that according to this real-time distance and total distance this bolt mechanism belongs to this high-speed mobile district or low speed turnover zone, and obtain required high-speed mobile speed of this bolt mechanism or low speed translational speed.

Wherein, calculate the first coupling rotational speed N of this engine at this traffic demand by the expansion pump of this flexible proportioning valve and correspondence thereof ₁, calculate the second coupling rotational speed N of this engine by the power demand of this flexible proportioning valve and corresponding expansion pump thereof ₂, comprise in the step in the hope of this coupling rotational speed N: when this bolt mechanism is in this high-speed mobile district, this coefficient of regime A=1, K is greater than 1, that is:

$N_1=\frac{Q\×{10}^3}{q}\×1$

$W=\frac{P\×Q}{60\×\mathrm{\η}}\×1$

N＝Max(N ₁，N ₂)×K

When this bolt mechanism was in this low speed turnover zone, K was greater than 1, at this moment:

$A=\frac{(I_{\mathrm{valve}}-I_{\mathrm{valve}\_\min })}{(I_{\mathrm{valve}\_\max }-I_{\mathrm{valve}\_\min })}$

$N_1=\frac{Q\×10^3}{q}\×\frac{(I_{\mathrm{valve}}-I_{\mathrm{valve}\_\min })}{(I_{\mathrm{valve}\_\max }-I_{\mathrm{valve}\_\min })}$

$W=\frac{P\×Q}{60\×\mathrm{\η}}\×\frac{(I_{\mathrm{valve}}-I_{\mathrm{valve}\_\min })}{(I_{\mathrm{valve}\_\max }-I_{\mathrm{valve}\_\min })}$

N＝Max(N ₁，N ₂)×K

In the aforementioned calculation formula, this actual current I _ValveUnit is mA, I _{Valve_min}(mA) be the minimum current value of this flexible proportioning valve, I _{Valve_max}(mA) be the lowest high-current value of this flexible proportioning valve.

Wherein,, this comprises calculating the step of the required coupling rotational speed N of the engine that drives this telescopic oil cylinder according to the high-speed mobile speed of this bolt mechanism or low speed translational speed after: should mate rotational speed N according to the message format of engine speed moment of torsion steering order and be encoded into rotary speed instruction; In this should mate the step of the current rotating speed that rotational speed N is set to this engine, comprised: the rotating speed according to this this engine of rotary speed instruction is set to this coupling rotational speed N.

For solving the problems of the technologies described above, another technical scheme that the present invention adopts is: a kind of hoisting arm expansion following control system is provided, comprises bolt mechanism, telescopic oil cylinder, engine, oil cylinder device for detecting length, electronic control unit and control unit of engine.This bolt mechanism is used for inserting or pulling out bearing pins; This telescopic oil cylinder is fixedly connected with this bolt mechanism, is used to drive this bolt mechanism and moves; This engine is used to drive this telescopic oil cylinder to change the telescopic oil cylinder length of this telescopic oil cylinder; This oil cylinder device for detecting length is used for detecting in real time this telescopic oil cylinder length to confirm that the residing position of this bolt mechanism belongs to high-speed mobile district or low speed turnover zone; This electronic control unit; Obtain this bolt mechanism corresponding required high-speed mobile speed or low speed translational speed when being used for belonging to high-speed mobile district or low speed turnover zone, and calculate the required coupling rotational speed N of this engine according to this bolt mechanism required high-speed mobile speed or low speed translational speed according to the residing position of this bolt mechanism; This control unit of engine is connected with this engine, is used for the current rotating speed that this coupling rotational speed N that this electronic control unit calculates is set to this engine.

Wherein, this system also comprises expansion pump and flexible proportioning valve.This expansion pump is used for getting high-voltage oil liquid through the driving of this engine from the fuel tank pump, and this expansion pump comprises output oil port; Should comprise pressure hydraulic fluid port, oil return opening, first actuator port, second actuator port and proportional control end by flexible proportioning valve.This pressure hydraulic fluid port is used for being connected with this output oil port; This oil return opening is used for being connected with fuel tank; This first actuator port is used for being connected with the rod chamber of this telescopic oil cylinder; This second actuator port is used for being connected with the rodless cavity of this telescopic oil cylinder; This proportional control end and this electronic control unit electrically connect; This electronic control unit is according to the high-speed mobile speed or the low speed translational speed output actual current I of this bolt mechanism _ValueTo this proportional control end with the valve openings size that changes this flexible proportioning valve and then the flow size of control high-voltage oil liquid, make this engine the coupling rotational speed N with should the flexible required flow size of proportioning valve be complementary.

Wherein, this system also comprises flexible pressure transducer, is located in this output oil port and the hydraulic path that pressure hydraulic fluid port that should flexible proportioning valve is connected, and electrically connects with this electronic control unit.The pressure transducer that should stretch is used for measuring the pressure of this hydraulic path; This electronic control unit is calculated the flexible pressure P in this hydraulic path and is calculated the power input W of this expansion pump through this flexible pressure P according to the pressure gauge in this hydraulic path, and the coupling rotational speed N of itself and this engine is complementary.

Wherein, This system also comprises display device; Electrically connect with this electronic control unit, be used for the purpose state and the current state of this arm of explicit user input, and show required mobile total distance of this bolt mechanism and the flexible progress percentage that calculates through this electronic control unit; This electronic control unit calculates the required mobile total distance of this bolt mechanism according to the purpose state and the current state of this arm, and will be somebody's turn to do high-speed mobile district and low speed turnover zone that total distance is divided into this bolt mechanism; This oil cylinder device for detecting length detects this telescopic oil cylinder length in real time and calculates the real-time distance that this bolt mechanism has moved through this electronic control unit, and the real-time distance calculation that this electronic control unit has moved according to this total distance and this bolt mechanism should flexible progress percentage.

Wherein, This control unit of engine is through the electric connection of controller local area network's bus and this electronic control unit, and this electronic control unit will mate rotational speed N according to the message format of engine speed moment of torsion steering order and be encoded into rotary speed instruction and send to this control unit of engine through this controller local area network's bus and be set to this coupling rotational speed N with the rotating speed according to this this engine of rotary speed instruction.This electronic control unit calculates the first coupling rotational speed N of this engine by the traffic demand of this flexible proportioning valve and this expansion pump ₁, calculate the second coupling rotational speed N of this engine by the power demand of this flexible proportioning valve and this expansion pump ₂, mate rotational speed N in the hope of this:

When this bolt mechanism was in this high-speed mobile district, the computing method of this coupling rotational speed N comprised:

$N_1=\frac{Q\×{10}^3}{q}\×1$

$W=\frac{P\×Q}{60\×\mathrm{\η}}\×1$

N＝Max(N ₁，N ₂)×K

When this bolt mechanism was in this low speed turnover zone, the computing method of this coupling rotational speed N comprised:

$N_1=\frac{Q\×10^3}{q}\×\frac{(I_{\mathrm{valve}}-I_{\mathrm{valve}\_\min })}{(I_{\mathrm{valve}\_\max }-I_{\mathrm{valve}\_\min })}$

$W=\frac{P\×Q}{60\×\mathrm{\η}}\×\frac{(I_{\mathrm{valve}}-I_{\mathrm{valve}\_\min })}{(I_{\mathrm{valve}\_\max }-I_{\mathrm{valve}\_\min })}$

N＝Max(N ₁，N ₂)×K

In the aforementioned calculation formula, this first coupling rotational speed N ₁, second the coupling rotational speed N ₂And the unit of this coupling rotational speed N is r; The unit that is somebody's turn to do flexible pressure P is MPa, and Q (L/min) is this flexible proportioning valve rated flow, and q (mL/r) is this flexible pump capacity; A is a coefficient of regime; η is the efficient of this expansion pump, and W (KW) is the power input of this expansion pump, and this electronic control unit obtains this second coupling rotational speed N according to this power input W from the external characteristic curve of this engine ₂, K is the safety coefficient greater than 1, the Max function is a maximizing, this actual current I _ValveUnit is mA, I _{Valve_min}(mA) be the minimum current value of this flexible proportioning valve, I _{Valve_max}(mA) be the lowest high-current value of this flexible proportioning valve.

The invention has the beneficial effects as follows: the situation that is different from prior art; Hoisting arm expansion follow-up control method of the present invention and system according to this bolt mechanism correspond respectively to high-speed mobile zone or low speed moving area the translational speed that should reach come the required coupling rotational speed N of calculation engine; And the rotating speed of accurately adjusting this engine intelligently is this coupling rotational speed N; The rotating speed of engine and the stretching speed of bolt mechanism are complementary, improve the degree of accuracy and the correctness of engine speed, improve the success ratio of extension and contraction control effectively; Thereby avoid the risk factors brought owing to misoperation manually, increase work efficiency.

Description of drawings

Fig. 1 is the schematic flow sheet of hoisting arm expansion follow-up control method one embodiment of the present invention;

Fig. 2 is the schematic flow sheet of another embodiment of hoisting arm expansion follow-up control method of the present invention;

Fig. 3 is the functional module connection synoptic diagram that hoisting arm expansion follow-up control system of the present invention is unified embodiment; And

Fig. 4 is the working oil path connected mode synoptic diagram of hoisting arm expansion following control system of the present invention.

Embodiment

Seeing also Fig. 1, is the schematic flow sheet of hoisting arm expansion follow-up control method one embodiment of the present invention.In the present embodiment, this hoisting arm expansion follow-up control method comprises:

Step S101 when telescopic oil cylinder drive bolt mechanism moves, detects the residing position of bolt mechanism in real time and belongs to high-speed mobile district or low speed turnover zone.

Before this step S101; The user imports the purpose state that this arm need stretch earlier; Then start automatically flexible switch, drive bolt mechanism through this telescopic oil cylinder single oil cylinder is inserted the action of bearing pins, when this single oil cylinder need stretch; This telescopic oil cylinder drives the afterbody that this bolt mechanism finds the j joint telescopic arm that will stretch; Stretch out the work pin with this telescopic oil cylinder and the locking of this j joint telescopic arm, guarantee that j joint telescopic arm or j-1 joint telescopic arm are in controllable state, this j joint telescopic arm of withdrawing again is inserted in the bearing pins in the j-1 joint telescopic arm.Then, this telescopic oil cylinder and this bolt mechanism are fixed and are driven bolt mechanism and move toward the purpose pin-and-hole.Certainly, also can be contractive action, not give unnecessary details at this.Simultaneously, can detect the flexible length of this telescopic oil cylinder, confirm that with this residing position of this bolt mechanism belongs to high-speed mobile district or low speed turnover zone through the oil cylinder device for detecting length.

Step S102 obtains the required high-speed mobile speed of this bolt mechanism when belonging to the high-speed mobile district, when belonging to the low speed turnover zone, obtain the required low speed translational speed of this bolt mechanism.

In this step S102, can read and calculate telescopic oil cylinder length from the oil cylinder device for detecting length through electronic control unit, then, can from the database that prestores, obtain the required translational speed of this bolt mechanism and be high speed or low speed; Certainly, also can directly calculate the required translational speed of this bolt mechanism through this electronic control unit; Understandably, the high-speed mobile district can comprise acceleration, slow down and zone at the uniform velocity, and the low speed turnover zone also can comprise the zone of slowing down with at the uniform velocity.After confirming the required translational speed of this bolt mechanism, the size of valve that can be through controlling flexible proportioning valve is to control the translational speed of this telescopic oil cylinder.The size of electric current that for example can be through changing flexible proportioning valve makes this flexible proportioning valve be in a certain flow status between flow full-gear, minimum flow state or two states, thereby changes the translational speed of this telescopic oil cylinder.

Step S103 calculates the required coupling rotational speed N of engine that drives this telescopic oil cylinder according to the high-speed mobile speed or the low speed translational speed of this bolt mechanism.

In this step S103; As stated; When this flexible proportioning valve is in a certain flow status between flow full-gear, minimum flow state or two states; Expansion pump need provide the high-voltage oil liquid of coupling flow to get into this flexible proportioning valve and final rod chamber or the rodless cavity that gets into this telescopic oil cylinder, to change the translational speed of this telescopic oil cylinder.Therefore, this electronic control unit calculates the required coupling rotational speed N of engine of this expansion pump according to the required translational speed of this bolt mechanism.In the present embodiment, this coupling rotational speed N also need satisfy the traffic demand and the power demand of this flexible proportioning valve and this expansion pump simultaneously.In addition; This electronic control unit can directly be provided with the rotating speed of this engine, also can require to mate rotational speed N according to the message format of TSC1 (engine speed moment of torsion steering order) among the SAE-J1939 recommendation working specification of automotive networking (Serial Control communication) and be encoded into rotary speed instruction and send to control unit of engine.Wherein, on the low side in order to prevent engine capacity, the perhaps underfed of telescopic oil cylinder, the rotating speed of engine through calculating pre-service, are defined in idling between the maximum speed, and the rotating speed that this step is further accurately calculated with the control engine is the coupling rotational speed N.

Step S104, this coupling rotational speed N is set to the current rotating speed of this engine.

In this step S104, be this coupling rotational speed N through this electronic control unit or through this control unit of engine is provided with this engine according to this rotary speed instruction rotating speed.After this bolt mechanism is stretched over the purpose pin-and-hole; The releasing bearing pin, the bearing pins that this j is saved telescopic arm is inserted in the j-1 joint telescopic arm, so that j joint telescopic arm and j-1 joint telescopic arm are locked once more; Accomplish the stretching of j joint telescopic arm; Certainly, also can be contractive action, not give unnecessary details at this.Repeat this step S101 to step S104, flexible until the single oil cylinder of this arm to the purpose state.

The coupling rotational speed N that embodiment of the invention hoisting arm expansion follow-up control method is required according to the translational speed calculation engine of this bolt mechanism; And the rotating speed of accurately adjusting this engine intelligently is this coupling rotational speed N; The rotating speed of engine and the stretching speed of bolt mechanism are complementary, improve the degree of accuracy and the correctness of engine speed, improve the success ratio of extension and contraction control effectively; Thereby avoid the risk factors brought owing to misoperation manually, increase work efficiency.

Please combine Fig. 1 to consult Fig. 2, be the schematic flow sheet of another embodiment of hoisting arm expansion follow-up control method of the present invention.In concrete embodiment, this hoisting arm expansion follow-up control method comprises:

Step S200; Import the purpose state of this arm and obtain the current state of this arm; Purpose state and current state according to this arm are calculated the required mobile total distance of this bolt mechanism, this total distance are divided into this high-speed mobile district and the low speed turnover zone of this bolt mechanism.

In this step S200, the user imports the purpose state that this arm need stretch earlier, then detects the current state of this arm through mechanism's condition checkout gear and/or oil cylinder device for detecting length.Start after the automatically flexible switch; Drive bolt mechanism is inserted bearing pins to single oil cylinder action through telescopic oil cylinder; When this single oil cylinder need stretch, this telescopic oil cylinder drove the afterbody that this bolt mechanism finds the j joint telescopic arm that will stretch, and stretched out the work pin with this telescopic oil cylinder and the locking of this j joint telescopic arm; Guarantee that j joint telescopic arm or j-1 joint telescopic arm are in controllable state, this j joint telescopic arm of withdrawing again is inserted in the bearing pins in the j-1 joint telescopic arm.

Step S201 when telescopic oil cylinder drive bolt mechanism moves, detects the residing position of bolt mechanism in real time and belongs to high-speed mobile district or low speed turnover zone.

In this step S201, this telescopic oil cylinder and this bolt mechanism are fixed and are driven bolt mechanism and move toward the purpose pin-and-hole.Simultaneously, can detect telescopic oil cylinder length, confirm that with this residing position of this bolt mechanism belongs to high-speed mobile district or low speed turnover zone through the oil cylinder device for detecting length.

Step S202 obtains the required high-speed mobile speed of this bolt mechanism when belonging to the high-speed mobile district, when belonging to the low speed turnover zone, obtain the required low speed translational speed of this bolt mechanism.

In this step S202, can read and calculate the flexible length of this telescopic oil cylinder from the oil cylinder device for detecting length through electronic control unit, then, from the database that prestores, obtain the required translational speed of this bolt mechanism and be high speed or low speed.Certainly, also can directly calculate the required translational speed of this bolt mechanism through this electronic control unit.

Step S203 is according to the high-speed mobile speed or the low speed translational speed output actual current I of this bolt mechanism _ValueTo flexible proportioning valve, to control the duty of this flexible proportioning valve.

In this step S203; As previously mentioned; The input current that needs to adjust flexible proportioning valve accordingly is to change the valve openings size of flexible proportioning valve; Make this flexible proportioning valve be in a certain flow status between flow full-gear, minimum flow state or two states, thereby change the translational speed of this telescopic oil cylinder.

Step S204 calculates the first coupling rotational speed N of this engine by the traffic demand of this flexible proportioning valve and corresponding expansion pump thereof ₁, calculate the second coupling rotational speed N of this engine by the power demand of this flexible proportioning valve and corresponding expansion pump thereof ₂, in the hope of this coupling rotational speed N.

In this step S204, this first coupling rotational speed N ₁, second the coupling rotational speed N ₂Comprise with the concrete computation process of coupling rotational speed N:

$N_1=\frac{Q\×{10}^3}{q}\×A$ -Shi 1

$W=\frac{P\×Q}{60\×\mathrm{\η}}\×A$ -Shi 2

N=Max (N ₁, N ₂) * K-Shi 3

In the present embodiment, except that particularly pointing out, this first coupling rotational speed N ₁, second the coupling rotational speed N ₂And the unit of this coupling rotational speed N is r (commentaries on classics), and the throttle servo-actuated control through this expansion pump should flexible pump capacity q (unit is mL/r, milliliter/commentaries on classics) to change; This engine driven expansion pump and through hydraulic path to this flexible proportioning valve pumping high-voltage oil liquid, Q is this flexible proportioning valve rated flow (unit is L/min, rise/minute); A is a coefficient of regime, and P is the flexible pressure (unit is MPa, megapascal (MPa)) in this hydraulic path; η is the efficient of this expansion pump; W is the power input (unit is KW, kilowatt) of this expansion pump, obtains this second coupling rotational speed N according to this power input W from the external characteristic curve of this engine ₂, the Max function is for getting maximal value, and K is the safety coefficient greater than 1.

Furthermore, when this bolt mechanism is in this high-speed mobile district, this coefficient of regime A=1, that is:

$N_1=\frac{Q\×{10}^3}{q}\×1$ -Shi 4

$W=\frac{P\×Q}{60\×\mathrm{\η}}\×1$ -Shi 5

N=Max (N ₁, N ₂) * K-Shi 6

And when this bolt mechanism is in this low speed turnover zone, that is:

$A=\frac{(I_{\mathrm{Valve}}-I_{\mathrm{Valve}\_\mathrm{Min}})}{(I_{\mathrm{Valve}\_\mathrm{Max}}-I_{\mathrm{Valve}\_\mathrm{Min}})}$ -Shi 7

$N_1=\frac{Q\×10^3}{q}\×\frac{(I_{\mathrm{Valve}}-I_{\mathrm{Valve}\_\mathrm{Min}})}{(I_{\mathrm{Valve}\_\mathrm{Max}}-I_{\mathrm{Valve}\_\mathrm{Min}})}$ -Shi 8

$W=\frac{P\×Q}{60\×\mathrm{\η}}\×\frac{(I_{\mathrm{Valve}}-I_{\mathrm{Valve}\_\mathrm{Min}})}{(I_{\mathrm{Valve}\_\mathrm{Max}}-I_{\mathrm{Valve}\_\mathrm{Min}})}$ -Shi 9

N=Max (N ₁, N ₂) * K-Shi 10

In formula 7 in formula 10, I _{Valve_min}Be the minimum current value (unit is mA, milliampere) of this flexible proportioning valve, I _{Valve_max}For the lowest high-current value (unit is mA) of this flexible proportioning valve, when engine is in high regime, the actual current I of flexible proportioning valve _Value(unit is mA) equals I _{Valve_max}, i.e. A=1.

Step S205 should mate rotational speed N according to the message format of engine speed moment of torsion steering order and be encoded into rotary speed instruction.

In this step S205, the rotating speed of this engine can directly be set through this electronic control unit, also can require to mate rotational speed N and be encoded into rotary speed instruction and send to control unit of engine according to the message format of TSC1 among the SAE-J1939.

Step S206 is set to this coupling rotational speed N according to the rotating speed of this this engine of rotary speed instruction.

As previously mentioned, can be this coupling rotational speed N through this electronic control unit or through this control unit of engine is provided with this engine according to this rotary speed instruction rotating speed.After this bolt mechanism is stretched over the purpose pin-and-hole; The releasing bearing pin, the bearing pins that this j is saved telescopic arm is inserted in the j-1 joint telescopic arm, so that j joint telescopic arm and j-1 joint telescopic arm are locked once more; Accomplish the stretching of j joint telescopic arm; Certainly, also can be contractive action, not give unnecessary details at this.Repeat this step S200 to step S206, flexible until the single oil cylinder of this arm to the purpose state.

The coupling rotational speed N that embodiment of the invention hoisting arm expansion follow-up control method is required according to the translational speed calculation engine of this bolt mechanism; And the rotating speed of accurately adjusting this engine intelligently is this coupling rotational speed N; The rotating speed of engine and the stretching speed of bolt mechanism are complementary, improve the degree of accuracy and the correctness of engine speed, improve the success ratio of extension and contraction control effectively; Thereby avoid the risk factors brought owing to misoperation manually, increase work efficiency.

Hoisting arm expansion following control system below in conjunction with the embodiment of the invention is done further to describe to this hoisting arm expansion follow-up control method, and wherein, this hoisting arm expansion following control system is used but is not limited to large-scale engineering machinery arm, crane and obstacles removing car etc.

See also Fig. 3 to Fig. 4; In the present embodiment, this hoisting arm expansion following control system comprises bolt mechanism (figure does not show), electronic control unit 30 and the mechanism's condition checkout gear 31 that is connected with electronic control unit 30, oil cylinder device for detecting length 32, control unit of engine (ECU) 33, engine 34, flexible proportioning valve 35, flexible pressure transducer 36, expansion pump 40 and telescopic oil cylinder 41 etc.

As previously mentioned, bolt mechanism is used for inserting or pulling out bearing pins, and telescopic oil cylinder 41 is fixedly connected with this bolt mechanism.

Electronic control unit 30 is also claimed vehicle electronic control unit, ECU, automobile electronic control unit, integrated circuit control module or multichannel control device etc., mainly in order to realize the control device to a series of functions such as analyzing and processing transmission of data.In the present embodiment; Electronic control unit 30 obtains this bolt mechanism corresponding required high-speed mobile speed or low speed translational speed in the time of can belonging to high-speed mobile district or low speed turnover zone based on the residing position of this bolt mechanism, and calculates the required coupling rotational speed N of engine that drives this telescopic oil cylinder based on this bolt mechanism required high-speed mobile speed or low speed translational speed;

Mechanism's condition checkout gear 31 is mainly used in the action that detects bolt mechanism release work pin; Also be used to detect the current state etc. of the single oil cylinder of this arm; The real-time status that comprises arm combination, telescopic oil cylinder 41, bearing pins and work pin, electronic control unit 30 can carry out overall treatment according to mechanism's condition checkout gear 31 detected data.

The telescopic oil cylinder length that oil cylinder device for detecting length 32 is used for detecting this telescopic oil cylinder 41 in real time can also be used for the current state that matching mechanism condition checkout gear 31 detects single oil cylinder to confirm that the residing position of this bolt mechanism belongs to high-speed mobile district or low speed turnover zone.

Control unit of engine 33 is similar with common single-chip microcomputer; Form by integrated circuit such as microprocessor (CPU), storer (ROM, RAM), input/output interface (I/O), analog to digital converter (A/D) and shaping, drivings; It mainly carries out computing, processing and judgement according to the data of electronic control unit 30 or the information of various sensor input, and output order is with the rotating speed of control engine then.Present embodiment is provided with this control unit of engine 33 in order to distinguish its function separately and be directed against engine 34, and in other embodiments, control unit of engine 33 can be integrated together with electronic control unit 30.In addition; Control unit of engine 33 electrically connects through CAN (controller local area network) bus and electronic control unit 30; In the process of work; Electronic control unit 30 should mate rotational speed N according to the message format of TSC1 among the SAE-J1939 and be encoded into rotary speed instruction and send to control unit of engine 33 through the CAN bus; For example, electronic control unit 30 sends to control unit of engine 33 according to the 2nd, the 3rd byte at ID=0C0000F0 with rotary speed instruction, and control unit of engine 33 is adjusted into this coupling rotational speed N by this rotary speed instruction with the rotating speed of engine 34.Particularly, electronic control unit 30 calculates the first coupling rotational speed N of engine 34 by the traffic demand of flexible proportioning valve 35 and expansion pump 40 ₁, calculate the second coupling rotational speed N of engine 34 by the power demand of this flexible proportioning valve 35 and expansion pump 40 ₂, in the hope of the required coupling rotational speed N of engine 34:

When this bolt mechanism was in this high-speed mobile district, the computing method of this coupling rotational speed N comprised following process:

$N_1=\frac{Q\×{10}^3}{q}\×1$ -Shi 11

$W=\frac{P\×Q}{60\×\mathrm{\η}}\×1$ -Shi 12

N=Max (N ₁, N ₂) * K-Shi 13

When this bolt mechanism was in this low speed turnover zone, the computing method of this coupling rotational speed N comprised following process:

$N_1=\frac{Q\×10^3}{q}\×\frac{(I_{\mathrm{Valve}}-I_{\mathrm{Valve}\_\mathrm{Min}})}{(I_{\mathrm{Valve}\_\mathrm{Max}}-I_{\mathrm{Valve}\_\mathrm{Min}})}$ -Shi 14

$W=\frac{P\×Q}{60\×\mathrm{\η}}\×\frac{(I_{\mathrm{Valve}}-I_{\mathrm{Valve}\_\mathrm{Min}})}{(I_{\mathrm{Valve}\_\mathrm{Max}}-I_{\mathrm{Valve}\_\mathrm{Min}})}$ -Shi 15

N=Max (N ₁, N ₂) * K-Shi 16

In the formula 11 to 16 of present embodiment, except that particularly pointing out, the first coupling rotational speed N ₁, second the coupling rotational speed N ₂And the unit of this coupling rotational speed N is r; Q is the rated flow (unit is L/min) of flexible proportioning valve 35; Q is the discharge capacity (unit is mL/r) of expansion pump 40, the flexible pressure (unit is MPa) that P is flexible proportioning valve 35 in the hydraulic path between the expansion pump 40, and η is the efficient of expansion pump 40; W is the power input (unit is KW) of expansion pump 40, obtains this second coupling rotational speed N according to this power input W from the external characteristic curve of this engine 34 ₂, the Max function is for getting maximal value, and K is the safety coefficient greater than 1, I _{Valve_min}Be the minimum current value (unit is mA) of flexible proportioning valve 35, I _{Valve_max}For the lowest high-current value (unit is mA) of flexible proportioning valve 35, when engine 34 is in high regime, the actual current I of flexible proportioning valve 35 _Value(unit is mA) equals I _{Valve_max}

Engine 34 is mainly used in to expansion pump 40 power is provided, and controls the flow of expansion pump 40 pumping high-voltage oil liquids through the rotating speed of engine 34.In other words; Engine 34 is used to drive this telescopic oil cylinder 41 changing the telescopic oil cylinder length of this telescopic oil cylinder 41, and this expansion pump 40 then drives from the fuel tank pump through this engine 34 and gets high-voltage oil liquid and the output oil port through expansion pump 40 is transported to flexible proportioning valve 35.

Flexible proportioning valve 35 comprises pressure hydraulic fluid port, oil return opening, first actuator port, second actuator port and proportional control end Y1a, Y1b.Be connected with the output oil port of expansion pump 40 through this pressure hydraulic fluid port; Be connected with fuel tank through this oil return opening; Be connected with the rod chamber of telescopic oil cylinder 41 through this first actuator port; Be connected with the rodless cavity of telescopic oil cylinder 41 through this second actuator port; Electrically connect through this proportional control end Y1a, Y1b and electronic control unit 30.In the present embodiment, electronic control unit 30 is according to the high-speed mobile speed or the low speed translational speed output actual current I of this bolt mechanism _ValueTo proportional control end Y1a, Y1b; Duty with pressure hydraulic fluid port, oil return opening, first actuator port and second actuator port of controlling flexible proportioning valve 35; And the valve openings size of the flexible proportioning valve 35 of control makes the coupling rotational speed N of this engine 34 and flexible proportioning valve 35 required flow sizes be complementary with the flow size of the high-voltage oil liquid of controlling this first actuator port or this second actuator port.Like Fig. 4, flexible proportioning valve 35 its inner concrete structures are shown in the dotted portion, because of belonging to prior art, do not give unnecessary details at this.

As previously mentioned; In the output oil port that flexible pressure transducer 36 is located at expansion pump 40 and the hydraulic path that the pressure hydraulic fluid port of flexible proportioning valve 35 is connected; And electrically connect with electronic control unit 30, flexible pressure transducer 36 is used for measuring the pressure of this hydraulic path, and calculates the flexible pressure P in this hydraulic path through electronic control unit 30; Calculate the power input W of expansion pump 40 through flexible pressure P, the coupling rotational speed N of itself and engine 34 is complementary.

Display device 37 electrically connects with electronic control unit 30; Can be touch-screen etc.; The purpose state and the current state that are used for this arm of explicit user input, and show the required mobile total distance of this bolt mechanism that calculates through this electronic control unit 30 and flexible progress percentage etc.Wherein, Electronic control unit 30 calculates the required mobile total distance of this bolt mechanism according to the purpose state and the current state of this arm; And will be somebody's turn to do high-speed mobile district and the low speed turnover zone that total distance is divided into this bolt mechanism, then, this oil cylinder device for detecting length 32 detects this telescopic oil cylinder length in real time and calculates the real-time distance that this bolt mechanism has moved through this electronic control unit 30; Furthermore; The real-time distance calculation that this electronic control unit 30 has moved according to this total distance and this bolt mechanism obtains this flexible progress percentage and shows, the visual operation in order to the user meets an urgent need prevents accident etc.

Certainly; Except that display device 37; The embodiment of the invention can also comprise switch order input block 38 and status indicator lamp 39; Can start automatically flexible switch or import action such as various instructions through switch order input block 38, can show job schedule and the flexible state of this flexible progress percentage or hoisting arm expansion following control system etc. through status indicator lamp 39, not give unnecessary details at this.

The hoisting arm expansion following control system of the embodiment of the invention can also comprise other structures and the corresponding principle of work of engineering machinery arm except that the principle of work of said structure and correspondence thereof, in the scope that present technique field personnel understand, do not limit.

In sum; The embodiment of the invention hoisting arm expansion follow-up control system coupling rotational speed N that method can be required according to the translational speed calculation engine of this bolt mechanism 34 of unifying; And the rotating speed of accurately adjusting this engine 34 intelligently is this coupling rotational speed N; The rotating speed of engine 34 and the stretching speed of bolt mechanism are complementary, improve the degree of accuracy and the correctness of engine 34 rotating speeds, improve the success ratio of extension and contraction control effectively; Thereby avoid the risk factors brought owing to misoperation manually, increase work efficiency.

The above is merely embodiments of the invention; Be not so limit claim of the present invention; Every equivalent structure or equivalent flow process conversion that utilizes instructions of the present invention and accompanying drawing content to be done; Or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.

Claims (10)

1. hoisting arm expansion follow-up control method, said arm drives bolt mechanism inserted or pulled out bearing pins to single oil cylinder action through telescopic oil cylinder, it is characterized in that, comprising:

When telescopic oil cylinder drive bolt mechanism moves, detect the residing position of bolt mechanism in real time and belong to high-speed mobile district or low speed turnover zone;

When belonging to the high-speed mobile district, obtain the required high-speed mobile speed of said bolt mechanism, when belonging to the low speed turnover zone, obtain the required low speed translational speed of said bolt mechanism;

High-speed mobile speed or low speed translational speed according to said bolt mechanism are calculated the required coupling rotational speed N of engine that drives said telescopic oil cylinder;

Said coupling rotational speed N is set to the current rotating speed of said engine.

2. method according to claim 1; It is characterized in that; In the said required high-speed mobile speed of said bolt mechanism that when belonging to the high-speed mobile district, obtains, the step that when belonging to the low speed turnover zone, obtains the required low speed translational speed of said bolt mechanism also comprises afterwards:

High-speed mobile speed or low speed translational speed output actual current I according to said bolt mechanism _ValueTo flexible proportioning valve, to control the duty of said flexible proportioning valve;

In the step of the required coupling rotational speed N of the said engine that calculates the said telescopic oil cylinder of driving according to the high-speed mobile speed or the low speed translational speed of said bolt mechanism, comprise:

Calculate the first coupling rotational speed N of said engine by the traffic demand of said flexible proportioning valve and corresponding expansion pump thereof ₁, calculate the second coupling rotational speed N of said engine by the power demand of said flexible proportioning valve and corresponding expansion pump thereof ₂, in the hope of said coupling rotational speed N, wherein:

$N_1=\frac{Q\×{10}^3}{q}\×A$

$W=\frac{P\×Q}{60\×\mathrm{\η}}\×A$

N＝Max(N ₁，N ₂)×K

Wherein, the said first coupling rotational speed N ₁, second the coupling rotational speed N ₂And the unit of said coupling rotational speed N is r; Control to change said flexible pump capacity q (mL/r) through the throttle servo-actuated of said expansion pump; Said engine driven expansion pump also passes through hydraulic path to said flexible proportioning valve pumping high-voltage oil liquid, and Q (L/min) is said flexible proportioning valve rated flow, and A is a coefficient of regime; P (MPa) is the flexible pressure in the said hydraulic path; η is the efficient of said expansion pump, and W (KW) is the power input of said expansion pump, obtains the said second coupling rotational speed N according to said power input W from the external characteristic curve of said engine ₂, the Max function is for getting maximal value, and K is a safety coefficient.

3. method according to claim 2 is characterized in that, and is said when telescopic oil cylinder drives bolt mechanism and moves, and detects the residing position of bolt mechanism in real time and also comprises before belonging to the high-speed mobile district or the step of low speed turnover zone:

Import the purpose state of said arm and obtain the current state of said arm; Purpose state and current state based on said arm are calculated the required mobile total distance of said bolt mechanism, said total distance are divided into the said high-speed mobile district and the low speed turnover zone of said bolt mechanism;

The said required high-speed mobile speed of said bolt mechanism that when belonging to the high-speed mobile district, obtains obtains comprising in the step of the required low speed translational speed of said bolt mechanism when belonging to the low speed turnover zone:

The state that detects said telescopic oil cylinder in real time is to obtain telescopic oil cylinder length, the real-time distance mobile according to the said bolt mechanism of detected telescopic oil cylinder length computation;

Judge that according to said real-time distance and total distance said bolt mechanism belongs to said high-speed mobile district or low speed turnover zone, and obtain required high-speed mobile speed of said bolt mechanism or low speed translational speed.

4. method according to claim 3 is characterized in that, calculates the first coupling rotational speed N of said engine at said traffic demand by said flexible proportioning valve and corresponding expansion pump thereof ₁, calculate the second coupling rotational speed N of said engine by the power demand of said flexible proportioning valve and corresponding expansion pump thereof ₂, comprise in the step in the hope of said coupling rotational speed N:

When said bolt mechanism is in said high-speed mobile district, said coefficient of regime A=1, K is greater than 1, that is:

$N_1=\frac{Q\×{10}^3}{q}\×1$

$W=\frac{P\×Q}{60\×\mathrm{\η}}\×1$

N＝Max(N ₁，N ₂)×K

When said bolt mechanism was in said low speed turnover zone, K was greater than 1, at this moment:

$A=\frac{(I_{\mathrm{valve}}-I_{\mathrm{valve}\_\min })}{(I_{\mathrm{valve}\_\max }-I_{\mathrm{valve}\_\min })}$

$N_1=\frac{Q\×10^3}{q}\×\frac{(I_{\mathrm{valve}}-I_{\mathrm{valve}\_\min })}{(I_{\mathrm{valve}\_\max }-I_{\mathrm{valve}\_\min })}$

$W=\frac{P\×Q}{60\×\mathrm{\η}}\×\frac{(I_{\mathrm{valve}}-I_{\mathrm{valve}\_\min })}{(I_{\mathrm{valve}\_\max }-I_{\mathrm{valve}\_\min })}$

N＝Max(N ₁，N ₂)×K

Wherein, said actual current I _ValveUnit is mA, I _{Valve_min}(mA) be the minimum current value of said flexible proportioning valve, I _{Valve_max}(mA) be the lowest high-current value of said flexible proportioning valve.

5. method according to claim 4 is characterized in that, after the step of the required coupling rotational speed N of the said engine that calculates the said telescopic oil cylinder of driving according to the high-speed mobile speed or the low speed translational speed of said bolt mechanism, comprises:

Message format according to engine speed moment of torsion steering order is encoded into rotary speed instruction with said coupling rotational speed N;

, said coupling rotational speed N comprises in being set to the step of current rotating speed of said engine:

Rotating speed according to the said engine of said rotary speed instruction is set to said coupling rotational speed N.

6. a hoisting arm expansion following control system is characterized in that, comprising:

Bolt mechanism is used for inserting or pulling out bearing pins;

Telescopic oil cylinder is fixedly connected with said bolt mechanism, is used to drive said bolt mechanism and moves;

Engine is used to drive said telescopic oil cylinder to change the telescopic oil cylinder length of said telescopic oil cylinder;

The oil cylinder device for detecting length is used for detecting in real time said telescopic oil cylinder length to confirm that the residing position of said bolt mechanism belongs to high-speed mobile district or low speed turnover zone;

Electronic control unit; Obtain said bolt mechanism corresponding required high-speed mobile speed or low speed translational speed when being used for belonging to high-speed mobile district or low speed turnover zone, and calculate the required coupling rotational speed N of said engine based on said bolt mechanism required high-speed mobile speed or low speed translational speed based on the residing position of said bolt mechanism;

Control unit of engine is connected with said engine, is used for the current rotating speed that said coupling rotational speed N that said electronic control unit calculates is set to said engine.

7. system according to claim 6 is characterized in that, also comprises expansion pump and flexible proportioning valve:

Said expansion pump is used for getting high-voltage oil liquid through the driving of said engine from the fuel tank pump, and said expansion pump comprises output oil port;

Said flexible proportioning valve comprises:

The pressure hydraulic fluid port is used for being connected with said output oil port;

Oil return opening is used for being connected with fuel tank;

First actuator port is used for being connected with the rod chamber of said telescopic oil cylinder;

Second actuator port is used for being connected with the rodless cavity of said telescopic oil cylinder;

The proportional control end electrically connects with said electronic control unit;

Said electronic control unit is according to the high-speed mobile speed or the low speed translational speed output actual current I of said bolt mechanism _ValueWith valve openings size that changes said flexible proportioning valve and then the flow size of controlling high-voltage oil liquid, make the coupling rotational speed N of said engine and the required flow size of said flexible proportioning valve be complementary to said proportional control end.

8. system according to claim 7 is characterized in that, also comprises:

Flexible pressure transducer is located in said output oil port and the hydraulic path that the pressure hydraulic fluid port of said flexible proportioning valve is connected, and with said electronic control unit electric connection; Said flexible pressure transducer is used for measuring the pressure of said hydraulic path; Said electronic control unit is calculated the flexible pressure P in the said hydraulic path and is calculated the power input W of said expansion pump through said flexible pressure P according to the pressure gauge in the said hydraulic path, and the coupling rotational speed N of itself and said engine is complementary.

9. system according to claim 8 is characterized in that, also comprises:

Display device; Electrically connect with said electronic control unit; Be used for explicit user and import the purpose state and the current state of said arm, and show required mobile total distance of said bolt mechanism and the flexible progress percentage that calculates through said electronic control unit;

Wherein, said electronic control unit calculates the required mobile total distance of said bolt mechanism according to the purpose state and the current state of said arm, and said total distance is divided into the high-speed mobile district and the low speed turnover zone of said bolt mechanism; Said oil cylinder device for detecting length detects said telescopic oil cylinder length in real time and calculates the real-time distance that said bolt mechanism has moved through said electronic control unit, and said electronic control unit obtains said flexible progress percentage according to said total distance and the mobile real-time distance calculation of said bolt mechanism.

10. according to Claim 8 or 9 described systems; It is characterized in that; Said control unit of engine is through the electric connection of controller local area network's bus and said electronic control unit, and said electronic control unit is encoded into said coupling rotational speed N rotary speed instruction and sends to said control unit of engine through said controller local area network bus according to the message format of engine speed moment of torsion steering order and is set to said coupling rotational speed N with the rotating speed according to the said engine of said rotary speed instruction;

Wherein, said electronic control unit calculates the first coupling rotational speed N of said engine by the traffic demand of said flexible proportioning valve and said expansion pump ₁, calculate the second coupling rotational speed N of said engine by the power demand of said flexible proportioning valve and said expansion pump ₂, in the hope of said coupling rotational speed N:

When said bolt mechanism was in said high-speed mobile district, the computing method of said coupling rotational speed N comprised:

$N_1=\frac{Q\×{10}^3}{q}\×1$

$W=\frac{P\×Q}{60\×\mathrm{\η}}\×1$

N＝Max(N ₁，N ₂)×K

When said bolt mechanism was in said low speed turnover zone, the computing method of said coupling rotational speed N comprised:

$N_1=\frac{Q\×10^3}{q}\×\frac{(I_{\mathrm{valve}}-I_{\mathrm{valve}\_\min })}{(I_{\mathrm{valve}\_\max }-I_{\mathrm{valve}\_\min })}$

$W=\frac{P\×Q}{60\×\mathrm{\η}}\×\frac{(I_{\mathrm{valve}}-I_{\mathrm{valve}\_\min })}{(I_{\mathrm{valve}\_\max }-I_{\mathrm{valve}\_\min })}$

N＝Max(N ₁，N ₂)×K

Wherein, the said first coupling rotational speed N ₁, second the coupling rotational speed N ₂And the unit of said coupling rotational speed N is r; The unit of said flexible pressure P is MPa, and Q (L/min) is said flexible proportioning valve rated flow, and q (mL/r) is said flexible pump capacity; A is a coefficient of regime; η is the efficient of said expansion pump, and W (KW) is the power input of said expansion pump, and said electronic control unit obtains the said second coupling rotational speed N according to said power input W from the external characteristic curve of said engine ₂, K is the safety coefficient greater than 1, the Max function is a maximizing, said actual current I _ValveUnit is mA, I _{Valve_min}(mA) be the minimum current value of said flexible proportioning valve, I _{Valve_max}(mA) be the lowest high-current value of said flexible proportioning valve.

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