CN105569854A - Energy-saving control method for electronic control diesel engine of loading machine - Google Patents

Abstract

The invention discloses an energy-saving control method for an electronic control diesel engine of a loading machine. The energy-saving control method comprises an engine rotation speed energy-saving control method part and an engine torque energy-saving control method part. The two control method parts can be switched according to the judgment of the current driving gear. When the gear of a transmission of the loading machine is in the N gear, the engine is in a rotation speed control mode, the engine operation rotation speed required value is set through an engine rotation speed control strategy, and the engine is controlled to operate; when the gear of the transmission of the loading machine is in the D gear or the R gear, the engine is in a torque control mode, the engine operation rotation speed required value is set through an engine torque control strategy, and the engine is controlled to operate. When a driver converts the gear of the transmission into the D gear or the R gear when the engine is in the rotation speed control mode, namely the transmission is in the N gear, then it is judged that the engine enters the torque control mode. When the driver converts the gear of the transmission into the N gear when the engine is in the torque control mode, namely the transmission is in the D gear or the R gear, then it is judged that the engine enters the rotation speed control mode.

Description

A kind of loader electric-control diesel engine energy-saving control method

Technical field

The present invention relates to a kind of loader energy-conserving control technology, particularly a kind of loader electric-control diesel engine energy-saving control method.

Background technique

When the controlling method of frontloader electric-control diesel engine is comparatively single, mainly contain following two kinds of forms: 1. by setting up the corresponding relation between accelerator travel and fuel injection quantity in the controls, electrical control actuator is utilized to control mechanical type Injection Pump oil mass ratch position, fuel injection quantity is regulated, realizes the control to motor; 2. the torque/speed bid value that accelerator travel is directly corresponding certain, control system is by sending the control of torque/speed bid value realization to motor to motor.

Although the above controlling method of two kinds of control modes to motor has larger difference, but engine output torque/rotating speed is all only relevant to accelerator travel under two kinds of control modes, do not consider the speed/torque demand of the output characteristics of torque-converters, steering system and equipment, cause unreasonable, the unnecessary increase of oil consumption and the deterioration of discharge that engine power utilizes.

As can be seen here, in the art, the controlling method of loader electric-control diesel engine need be improved, and especially needs to realize Energy Saving Control for target to improve.

Summary of the invention

The object of this invention is to provide a kind of loader electric-control diesel engine energy-saving control method, it comprises the following steps:

1) after starting electrical machinery receives startup command, drive engine crankshaft high speed rotating, promote diesel compression burning in cylinder, until present engine running speed n _ei () (wherein i is the counting of step size) is greater than minimum stable engine speed n _{lim_low}, start idling after engine ignition success, enter rotating speed control mode, namely perform step 2).

2) now loading machine gearbox gear is in N shelves, and motor is in rotating speed control mode, by control of engine speed policy development motor running speed requirements n _reqi (), controls motor and runs.

3) judge whether to change present engine control mode.If driver is in rotating speed control mode at motor, when namely gearbox is in N shelves, gearbox-gear is converted to D shelves or R shelves, then judges that motor enters torque control model, namely perform step 4), otherwise continue to perform step 2).

4) now loading machine gearbox gear is in D shelves or R shelves, and motor is in torque control model, runs torque demand T by engine torque control policy development motor _reqi (), controls motor and runs.

5) judge whether to change present engine control mode.If driver is in torque control model at motor, when namely gearbox is in D shelves or R shelves, gearbox-gear is converted to N shelves, then judges that motor enters rotating speed control mode, namely perform step 2), otherwise continue to perform step 4).The invention has the beneficial effects as follows compared with existing invention:

1. the present invention relates to engine torque energy-saving control method and rotating speed energy-saving control method simultaneously, and two kinds of controlling methods can realize switching according to when frontloader running state, are applicable to the whole operating conditions of loader;

2. the engine torque energy-saving control method that the present invention relates to by comprehensive driving system, equipment and steering system three partial torque demand motor is controlled, realize the Appropriate application to engine output, reach Energy Saving Control effect;

3. the engine speed energy-saving control method that the present invention relates to adopts PID to control, and motor output speed can be adjusted to the optimum operating speed of oil hydraulic pump.By controlling the self adaption that can realize torque, reducing engine output torque, and reducing the fluctuation of speed of motor.Improve the fuel economy under control of engine speed operating mode, reach Energy Saving Control effect;

Accompanying drawing explanation

Fig. 1 is flow chart of the present invention.

Embodiment

Below in conjunction with accompanying drawing, the present invention is explained in detail:

Refer to shown in Fig. 1, a kind of loader electric-control diesel engine energy-saving control method, comprises the following steps:

1) after starting electrical machinery receives startup command, drive engine crankshaft high speed rotating, promote diesel compression burning in cylinder, until present engine running speed n _ei () (unit: rpm, wherein i is the counting of step size) is greater than minimum stable engine speed n _{lim_low}(unit: rpm), starts idling after engine ignition success, enters rotating speed control mode, namely perform step 2).

In this step:

N _{lim_low}for motor can the minimum output speed value of stable operation, its concrete numerical value determines by by control engine self-characteristic.

2) now loading machine gearbox gear is in N shelves, and motor is in rotating speed control mode, by control of engine speed policy development motor running speed requirements n _reqi () (unit: rpm), controls motor and runs.

In this step:

N _reqi the concrete numerical value of () controls accelerator travel by driver and determines;

The implementation method that rotating speed controls is: adopt PID control method to regulate engine output torque, with n _reqi () controls motor for control objectives.By controlling the self adaption that can realize torque, reducing engine output torque, and reducing the fluctuation of speed of motor.

3) judge whether to change present engine control mode.If driver is in rotating speed control mode at motor, when namely gearbox is in N shelves, gearbox-gear is converted to D shelves or R shelves, then judges that motor enters torque control model, namely perform step 4), otherwise continue to perform step 2).

4) now loading machine gearbox gear is in D shelves or R shelves, and motor is in torque control model, by engine torque control policy development motor running speed requirements T _reqi () (unit: Nm), controls motor and runs.

In this step:

T _reqi () concrete defining method is:

T _req(i)＝T _dir(i)+T _wor(i)+T _ste(i)

Wherein:

T _diri () is the torque of loader current driving system requirements, unit Nm, and its concrete defining method is:

$T_{dri}\left(i\right)=\frac{{\mathrm{fun}}_{tra}\left(n_{g-out}\right(i\left)\right)\×APS\left(i\right)}{TR\left(i\right)\×i_g}$

Wherein, fun _tra(n _g-out(i)) be the characteristic fit equation of Transmission output shaft torque, determined by loader fluid torque converter, gearbox self-characteristic and engine test bench characteristic; n _g-outi () is for working as front gear box output speed, unit: rpm; APS (i) is current accelerator travel, unit: %; TR (i) is for working as frontloader fluid torque converter converter torque ratio; i _gfor current gear transmission ratio;

The concrete defining method of TR (i) is TR (i)=fun _tR(SR (i)).Wherein, fun _tR(SR (i)) is the fit equation of fluid torque converter non-dimensional characteristic curve, is specifically determined by fluid torque converter self-characteristic; SR (i) is current fluid torque converter speed ratio, and its concrete defining method is:

T _wori () is the torque of loader work at present device demand, unit: Nm, and its concrete defining method is:

$T_{wor}\left(i\right)=\frac{V_{g\_p_1}\left(i\right)\×{\mathrm{\Δp}}_{p_1}\left(i\right)}{20{\mathrm{\π\η}}_{p_1}{i}_{p_1}}$

Wherein, for the pressure reduction of working pump delivery outlet and inlet opening, unit: bar; for the geometry discharge capacity that work at present pump often turns, unit: cm ³; for the hydraulic machinery efficiency of working pump; i _p1for the velocity ratio between motor and working pump.

concrete numerical value and operating grip aperture between there is following relation: $V_{g\_p_1}\left(i\right)={\mathrm{fun}}_{HPS1}\left({\mathrm{HPS}}_1\right(i\left)\right)+{\mathrm{fun}}_{HPS2}\left({\mathrm{HPS}}_2\right(i\left)\right),$ Wherein, fun _hPS1(HPS ₁(i)) the geometry discharge capacity that often turns for working pump about the fit equation of load lifting cylinder operating grip aperture, HPS ₁i () is current load lifting cylinder operating grip aperture, unit: %; fun _hPS2(HPS ₂(i)) the geometry discharge capacity that often turns for working pump about the fit equation of rotating bucket cylinder operating grip aperture, HPS ₂i () is current rotating bucket cylinder operating grip aperture, unit: %.

T _stei () is the torque of loader current steering system demand, its concrete defining method is:

$T_{ste}\left(i\right)=\frac{V_{g\_p_2}\left(i\right)\×{\mathrm{\Δp}}_{p_2}\left(i\right)}{20{\mathrm{\π\η}}_{p_2}{i}_{p_2}}$

Wherein, for the pressure reduction of steering pump delivery outlet and inlet opening, unit: bar; for the geometry discharge capacity that current steering pump often turns, unit: cm ³; for the hydraulic machinery efficiency of steering pump; for the velocity ratio between motor and steering pump.

concrete numerical value and steering wheel angular velocity between there is following relation: wherein, fun _ω(ω (i)), for turning to pump delivery about the fit equation of steering wheel angle speed, ω (i) is current steering wheel angle speed, unit: rad/s.

5) judge whether to change present engine control mode.If driver is in torque control model at motor, when namely gearbox is in D shelves or R shelves, gearbox-gear is converted to N shelves, then judges that motor enters rotating speed control mode, namely perform step 2), otherwise continue to perform step 4).

6) judge whether to exit loader electric-control diesel engine Energy Saving Control process.When driver is in rotating speed control mode at motor, namely step 2 is performed), or be in torque control model, namely step 4 is performed) time, kill engine, then engine misses, exit control of engine speed pattern or torque control model simultaneously, and loader electric-control diesel engine Energy Saving Control process terminates.

Claims (7)

1. a loader electric-control diesel engine energy-saving control method, is characterized in that: described engine energy-saving controlling method comprises: 1. engine speed energy-saving control method, 2. engine torque energy-saving control method two-part, wherein:

1. engine speed energy-saving control method

When loading machine gearbox gear is in N shelves, motor is in rotating speed control mode, by control of engine speed policy development motor running speed requirements n _reqi () (unit: rpm, i are step size counting), controls motor and runs;

2. engine torque energy-saving control method

When loading machine gearbox gear is in D shelves or R shelves, motor is in torque control model, by engine torque control policy development motor running speed requirements T _reqi () (unit: Nm), controls motor and runs.

2. a kind of loader electric-control diesel engine energy-saving control method according to claim 1, it is characterized in that: in loader operation process, the detailed process that control of engine speed pattern and rotating speed control mode are mutually changed and exited is:

1) when driver is in rotating speed control mode at motor, when namely gearbox is in N shelves, gearbox-gear is converted to D shelves or R shelves, then judges that motor enters torque control model, otherwise continue to perform rotating speed control mode;

2) when driver is in torque control model at motor, when namely gearbox is in D shelves or R shelves, gearbox-gear is converted to N shelves, then judges that motor enters rotating speed control mode, otherwise continue to perform torque control model;

3) when driver is in torque control model or rotating speed control mode at motor, kill engine, then engine misses, exit engine torque control pattern or rotating speed control mode simultaneously.

3. a kind of loader electric-control diesel engine energy-saving control method according to claim 1, is characterized in that: described motor running speed requirements n _req(i), its defining method is: control accelerator travel according to driver and determine, under control of engine speed pattern, the implementation method that rotating speed controls is: adopt a locking control method (herein for PID control method) to regulate engine output torque, with n _reqi () controls motor for control objectives.

4. a kind of loader electric-control diesel engine energy-saving control method according to claim 1, is characterized in that: described motor running speed requirements T _req(i), its defining method is:

T _req(i)＝T _dir(i)+T _wor(i)+T _ste(i)

Wherein:

T _diri () is the torque of loader current driving system requirements, unit: Nm;

T _wori () is the torque of loader work at present device demand, unit: Nm;

T _stei () is the torque of loader current steering system demand, unit: Nm.

5. a kind of loader electric-control diesel engine energy-saving control method according to claim 4, is characterized in that: described loader current driving system requirements torque T _dir(i), its defining method is:

$T_{\mathrm{dri}}\left(i\right)=\frac{{\mathrm{fun}}_{\mathrm{tra}}\left(n_{g-\mathrm{out}}\left(t\right)\right)\×\mathrm{APS}\left(i\right)}{\mathrm{TR}\left(i\right)\×i_g}$

Wherein:

Fun _tra(n _g-out(i)) be the characteristic fit equation of Transmission output shaft torque, determined by loader fluid torque converter, gearbox self-characteristic and engine test bench characteristic;

N _g-outi () is for working as front gear box output speed, unit: rpm;

APS (i) is current accelerator travel, unit: %;

TR (i) is for working as frontloader fluid torque converter converter torque ratio;

I _gfor current gear transmission ratio.

6. a kind of loader electric-control diesel engine energy-saving control method according to claim 4, is characterized in that: described loader work at present device demand torque T _wor(i), its defining method is:

$T_{wor}\left(i\right)=\frac{V_{g\_p_1}\left(i\right)\×{\mathrm{\Δp}}_{p_1}\left(i\right)}{20{\mathrm{\π\η}}_{p_1}{i}_{p_1}}$

Wherein:

i pressure reduction that () is working pump delivery outlet and inlet opening, unit: bar;

i geometry discharge capacity that () often turns for work at present pump, unit: cm ³;

for the hydraulic machinery efficiency of working pump;

I _p1for the velocity ratio between motor and working pump;

concrete numerical value and operating grip aperture between there is following relation: $V_{g\_p_1}\left(i\right)={\mathrm{fun}}_{HPS1}\left({\mathrm{HPS}}_1\right(i\left)\right)+{\mathrm{fun}}_{HPS2}\left({\mathrm{HPS}}_2\right(i\left)\right),$ Wherein, fun _hPS1(HPS ₁(i)) the geometry discharge capacity that often turns for working pump about the fit equation of load lifting cylinder operating grip aperture, HPS ₁i () is current load lifting cylinder operating grip aperture, unit: %; fun _hPS2(HPS ₂(i)) the geometry discharge capacity that often turns for working pump about the fit equation of rotating bucket cylinder operating grip aperture, HPS ₂i () is current rotating bucket cylinder operating grip aperture, unit: %.

7. a kind of loader electric-control diesel engine energy-saving control method according to claim 4, is characterized in that: described loader current steering system demand torque T _ste(i), its defining method is:

$T_{ste}\left(i\right)=\frac{V_{g\_p_2}\left(i\right)\×{\mathrm{\Δp}}_{p_2}\left(i\right)}{20{\mathrm{\π\η}}_{p_2}{i}_{p_2}}$

Wherein:

i pressure reduction that () is steering pump delivery outlet and inlet opening, unit: bar;

i geometry discharge capacity that () often turns for current steering pump, unit: cm ³;

for the hydraulic machinery efficiency of steering pump;

for the velocity ratio between motor and steering pump;

following relation is there is between the concrete numerical value of (i) and steering wheel angular velocity: wherein, fun _ω(ω (i)), for turning to pump delivery about the fit equation of steering wheel angle speed, ω (i) is current steering wheel angle speed, unit: rad/s.