CN107587546A - A kind of control method for improving hydraulic crawler excavator revolution energy saving - Google Patents
A kind of control method for improving hydraulic crawler excavator revolution energy saving Download PDFInfo
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- CN107587546A CN107587546A CN201710801204.9A CN201710801204A CN107587546A CN 107587546 A CN107587546 A CN 107587546A CN 201710801204 A CN201710801204 A CN 201710801204A CN 107587546 A CN107587546 A CN 107587546A
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Abstract
The invention discloses a kind of control method for improving hydraulic crawler excavator revolution energy saving, and when carrying out excavator revolution operation, control main pump flow is consistent with rotary motor demand volume.By simulating the demand volume of rotary motor, the flow of main pump is controlled in real time, reduces energy loss caused by overflow in revolution speed-change process.The links such as the control method includes target flow calculating, virtual flow rate calculation, main pump Current calculation, main pump flow control.In accelerator is turned round, energy loss caused by overfueling is reduced by the demand volume for simulating rotary motor, during reversed turning, reverse fuel feeding is eliminated, reduces energy loss.
Description
Technical field
The present invention relates to a kind of control method for improving hydraulic crawler excavator revolution energy saving, belong to hydraulic crawler excavator technology neck
Domain.
Background technology
Revolution is one of main actions during excavator operation, and the capacity usage ratio improved in turning course can have
Effect improves the energy saving of excavator.In the revolution operation of general excavator, hydraulic system and control system are according to operation handle
Output signal determines the flow that is supplied to rotary motor of main pump, actual because hydraulic crawler excavator is got on the bus huge rotary inertia
The flows match that rotational speed can not supply with main pump at once, but be in the long period under acceleration or deceleration state.
When excavator is in revolution acceleration mode, the flow that hydraulic system is provided often substantially exceeds the stream needed for rotary motor
Amount, the flow beyond part produce huge energy dissipation by flowing back to radiator and fuel tank after overflow valve generation heat；When right
Excavator carry out reverse turn operation when, hydraulic system provide flow and rotary motor needed for direction of the traffic on the contrary, and with revolution
The flow of motor discharge can also produce huge energy dissipation together by overflow valve.
The content of the invention
Purpose：In order to overcome the deficiencies in the prior art, the present invention provides a kind of raising hydraulic crawler excavator rotary joint
The control method of energy property, can control the flow that main pump is allowed to provide to realize real-time with rotational speed when excavator turns round
Match somebody with somebody, reduce energy dissipation caused by overflow.
Technical scheme：In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of control method for improving hydraulic crawler excavator revolution energy saving, it is characterised in that：Controller receives pilot handle
Pressure signal, and target flow, virtual flow, main pump electric current are calculated according to pilot handle pressure signal successively, controller is defeated
Go out main pump current control main pump flow；
In excavator revolution operating process, controller calculates target flow according to pilot handle pressure signal, due to behaviour
Make similar, it is assumed that to target flow during right-hand rotation for just, target flow when turning round to the left is negative, according to target flow and void
The difference for intending flow changes virtual flow, and virtual flow is used to simulate the actual flow needed for rotary motor；
If virtual flow is identical with target flow symbol, pass through virtual flow, engine speed, main pump maximum pump discharge
Calculate the swash plate pivot angle and main pump electric current of main pump；If virtual flow is different from target flow symbol, setting main pump electricity
Flow for 0, the output flow that last controller passes through main pump current control main pump.
The described control method for improving hydraulic crawler excavator revolution energy saving, it is characterised in that：Described pilot handle pressure
Force signal includes left rotation pressure signal, right-hand rotation pressure signal；
When left rotation pressure signal and right-hand rotation pressure signal are all 0, target flow 0；
When left rotation pressure signal is more than 0, target flow is directly proportional to left rotation pressure signal；
When right-hand rotation pressure signal is more than 0, target flow is directly proportional to right-hand rotation pressure signal.
Further, if target flow is more than 0, when right-hand rotation pressure signal is more than 0 when left rotation pressure signal is more than 0
Target flow is less than 0；Target flow is less than 0 when if left rotation pressure signal is more than 0, mesh when right-hand rotation pressure signal is more than 0
Mark flow and be more than 0.
The described control method for improving hydraulic crawler excavator revolution energy saving, it is characterised in that：When virtual flow and target
When flow is inconsistent, virtual flow moves closer to target flow with the time.
Further, virtual flow versus time single order can be led.
The described control method for improving hydraulic crawler excavator revolution energy saving, it is characterised in that：When virtual flow and target
When flow symbol is identical, by engine speed, main pump maximum pump discharge, virtual flow rate calculation main pump electric current, when virtual flow with
When target flow symbol is opposite, main pump electric current is 0.
The described control method for improving hydraulic crawler excavator revolution energy saving, it is characterised in that：
Described main pump, variable pumpage is by current control, and when electric current is 0, discharge capacity is minimum value, and discharge capacity and electric current are just
It is related.
The described control method for improving hydraulic crawler excavator revolution energy saving, it is characterised in that specific as follows：
When pilot handle is turned round in operation, controller receives the pressure signal of pilot handle, and this pressure when calculating
The target flow Q that rotary motor corresponding to signal is finally reached0, difference DELTA Q between target flow and virtual flow now be present；
Rotary motor drives hydraulic crawler excavator upper frame part to carry out revolution acceleration under the driving of hydraulic system pressure simultaneously, turns round horse
The demand volume pace of change reached can be expressed asWherein t is the time；Virtual flow be present inside controller simultaneously
The calculating function of pace of changeAnd reduce as far as possibleWithBetween difference, over time,
Q2Move closer to Q0, now virtual flow can largely simulate the demand volume of rotary motor；
If Q0With Q2Symbol is identical, then illustrates that virtual flow and demand volume direction and goal direction of the traffic is identical, this
When controller control main pump output flow it is identical with virtual flow and consistent with the demand volume of rotary motor, so flow
Amount will not be wasted by overflow valve, reached and reduced the purpose that flow wastes；
If Q0With Q2Symbol is different, then illustrate virtual flow and demand volume direction and goal direction of the traffic on the contrary, this
When main pump output flow can flow through overflow valve produce waste, so main pump electric current now is arranged into 0, main pump flow reaches most
It is small, reach and reduce the purpose that flow wastes.
Beneficial effect：The control method provided by the invention for improving hydraulic crawler excavator revolution energy saving, utilizes pilot handle
Pressure signal calculates virtual flow, for simulating the actual flow needed for rotary motor, and passes through engine speed, target stream
Amount, virtual flow, main pump maximum pump discharge calculate the control electric current of main pump, realize the control to main pump output flow, reduce
The waste of main pump flow, improve revolution energy saving.
Brief description of the drawings
Fig. 1 is the control flow chart of the present invention.
Embodiment
The present invention is further described with reference to specific embodiment.
As shown in figure 1, for a kind of control method for improving hydraulic crawler excavator and turning round energy saving, the control method includes target
The links such as flow rate calculation, virtual flow rate calculation, main pump Current calculation, the control of main pump flow.Controller receives pilot handle pressure
Signal, and target flow, virtual flow, main pump electric current, controller output master are calculated according to pilot handle pressure signal successively
Pump current control main pump flow.
Described pilot handle pressure signal, including left revolution pilot pressure signal, right-hand rotation pilot pressure signal；
Described target flow, when left rotation pressure signal and right-hand rotation pressure signal are all 0, target flow 0, when
When left rotation pressure signal is more than 0, target flow is directly proportional to left rotation pressure signal, when right-hand rotation pressure signal is more than 0,
Target flow is directly proportional to right-hand rotation pressure signal.Further, if target flow is more than 0 when left rotation pressure signal is more than 0,
Target flow is less than 0 when right-hand rotation pressure signal is more than 0, if target flow is less than 0 when left rotation pressure signal is more than 0, the right side
Target flow is more than 0 when rotation pressure signal is more than 0.
Described virtual flow, when virtual flow and target flow are inconsistent, virtual flow moves closer to mesh with the time
Mark flow.Further, virtual flow versus time single order can be led.
Described main pump electric current, it is maximum by engine speed, main pump when virtual flow is identical with target flow symbol
Discharge capacity, virtual flow rate calculation main pump electric current, when virtual flow is opposite with target flow symbol, main pump electric current is 0.
Described main pump, variable pumpage is by current control, and when electric current is 0, discharge capacity is minimum value, and discharge capacity and electric current are just
It is related.
In excavator revolution operating process, controller calculates target flow according to pilot handle pressure signal, due to behaviour
Make similar, it is assumed that to target flow during right-hand rotation for just, target flow when turning round to the left is negative, according to target flow and void
The difference for intending flow changes virtual flow, and the virtual flow is used to simulate the actual flow needed for rotary motor.If virtual stream
Amount is identical with target flow symbol, then the swash plate that main pump is calculated by virtual flow, engine speed, main pump maximum pump discharge is put
Angle and main pump electric current, if virtual flow is different from target flow symbol, main pump electric current are set as 0, last controller leads to
Cross the output flow of main pump current control main pump.
When pilot handle is turned round in operation, controller receives the pressure signal of pilot handle, and this pressure when calculating
The target flow Q that rotary motor corresponding to signal is finally reached0, difference DELTA Q between target flow and virtual flow now be present.
Rotary motor drives hydraulic crawler excavator upper frame part to carry out revolution acceleration under the driving of hydraulic system pressure simultaneously, turns round horse
The demand volume pace of change reached can be expressed asWherein t is the time.Virtual flow be present inside controller simultaneously
The calculating function of pace of changeAnd reduce as far as possibleWithBetween difference, over time,
Q2Move closer to Q0, now virtual flow can largely simulate the demand volume of rotary motor.
If Q0With Q2Symbol is identical, then illustrates that virtual flow and demand volume direction and goal direction of the traffic is identical, this
When controller control main pump output flow it is identical with virtual flow and consistent with the demand volume of rotary motor, so flow
Amount will not be wasted by overflow valve, reached and reduced the purpose that flow wastes.
If Q0With Q2Symbol is different, then illustrate virtual flow and demand volume direction and goal direction of the traffic on the contrary, this
When main pump output flow can flow through overflow valve produce waste, so main pump electric current now is arranged into 0, main pump flow reaches most
It is small, reach and reduce the purpose that flow wastes.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (8)
- A kind of 1. control method for improving hydraulic crawler excavator revolution energy saving, it is characterised in that：Controller receives pilot handle pressure Force signal, and target flow, virtual flow, main pump electric current, controller output are calculated according to pilot handle pressure signal successively Main pump current control main pump flow；In excavator revolution operating process, controller calculates target flow according to pilot handle pressure signal, it is assumed that returns to the right Target flow when turning is just, target flow when turning round to the left is negative, is changed according to the difference of target flow and virtual flow Virtual flow, virtual flow are used to simulate the actual flow needed for rotary motor；If virtual flow is identical with target flow symbol, calculated by virtual flow, engine speed, main pump maximum pump discharge Go out the swash plate pivot angle and main pump electric current of main pump；If virtual flow is different from target flow symbol, set main pump electric current as 0, the output flow that last controller passes through main pump current control main pump.
- 2. the control method according to claim 1 for improving hydraulic crawler excavator revolution energy saving, it is characterised in that：Described Pilot handle pressure signal includes left rotation pressure signal, right-hand rotation pressure signal；When left rotation pressure signal and right-hand rotation pressure signal are all 0, target flow 0；When left rotation pressure signal is more than 0, target flow is directly proportional to left rotation pressure signal；When right-hand rotation pressure signal is more than 0, target flow is directly proportional to right-hand rotation pressure signal.
- 3. the control method according to claim 2 for improving hydraulic crawler excavator revolution energy saving, it is characterised in that：If a left side is returned Target flow is more than 0 when turning pressure signal more than 0, then target flow is less than 0 when right-hand rotation pressure signal is more than 0；If left revolution Target flow is less than 0 when pressure signal is more than 0, then target flow is more than 0 when right-hand rotation pressure signal is more than 0.
- 4. the control method according to claim 1 for improving hydraulic crawler excavator revolution energy saving, it is characterised in that：When virtual When flow and inconsistent target flow, virtual flow moves closer to target flow with the time.
- 5. the control method according to claim 1 for improving hydraulic crawler excavator revolution energy saving, it is characterised in that：Virtual stream Amount can be led to time single order.
- 6. the control method according to claim 1 for improving hydraulic crawler excavator revolution energy saving, it is characterised in that：When virtual When flow is identical with target flow symbol, by engine speed, main pump maximum pump discharge, virtual flow rate calculation main pump electric current, when When virtually flow is opposite with target flow symbol, main pump electric current is 0.
- 7. the control method according to claim 1 for improving hydraulic crawler excavator revolution energy saving, it is characterised in that：Described main pump, variable pumpage is by current control, and when electric current is 0, discharge capacity is minimum value, discharge capacity and electric current positive Close.
- 8. the control method according to claim 1 for improving hydraulic crawler excavator revolution energy saving, it is characterised in that specifically such as Under：When pilot handle is turned round in operation, controller receives the pressure signal of pilot handle, and this pressure signal when calculating The target flow Q that corresponding rotary motor is finally reached0, difference DELTA Q between target flow and virtual flow now be present；Simultaneously Rotary motor drives hydraulic crawler excavator upper frame part to carry out revolution acceleration under the driving of hydraulic system pressure, rotary motor Demand volume pace of change can be expressed asWherein t is the time；Virtual changes in flow rate be present inside controller simultaneously The calculating function of speedAnd reduce as far as possibleWithBetween difference, over time, Q2By Gradually close to Q0, now virtual flow can largely simulate the demand volume of rotary motor；If Q0With Q2Symbol is identical, then illustrates that virtual flow and demand volume direction and goal direction of the traffic is identical, this time control The flow of device control main pump output processed is identical with virtual flow and consistent with the demand volume of rotary motor, so flow is not It can be wasted by overflow valve, reach and reduce the purpose that flow wastes；If Q0With Q2Symbol is different, then illustrates virtual flow and demand volume direction and goal direction of the traffic on the contrary, now leading The output flow of pump can flow through overflow valve and produce waste, so main pump electric current now is arranged into 0, main pump flow reaches minimum, Reach and reduce the purpose that flow wastes.
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| CN201710801204.9A CN107587546B (en) | 2017-09-07 | 2017-09-07 | A kind of control method improving hydraulic crawler excavator revolution energy saving |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109403413A (en) * | 2018-11-01 | 2019-03-01 | 上海华兴数字科技有限公司 | A kind of excavator movement Calculation Method of Energy Consumption and device |
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| CN103775435A (en) * | 2014-01-09 | 2014-05-07 | 浙江大学 | Testing system of pilot-operated type load control valve |
| CN204677544U (en) * | 2014-12-19 | 2015-09-30 | 上海电气液压气动有限公司 | A kind of closed type hydraulic pump clockwise and anticlockwise load-sensitive pilot system |
| US20160060846A1 (en) * | 2014-09-03 | 2016-03-03 | Hyundai Heavy Industries Co. Ltd. | Method of Controlling Work of Excavator |
| WO2016093393A1 (en) * | 2014-12-10 | 2016-06-16 | 볼보 컨스트럭션 이큅먼트 에이비 | Hydraulic circuit of construction equipment |
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| CN102587444A (en) * | 2012-03-07 | 2012-07-18 | 浙江大学 | Oil hybrid system for excavator with energy differential recovery |
| KR20140002296A (en) * | 2012-06-29 | 2014-01-08 | 현대중공업 주식회사 | Flow control device for excavator operated by electrical signal |
| CN103775435A (en) * | 2014-01-09 | 2014-05-07 | 浙江大学 | Testing system of pilot-operated type load control valve |
| US20160060846A1 (en) * | 2014-09-03 | 2016-03-03 | Hyundai Heavy Industries Co. Ltd. | Method of Controlling Work of Excavator |
| WO2016093393A1 (en) * | 2014-12-10 | 2016-06-16 | 볼보 컨스트럭션 이큅먼트 에이비 | Hydraulic circuit of construction equipment |
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| CN107587546B (en) | 2019-08-23 |
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