CN107983525A - Control method, dynamical system and the jaw crusher of dynamical system - Google Patents
Control method, dynamical system and the jaw crusher of dynamical system Download PDFInfo
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- CN107983525A CN107983525A CN201711257603.XA CN201711257603A CN107983525A CN 107983525 A CN107983525 A CN 107983525A CN 201711257603 A CN201711257603 A CN 201711257603A CN 107983525 A CN107983525 A CN 107983525A
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000005183 dynamical system Methods 0.000 title claims abstract description 49
- 239000000446 fuel Substances 0.000 abstract description 6
- 230000008859 change Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C25/00—Control arrangements specially adapted for crushing or disintegrating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C1/00—Crushing or disintegrating by reciprocating members
- B02C1/02—Jaw crushers or pulverisers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C23/00—Auxiliary methods or auxiliary devices or accessories specially adapted for crushing or disintegrating not provided for in preceding groups or not specially adapted to apparatus covered by a single preceding group
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Mechanical Engineering (AREA)
- Disintegrating Or Milling (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a kind of control method of dynamical system, dynamical system and jaw crusher.The control method of dynamical system includes the following steps：Obtain the real work rotating speed and actual load rate of engine；Ideal operation rotating speed of engine when in economic output power is calculated according to real work rotating speed and actual load rate；The rotating speed of engine is controlled according to ideal operation rotating speed.The control method of the dynamical system of the present invention can obtain the real work rotating speed of engine in real time and actual load rate and ideal operation rotating speed when engine is in economic output power be calculated, and then control the rotating speed of engine using ideal operation rotating speed as target.Compared with prior art, above control method, which can monitor the working status of engine in real time, enables the output speed of engine to track ideal operation rotating speed constantly, realizes the raising of complete machine fuel economy.
Description
Technical field
The present invention relates to engineering machinery field, the more particularly to a kind of control method of dynamical system, dynamical system and jaw
Crusher.
Background technology
Mobile jaw crusher is the first order crushing plant in sandstone aggregate production line, its operating mode is complicated.Jaw crushing
Machine its power consumption and physics of the speed of mainshaft, specification, ip angle, particle property and material to be broken in shattering process
Property is related.Among these, influence of the physical property of material to its power consumption is maximum.That is broken material is soft or hard
Degree is different, and the power of jaw crusher has very big difference.
In traditional sandstone aggregate production line, the engine of the transmission system of crusher uses constant speed control method, nothing
Whether change by broken material, the working speed of engine is constant all the time., must when the consumption power of crusher changes
The change of the rate of load condensate of engine can so be caused.At this time according to the control method of permanent rotating speed, the rotating speed of engine cannot be with
Corresponding relation is established in the change of operating mode, also will necessarily just cause the change of fuel economy, increases production cost.
The content of the invention
It is an object of the invention to provide a kind of control method of dynamical system, dynamical system and jaw crusher, to carry
The fuel economy of high dynamical system.
First aspect present invention provides a kind of control method of dynamical system, and dynamical system includes engine, including
Following steps：
Obtain the real work rotating speed and actual load rate of engine；
Ideal of engine when in economic output power is calculated according to real work rotating speed and actual load rate
Working speed；
The rotating speed of engine is controlled according to ideal operation rotating speed.
Further, engine is calculated in economic output power according to real work rotating speed and actual load rate
When ideal operation rotating speed include：Using fuzzy control method draw the ideal operation rotating speed of engine and real work rotating speed and
The relation of actual load rate.
Further, fuzzy control method includes：
The peak power output of engine and the relation of real work rotating speed are obtained according to the external characteristic curve of engine；
The product of actual load rate and peak power output draws the real output of engine；
The ideal operation rotating speed under economic output power is obtained according to the universal characteristic curve of engine；
Real output is obtained according to the relation of real output and economic output power and ideal operation rotating speed
With the relation of ideal operation rotating speed.
Further, fuzzy control method includes：
It is fitted to obtain pass of the peak power output with real work rotating speed of engine according to the external characteristic curve of engine
System；
The product of actual load rate and peak power output draws the real output of engine；
The ideal operation rotating speed under economic output power is obtained according to the universal characteristic curve of engine；
It is fitted to obtain reality output according to the relation of real output and economic output power and ideal operation rotating speed
The relation of power and ideal operation rotating speed.
Further, utilized according to the relation of real output and economic output power and ideal operation rotating speed multinomial
Formula approximating method obtains the relation of real output and ideal operation rotating speed.
Further, fuzzy control method further includes：
Establish the membership function between ideal operation rotating speed and real work rotating speed and actual load rate；And utilize and be subordinate to
Degree function pair real output and the relation of ideal operation rotating speed are blurred.
Further, dynamical system further includes hydraulic pump, and Engine driven Hydraulic Pump rotates, and control method further includes：Root
The discharge capacity of hydraulic pump is controlled according to the ideal operation rotating speed of engine and the traffic demand of hydraulic pump.
Further, the rotating speed for controlling engine according to ideal operation rotating speed includes：
The distributive value of engine is controlled according to the difference of ideal operation rotating speed and real work rotating speed using feedback control.
Second aspect of the present invention provides a kind of dynamical system, and dynamical system includes engine and control device, control device
Simultaneously hair is calculated according to real work rotating speed and actual load rate in the real work rotating speed and actual load rate of acquisition engine
The ideal operation rotating speed of motivation is with the rotating speed according to ideal operation rotating speed control engine.
Further, dynamical system further includes the hydraulic pump being connected with engine driving, and control device is according to engine
The traffic demand of ideal operation rotating speed and hydraulic pump controls the discharge capacity of hydraulic pump.
Third aspect present invention provides a kind of jaw crusher, including the dynamical system such as second aspect of the present invention offer.
Control method, dynamical system and jaw crusher based on dynamical system provided by the invention, the control of dynamical system
Method processed includes the following steps：Obtain the real work rotating speed and actual load rate of engine；According to real work rotating speed and reality
Ideal operation rotating speed of engine when in economic output power is calculated in border rate of load condensate；Controlled according to ideal operation rotating speed
The rotating speed of engine.The control method of the dynamical system of the present invention can obtain the real work rotating speed and reality of engine in real time
Simultaneously ideal operation rotating speed when engine is in economic output power is calculated in rate of load condensate, then using ideal operation rotating speed as mesh
Mark to control the rotating speed of engine.Compared with prior art, above control method can monitor the working status of engine in real time
The output speed of engine is tracked ideal operation rotating speed constantly, realize the raising of complete machine fuel economy.
By referring to the drawings to the present invention exemplary embodiment detailed description, further feature of the invention and its
Advantage will be made apparent from.
Brief description of the drawings
Attached drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the principle schematic of the control method of the dynamical system of a specific embodiment of the invention.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment is illustrative, is never used as to the present invention and its application or makes
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower all other embodiments obtained, belong to the scope of protection of the invention.
Unless specifically stated otherwise, the component and positioned opposite, the digital table of step otherwise illustrated in these embodiments
Do not limited the scope of the invention up to formula and numerical value.At the same time, it should be appreciated that for the ease of description, each portion shown in attached drawing
The size divided not is to be drawn according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, the technology, method and apparatus should be considered as authorizing explanation
A part for book.In shown here and discussion all examples, any occurrence should be construed as merely exemplary, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：Similar label
Similar terms is represented in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It need not be further discussed in figure.
For the ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be appreciated that spatially relative term is intended to comprising the orientation except device described in figure
Outside different azimuth in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
The dynamical system of engineering machinery generally includes engine and hydraulic system.The hydraulic pump of engine driving hydraulic system
Action, the action of hydraulic pump drive hydraulic actuator.Illustrate this by taking the control of the dynamical system of jaw crusher as an example below
The control method of the dynamical system of embodiment.Appoint it should be noted that the control method of the present embodiment can be used for control
What has the dynamical system of engine and/or hydraulic pump, however it is not limited to the control of the dynamical system of jaw crusher.
The control method of the dynamical system of the embodiment of the present invention includes the following steps：
Obtain the real work rotating speed and actual load rate of engine；
Ideal of engine when in economic output power is calculated according to real work rotating speed and actual load rate
Working speed；
The rotating speed of engine is controlled according to ideal operation rotating speed.
The control method of the dynamical system of the embodiment of the present invention can obtain the real work rotating speed and reality of engine in real time
Simultaneously ideal operation rotating speed when engine is in economic output power is calculated in border rate of load condensate, then using ideal operation rotating speed as
Target controls the rotating speed of engine.Compared with prior art, above control method can monitor the work shape of engine in real time
State enables the output speed of engine to track ideal operation rotating speed constantly, realizes the raising of complete machine fuel economy.
Preferably, complete machine is met in the case of changing to ensure hydraulic pump to follow the change of engine speed in rotating speed
Traffic demand, the discharge capacity of the hydraulic pump of the present embodiment adjusts according to traffic demand.
For example, when the rate of load condensate of engine is relatively low, need to reduce the rotating speed of engine at this time to meet that economic power is defeated
Go out.Since the gearratio of engine and hydraulic pump is fixed, the rotating speed of hydraulic pump is reduced with the reduction of the rotating speed of engine, this
When according to the constant torque characteristic of hydraulic pump, increase the discharge capacity of hydraulic pump, remain unchanged the flow of hydraulic pump, so as to keep hydraulic pressure
The rotating speed of motor is remained unchanged and then worked normally.
In the present embodiment, using fuzzy control method draw the ideal operation rotating speed of engine and real work rotating speed and
The relation of actual load rate.
Specifically, the fuzzy control method of the present embodiment obtains the ideal of engine with specific reference to following reasoning process
Working speed and real work rotating speed and the relation of actual load rate：
Initially set up the membership function between ideal operation rotating speed and real work rotating speed and actual load rate；
Then it is fitted to obtain the peak power output of engine and real work rotating speed according to the external characteristic curve of engine
Relation；
The product of actual load rate and peak power output draws the real output of engine；
The ideal operation rotating speed under economic output power is obtained according to the universal characteristic curve of engine；
It is fitted to obtain according to the ideal operation rotating speed under real output and obtained economic output power actual defeated
Go out the relation of power and ideal operation rotating speed；
It is finally that the ideal operation rotating speed being calculated is regular to real output and the relation of ideal operation rotating speed
In membership function.
The dynamical system of the present embodiment further includes the control device for being integrated with above-mentioned fuzzy control method.The control device energy
Enough from motion tracking ideal operation rotating speed and engine is controlled to export, without people in order to control.
Specifically, the fuzzy control method of the present embodiment using the method for fitting of a polynomial come obtain real output with
The relation of ideal operation rotating speed.
Specifically in the present embodiment, after ideal operation rotating speed is calculated, turned using feedback control according to ideal operation
The distributive value of speed and the difference of real work rotating speed control engine.
The structure of the crusher of the specific embodiment of the invention and the principle of control method are done further below according to Fig. 1
Detailed description.
The crusher of the embodiment of the present invention includes Engine ECU, fuzzy controller and power unit.Wherein, Engine ECU
It is engine reality output rotating speed and the output mechanism of actual engine load rate for engine controller, and fuzzy control
The executing agency of device output control signal.
Fuzzy controller is the core of the control system of the dynamical system of the present embodiment, by the fuzzy control side of the present embodiment
Method carries out coding and is written in complete machine director demon.Input signal is the real work rotating speed and actual load rate of engine,
The ideal operation rotating speed of engine is calculated by fuzzy reasoning method as described above, then controller is by preferable work
Electric signal is converted into as rotating speed and is output to Engine ECU.
Power unit includes engine and hydraulic system.Hydraulic system includes hydraulic pump and hydraulic motor.Engine is liquid
The power resources of pressure system.
The fuzzy controller of the present embodiment is obtained according to the universal characteristic curve of engine under the economic power of engine
The data of these preferable output speeds are simultaneously imported into fuzzy controller by the data of preferable output speed, in this, as editor's mould
Paste the basic principle of rule.Then the ideal operation rotating speed being calculated and real work rotating speed are made difference by fuzzy controller,
Using difference as the initial signal for adjusting engine throttle opening, fuel delivery is controlled by Engine ECU so that engine is actual
Working speed is intended to ideal operation rotating speed.At the same time, the voltage of fuzzy controller electromagnetic valve for adjusting variable adjusting mechanism, is adjusted
The discharge capacity of hydraulic pump is saved, to meet the traffic demand of hydraulic motor under engine different rotating speeds.
As shown in Figure 1, when complete machine works, fuzzy controller gathers the real work rotating speed and actual load rate of engine.
When the rate of load condensate for detecting engine is relatively low, the difference of the ideal operation rotating speed of engine and real work rotating speed is made at this time
To adjust the voltage signal of distributive value the rotating speed of engine is reduced to adjust distributive value.Herein it should be noted that this reality
The control method for applying example is provided with the minimum speed of engine and limits to ensure the normal work of hydraulic system.The rotating speed of engine
After reduction, since the gearratio of engine and hydraulic pump is fixed, the rotating speed of hydraulic pump also and then reduces.At this time, according to hydraulic pump
Constant torque characteristic increase hydraulic pump discharge capacity remain unchanged the flow of hydraulic pump so that ensure hydraulic motor rotating speed keep
Constant, crusher can work normally.
The real work rotating speed of engine declines, its real output also declines therewith, and the rate of load condensate of engine is progressively
Rise.When the rate of load condensate for detecting engine reach under the rotating speed it is optimal meet when, the economy of engine is best, stops drop
Speed.
When the rate of load condensate for detecting engine is excessive, the rotating speed of engine is raised according to fuzzy control method at this time.
(the maximum speed limitation that also set engine at this time), the output power of engine after the real work rotating speed rise of engine
Also rise therewith, the rate of load condensate of engine can progressively drop to optimal economic load, and the economy of engine is best at this time, stop
Raising speed.Due to having certain gearratio between hydraulic pump and engine, after the rotating speed lifting of engine, hydraulic pump
Rotating speed can also be lifted, in order to ensure that the flow of hydraulic pump is constant, it is necessary to reduce the discharge capacity of hydraulic pump so as to ensureing hydraulic motor
Rotating speed remains unchanged, and ensures the normal work of crusher.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
It can modify to the embodiment of the present invention or equivalent substitution is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical solution, it should all cover among the claimed technical solution scope of the present invention.
Claims (11)
1. a kind of control method of dynamical system, the dynamical system includes engine, it is characterised in that includes the following steps：
Obtain the real work rotating speed and actual load rate of the engine；
Engine is calculated when in economic output power according to the real work rotating speed and the actual load rate
Ideal operation rotating speed；
The rotating speed of the engine is controlled according to the ideal operation rotating speed.
2. the control method of dynamical system according to claim 1, it is characterised in that according to the real work rotating speed and
Ideal operation rotating speed of engine when in economic output power, which is calculated, in the actual load rate includes：Utilize Fuzzy Control
Method processed draws the ideal operation rotating speed and the real work rotating speed and the relation of the actual load rate of engine.
3. the control method of dynamical system according to claim 2, it is characterised in that the fuzzy control method includes：
The peak power output of the engine and the pass of real work rotating speed are obtained according to the external characteristic curve of the engine
System；
The product of the actual load rate and the peak power output draws the real output of engine；
The ideal operation rotating speed under economic output power is obtained according to the universal characteristic curve of the engine；
Reality output is obtained according to the relation of the real output and the economic output power and ideal operation rotating speed
The relation of power and ideal operation rotating speed.
4. the control method of dynamical system according to claim 2, it is characterised in that the fuzzy control method includes：
It is fitted to obtain the peak power output and real work rotating speed of the engine according to the external characteristic curve of the engine
Relation；
The product of the actual load rate and the peak power output draws the real output of engine；
The ideal operation rotating speed under economic output power is obtained according to the universal characteristic curve of the engine；
It is fitted to obtain reality according to the relation of the real output and the economic output power and ideal operation rotating speed
The relation of output power and ideal operation rotating speed.
5. the control method of dynamical system according to claim 4, it is characterised in that according to the real output with
And the relation of the economic output power and ideal operation rotating speed obtains real output and reason using polynomial fitting method
Think the relation of working speed.
6. the control method of dynamical system according to claim 3, it is characterised in that the fuzzy control method also wraps
Include：
Establish the membership function between the ideal operation rotating speed and the real work rotating speed and the actual load rate；And
The relation of the real output and the ideal operation rotating speed is blurred using the membership function.
7. the control method of dynamical system according to any one of claim 1 to 6, it is characterised in that the dynamical system
System further includes hydraulic pump, and hydraulic pump described in the engine driving rotates, and the control method further includes：According to the engine
Ideal operation rotating speed and the traffic demand of the hydraulic pump control the discharge capacity of the hydraulic pump.
8. the control method of dynamical system according to any one of claim 1 to 6, it is characterised in that according to the reason
Think that working speed controls the rotating speed of the engine to include：
The engine is controlled according to the difference of the ideal operation rotating speed and the real work rotating speed using feedback control
Distributive value.
9. a kind of dynamical system, it is characterised in that the dynamical system includes engine and control device, and the control device obtains
Take the real work rotating speed and actual load rate and according to the real work rotating speed and the actual load rate of the engine
The ideal operation rotating speed of engine is calculated with the rotating speed according to the ideal operation rotating speed control engine.
10. dynamical system according to claim 9, it is characterised in that the dynamical system further includes and the engine
The hydraulic pump of drive connection, the control device is according to the ideal operation rotating speed of the engine and the flow need of the hydraulic pump
Seek the discharge capacity for controlling the hydraulic pump.
11. a kind of jaw crusher, it is characterised in that including the dynamical system as described in claim 9 or 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711257603.XA CN107983525A (en) | 2017-12-04 | 2017-12-04 | Control method, dynamical system and the jaw crusher of dynamical system |
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| CN201711257603.XA CN107983525A (en) | 2017-12-04 | 2017-12-04 | Control method, dynamical system and the jaw crusher of dynamical system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113828418A (en) * | 2021-09-30 | 2021-12-24 | 广西美斯达工程机械设备有限公司 | Electrical control system for parallel generator and hydraulic coupler of diesel engine |
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