CN109437021A - A kind of crane energy-saving control method and energy-saving control system - Google Patents
A kind of crane energy-saving control method and energy-saving control system Download PDFInfo
- Publication number
- CN109437021A CN109437021A CN201811585895.4A CN201811585895A CN109437021A CN 109437021 A CN109437021 A CN 109437021A CN 201811585895 A CN201811585895 A CN 201811585895A CN 109437021 A CN109437021 A CN 109437021A
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- China
- Prior art keywords
- pump
- engine
- saving control
- energy
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/02—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by hand, foot, or like operator controlled initiation means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a kind of crane energy-saving control method and energy-saving control systems, crane energy-saving control method are as follows: controller calculates the speed requirement of user according to the signal of handle signal and efp, the pressure for checking pump discharge, can calculate and correspond to power demand under this speed.According to the efficiency characteristic of the fuel characteristic of engine and pump, when can calculate this power, engine fuel consumption rate minimum load torque and revolving speed.Controller just according to the pressure of calculated result and pump, controls the revolving speed of engine and the discharge capacity of pump, in the case where meeting user demand, makes engine operation in the optimal operating condition of fuel economy.Present invention preserves the handle of conventional hoist and gas pedal, using the crane of this energy conserving system, user in operation, with conventional hoist and significant difference.The discharge capacity and engine speed of controller meeting Auto-matching pump, reach energy-efficient purpose.
Description
Technical field
The present invention relates to crane fields, and in particular to a kind of crane energy-saving control method and energy-saving control system.
Background technique
Current automobile crane cleaner handgrip and throttle individually control the discharge capacity of pump and the revolving speed of engine, and user makes
With in the process, handle inclination angle and throttle inclination angle can only be matched by rule of thumb, it is difficult to keep engine operation optimal in fuel economy
Operating condition.In actual use, crane works in low engine speed heavy load or the operating condition of the small load of high engine speeds user
Also relatively universal.
Prior art mainly applies the engineering machinery in the full-load operation always of the needs such as excavator, emphasis
It is operating rate.The lifting work of crane is to work under different load according to lifting needs, meet various rate requests.
Existing technical solution is not able to satisfy crane makes engine operation most energy-efficient under current power under various operating rates
Operating condition.
Summary of the invention
The present invention provides a kind of crane energy-saving control method and energy-saving control system, avoids engine operation big in low speed
The operating condition of load or the small load of high engine speeds.
The present invention is realized by following technical scheme:
A kind of crane energy-saving control method, the throttle including handle and control engine speed for controlling pumpage
Pedal further includes controller for detecting the pressure sensor of pump discharge pressure, and the controller is for calculating fuel consumption
The minimum engine speed of rate and pumpage, comprising the following steps:
S1: controller real-time detection control crank inclination alpha, accelerator pedal position θ and hydraulic system pressure p；
S2: pump discharge demand Q is calculated according to handle inclination alpha and accelerator pedal position θ；
Wherein
Vmax--- the maximum pump discharge of pump；
nmin--- the minimum speed of engine；
nmax--- the maximum (top) speed of engine；
S3: pump power demand W is calculated according to hydraulic system pressure p and pump discharge demand Qx:
Wx=pQ；
S4: with equivalent output torque TpFor horizontal axis, engine speed n is the longitudinal axis, according to pump different rotating speeds with it is equivalent defeated
Out when torque engine specific fuel consumption data draw engine etc. specific fuel consumptions curve；
S5: take engine current power curve with etc. specific fuel consumptions curve point of contact, it is best when obtaining current power W (i)
Operating point (Tp(i, j), n (i, j)), wherein current power W (i) is acquired by the following method
Wherein Tp(i, j), n (i, j) are by following constraintN (i, j))=C (i), wherein C (i)
For constant, i=1,2,3 ..., j=1,2,3 ...；η is the gross efficiency of pump, and z is the transmission ratio of engine and pump；
The best operating point connection of different capacity is found out into optimum-curve for operation；
S6: converting optimum-curve for operation to the relationship n=g (W) of engine speed and demand power, will obtain in step S3
The W arrivedxIt brings this formula into, obtains current optimal engine revolving speed nx=g (Wx), further acquire the control discharge capacity of pump are as follows:
Further, the pump is hydraulic pump.
Further, the output token of accelerator pedal position θ efp in no pedal is position
Zero, efp output token when efp is floored is position θmax, median linearly corresponds to.
Further, the equivalent output torque Tp=T × z × η；Wherein, T is output torque, and z is the biography of engine and pump
Dynamic ratio, η are the gross efficiency of pump.
A kind of energy-saving control system running aforementioned crane energy-saving control method, including the handle for controlling pumpage
Gas pedal with control engine speed for detecting the pressure sensor of pump discharge pressure further includes controller, described
Controller runs crane energy-saving control method above-mentioned.
The invention has the advantages that:
Energy-saving control system of the invention remains the handle and gas pedal of conventional hoist, using this energy conserving system
Crane, user in operation, with conventional hoist and significant difference.
Operation according to user to handle and efp, controller make engine begin by power match algorithm
Work avoids engine operation in low speed heavy load or the work of the small load of high engine speeds in the optimal operating condition of fuel economy eventually
Condition reaches energy-efficient purpose.
Detailed description of the invention
Fig. 1 is crane energy-saving control system principle；
Fig. 2 is the specific fuel consumptions curve graphs such as engine；
Fig. 3 is optimum-curve for operation figure.
Specific embodiment
To keep the purposes, technical schemes and advantages of the invention implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label indicate same or similar element or element with the same or similar functions.Described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.Under
Face is described in detail the embodiment of the present invention in conjunction with attached drawing.
As shown in Figure 1, position and the system pressure of the angle of controller real-time detection control crank, gas pedal, and root
According to the range of speeds of engine and the maximum pump discharge of pump, user's manipulation can be calculated to the speed requirement of hoist and the stream of pump
Amount demand.The power demand of pump can be further calculated according to system pressure.In view of hydraulic pump is in different operating pressure, row
When amount and revolving speed, the difference of mechanical efficiency and volumetric efficiency, by the fuel consumption rate number of engine different rotating speeds and output torque
According to the fuel consumption rate of engine when being converted into pump different rotating speeds and equivalent output torque.Identical pump power output can be adopted
It combines to obtain with pumpage with different engine speed.According to the engine combustion corresponding with equivalent output torque of pump different rotating speeds
Specific oil consumption data can seek identical pump power output, the minimum engine speed of fuel consumption rate and pumpage.
The power demand calculation method of pump is as follows:
The flow demand of pump is calculated according to handle inclination alpha and efp position θ
Wherein
Vmax--- the maximum pump discharge of pump
nmin--- the minimum speed of engine
nmax--- the maximum (top) speed of engine
The oil pressure p that pump discharge is detected by the pressure sensor of pump discharge, the power that may further calculate pump need
It asks
Wx=pQ
The method for solving of engine optimum-curve for operation is as follows: engine measures engine machine specific fuel consumption ge by dynamometer machine
With the corresponding relationship ge=f (T, n) of engine speed n, output torque T.By the torque T of specific fuel consumption data multiplied by the gross efficiency of pump
The transmission ratio z of η, engine and pump, the equivalent output torque T pumpedp=T × z × η.And then find out engine specific fuel consumption ge
With engine speed n, the equivalent output torque T of pumppRelationship:
The gross efficiency η wherein pumped is influenced by the revolving speed, discharge capacity and the output pressure that pump, this data needs test pump
It obtains.
When according to pump different rotating speeds and equivalent output torque, the specific fuel consumption data of engine, draw engine waits ratio oil
Consume curve, power curve and engine etc. specific fuel consumptions curve point of contact, best operating point (T when being exactly current power W (i)p
(i, j), n (i, j)), W (i) is acquired by following formula
Wherein Tp(i, j), n (i, j) are by following constraint
N (i, j))=C (i) (C (i) be constant, i=1,2,3 ..., j=1,2,3 ...) will not
With power best operating point be connected can find out optimum-curve for operation.
The revolving speed of engine and the discharge capacity account method of pump are as follows: converting engine speed for optimum-curve for operation and need
The relationship n=g (W) for seeking power, by obtained power demand W calculated abovexIt brings this formula into, obtains current optimal engine and turn
Fast nx=g (Wx), further acquire the control discharge capacity of pump
It should be noted that the output token of accelerator pedal position θ efp in no pedal is position
Zero, efp output token when efp is floored is position θmax, median linearly corresponds to.Such as certain
The output of kind model efp is voltage signal, voltage output range 0.5-4.8V, then when output voltage is 0.5V
Labeled as position zero, position θ is labeled as when output voltage is 4.8Vmax。
As shown in Fig. 2, the revolving speed of pump is horizontal axis, equivalent output torque is the longitudinal axis, the product of revolving speed and equivalent output torque
The line that identical point is linked to be is exactly constant power curve, and product is different, then curve is different.
As shown in figure 3, the dotted line in figure is exactly constant power curve.Constant power curve with etc. the point of contact of specific fuel consumptions curve be exactly
Best operating point, it is exactly optimum-curve for operation that best operating point, which is linked together,.Turning for pump is converted by optimum-curve for operation
The relationship of speed and the output power of pump.
In summary, present invention preserves the handle of conventional hoist and gas pedals, using the lifting of this energy conserving system
Machine, user in operation, with conventional hoist and significant difference.The discharge capacity and engine speed of controller meeting Auto-matching pump,
Reach energy-efficient purpose.This Energy Saving Control scheme can be not only used for the crane of pump control system, can be also used for automatically controlled load
The crane of sensitive hydraulic system can be also used for the engineering machinery such as other excavators.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of crane energy-saving control method, the throttle including handle and control engine speed for controlling pumpage is stepped on
Plate, for detecting the pressure sensor of pump discharge pressure, it is characterised in that: further include controller, the controller is based on
Calculate fuel consumption rate minimum engine speed and pumpage, comprising the following steps:
S1: controller real-time detection control crank inclination alpha, accelerator pedal position θ and hydraulic system pressure p；
S2: pump discharge demand Q is calculated according to handle inclination alpha and accelerator pedal position θ；
Wherein
Vmax--- the maximum pump discharge of pump；
nmin--- the minimum speed of engine；
nmax--- the maximum (top) speed of engine；
S3: pump power demand W is calculated according to hydraulic system pressure p and pump discharge demand Qx:
Wx=pQ；
S4: with equivalent output torque TpFor horizontal axis, engine speed n is the longitudinal axis, according to pump in different rotating speeds and equivalent output torque
When engine specific fuel consumption data draw engine etc. specific fuel consumptions curve；
S5: take engine current power curve with etc. specific fuel consumptions curve point of contact, obtain best effort when current power W (i)
Point (Tp(i, j), n (i, j)), wherein current power W (i) is acquired by the following method
Wherein Tp(i, j), n (i, j) are by following constraintWherein C (i) is normal
Number, i=1,2,3 ..., j=1,2,3 ...；η is the gross efficiency of pump, and z is the transmission ratio of engine and pump；
The best operating point connection of different capacity is found out into optimum-curve for operation；
S6: converting optimum-curve for operation to the relationship n=g (W) of engine speed and demand power, will be obtained in step S3
WxIt brings this formula into, obtains current optimal engine revolving speed nx=g (Wx), further acquire the control discharge capacity of pump are as follows:
2. a kind of crane energy-saving control method according to claim 1, it is characterised in that: the pump is hydraulic pump.
3. a kind of crane energy-saving control method according to claim 1, it is characterised in that: the accelerator pedal position
The output token of θ efp in no pedal is position zero, E-Gas when efp is floored
Pedal output token is position θmax, median linearly corresponds to.
4. a kind of crane energy-saving control method according to claim 1, it is characterised in that: the equivalent output torque Tp
=T × z × η；
Wherein, T is output torque, and z is the transmission ratio of engine and pump, and η is the gross efficiency of pump.
5. the energy-saving control system of crane energy-saving control method in a kind of operation claim 1, including for controlling pumpage
Handle and control engine speed gas pedal, for detecting the pressure sensor of pump discharge pressure, it is characterised in that: also
Including controller, crane energy-saving control method in the controller operation claim 1.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811585895.4A CN109437021B (en) | 2018-12-24 | 2018-12-24 | Energy-saving control method and energy-saving control system for crane |
| PCT/CN2019/127440 WO2020135336A1 (en) | 2018-12-24 | 2019-12-23 | Crane energy-saving control method and crane energy-saving control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811585895.4A CN109437021B (en) | 2018-12-24 | 2018-12-24 | Energy-saving control method and energy-saving control system for crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109437021A true CN109437021A (en) | 2019-03-08 |
| CN109437021B CN109437021B (en) | 2019-12-20 |
Family
ID=65535317
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811585895.4A Active CN109437021B (en) | 2018-12-24 | 2018-12-24 | Energy-saving control method and energy-saving control system for crane |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109437021B (en) |
| WO (1) | WO2020135336A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110905674A (en) * | 2019-12-27 | 2020-03-24 | 徐州重型机械有限公司 | Crane power matching control method and system and crane |
| WO2020135336A1 (en) * | 2018-12-24 | 2020-07-02 | 徐州重型机械有限公司 | Crane energy-saving control method and crane energy-saving control system |
| CN111706577A (en) * | 2020-06-28 | 2020-09-25 | 广东电网能源发展有限公司 | Remote control self-balancing hydraulic pump station system |
| CN112697252A (en) * | 2019-10-07 | 2021-04-23 | 株式会社石田 | Metering device |
| CN114248777A (en) * | 2021-12-13 | 2022-03-29 | 潍柴动力股份有限公司 | Method and device for reducing oil consumption, storage medium and electronic equipment |
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| JPS62142834A (en) * | 1985-12-17 | 1987-06-26 | Komatsu Ltd | Control device for engine of crane |
| CN101993006B (en) * | 2010-10-12 | 2012-07-04 | 三一汽车起重机械有限公司 | Automobile crane and energy-saving control method and energy-saving control system thereof |
| CN103032185B (en) * | 2012-12-20 | 2016-02-10 | 中联重科股份有限公司 | Control method and control device of automobile crane and automobile crane |
| CN108083114A (en) * | 2017-11-29 | 2018-05-29 | 徐州重型机械有限公司 | A kind of crane energy-saving control method and system |
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| JP2902055B2 (en) * | 1990-06-07 | 1999-06-07 | マツダ株式会社 | Vehicle traction control device |
| JP4495706B2 (en) * | 2006-09-12 | 2010-07-07 | 本田技研工業株式会社 | Hybrid vehicle |
| CN103362666B (en) * | 2013-07-29 | 2015-12-02 | 中联重科股份有限公司 | Power matching control equipment, method and system and engineering machinery |
| CN103925091B (en) * | 2014-04-09 | 2016-09-07 | 三一汽车起重机械有限公司 | Dynamic power matching process |
| CN109437021B (en) * | 2018-12-24 | 2019-12-20 | 徐州重型机械有限公司 | Energy-saving control method and energy-saving control system for crane |
-
2018
- 2018-12-24 CN CN201811585895.4A patent/CN109437021B/en active Active
-
2019
- 2019-12-23 WO PCT/CN2019/127440 patent/WO2020135336A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62142834A (en) * | 1985-12-17 | 1987-06-26 | Komatsu Ltd | Control device for engine of crane |
| CN101993006B (en) * | 2010-10-12 | 2012-07-04 | 三一汽车起重机械有限公司 | Automobile crane and energy-saving control method and energy-saving control system thereof |
| CN103032185B (en) * | 2012-12-20 | 2016-02-10 | 中联重科股份有限公司 | Control method and control device of automobile crane and automobile crane |
| CN108083114A (en) * | 2017-11-29 | 2018-05-29 | 徐州重型机械有限公司 | A kind of crane energy-saving control method and system |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020135336A1 (en) * | 2018-12-24 | 2020-07-02 | 徐州重型机械有限公司 | Crane energy-saving control method and crane energy-saving control system |
| CN112697252A (en) * | 2019-10-07 | 2021-04-23 | 株式会社石田 | Metering device |
| CN110905674A (en) * | 2019-12-27 | 2020-03-24 | 徐州重型机械有限公司 | Crane power matching control method and system and crane |
| WO2021128628A1 (en) * | 2019-12-27 | 2021-07-01 | 徐州重型机械有限公司 | Control method and system for power matching of crane, and crane |
| CN111706577A (en) * | 2020-06-28 | 2020-09-25 | 广东电网能源发展有限公司 | Remote control self-balancing hydraulic pump station system |
| CN114248777A (en) * | 2021-12-13 | 2022-03-29 | 潍柴动力股份有限公司 | Method and device for reducing oil consumption, storage medium and electronic equipment |
| CN114248777B (en) * | 2021-12-13 | 2024-03-19 | 潍柴动力股份有限公司 | Method and device for reducing oil consumption, storage medium and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109437021B (en) | 2019-12-20 |
| WO2020135336A1 (en) | 2020-07-02 |
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