CN111962599A - Compound driving system of electric excavator and control method - Google Patents
Compound driving system of electric excavator and control method Download PDFInfo
- Publication number
- CN111962599A CN111962599A CN202010843828.9A CN202010843828A CN111962599A CN 111962599 A CN111962599 A CN 111962599A CN 202010843828 A CN202010843828 A CN 202010843828A CN 111962599 A CN111962599 A CN 111962599A
- Authority
- CN
- China
- Prior art keywords
- torque
- motor
- rate
- compound
- angle
- 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.)
- Granted
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present disclosure relates to a compound drive system of an electric excavator, including: a first motor configured to drive a swing device of an electric excavator; a second motor configured to drive the hydraulic pump so as to supply hydraulic oil to a plurality of motion actuators of the electric excavator; the load sensitive valve is communicated between the hydraulic pump and the plurality of action executing elements and can adjust the pressure and the flow of the oil supply according to the pressure and the flow demand of the plurality of action executing elements; a pressure sensor configured to measure a pressure of a load sensitive port of the load sensitive valve; and the vehicle control unit is communicatively connected with the pressure sensor and is configured to enable the first motor to selectively work in a single action mode or a compound action mode according to the pressure measurement value of the pressure sensor. The embodiment of the disclosure can meet the driving requirements of the electric excavator in a single action mode and a composite action mode, improves the coordination among all actions of the electric excavator, and further improves the controllability and the working efficiency of the electric excavator.
Description
Technical Field
The disclosure relates to the field of engineering machinery, in particular to a compound driving system and a control method of an electric excavator.
Background
All actions of a traditional diesel power excavator are driven by hydraulic oil, and when the excavator excavates and unloads, action executing elements such as actions of a movable arm, an arm, a bucket and a dozer blade and composite operation of rotation actions of the excavator are needed.
However, when the hydraulic pump is operated in a combined mode under a constant power, the flow rate is likely to be insufficient due to the limitation of the power of the engine, so that the overall working efficiency of the excavator is low, and the operations cannot be performed simultaneously, and therefore, users often complain about the problem of controllability.
Disclosure of Invention
In view of this, the embodiments of the present disclosure provide a compound driving system and a control method for an electric excavator, which can meet driving requirements of the electric excavator in a single action mode and a compound action mode, improve coordination among actions of the electric excavator, and further improve controllability and work efficiency of the electric excavator.
In one aspect of the present disclosure, there is provided a compound drive system of an electric excavator, including:
a first motor configured to drive a swing device of an electric excavator;
a second motor configured to drive a hydraulic pump so as to supply hydraulic oil to a plurality of motion actuators of the electric excavator;
the load sensitive valve is communicated between the hydraulic pump and the action executing elements and can adjust the pressure and the flow of oil supply according to the pressure and the flow demand of the action executing elements;
a pressure sensor configured to measure a pressure of a load sensitive port of the load sensitive valve; and
and the vehicle control unit is communicatively connected with the pressure sensor and is configured to enable the first motor to selectively work in a single action mode or a compound action mode according to the pressure measurement value of the pressure sensor.
In some embodiments, the vehicle control unit is further configured to: operating the first motor in a single motion mode when the pressure measurement is less than a pressure set point and operating the first motor in a compound motion mode when the pressure measurement is greater than the pressure set point;
the maximum rotating speed and the maximum torque of the first motor in the single action mode are respectively larger than those of the first motor in the compound action mode.
In some embodiments, in the single-action mode, the starting process of the first motor is set to:
increasing the torque at a first speed, increasing the torque at a second speed which is greater than the first speed to the maximum torque of the first motor in a single action mode after the torque reaches a first set torque, then decreasing the torque at a third speed, and decreasing the torque at a fourth speed which is less than the third speed to zero after the torque reaches a second set torque, wherein the first motor reaches the highest rotating speed in the single action mode.
In some embodiments, in the compound action mode, the start-up procedure of the first motor is set to:
increasing the torque at a fifth speed, increasing the torque at a sixth speed which is greater than the fifth speed to the maximum torque of the first motor in the compound action mode after reaching a third set torque, then decreasing the torque at a seventh speed, and decreasing the torque at an eighth speed which is less than the seventh speed to zero after reaching a fourth set torque, wherein at the moment, the first motor reaches the highest rotating speed in the compound action mode;
wherein the fifth rate is less than the first rate, the sixth rate is less than the second rate, the seventh rate is less than the third rate, the eighth rate is less than the fourth rate, the third set torque value is less than the first set torque value, and the fourth set torque value is less than the second set torque value.
In some embodiments, the compound drive system further comprises:
the turning handle is in communication connection with the vehicle control unit, is configured to control the turning angle of the turning device through the turning angle of the turning handle, and can selectively enter a normal control mode and a micro-motion control mode, wherein in the normal control mode, the turning angle of the turning handle and the turning angle of the turning device are in a first linear relation, and in the micro-motion control mode, when the turning angle of the turning handle is lower than a set angle, the turning angle of the turning handle and the turning angle of the turning device are in a second linear relation;
the first linear relation and the second linear relation both use the rotation angle of the rotary handle as an independent variable and use the rotary angle of the rotary device as a dependent variable, and the slope of the first linear relation is greater than that of the second linear relation.
In some embodiments, in the inching control mode, when the rotation angle of the swing handle is higher than a set angle, the rotation angle of the swing handle is in a third linear relationship with the swing angle of the swing device;
the first linear relation and the third linear relation both take the rotation angle of the rotary handle as an independent variable and the rotary angle of the rotary device as a dependent variable, and the slope of the first linear relation is smaller than that of the third linear relation.
In some embodiments, the compound drive system further comprises:
and the motor controller is communicatively connected with the vehicle control unit and is configured to adjust the input current and/or the input voltage of the first motor so that the first motor selectively works in a single action mode or a compound action mode.
In some embodiments, the plurality of motion-performing elements includes a boom, an arm, a bucket, a running gear, and a blade.
In another aspect of the present disclosure, there is provided a compound drive control method of an electric excavator according to any one of the foregoing embodiments, including:
driving a slewing device of the electric excavator through a first motor;
driving a hydraulic pump by a second motor to supply hydraulic oil to a plurality of action executing elements of the electric excavator;
the hydraulic pump is communicated with the action executing elements through the load sensitive valve, and the oil supply pressure and the oil supply flow of the hydraulic pump are adjusted according to the pressure and the flow demand of the action executing elements; and
and measuring the pressure of a load sensitive oil port of the load sensitive valve, and enabling the first motor to selectively work in a single action mode or a compound action mode according to the pressure measurement value.
In some embodiments, the compound drive control method further includes:
operating the first motor in a single motion mode when the pressure measurement is less than a pressure set point and operating the first motor in a compound motion mode when the pressure measurement is greater than the pressure set point; and
and controlling the maximum rotating speed and the maximum torque of the first motor in the single action mode to be respectively greater than the maximum rotating speed and the maximum torque of the first motor in the compound action mode.
In some embodiments, the compound drive control method further includes:
in the single action mode, increasing the torque of the first motor at a first rate, increasing the torque to the maximum torque of the first motor in the single action mode at a second rate which is greater than the first rate after reaching a first set torque, then decreasing the torque at a third rate, and decreasing the torque to zero torque of the first motor at a fourth rate which is less than the third rate after reaching a second set torque, wherein the first motor reaches the highest rotating speed in the single action mode at the moment, so that the starting process of the first motor in the single action mode is completed;
in the compound action mode, increasing the torque of the first motor at a fifth speed, increasing the torque to the maximum torque of the first motor in the compound action mode at a sixth speed which is greater than the fifth speed after reaching a third set torque, then decreasing the torque at a seventh speed, and decreasing the torque to zero torque of the first motor at an eighth speed which is less than the seventh speed after reaching a fourth set torque, wherein the first motor reaches the highest rotating speed in the compound action mode, so that the starting process of the first motor in the compound action mode is completed;
wherein the fifth rate is less than the first rate, the sixth rate is less than the second rate, the seventh rate is less than the third rate, the eighth rate is less than the fourth rate, the third set torque value is less than the first set torque value, and the fourth set torque value is less than the second set torque value.
In some embodiments, the compound drive control method further includes:
controlling the rotation angle of the rotating device through the rotation angle of a rotating handle, and selectively enabling the rotating handle to enter a normal control mode and a fine control mode, wherein in the normal control mode, the rotation angle of the rotating handle is controlled to be in a first linear relation with the rotation angle of the rotating device, and in the fine control mode, when the rotation angle of the rotating handle is lower than a set angle, the rotation angle of the rotating handle is controlled to be in a second linear relation with the rotation angle of the rotating device;
the first linear relation and the second linear relation both use the rotation angle of the rotary handle as an independent variable and use the rotary angle of the rotary device as a dependent variable, and the slope of the first linear relation is greater than that of the second linear relation.
In some embodiments, the compound drive control method further includes:
in the inching control mode, when the rotating angle of the rotary handle is higher than a set angle, controlling the rotating angle of the rotary handle and the rotating angle of the rotary device to be in a third linear relation;
the first linear relation and the third linear relation both take the rotation angle of the rotary handle as an independent variable and the rotary angle of the rotary device as a dependent variable, and the slope of the first linear relation is smaller than that of the third linear relation.
In another aspect of the present disclosure, there is provided an excavator comprising a compound drive system as described in any of the previous embodiments.
Therefore, according to the embodiment of the disclosure, the driving requirements of the electric excavator in the single action mode and the composite action mode can be satisfied, the coordination among the actions of the electric excavator is improved, and the controllability and the working efficiency of the electric excavator are further improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
The present disclosure may be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of a compound drive system of an electric excavator according to some embodiments of the present disclosure;
FIG. 2 is a schematic illustration of first motor torque versus time for a single-action mode and a compound-action mode of a compound drive system of an electric excavator according to some embodiments of the present disclosure;
FIG. 3 is a schematic illustration of a corner of a swing handle of a compound drive system of an electric excavator and a swing angle relationship of a swing device according to some embodiments of the present disclosure;
FIG. 4 is a flow chart schematic of a compound drive control method of an electric excavator according to some embodiments of the present disclosure;
in the figure:
11, a first motor; 12, a turning gear; 21, a second motor; 22, a hydraulic pump; 23, a load sensitive valve; 24, an action performing element; 241, a boom; 242, a dipper; 243, bucket; 244, a running gear; 245, a dozer blade; 31, a pressure sensor; 32, a vehicle control unit; 4, single action mode; 41, a first rate; 42, a second rate; 43, third rate; 44, a fourth rate; 45, a first set torque; 46, maximum torque; 47, a second set torque; 48, maximum rotational speed; 5, a compound action mode; 51, a fifth rate; 52, a sixth rate; 53, seventh rate; 54, an eighth rate; 55, third set torque; 56, maximum torque; 57, fourth set torque; 58, maximum rotational speed; 61, a first linear relationship; 62, a second linear relationship; 63, third linear relationship.
It should be understood that the dimensions of the various parts shown in the figures are not drawn to scale. Further, the same or similar reference numerals denote the same or similar components.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments are to be construed as merely illustrative, and not as limitative, unless specifically stated otherwise.
The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
In the present disclosure, when a specific device is described as being located between a first device and a second device, there may or may not be intervening devices between the specific device and the first device or the second device. When a particular device is described as being coupled to other devices, that particular device may be directly coupled to the other devices without intervening devices or may be directly coupled to the other devices with intervening devices.
All terms (including technical or scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
The applicant researches and discovers that in the case of a traditional diesel-powered excavator, the rotation action of the excavator driven by a hydraulic motor is limited by the system flow, and in the case of multi-working-condition composite action, the flow is in a saturation state, so that all actions of each action execution element of the excavator cannot be guaranteed to be compatible with each other, the problem of poor action harmony easily occurs, and the working efficiency is influenced.
Under the condition that the single action or the compound action of the excavator is not identified, the rotation action controlled by the output rotating speed of the motor and the working action of the action executing element cannot be well coordinated, and the working efficiency is also influenced.
In view of this, the embodiments of the present disclosure provide a compound driving system and a control method for an electric excavator, which can meet driving requirements of the electric excavator in a single action mode and a compound action mode, improve coordination among actions of the electric excavator, and further improve controllability and work efficiency of the electric excavator.
As shown in fig. 1, in one aspect of the present disclosure, there is provided a compound drive system of an electric excavator, including: a first motor 11 that drives a swing device 12 of the electric excavator; a second motor 21 driving a hydraulic pump 22 to supply hydraulic oil to a plurality of motion actuators 24 of the electric excavator; a load sensitive valve 23 in communication between the hydraulic pump 22 and the plurality of actuator 24, capable of regulating the supply pressure and flow rate in response to the pressure and flow rate requirements of the plurality of actuator 24; a pressure sensor 31 that measures the pressure of the load sensitive port of the load sensitive valve 23; and a vehicle control unit 32 communicatively connected to the pressure sensor 31 and configured to selectively operate the first motor 11 in the single-motion mode or the compound-motion mode according to a pressure measurement value of the pressure sensor 31.
According to the electric excavator, two motors are arranged to drive the rotation action of the electric excavator and the action among the action executing elements 24 respectively, whether other actions except the rotation action are executed or not is known through the pressure sensor 31, so that the whole excavator is controlled to enter a composite action mode or a single action mode, and the power of the whole excavator is pertinently served for different actions. The plurality of motion actuators 24 are powered by the second electric motor 21 driving the hydraulic pump 22, and the load requirements of the plurality of motion actuators 24 can be better met.
Based on this, when only there is the gyration action, the excavator whole car enters single action mode, and the excavator reaches predetermined position fast with higher gyration speed, gives the excavator operation with higher sensitivity and reaction rate.
In the combined operation mode, the swing operation is coordinated with the operation actuators 24 such as the boom 241, the arm 242, and the bucket 243 of the excavator upper body, and the entire operation speed is slower than the swing operation by the first motor 11 due to the influence of the main pump power because the operation actuators 24 of the excavator upper body are driven by the hydraulic oil, so that the swing speed in the combined operation mode is controlled within a reasonable range, and the coordination between the operation operations such as the excavation and the unloading and the swing operation can be realized.
Because the slewing motion and other actions are respectively driven by different motors, the electric excavator provided by the application can accurately control the speed of the slewing motion, the slewing device 12 is endowed with different slewing speeds according to actual needs, the slewing speed is improved in a single action mode, the coordination of the slewing and other actions is considered in a composite action mode, the electric excavator is richer in controllability, and the overall operation efficiency is improved.
To enable logic control to enter a single-action mode or a compound-action mode, in some embodiments, vehicle control unit 32 is further configured to: when the pressure measurement value is less than the pressure set value, the first motor 11 is operated in a single action mode, and when the pressure measurement value is greater than the pressure set value, the first motor 11 is operated in a compound action mode;
the maximum rotation speed and the maximum torque of the first electric machine 11 in the single motion mode are respectively greater than the maximum rotation speed and the maximum torque of the first electric machine 11 in the compound motion mode.
Specifically, the present application knows whether or not other actions than slewing are performed by the pressure sensor 31 installed at the LS oil port of the load sensitive valve 23. If the LS pressure is less than the set pressure value, such as 8bar, the vehicle control unit 32 judges that the whole machine does not perform other actions, at this time, the operation is rotated, the rotation control is performed according to the control logic of the single action mode, if the LS pressure is greater than the set pressure value, such as 8bar, the vehicle control unit 32 judges that the whole machine has other actions, and the rotation control logic is performed according to the control logic of the composite action mode.
As shown in fig. 2, in the single-action mode, the starting process of the first motor 11 is set to:
the torque is increased at a first rate 41 to reach a first set torque 45, then the torque is increased at a second rate 42, which is greater than the first rate 41, to the maximum torque of the first electric machine 11 in the single action mode, then the torque is decreased at a third rate 43 to reach a second set torque 47, then the torque is decreased at a fourth rate 44, which is less than the third rate 43, to zero torque of the first electric machine 11, at which time the first electric machine 11 reaches the highest rotation speed in the single action mode.
In the compound action mode, the starting process of the first motor 11 is set to:
increasing the torque at a fifth rate 51, increasing the torque at a sixth rate 52 which is greater than the fifth rate 51 to the maximum torque of the first motor 11 in the compound action mode after reaching a third set torque 55, then decreasing the torque at a seventh rate 53, and decreasing the torque at an eighth rate 54 which is less than the seventh rate 53 to zero torque of the first motor 11 after reaching a fourth set torque 57, wherein the first motor 11 reaches the highest rotation speed in the compound action mode;
wherein the fifth speed 51 is less than the first speed 41, the sixth speed 52 is less than the second speed 42, the seventh speed 53 is less than the third speed 43, the eighth speed 54 is less than the fourth speed 44, the third set torque 55 is less than the first set torque 45, and the fourth set torque 57 is less than the second set torque 47.
In the single action mode or the compound action mode, the first motor 11 increases the torque with a smaller slope, so that the starting impact of the motor is reduced; the slope is then increased to quickly reach the maximum torque, so that the first electric machine 11 reaches the maximum rotational speed as soon as possible with a greater torque; after the maximum torque is reached, the torque of the first motor 11 is quickly reduced by a larger slope, so that the torque of the first motor 11 can be zero as much as possible when the maximum rotating speed is reached, and the damage to the motor caused by overload is prevented; the torque of the first electric machine 11 is then reduced with a smaller slope to zero torque and at the same time the maximum rotational speed of the first electric machine 11 is reached.
In the compound action mode, the maximum torque and the maximum rotation speed of the first motor 11 are lower than those in the single action mode, so that the first motor is matched with a plurality of action executing units of the electric excavator at a proper rotation speed, energy transmitted to the first motor 11 and the second motor 21 can be reasonably configured, and the load capacity of the action executing units is ensured.
As shown in fig. 3, in some embodiments, the compound drive system further comprises:
a swing handle communicatively connected to the vehicle control unit 32, configured to control a swing angle of the swing device 12 through a rotation angle thereof, and selectively enter a normal control mode in which the rotation angle of the swing handle and the swing angle of the swing device 12 are in a first linear relationship 61, and a inching control mode in which the rotation angle of the swing handle and the swing angle of the swing device 12 are in a second linear relationship 62 when the rotation angle of the swing handle is lower than a set angle;
the first linear relation 61 and the second linear relation 62 both use the rotation angle of the rotating handle as an independent variable, use the rotating angle of the rotating device 12 as a dependent variable, and the slope of the first linear relation 61 is greater than that of the second linear relation 62.
Under the fine motion control mode, the turning handle possesses higher sensitivity, and the corner of turning handle and its electric potential one-to-one, consequently for guaranteeing the fine control nature controlled in the turning handle front end stroke, with the electric potential segmentation control of turning handle, in the front end stroke scope, when the corner of turning handle is less than the settlement angle promptly, the electric potential increases the slope slowly, has increaseed the stroke of turning handle little operation range for the driver realizes the accurate location of gyration in great within range.
To bring the inching control mode to the normal control mode, the maximum rotational angle of the swing handle corresponds to the maximum swing angle of the swing device 12, and in some embodiments, in the inching control mode, when the rotational angle of the swing handle is above the set angle, the rotational angle of the swing handle is in a third linear relationship 63 with the swing angle of the swing device 12;
the first linear relation 61 and the third linear relation 63 both use the rotation angle of the swing handle as an independent variable, use the swing angle of the swing device 12 as a dependent variable, and the slope of the first linear relation 61 is smaller than that of the third linear relation 63.
In some embodiments, the compound drive system further comprises:
and the motor controller is communicatively connected to the vehicle control unit 32 and configured to adjust the input current and/or the input voltage of the first motor 11 so that the first motor 11 selectively operates in a single-action mode or a compound-action mode.
In some embodiments, the plurality of motion-performing elements 24 include a boom 241, an arm 242, a bucket 243, a travel gear 244, and a blade 245.
As shown in fig. 4, in another aspect of the present disclosure, there is provided a compound drive control method of an electric excavator according to any one of the foregoing embodiments, including:
driving a swing device 12 of the electric excavator by a first motor 11;
driving the hydraulic pump 22 by the second motor 21 to supply hydraulic oil to a plurality of motion actuators 24 of the electric excavator;
the hydraulic pump 22 is communicated with a plurality of action executing elements 24 through a load sensitive valve 23, and the oil supply pressure and flow of the hydraulic pump 22 are adjusted according to the pressure and flow requirements of the plurality of action executing elements 24; and
the pressure of the load sensitive port of the load sensitive valve 23 is measured, and the first motor 11 is selectively operated in the single action mode or the compound action mode according to the pressure measurement value.
In some embodiments, the compound drive control method further comprises:
when the pressure measurement value is less than the pressure set value, the first motor 11 is operated in a single action mode, and when the pressure measurement value is greater than the pressure set value, the first motor 11 is operated in a compound action mode; and
the maximum rotation speed and the maximum torque of the first electric machine 11 in the single action mode are controlled to be greater than the maximum rotation speed and the maximum torque of the first electric machine 11 in the compound action mode, respectively.
In some embodiments, the compound drive control method further comprises:
in the single motion mode, increasing the torque of the first motor 11 at a first speed 41 to a first set torque 45, then increasing the torque to the maximum torque of the first motor 11 in the single motion mode at a second speed 42 which is greater than the first speed 41, then decreasing the torque at a third speed 43, and after reaching a second set torque 47, decreasing the torque to zero torque of the first motor 11 at a fourth speed 44 which is less than the third speed 43, at which time the first motor 11 reaches the highest rotation speed in the single motion mode, thereby completing the starting process of the first motor 11 in the single motion mode;
in the compound action mode, increasing the torque of the first motor 11 at a fifth speed 51, increasing the torque to the maximum torque of the first motor 11 in the compound action mode at a sixth speed 52 which is greater than the fifth speed 51 after reaching a third set torque 55, then decreasing the torque at a seventh speed 53, decreasing the torque at an eighth speed 54 which is less than the seventh speed 53 after reaching a fourth set torque 57, and decreasing the torque to zero torque of the first motor 11 at an eighth speed 54 which is less than the seventh speed 53, wherein the first motor 11 reaches the highest rotation speed in the compound action mode, thereby completing the starting process of the first motor 11 in the compound action mode;
wherein the fifth speed 51 is less than the first speed 41, the sixth speed 52 is less than the second speed 42, the seventh speed 53 is less than the third speed 43, the eighth speed 54 is less than the fourth speed 44, the third set torque 55 is less than the first set torque 45, and the fourth set torque 57 is less than the second set torque 47.
In some embodiments, the compound drive control method further comprises:
controlling a rotation angle of the swing device 12 by a rotation angle of the swing handle, and selectively causing the swing handle to enter a normal control mode in which the rotation angle of the swing handle is controlled to have a first linear relationship 61 with the rotation angle of the swing device 12 and a inching control mode in which the rotation angle of the swing handle is controlled to have a second linear relationship 62 with the rotation angle of the swing device 12 when the rotation angle of the swing handle is lower than a set angle;
the first linear relation 61 and the second linear relation 62 both use the rotation angle of the rotating handle as an independent variable, use the rotating angle of the rotating device 12 as a dependent variable, and the slope of the first linear relation 61 is greater than that of the second linear relation 62.
In some embodiments, the compound drive control method further comprises:
in the inching control mode, when the rotating angle of the rotating handle is higher than the set angle, controlling the rotating angle of the rotating handle to be in a third linear relation 63 with the rotating angle of the rotating device 12;
the first linear relation 61 and the third linear relation 63 both use the rotation angle of the swing handle as an independent variable, use the swing angle of the swing device 12 as a dependent variable, and the slope of the first linear relation 61 is smaller than that of the third linear relation 63.
In another aspect of the present disclosure, there is provided an excavator comprising a compound drive system as in any of the previous embodiments.
Therefore, according to the embodiment of the disclosure, the driving requirements of the electric excavator in the single action mode and the composite action mode can be satisfied, the coordination among the actions of the electric excavator is improved, and the controllability and the working efficiency of the electric excavator are further improved.
The action harmony of the whole machine can be improved, in addition, the revolving action is driven by the motor, the flow supply of the hydraulic driving element is more sufficient, the working efficiency of the hydraulic driving element is favorably ensured, and the revolving speed of the composite action is effectively guaranteed.
The slope gyration adds the composite action cycle time of equipment promotion and shortens by a wide margin, overflow sound when can avoid the rotary motor to start and stop simultaneously, and the whole car feels quiet, powerful, high-efficient for the user.
Thus, various embodiments of the present disclosure have been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that various changes may be made in the above embodiments or equivalents may be substituted for elements thereof without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (14)
1. A compound drive system for an electric excavator, comprising:
a first motor (11) configured to drive a swing device (12) of an electric excavator;
a second motor (21) configured to drive a hydraulic pump (22) so as to supply hydraulic oil to a plurality of action performing elements (24) of the electric excavator;
the load sensitive valve (23) is communicated between the hydraulic pump (22) and the action executing elements (24) and can adjust the oil supply pressure and flow according to the pressure and flow requirements of the action executing elements (24);
a pressure sensor (31) configured to measure a pressure of a load sensitive port of the load sensitive valve (23); and
and the vehicle control unit (32) is in communication connection with the pressure sensor (31) and is configured to enable the first motor (11) to selectively work in a single action mode or a compound action mode according to the pressure measurement value of the pressure sensor (31).
2. The compound drive system as defined in claim 1, wherein the vehicle control unit (32) is further configured to: -operating said first electric motor (11) in a single-action mode when said pressure measurement is less than a pressure set-point, and operating said first electric motor (11) in a compound-action mode when said pressure measurement is greater than said pressure set-point;
wherein the maximum rotational speed and the maximum torque of the first electric machine (11) in the single-acting mode are respectively greater than the maximum rotational speed and the maximum torque of the first electric machine (11) in the compound-acting mode.
3. A compound drive system according to claim 2, wherein in the single-action mode the start-up procedure of the first electric machine (11) is arranged to:
increasing the torque at a first rate (41), increasing the torque at a second rate (42) greater than the first rate (41) to a maximum torque of the first motor (11) in a single-action mode after reaching a first set torque (45), then decreasing the torque at a third rate (43), and decreasing the torque at a fourth rate (44) less than the third rate (43) to zero torque of the first motor (11) after reaching a second set torque (47), at which time the first motor (11) reaches a maximum rotational speed in the single-action mode.
4. A compound drive system according to claim 3, wherein in the compound action mode the start-up procedure of the first electric machine (11) is arranged to:
increasing the torque at a fifth rate (51), increasing the torque at a sixth rate (52) which is greater than the fifth rate (51) to the maximum torque of the first motor (11) in the compound action mode after reaching a third set torque (55), then decreasing the torque at a seventh rate (53), and decreasing the torque at an eighth rate (54) which is less than the seventh rate (53) to zero torque of the first motor (11) after reaching a fourth set torque (57), wherein the first motor (11) reaches the highest rotation speed in the compound action mode;
wherein the fifth rate (51) is less than the first rate (41), the sixth rate (52) is less than the second rate (42), the seventh rate (53) is less than the third rate (43), the eighth rate (54) is less than the fourth rate (44), the third set torque (55) value is less than the first set torque (45) value, and the fourth set torque (57) value is less than the second set torque (47) value.
5. The compound drive system as defined in claim 2, further comprising:
a swing handle communicatively connected to the vehicle control unit (32), configured to control a swing angle of the swing device (12) through a rotation angle thereof, and selectively enter a normal control mode in which the rotation angle of the swing handle is in a first linear relationship (61) with the swing angle of the swing device (12) and a inching control mode in which the rotation angle of the swing handle is in a second linear relationship (62) with the swing angle of the swing device (12) when the rotation angle of the swing handle is lower than a set angle;
wherein the first linear relationship (61) and the second linear relationship (62) both take the rotation angle of the swing handle as an independent variable and the swing angle of the swing device (12) as a dependent variable, and the slope of the first linear relationship (61) is greater than the slope of the second linear relationship (62).
6. Compound drive system according to claim 5, characterized in that in the inching control mode the turning angle of the swing handle is in a third linear relationship (63) with the turning angle of the swing means (12) when the turning angle of the swing handle is above a set angle;
wherein the first linear relationship (61) and the third linear relationship (63) both take the rotation angle of the swing handle as an independent variable and the swing angle of the swing device (12) as a dependent variable, and the slope of the first linear relationship (61) is smaller than the slope of the third linear relationship (63).
7. The compound drive system as defined in claim 2, further comprising:
and the motor controller is in communication connection with the vehicle control unit (32) and is configured to adjust the input current and/or the input voltage of the first motor (11) so that the first motor (11) can selectively work in a single action mode or a compound action mode.
8. The compound drive system as recited in claim 1, wherein the plurality of motion-imparting elements (24) include a boom (241), an arm (242), a bucket (243), a running gear (244), and a blade (245).
9. A compound drive control method for an electric excavator according to any one of claims 1 to 8, comprising:
a swing device (12) for driving the electric excavator by a first motor (11);
driving a hydraulic pump (22) by a second electric motor (21) to supply hydraulic oil to a plurality of motion actuators (24) of the electric excavator;
the hydraulic pump (22) is communicated with the action executing elements (24) through a load sensitive valve (23), and the oil supply pressure and the oil supply flow of the hydraulic pump (22) are adjusted according to the pressure and the flow demand of the action executing elements (24); and
and measuring the pressure of a load sensitive oil port of the load sensitive valve (23), and enabling the first motor (11) to selectively work in a single action mode or a compound action mode according to the pressure measurement value.
10. The compound drive control method according to claim 9, characterized by further comprising:
-operating said first electric motor (11) in a single-action mode when said pressure measurement is less than a pressure set-point, and operating said first electric motor (11) in a compound-action mode when said pressure measurement is greater than said pressure set-point; and
the maximum rotating speed and the maximum torque of the first motor (11) are controlled to be respectively larger than those of the first motor (11) in the compound action mode in the single action mode.
11. The compound drive control method according to claim 10, characterized by further comprising:
in the single-motion mode, increasing the torque of the first motor (11) at a first speed (41), increasing the torque to the maximum torque of the first motor (11) in the single-motion mode at a second speed (42) which is greater than the first speed (41) after reaching a first set torque (45), then decreasing the torque at a third speed (43), and decreasing the torque at a fourth speed (44) which is less than the third speed (43) after reaching a second set torque (47) until the torque of the first motor (11) is zero, wherein the first motor (11) reaches the highest rotation speed in the single-motion mode, thereby completing the starting process of the first motor (11) in the single-motion mode;
in the compound action mode, increasing the torque of the first motor (11) at a fifth speed (51), increasing the torque to the maximum torque of the first motor (11) in the compound action mode at a sixth speed (52) which is greater than the fifth speed (51) after reaching a third set torque (55), then decreasing the torque at a seventh speed (53), and decreasing the torque at an eighth speed (54) which is less than the seventh speed (53) after reaching a fourth set torque (57) until the torque of the first motor (11) is zero, wherein the first motor (11) reaches the highest rotation speed in the compound action mode, thereby completing the starting process of the first motor (11) in the compound action mode;
wherein the fifth rate (51) is less than the first rate (41), the sixth rate (52) is less than the second rate (42), the seventh rate (53) is less than the third rate (43), the eighth rate (54) is less than the fourth rate (44), the third set torque (55) value is less than the first set torque (45) value, and the fourth set torque (57) value is less than the second set torque (47) value.
12. The compound drive control method according to claim 10, characterized by further comprising:
controlling a turning angle of the turning device (12) by a turning angle of a turning handle, and selectively putting the turning handle into a normal control mode and a fine control mode, wherein in the normal control mode, the turning angle of the turning handle is controlled to be in a first linear relation (61) with the turning angle of the turning device (12), and in the fine control mode, when the turning angle of the turning handle is lower than a set angle, the turning angle of the turning handle is controlled to be in a second linear relation (62) with the turning angle of the turning device (12);
wherein the first linear relationship (61) and the second linear relationship (62) both take the rotation angle of the swing handle as an independent variable and the swing angle of the swing device (12) as a dependent variable, and the slope of the first linear relationship (61) is greater than the slope of the second linear relationship (62).
13. The compound drive control method according to claim 12, characterized by further comprising:
in the inching control mode, when the rotating angle of the rotary handle is higher than a set angle, controlling the rotating angle of the rotary handle to be in a third linear relation (63) with the rotating angle of the rotary device (12);
wherein the first linear relationship (61) and the third linear relationship (63) both take the rotation angle of the swing handle as an independent variable and the swing angle of the swing device (12) as a dependent variable, and the slope of the first linear relationship (61) is smaller than the slope of the third linear relationship (63).
14. An excavator comprising a compound drive system as claimed in any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010843828.9A CN111962599B (en) | 2020-08-20 | 2020-08-20 | Compound driving system and control method of electric excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010843828.9A CN111962599B (en) | 2020-08-20 | 2020-08-20 | Compound driving system and control method of electric excavator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111962599A true CN111962599A (en) | 2020-11-20 |
| CN111962599B CN111962599B (en) | 2022-05-24 |
Family
ID=73388693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010843828.9A Active CN111962599B (en) | 2020-08-20 | 2020-08-20 | Compound driving system and control method of electric excavator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111962599B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102116040A (en) * | 2009-12-30 | 2011-07-06 | 沃尔沃建造设备控股（瑞典）有限公司 | Swing motor control method in open center type hydraulic system for excavator |
| CN104608759A (en) * | 2014-12-23 | 2015-05-13 | 潍柴动力股份有限公司 | Engine start control method |
| CN109024751A (en) * | 2018-07-31 | 2018-12-18 | 青岛雷沃工程机械有限公司 | A kind of semi-automatic Construction control system of excavator and control method |
| CN109281897A (en) * | 2018-12-10 | 2019-01-29 | 中联重科股份有限公司 | Control system, method and engineering machinery for engineering machinery |
-
2020
- 2020-08-20 CN CN202010843828.9A patent/CN111962599B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102116040A (en) * | 2009-12-30 | 2011-07-06 | 沃尔沃建造设备控股（瑞典）有限公司 | Swing motor control method in open center type hydraulic system for excavator |
| CN104608759A (en) * | 2014-12-23 | 2015-05-13 | 潍柴动力股份有限公司 | Engine start control method |
| CN109024751A (en) * | 2018-07-31 | 2018-12-18 | 青岛雷沃工程机械有限公司 | A kind of semi-automatic Construction control system of excavator and control method |
| CN109281897A (en) * | 2018-12-10 | 2019-01-29 | 中联重科股份有限公司 | Control system, method and engineering machinery for engineering machinery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111962599B (en) | 2022-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8612102B2 (en) | Hydraulic excavator and hydraulic excavator control method | |
| CN105839689B (en) | The more motor hydraulic excavating mechanical electronic hydraulic hybrid drive systems of multiple-energy-source and control method | |
| CN101636543B (en) | Hybrid construction machine controlling method, and hybrid construction machine | |
| US9037356B2 (en) | Control device for hybrid construction machine | |
| CN103890409A (en) | Hydraulic drive device of power-operated hydraulic operation machine | |
| CN103081350B (en) | The control device of motor and control method thereof | |
| US20140083092A1 (en) | Hydraulic circuit for construction equipment | |
| EP2626475A1 (en) | Hybrid working machine | |
| CN1653680A (en) | Rotatingly driving device of construction machinery | |
| CN102808434A (en) | Method and system for controlling traveling speed of engineering machinery | |
| CN107429629B (en) | Construction machine | |
| CN107429714A (en) | The oil pressure actuated systems of building machinery | |
| WO2011071589A2 (en) | A method for controlling a pump and motor system | |
| US20220307595A1 (en) | Hydraulic circuit architecture with enhanced operation efficency | |
| CN103628512A (en) | Rotary hydraulic control device of excavator movable arm platform and control method | |
| JP6072303B2 (en) | Construction machinery | |
| CN109914515B (en) | Swing operation control system and method | |
| CN108953309B (en) | Energy recovery and recycling hydraulic system | |
| CN111962599B (en) | Compound driving system and control method of electric excavator | |
| JPS58204940A (en) | Controller of fuel injection pump in engine | |
| CN101177806A (en) | Driving means for combing machine nipper | |
| CN115012467B (en) | Excavator rotary platform and working device action matching control system | |
| CN113286950B (en) | Rotary driving device of engineering machinery | |
| CN103775630B (en) | For the devices and methods therefor for the travel speed for controlling/adjusting multifunctional vehicle | |
| CN105298659A (en) | Engineering machinery and engine controller thereof, control system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |