CN117088293A - Power matching control method, controller and arm support type engineering machinery - Google Patents
Power matching control method, controller and arm support type engineering machinery Download PDFInfo
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- CN117088293A CN117088293A CN202310961814.0A CN202310961814A CN117088293A CN 117088293 A CN117088293 A CN 117088293A CN 202310961814 A CN202310961814 A CN 202310961814A CN 117088293 A CN117088293 A CN 117088293A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
- B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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Abstract
The application discloses a power matching control method, a controller and arm support type engineering machinery. The control method comprises the following steps: acquiring an initial arm support angle of an arm support; determining a target movement speed and a working mode of the arm frame type engineering machinery; determining a current actual power consumption of the hydraulic system based on the operating mode; predicting a target arm support angle according to the initial arm support angle and the target movement speed; determining the target actual consumption power of the hydraulic system by combining the target boom angle and the current actual consumption power of the hydraulic system; and adjusting the energy output curve of the engine by taking the target actual consumption power of the hydraulic system as a feedforward control quantity so that the actual output power of the engine is matched with the target actual consumption power of the hydraulic system. According to the application, the target actual consumption power of the hydraulic system is used as the feedforward control quantity to adjust the energy output curve of the engine, so that the accuracy of power matching of the cantilever type engineering machinery can be improved.
Description
Technical Field
The application relates to the technical field of cantilever type engineering machinery, in particular to a power matching control method, a controller and cantilever type engineering machinery.
Background
In the operation environment of the arm support type engineering machinery, the load randomness is strong, and the output power of the engine required for reaching the target movement speed is also changed in real time along with the change of the length and the angle of the arm support. The boom type engineering machinery mostly adopts a full-power matching scheme, and under the condition of ensuring full-load limit working conditions, the output power of the engine is controlled through a handle or a pedal, so that the output power of the engine can meet the power requirement. However, due to the actual working characteristics of the boom-type engineering machinery, the adoption of the full-power scheme tends to result in power waste. In order to solve the problems, the prior art realizes the power matching of the engine and the hydraulic system by detecting the pressure of the oil cylinder and controlling the rotation speed of the engine according to the pressure of the oil cylinder. However, the error of the power matching mode is large, so that the output power of the engine cannot be matched with the actual consumption power of the hydraulic system, and the operation performance of the whole vehicle is lost or the energy consumption is lost. Therefore, the power matching method in the prior art has the problem of lower matching accuracy.
Disclosure of Invention
The embodiment of the application aims to provide a power matching control method, a controller and arm support type engineering machinery, which are used for solving the problem of low matching accuracy of a power matching method in the prior art.
In order to achieve the above object, a first aspect of the present application provides a power matching control method applied to a controller of an arm frame type engineering machine, the arm frame type engineering machine further including an engine and a hydraulic system, the controller being in communication with the engine and the hydraulic system, respectively, the control method including:
acquiring an initial arm support angle of an arm support;
determining a target movement speed and a working mode of the arm frame type engineering machinery;
determining a current actual power consumption of the hydraulic system based on the operating mode;
predicting a target arm support angle according to the initial arm support angle and the target movement speed;
determining the target actual consumption power of the hydraulic system by combining the target boom angle and the current actual consumption power of the hydraulic system;
and adjusting the energy output curve of the engine by taking the target actual consumption power of the hydraulic system as a feedforward control quantity so that the actual output power of the engine is matched with the target actual consumption power of the hydraulic system.
In the embodiment of the application, the working modes comprise a boom luffing lifting mode and a boom luffing lowering mode, the hydraulic system comprises a luffing cylinder, and the determining of the current actual consumption power of the hydraulic system based on the working mode comprises the following steps of:
Acquiring an oil cylinder angle and a stressed area of the amplitude variable oil cylinder;
determining the boom amplitude effective working supporting force of the boom;
determining the actual working pressure of the amplitude variation oil cylinder based on the effective working supporting force of the amplitude variation of the arm support and the oil cylinder angle of the amplitude variation oil cylinder;
determining the cylinder pressure of the amplitude variation cylinder according to the actual working pressure of the amplitude variation cylinder and the stress area of the amplitude variation cylinder;
and determining the current actual consumed power of the hydraulic system according to the cylinder pressure of the amplitude cylinder.
In the embodiment of the application, under the condition that the working mode is the boom amplitude raising mode, the current actual consumption power of the hydraulic system meets the formula (1):
under the condition that the working mode is the boom amplitude lowering mode, the current actual consumption power of the hydraulic system meets the formula (2):
wherein P is Lifting device For the current actual consumption power, P, of the hydraulic system in the boom luffing mode Lowering blood pressure For the current hydraulic system in boom luffing modeActual power consumption, V is the displacement of a constant displacement pump, n is the engine speed, K is the proportionality coefficient of the load, m is the weight of the load, g is the gravity coefficient, and θ 1 K is the initial boom angle 1 Is the proportionality coefficient of a section of arm, K 2 Is the proportionality coefficient of two-section arm, L 1 Is the length of one arm, L 2 Length of two-section arm, m 1 For the weight of a arm, m 2 Is the weight of two-section arm, L max Is the full extension length of the arm support, L real To effectively support the arm of force S 1 has Is the stress area of a rod cavity of the amplitude-variable oil cylinder, S 1 none of Is the stress area of the rodless cavity of the amplitude-variable oil cylinder.
In the embodiment of the application, the working modes comprise a boom luffing mode and a boom luffing mode, and when the working modes are the boom luffing mode or the boom luffing mode, determining the current actual consumption power of the hydraulic system based on the working modes comprises:
determining the boom amplitude effective working supporting force of the boom;
determining effective power consumption of the hydraulic system based on the boom amplitude effective work supporting force;
and determining the current actual power consumption of the hydraulic system according to the effective power consumption of the hydraulic system and the initial boom angle.
In the embodiment of the application, the working modes comprise a boom extending mode and a boom retracting mode, the hydraulic system comprises a telescopic oil cylinder, and the determining of the current actual consumption power of the hydraulic system based on the working modes comprises:
determining the effective acting force of the telescopic motion of the arm support;
Determining the cylinder pressure of the telescopic cylinder according to the effective acting force of the telescopic movement of the arm support;
and determining the current actual consumed power of the hydraulic system according to the cylinder pressure and the target movement speed of the telescopic cylinder.
In the embodiment of the application, under the condition that the working mode is the boom extension mode, the current actual consumption power of the hydraulic system meets the formula (3):
under the condition that the working mode is the boom shrink mode, the current actual consumption power of the hydraulic system meets the formula (4):
wherein P is Stretching device Is the current actual consumption power, P, of the hydraulic system in the boom extension mode Shrinking process Is the current actual consumption power of the hydraulic system in the arm support shrinkage mode, V is the displacement of a constant displacement pump, n is the rotating speed of an engine, and V i For the target movement speed, K is the proportionality coefficient of the load, m is the weight of the load, m 2 The weight of the two-section arm, g is the gravity coefficient, theta 1 K is the initial boom angle 2 Is the proportionality coefficient of two-section arm, f is the friction coefficient, S 2 have Is the stress area of a rod cavity of the telescopic oil cylinder, S 2 none of Is the stress area of the rodless cavity of the telescopic oil cylinder.
In an embodiment of the present application, the operation mode includes a combined operation mode, and determining, based on the operation mode, a current actual power consumption of the hydraulic system includes:
Determining a first working mode and a second working mode of the combined working mode;
determining a first actual power consumption corresponding to the first working mode, and determining a second actual power consumption corresponding to the second working mode;
the first actual power consumption is added to the second actual power consumption to obtain the current actual power consumption of the hydraulic system.
A second aspect of the present application provides a controller comprising:
a memory configured to store instructions; and
a processor configured to invoke instructions from the memory and control methods that enable power matching as described above when the instructions are executed.
A third aspect of the present application provides an arm support type construction machine, comprising:
an engine;
the hydraulic system is connected with the engine;
a controller in communication with the engine and the hydraulic system, respectively.
In an embodiment of the application, a hydraulic system includes:
the amplitude variation oil cylinder is configured to drive the arm support to perform amplitude variation;
the telescopic oil cylinder is configured to drive the arm support to stretch.
A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the above-described power matching control method.
By the technical scheme, the initial arm support angle of the arm support is obtained, and the target movement speed and the working mode of the arm support type engineering machinery are determined. Based on the operating mode, a current actual power consumption of the hydraulic system is determined. And then predicting a target arm support angle according to the initial arm support angle and the target movement speed. And then combining the target arm support angle and the current actual power consumption of the hydraulic system to determine the target actual power consumption of the hydraulic system. And finally, taking the target actual consumption power of the hydraulic system as a feedforward control quantity to adjust the energy output curve of the engine, so that the actual output power of the engine is matched with the target actual consumption power of the hydraulic system. According to the application, the target actual consumption power of the hydraulic system is used as the feedforward control quantity to adjust the energy output curve of the engine, so that the accuracy of power matching of the cantilever type engineering machinery can be improved.
Additional features and advantages of embodiments of the application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the embodiments of the application. In the drawings:
FIG. 1 schematically illustrates a partial block diagram of an arm-mounted work machine according to an embodiment of the present disclosure;
FIG. 2 schematically illustrates a flow chart of a control method of power matching according to an embodiment of the application;
FIG. 3 schematically illustrates a boom-mounted engineering machine in a boom luffing mode according to an embodiment of the present application;
FIG. 4 schematically illustrates a boom-mounted work machine in a boom luffing mode according to an embodiment of the present application;
FIG. 5 schematically illustrates a boom-mounted work machine in a boom extension mode according to an embodiment of the present application;
FIG. 6 schematically illustrates a boom construction machine in a boom retraction mode according to an embodiment of the present application;
fig. 7 schematically shows a block diagram of a controller according to an embodiment of the present application.
Description of the reference numerals
101 arm support 102 accessory weighing sensor
103 arm support length sensor 104 oil cylinder angle sensor
105 arm support angle sensor 106 hydraulic system
107 controller 108 handle
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the detailed description described herein is merely for illustrating and explaining the embodiments of the present application, and is not intended to limit the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present application, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
Fig. 1 schematically shows a partial block diagram of a boom type construction machine according to an embodiment of the present application. As shown in fig. 1, the boom type construction machine includes, but is not limited to, a boom 101, an accessory load cell 102, a boom length sensor 103, an oil cylinder angle sensor 104, a boom angle sensor 105, a hydraulic system 106, a controller 107, a handle 108, and an engine (not shown). The controller 107 may obtain an initial boom angle of the boom 101 via the boom angle sensor 105. The controller 107 can acquire the cylinder angle through the cylinder angle sensor 104. The controller 107 may determine the length of each arm section of the boom 101 via the boom length sensor 103. By determining the pushing amplitude and the maximum pushing amplitude of the handle 108, the controller 107 may determine the target movement speed of the boom-type working machine, and, based on the signal sent by the handle 108, the controller 107 may determine the working mode of the boom-type working machine. In this way, the controller 107 may control the hydraulic system to match the power of the engine via the aforementioned components and the plurality of parameters obtained via the aforementioned components.
Fig. 2 schematically shows a flow chart of a control method of power matching according to an embodiment of the application. As shown in fig. 2, an embodiment of the present application provides a power matching control method, which is applied to a controller of an arm frame type engineering machine, where the arm frame type engineering machine further includes an engine and a hydraulic system, and the controller communicates with the engine and the hydraulic system respectively, and the control method may include the following steps:
step 201, obtaining an initial arm support angle of an arm support;
step 202, determining a target movement speed and a working mode of the arm frame type engineering machinery;
step 203, determining the current actual consumed power of the hydraulic system based on the working mode;
step 204, predicting a target arm support angle according to the initial arm support angle and the target movement speed;
step 205, determining the target actual power consumption of the hydraulic system by combining the target boom angle and the current actual power consumption of the hydraulic system;
and 206, adjusting an energy output curve of the engine by taking the target actual consumption power of the hydraulic system as a feedforward control quantity so that the actual output power of the engine is matched with the target actual consumption power of the hydraulic system.
In the embodiment of the application, the controller can control the power of the engine and the hydraulic system to be matched through feedforward control. First, the controller may receive an initial boom angle transmitted by the boom angle sensor. The initial arm support angle refers to the angle between the arm support and the horizontal plane at the current moment. And according to the structure and the engine power parameters, the controller can determine the maximum working speed of the whole vehicle at any position and under any load. The maximum operating speed satisfies the formula (5):
V max ＝Q(m,L,θ 1 )； (5)
Wherein V is max For maximum working speed, Q is a set function of a certain load, arm support length and maximum working speed under an initial arm support angle, m is the weight of the load, L is the arm support length and theta 1 Is the initial boom angle.
By determining the push amplitude and the maximum push amplitude of the handle, the controller may determine a target movement speed of the boom-type work machine. The target movement speed satisfies the formula (6):
wherein V is i For the target movement speed, C i To push the amplitude, C max For maximum push amplitude, V max Is the maximum operating speed.
Meanwhile, according to signals sent by the handle, the controller can determine the working mode of the arm frame type engineering machinery. The working modes comprise a boom amplitude-changing lifting mode, a boom amplitude-changing descending mode, a boom extending mode, a boom shrinking mode and a combined working mode. The current actual power consumption of the hydraulic system varies in different modes of operation. Therefore, based on the working mode of the boom type engineering machinery, the controller can determine the current actual consumption power of the hydraulic system by combining parameters such as the initial boom angle, the oil cylinder angle, the boom length, the load, the target movement speed and the like.
Further, as the target movement speed is fixed in the boom movement process, the controller can predict the target boom angle according to the initial boom angle and the target movement speed. The target boom angle refers to the predicted boom angle of the next sampling period. The target boom angle satisfies equation (7):
θ＝θ 1 +V i △t； (7)
Wherein θ is the target boom angle, θ 1 For the initial arm support angle V i For the target movement speed Δt is the sampling period.
The controller may determine the target actual power consumption of the hydraulic system in combination with the target boom angle and the current actual power consumption of the hydraulic system. The target actual power consumption of the hydraulic system refers to the predicted power consumption of the hydraulic system for the next sampling period. Under the condition that the target movement speed is fixed, according to the relation between the current actual consumption power of the hydraulic system and the target arm support angle, the power required by the hydraulic system in the next stage can be directly predicted, namely, the target actual consumption power of the hydraulic system is predicted. That is, in the case where the operation mode is the boom luffing mode, the target actual consumption power of the hydraulic system satisfies the equation (8):
under the condition that the working mode is the boom amplitude lowering mode, the target actual consumption power of the hydraulic system meets the formula (9):
wherein P is real liter (θ,t,C i N) is the target actual consumption power of the hydraulic system in the boom luffing mode, P real descent (θ,t,C i N) is the target actual consumption power of the hydraulic system in the boom luffing mode, V is the displacement of the constant displacement pump, n is the engine speed, and V i For the target movement speed, K is the proportionality coefficient of the load, m is the weight of the load, g is the gravity coefficient, θ is the target boom angle, L is the boom length, K 1 Is the proportionality coefficient of a section of arm, K 2 Is the proportionality coefficient of two-section arm, L 1 Is the length of one arm, L 2 Length of two-section arm, m 1 For the weight of a arm, m 2 Is the weight of two-section arm, L max Is the full extension length of the arm support, L real To effectively support the arm of force C i To push the amplitude, C max For maximum push amplitude, V max1 S is the maximum working speed of the arm support in the amplitude-variable lifting mode or the arm support in the amplitude-variable descending mode 1 none of Is the stress area of a rodless cavity of the amplitude-variable oil cylinder, S 1 has Is the stress area of the rod cavity of the amplitude-variable oil cylinder.
Under the condition that the working mode is the boom extension mode or the boom retraction mode, the effective acting force of the boom extension motion is equal to the actual driving force of the hydraulic system in the boom extension motion process, so that the controller can determine the target actual consumption power of the hydraulic system based on the target motion speed and the target boom angle.
Finally, the controller may adjust the energy output profile of the engine with the target actual power consumption of the hydraulic system as the feedforward control amount such that the actual output power of the engine matches the target actual power consumption of the hydraulic system. The controller may preset a preset match difference. The preset matching difference value can be determined according to actual conditions. In the process of adjusting the energy output curve of the engine, if the difference between the actual output power of the engine and the target actual consumption power of the hydraulic system is smaller than the preset matching difference, the power matching of the engine and the hydraulic system can be determined.
By the technical scheme, the initial arm support angle of the arm support is obtained, and the target movement speed and the working mode of the arm support type engineering machinery are determined. Based on the operating mode, a current actual power consumption of the hydraulic system is determined. And then predicting a target arm support angle according to the initial arm support angle and the target movement speed. And then combining the target arm support angle and the current actual power consumption of the hydraulic system to determine the target actual power consumption of the hydraulic system. And finally, taking the target actual consumption power of the hydraulic system as a feedforward control quantity to adjust the energy output curve of the engine, so that the actual output power of the engine is matched with the target actual consumption power of the hydraulic system. According to the application, the target actual consumption power of the hydraulic system is used as the feedforward control quantity to adjust the energy output curve of the engine, so that the accuracy of power matching of the cantilever type engineering machinery can be improved.
In the embodiment of the application, the working modes comprise a boom luffing lifting mode and a boom luffing lowering mode, the hydraulic system comprises a luffing cylinder, and the determining of the current actual consumption power of the hydraulic system based on the working mode can comprise:
Acquiring an oil cylinder angle and a stressed area of the amplitude variable oil cylinder;
determining the boom amplitude effective working supporting force of the boom;
determining the actual working pressure of the amplitude variation oil cylinder based on the effective working supporting force of the amplitude variation of the arm support and the oil cylinder angle of the amplitude variation oil cylinder;
determining the cylinder pressure of the amplitude variation cylinder according to the actual working pressure of the amplitude variation cylinder and the stress area of the amplitude variation cylinder;
and determining the current actual consumed power of the hydraulic system according to the cylinder pressure of the amplitude cylinder.
In the embodiment of the application, the working modes comprise a boom amplitude-variable lifting mode, a boom amplitude-variable lowering mode, a boom extending mode, a boom shrinking mode and a combined working mode. Under the condition that the working mode is the boom amplitude-variable lifting mode or the boom amplitude-variable lowering mode, the controller can determine the cylinder pressure actually acted on the amplitude-variable cylinder, and then determine the current actual consumption power of the hydraulic system. The controller can acquire the oil cylinder angle and the stressed area of the amplitude variation oil cylinder and determine the effective amplitude variation working supporting force of the arm support. Therefore, the controller can determine the actual working pressure of the amplitude changing oil cylinder based on the effective working supporting force of the amplitude changing arm and the oil cylinder angle of the amplitude changing oil cylinder, and further determine the oil cylinder pressure of the amplitude changing oil cylinder according to the actual working pressure of the amplitude changing oil cylinder and the stressed area of the amplitude changing oil cylinder. The controller can acquire the engine speed and the displacement of the constant displacement pump of the hydraulic system, and can determine the current actual consumption power of the hydraulic system by combining the engine speed, the displacement of the constant displacement pump and the cylinder pressure of the variable-amplitude cylinder. In this way, the controller may determine the current actual power consumption of the hydraulic system in order to subsequently further determine the target actual power consumption of the hydraulic system.
Fig. 3 schematically illustrates a boom engineering machine in a boom luffing mode according to an embodiment of the application. As shown in fig. 3, in the embodiment of the present application, in the case that the working mode is the boom luffing mode, the current actual consumption power of the hydraulic system satisfies the formula (1):
fig. 4 schematically illustrates a boom-mounted engineering machine in a boom luffing mode according to an embodiment of the application. As shown in fig. 4, in the case that the operation mode is the boom luffing mode, the current actual consumption power of the hydraulic system satisfies the formula (2):
wherein P is Lifting device For the current actual consumption power, P, of the hydraulic system in the boom luffing mode Lowering blood pressure The hydraulic system is in the boom amplitude-change descending mode, wherein V is the displacement of a constant displacement pump, n is the rotation speed of an engine, K is the proportionality coefficient of a load, m is the weight of the load, g is the gravity coefficient and theta 1 K is the initial boom angle 1 Is the proportionality coefficient of a section of arm, K 2 Is the proportionality coefficient of two-section arm, L 1 Is the length of one arm, L 2 Length of two-section arm, m 1 For the weight of a arm, m 2 Is the weight of two-section arm, L max Is the full extension length of the arm support, L real To effectively support the arm of force S 1 has Is the stress area of a rod cavity of the amplitude-variable oil cylinder, S 1 none of Is the stress area of the rodless cavity of the amplitude-variable oil cylinder.
In the embodiment of the application, under the condition that the working mode is the boom amplitude-variable lifting mode, the boom engineering machinery is subjected to stress analysis, and a formula (10) can be deduced:
F k1 ·L+Fb2 k1 ·L b2 +Fb1 k1 ·L b1 ＝F real1 ·L real ； (10)
wherein F is k1 The force vertical to the arm support direction can be obtained through an accessory weighing sensor, L is the arm support length obtained through an arm support length sensor, and Fb2 k1 Is the component force of the self weight of the two sections of arm frames perpendicular to the arm frame direction, L b2 Fb1 is the length of the arm of force from the gravity center of the two sections of arms to the moment supporting point k1 Is the component force of the own weight of a section of arm support vertical to the arm support direction, L b1 The length of the arm force from the gravity center of a section of arm to the moment supporting point is F real1 The effective working supporting force L of the arm support amplitude variation in the arm support amplitude variation lifting mode real To effectively support the arm of force.
Then, the boom amplitude effective work supporting force in the boom amplitude lifting mode can be obtained to meet the formula (11):
because the boom amplitude effective working supporting force and the actual working pressure of the amplitude variation oil cylinder are in a certain quantity relation, the quantity relation is related to the oil cylinder angle of the amplitude variation oil cylinder, and therefore, the controller can determine the actual working pressure of the amplitude variation oil cylinder based on the boom amplitude effective working supporting force and the oil cylinder angle of the amplitude variation oil cylinder. The actual working pressure of the luffing cylinder meets the formula (12):
Under the condition that the working mode is the boom luffing lifting mode, the controller can determine the cylinder pressure of the luffing cylinder according to the rodless cavity stressed area of the luffing cylinder and the actual working pressure of the luffing cylinder as the stressed area of the luffing cylinder is a certain value. The cylinder pressure of the amplitude variable cylinder meets the formula (13):
wherein F is real1 F, supporting force for effective work of arm support amplitude variation under arm support amplitude variation lifting mode k1 The force vertical to the arm support direction can be obtained through an accessory weighing sensor, L is the arm support length obtained through an arm support length sensor, and Fb2 k1 Is the component force of the self weight of the two sections of arm frames perpendicular to the arm frame direction, L b2 Fb1 is the length of the arm of force from the gravity center of the two sections of arms to the moment supporting point k1 Is the component force of the own weight of a section of arm support vertical to the arm support direction, L b1 Force from gravity center of a section of arm to moment supporting pointArm length, L real To effectively support the arm of force F Oil (oil) For the actual working pressure of the luffing cylinder, P is the cylinder pressure of the luffing cylinder, K is the proportionality coefficient of the load, m is the weight of the load, g is the gravity coefficient, and theta 1 For the initial boom angle, θ 2 The oil cylinder angle of the amplitude variable oil cylinder is L which is the length of the arm support and K 1 Is the proportionality coefficient of a section of arm, K 2 Is the proportionality coefficient of two-section arm, L 1 Is the length of one arm, L 2 Length of two-section arm, m 1 For the weight of a arm, m 2 Is the weight of two-section arm, L max Is the full extension length of the arm support, L real To effectively support the arm of force S 1 none of Is the stress area of the rodless cavity of the amplitude-variable oil cylinder.
Each initial arm support angle has a corresponding oil cylinder angle of the luffing oil cylinder, and the matching relation between the all-working-condition initial arm support angle and the all-working-condition oil cylinder angle can be obtained through actual test, so that the oil cylinder angle of the luffing oil cylinder can be f (theta) 1 ) Instead of. In addition, because the current actual consumption power of the hydraulic system meets the formula (14) in the boom amplitude-variable lifting mode or the boom amplitude-variable descending mode, the controller can determine the current actual consumption power of the hydraulic system according to the cylinder pressure of the amplitude-variable cylinder. The controller may then eventually determine that the current actual power consumption of the hydraulic system satisfies equation (1).
Wherein P is real For the current actual consumption power P of the hydraulic system in the boom luffing mode Lifting device Or the current actual consumption power P of the hydraulic system in the boom luffing mode Lowering blood pressure V is the displacement of a constant displacement pump, n is the rotation speed of an engine, and P is the cylinder pressure of an amplitude variable cylinder.
Under the condition that the working mode is the boom amplitude-reducing mode, analysis of the whole movement process can obtain that the boom amplitude-reducing movement force is driven to be the hydraulic driving force received by the rod cavity of the amplitude-reducing oil cylinder and the gravity load born by the amplitude-reducing oil cylinder. The amplitude-variable lifting process of the arm support is essentially the embodiment of the lifting process of the amplitude-variable oil cylinder, so that the current actual consumption power of the hydraulic system in the amplitude-variable lifting mode of the arm support can be obtained to meet the formula (14) based on the fact that the pressure intensity of the rodless cavity in the amplitude-variable lifting process is consistent with the pressure intensity of the rod cavity in the amplitude-variable lifting process.
From the structure of the amplitude-variable oil cylinder, when the amplitude-variable oil cylinder does amplitude-variable motion at a certain speed, the pressure intensity born by the rod cavity is consistent with the pressure intensity born by the rodless cavity, and the effective acting area of the rod cavity is smaller than that of the rodless cavity, so that the pumping flow rate of the hydraulic system is inconsistent. Therefore, under the condition that the working mode is the boom amplitude-variable lifting mode, compared with the working mode which is the boom amplitude-variable lifting mode, only a small amount of hydraulic oil is pumped into the rod cavity, and the pressure of the rod cavity is consistent with the pressure of the rodless cavity. Based on the above analysis, in the case where the target movement speed is fixed, the current actual consumed power of the hydraulic system satisfies the formula (2). In this way, the controller may determine the current actual power consumption of the hydraulic system in order to subsequently further determine the target actual power consumption of the hydraulic system.
In the embodiment of the application, the working modes comprise a boom luffing mode and a boom luffing mode, and when the working modes are the boom luffing mode or the boom luffing mode, determining the current actual consumption power of the hydraulic system based on the working modes can comprise:
determining the boom amplitude effective working supporting force of the boom;
Determining effective power consumption of the hydraulic system based on the boom amplitude effective work supporting force;
and determining the current actual power consumption of the hydraulic system according to the effective power consumption of the hydraulic system and the initial boom angle.
In the embodiment of the application, under the condition that the working mode is the boom amplitude-variable lifting mode or the boom amplitude-variable lowering mode, the controller can determine the current actual consumption power of the hydraulic system through the effective consumption power of the hydraulic system and the initial boom angle. Under the condition that the working mode is the boom amplitude-variable lifting mode, the controller can determine the boom amplitude-variable effective working supporting force and determine the effective power consumption of the hydraulic system according to the boom amplitude-variable effective working supporting force. Thus, the effective power consumption of the hydraulic system satisfies equation (15):
wherein P is Has the following components For the effective power consumption of the hydraulic system, K is the proportionality coefficient of the load, m is the weight of the load, g is the gravity coefficient, θ 1 For the initial boom angle, L is the boom length, K 1 Is the proportionality coefficient of a section of arm, K 2 Is the proportionality coefficient of two-section arm, L 1 Is the length of one arm, L 2 Length of two-section arm, m 1 For the weight of a arm, m 2 Is the weight of two-section arm, L max Is the full extension length of the arm support, L real To effectively support the arm of force C i To push the amplitude, C max For maximum push amplitude, V max1 The maximum working speed of the boom in the boom amplitude-variable lifting mode or the boom amplitude-variable descending mode is set.
Because the current actual consumption power of the hydraulic system has a quantitative relation with the effective consumption power of the hydraulic system and the initial boom angle, the controller can determine the current actual consumption power of the hydraulic system according to the effective consumption power of the hydraulic system and the initial boom angle. The number relation between the current actual consumption power of the hydraulic system and the effective consumption power and the initial boom angle of the hydraulic system satisfies the formula (16):
wherein P is real For the current actual consumption power P of the hydraulic system in the boom luffing mode Lifting device Or the current actual consumption power P of the hydraulic system in the boom luffing mode Lowering blood pressure ，P Has the following components For efficient consumption of power, θ, of the hydraulic system 1 Is the initial boom angle.
Under the condition that the working mode is the boom amplitude lowering mode, the relation between the effective consumption power of the hydraulic system and the boom amplitude effective working supporting force meets the formula (17):
P has the following components ＝F Pulling device ·V i ·sinθ 2 ； (17)
Wherein P is Has the following components For effectively consuming power of hydraulic system, F Pulling device The effective working supporting force V for the amplitude variation of the arm support in the amplitude variation lowering mode of the arm support i For the target movement speed, θ 2 Is the oil cylinder angle of the amplitude variable oil cylinder.
At this time, the effective power consumption of the hydraulic system satisfies the formula (18):
and (3) combining the formula (17), the controller can obtain the current actual consumption power of the hydraulic system in the boom amplitude lowering mode according to the effective consumption power of the hydraulic system and the initial boom angle.
In the embodiment of the application, the working modes comprise a boom extension mode and a boom retraction mode, the hydraulic system comprises a telescopic oil cylinder, and the determining the current actual consumption power of the hydraulic system based on the working modes can comprise:
determining the effective acting force of the telescopic motion of the arm support;
determining the cylinder pressure of the telescopic cylinder according to the effective acting force of the telescopic movement of the arm support;
and determining the current actual consumed power of the hydraulic system according to the cylinder pressure and the target movement speed of the telescopic cylinder.
In the embodiment of the application, the working modes comprise a boom amplitude-variable lifting mode, a boom amplitude-variable lowering mode, a boom extending mode, a boom shrinking mode and a combined working mode. Under the condition that the working mode is a boom extension mode or a boom retraction mode, the analysis of the telescopic movement process of the boom can obtain that the effective acting force of the telescopic movement of the boom is a component force which overcomes the gravity of the telescopic cylinder and is perpendicular to the boom direction and a component force which overcomes the gravity of the load and is perpendicular to the boom direction. Based on the stress balance, the controller can determine the oil cylinder pressure of the telescopic oil cylinder according to the effective acting force of the telescopic movement of the arm support, and further obtain the current actual consumption power of the hydraulic system when the arm support performs the telescopic movement at the target movement speed. Thus, the controller can determine the current actual power consumption of the hydraulic system in the boom extension mode or the boom retraction mode.
Fig. 5 schematically illustrates a boom engineering machine in a boom extension mode according to an embodiment of the application. As shown in fig. 5, in the embodiment of the present application, in the case that the working mode is the boom extension mode, the current actual consumption power of the hydraulic system may satisfy the formula (3):
fig. 6 schematically illustrates a boom type construction machine in a boom retraction mode according to an embodiment of the present application. As shown in fig. 6, in the case that the operation mode is the boom retraction mode, the current actual consumption power of the hydraulic system may satisfy the formula (4):
wherein P is Stretching device Is the current actual consumption power, P, of the hydraulic system in the boom extension mode Shrinking process Is the current actual consumption power of the hydraulic system in the arm support shrinkage mode, V is the displacement of a constant displacement pump, n is the rotating speed of an engine, and V i For the target movement speed, K is the proportionality coefficient of the load, m is the weight of the load, m 2 The weight of the two-section arm, g is the gravity coefficient, theta 1 K is the initial boom angle 2 Is the proportionality coefficient of two-section arm, f is the friction coefficient, S 2 have Is the stress area of a rod cavity of the telescopic oil cylinder, S 2 none of Is the stress area of the rodless cavity of the telescopic oil cylinder.
In the embodiment of the application, under the condition that the working mode is a boom extension mode or a boom retraction mode, the effective acting force of the boom extension motion is a component force which overcomes the gravity of the extension cylinder and is perpendicular to the boom direction and a component force which overcomes the gravity of the load and is perpendicular to the boom direction, and can be obtained through analyzing the motion process of the boom extension. Based on the stress balance, the controller can determine the oil cylinder pressure of the telescopic oil cylinder according to the effective acting force of the telescopic movement of the arm support, and further obtain the current actual consumption power of the hydraulic system when the arm support performs the telescopic movement at the target movement speed. Thus, the controller can determine the current actual power consumption of the hydraulic system in the boom extension mode or the boom retraction mode.
In an embodiment of the present application, the operation mode includes a combined operation mode, and determining, based on the operation mode, a current actual power consumption of the hydraulic system may include:
determining a first working mode and a second working mode of the combined working mode;
determining a first actual power consumption corresponding to the first working mode, and determining a second actual power consumption corresponding to the second working mode;
the first actual power consumption is added to the second actual power consumption to obtain the current actual power consumption of the hydraulic system.
In the embodiment of the application, the combined working mode can comprise arm frame amplitude-variable lifting combined arm frame extension, arm frame amplitude-variable lifting combined arm frame retraction, arm frame amplitude-variable lowering combined arm frame extension and arm frame amplitude-variable lowering combined arm frame retraction. The controller may determine a first operation mode and a second operation mode of the combined operation mode, and further determine a first actual power consumption corresponding to the first operation mode, and determine a second actual power consumption corresponding to the second operation mode. The controller may obtain the current actual power consumption of the hydraulic system by adding the first actual power consumption to the second actual power consumption. In one example, if the working mode is boom amplitude-raising combined boom extension, it may be determined that the first working mode is boom amplitude-raising mode, and the second working mode is boom extension mode, and further determine the current actual power consumption of the hydraulic system in the boom amplitude-raising mode, and determine the current actual power consumption of the hydraulic system in the boom extension mode. Then, the current actual consumption power of the hydraulic system in the boom amplitude lifting mode is added with the current actual consumption power of the hydraulic system in the boom extension mode, so that the current actual consumption power of the hydraulic system can be determined. In this way, the controller may determine the current actual power consumption of the hydraulic system in the combined operating mode.
Fig. 7 schematically shows a block diagram of a controller according to an embodiment of the present application. As shown in fig. 7, an embodiment of the present application provides a controller, which may include:
a memory 710 configured to store instructions; and
processor 720 is configured to invoke instructions from memory 710 and control methods that enable power matching as described above when the instructions are executed.
Specifically, in an embodiment of the present application, processor 720 may be configured to:
acquiring an initial arm support angle of an arm support;
determining a target movement speed and a working mode of the arm frame type engineering machinery;
determining a current actual power consumption of the hydraulic system based on the operating mode;
predicting a target arm support angle according to the initial arm support angle and the target movement speed;
determining the target actual consumption power of the hydraulic system by combining the target boom angle and the current actual consumption power of the hydraulic system;
and adjusting the energy output curve of the engine by taking the target actual consumption power of the hydraulic system as a feedforward control quantity so that the actual output power of the engine is matched with the target actual consumption power of the hydraulic system.
Further, the processor 720 may be further configured to:
acquiring an oil cylinder angle and a stressed area of the amplitude variable oil cylinder;
Determining the boom amplitude effective working supporting force of the boom;
determining the actual working pressure of the amplitude variation oil cylinder based on the effective working supporting force of the amplitude variation of the arm support and the oil cylinder angle of the amplitude variation oil cylinder;
determining the cylinder pressure of the amplitude variation cylinder according to the actual working pressure of the amplitude variation cylinder and the stress area of the amplitude variation cylinder;
and determining the current actual consumed power of the hydraulic system according to the cylinder pressure of the amplitude cylinder.
In the embodiment of the application, under the condition that the working mode is the boom amplitude raising mode, the current actual consumption power of the hydraulic system meets the formula (1):
under the condition that the working mode is the boom amplitude lowering mode, the current actual consumption power of the hydraulic system meets the formula (2):
wherein P is Lifting device For the current actual consumption power, P, of the hydraulic system in the boom luffing mode Lowering blood pressure The hydraulic system is in the boom amplitude-change descending mode, wherein V is the displacement of a constant displacement pump, n is the rotation speed of an engine, K is the proportionality coefficient of a load, m is the weight of the load, g is the gravity coefficient and theta 1 K is the initial boom angle 1 Is the proportionality coefficient of a section of arm, K 2 Is the proportionality coefficient of two-section arm, L 1 Is the length of one arm, L 2 Length of two-section arm, m 1 For the weight of a arm, m 2 Is the weight of two-section arm, L max Is the full extension length of the arm support, L real To effectively support the arm of force S 1 has Is the stress area of a rod cavity of the amplitude-variable oil cylinder, S 1 none of Is the stress area of the rodless cavity of the amplitude-variable oil cylinder.
Further, the processor 720 may be further configured to:
determining the boom amplitude effective working supporting force of the boom;
determining effective power consumption of the hydraulic system based on the boom amplitude effective work supporting force;
and determining the current actual power consumption of the hydraulic system according to the effective power consumption of the hydraulic system and the initial boom angle.
Further, the processor 720 may be further configured to:
determining the effective acting force of the telescopic motion of the arm support;
determining the cylinder pressure of the telescopic cylinder according to the effective acting force of the telescopic movement of the arm support;
and determining the current actual consumed power of the hydraulic system according to the cylinder pressure and the target movement speed of the telescopic cylinder.
In the embodiment of the application, under the condition that the working mode is the boom extension mode, the current actual consumption power of the hydraulic system meets the formula (3):
under the condition that the working mode is the boom shrink mode, the current actual consumption power of the hydraulic system meets the formula (4):
wherein P is Stretching device Is the current actual consumption power, P, of the hydraulic system in the boom extension mode Shrinking process Is the current actual consumption power of the hydraulic system in the arm support shrinkage mode, V is the displacement of a constant displacement pump, n is the rotating speed of an engine, and V i For the target movement speed, K is the proportionality coefficient of the load, m is the weight of the load, m 2 The weight of the two-section arm, g is the gravity coefficient, theta 1 K is the initial boom angle 2 Is the proportionality coefficient of two-section arm, f is the friction coefficient, S 2 have Is the stress area of a rod cavity of the telescopic oil cylinder, S 2 none of Is the stress area of the rodless cavity of the telescopic oil cylinder.
Further, the processor 720 may be further configured to:
determining a first working mode and a second working mode of the combined working mode;
determining a first actual power consumption corresponding to the first working mode, and determining a second actual power consumption corresponding to the second working mode;
the first actual power consumption is added to the second actual power consumption to obtain the current actual power consumption of the hydraulic system.
By the technical scheme, the initial arm support angle of the arm support is obtained, and the target movement speed and the working mode of the arm support type engineering machinery are determined. Based on the operating mode, a current actual power consumption of the hydraulic system is determined. And then predicting a target arm support angle according to the initial arm support angle and the target movement speed. And then combining the target arm support angle and the current actual power consumption of the hydraulic system to determine the target actual power consumption of the hydraulic system. And finally, taking the target actual consumption power of the hydraulic system as a feedforward control quantity to adjust the energy output curve of the engine, so that the actual output power of the engine is matched with the target actual consumption power of the hydraulic system. According to the application, the target actual consumption power of the hydraulic system is used as the feedforward control quantity to adjust the energy output curve of the engine, so that the accuracy of power matching of the cantilever type engineering machinery can be improved.
As shown in fig. 1, a third aspect of the present application provides an arm-support type engineering machine, which may include:
an engine;
a hydraulic system 106 connected to the engine;
a controller 107 communicates with the engine and the hydraulic system 106, respectively.
In an embodiment of the present application, the boom construction machine includes an engine (not shown), a hydraulic system 106, and a controller 107. The hydraulic system 106 is connected to the engine. The controller 107 communicates with the engine and the hydraulic system 106, respectively. The controller 107 may adjust the energy output curve of the engine by predicting the target actual consumption power of the hydraulic system 106 and regarding the target actual consumption power of the hydraulic system 106 as a feedforward control amount so that the actual output power of the engine matches the target actual consumption power of the hydraulic system 106. In this way, the power matching of the engine and the hydraulic system 106 can be realized, and the operation requirement of the boom type engineering machinery can be further met.
In an embodiment of the present application, a hydraulic system may include:
the amplitude variation oil cylinder is configured to drive the arm support to perform amplitude variation;
the telescopic oil cylinder is configured to drive the arm support to stretch.
In an embodiment of the application, the hydraulic system may include a luffing cylinder and a telescopic cylinder. The amplitude variation oil cylinder can be used for driving the arm support to carry out amplitude variation, and the telescopic oil cylinder can be used for driving the arm support to carry out telescopic operation.
A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the above-described power matching control method.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (11)
1. A control method for power matching, characterized in that the control method is applied to a controller of an arm frame type engineering machine, the arm frame type engineering machine further comprises an engine and a hydraulic system, the controller is respectively communicated with the engine and the hydraulic system, and the control method comprises the following steps:
acquiring an initial arm support angle of an arm support;
determining a target movement speed and a working mode of the cantilever type engineering machinery;
determining a current actual power consumption of the hydraulic system based on the operating mode;
predicting a target arm support angle according to the initial arm support angle and the target movement speed;
determining the target actual power consumption of the hydraulic system by combining the target boom angle and the current actual power consumption of the hydraulic system;
and adjusting the energy output curve of the engine by taking the target actual consumption power of the hydraulic system as a feedforward control quantity so that the actual output power of the engine is matched with the target actual consumption power of the hydraulic system.
2. The control method according to claim 1, wherein the operation mode includes a boom luffing mode and a boom luffing mode, the hydraulic system includes a luffing cylinder, and when the operation mode is the boom luffing mode or the boom luffing mode, the determining the current actual power consumption of the hydraulic system based on the operation mode includes:
acquiring an oil cylinder angle and a stressed area of the amplitude variation oil cylinder;
determining the boom amplitude effective working supporting force of the boom;
determining the actual working pressure of the amplitude variation oil cylinder based on the amplitude variation effective working supporting force of the arm support and the oil cylinder angle of the amplitude variation oil cylinder;
determining the cylinder pressure of the amplitude variation cylinder according to the actual working pressure of the amplitude variation cylinder and the stressed area of the amplitude variation cylinder;
and determining the current actual consumed power of the hydraulic system according to the cylinder pressure of the amplitude cylinder.
3. The control method according to claim 2, wherein, in the case where the operation mode is the boom luffing mode, the current actual consumption power of the hydraulic system satisfies the formula (1):
when the working mode is the boom luffing mode, the current actual consumption power of the hydraulic system satisfies the formula (2):
Wherein P is Lifting device For the current actual consumption power, P, of the hydraulic system in the boom luffing mode Lowering blood pressure The hydraulic system is in the boom amplitude-change descending mode, wherein V is the displacement of a constant displacement pump, n is the rotation speed of an engine, K is the proportionality coefficient of a load, m is the weight of the load, g is the gravity coefficient and theta 1 K is the initial boom angle 1 Is the proportionality coefficient of a section of arm, K 2 Is the proportionality coefficient of two-section arm, L 1 Is the length of one arm, L 2 Length of two-section arm, m 1 For the weight of a arm, m 2 Is the weight of two-section arm, L max For the full extension of the arm support, L real To effectively support the arm of force S 1 has S is the stress area of a rod cavity of the amplitude variation oil cylinder 1 none of The stress area of the rodless cavity of the amplitude variation oil cylinder is set.
4. The control method according to claim 1, wherein the operation modes include a boom luffing mode and a boom luffing mode, and wherein when the operation mode is the boom luffing mode or the boom luffing mode, determining the current actual power consumption of the hydraulic system based on the operation mode includes:
determining the boom amplitude effective working supporting force of the boom;
Determining the effective power consumption of the hydraulic system based on the boom luffing effective work supporting force;
and determining the current actual power consumption of the hydraulic system according to the effective power consumption of the hydraulic system and the initial boom angle.
5. The control method according to claim 1, wherein the operation mode includes a boom extension mode and a boom retraction mode, the hydraulic system includes a telescopic cylinder, and when the operation mode is the boom extension mode or the boom retraction mode, the determining the current actual power consumption of the hydraulic system based on the operation mode includes:
determining the effective acting force of the telescopic movement of the arm support;
determining the oil cylinder pressure of the telescopic oil cylinder according to the effective acting force of the telescopic motion of the arm support;
and determining the current actual consumed power of the hydraulic system according to the cylinder pressure of the telescopic cylinder and the target movement speed.
6. The control method according to claim 5, wherein, in the case where the operation mode is the boom extension mode, the current actual consumption power of the hydraulic system satisfies formula (3):
when the working mode is the boom retraction mode, the current actual consumption power of the hydraulic system satisfies the formula (4):
Wherein P is Stretching device Is the current actual consumption power, P, of the hydraulic system in the boom extension mode Shrinking process Is the current actual consumption power of the hydraulic system in the arm support shrinkage mode, V is the displacement of a constant displacement pump, n is the rotating speed of an engine, and V i For the target movement speed, K is the proportionality coefficient of the load, m is the weight of the load, m 2 The weight of the two-section arm, g is the gravity coefficient, theta 1 K is the initial boom angle 2 Is the proportionality coefficient of two-section arm, f is the friction coefficient, S 2 have S is the stress area of a rod cavity of the telescopic oil cylinder 2 none of The stress area of the rodless cavity of the telescopic oil cylinder is the stress area of the rodless cavity of the telescopic oil cylinder.
7. The control method according to claim 1, wherein the operation modes include a combined operation mode, and wherein, in a case where the operation mode is the combined operation mode, the determining the current actual consumption power of the hydraulic system based on the operation mode includes:
determining a first working mode and a second working mode of the combined working mode;
determining a first actual power consumption corresponding to the first working mode, and determining a second actual power consumption corresponding to the second working mode;
the first actual power consumption is added to the second actual power consumption to obtain a current actual power consumption of the hydraulic system.
8. A controller, comprising:
a memory configured to store instructions; and
a processor configured to invoke the instructions from the memory and to enable the power matching control method according to any of claims 1 to 7 when executing the instructions.
9. The utility model provides a cantilever type engineering machine which characterized in that includes:
an engine;
the hydraulic system is connected with the engine;
the controller of claim 8, in communication with the engine and the hydraulic system, respectively.
10. The boom construction machine of claim 9, wherein the hydraulic system comprises:
the amplitude variation oil cylinder is configured to drive the arm support to perform amplitude variation;
the telescopic oil cylinder is configured to drive the arm support to stretch.
11. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the power matching control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310961814.0A CN117088293A (en) | 2023-08-01 | 2023-08-01 | Power matching control method, controller and arm support type engineering machinery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310961814.0A CN117088293A (en) | 2023-08-01 | 2023-08-01 | Power matching control method, controller and arm support type engineering machinery |
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| CN117088293A true CN117088293A (en) | 2023-11-21 |
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| CN202310961814.0A Pending CN117088293A (en) | 2023-08-01 | 2023-08-01 | Power matching control method, controller and arm support type engineering machinery |
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| Country | Link |
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