WO2021046736A1 - 一种液压挖掘机控制***及方法 - Google Patents
一种液压挖掘机控制***及方法 Download PDFInfo
- Publication number
- WO2021046736A1 WO2021046736A1 PCT/CN2019/105276 CN2019105276W WO2021046736A1 WO 2021046736 A1 WO2021046736 A1 WO 2021046736A1 CN 2019105276 W CN2019105276 W CN 2019105276W WO 2021046736 A1 WO2021046736 A1 WO 2021046736A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- hydraulic excavator
- main pump
- engine
- pump power
- controller
- Prior art date
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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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
-
- 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
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2282—Systems using center bypass type changeover valves
-
- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
Definitions
- the invention relates to a hydraulic excavator control system and method, and belongs to the technical field of excavators.
- the purpose of the present invention is to overcome the shortcomings in the prior art, and provide a hydraulic excavator control system and method to solve the problem that the engine in the prior art is suddenly loaded in a low load state when the work efficiency is reduced and the idling state is suddenly loaded.
- Technical problems with black smoke are to overcome the shortcomings in the prior art, and provide a hydraulic excavator control system and method to solve the problem that the engine in the prior art is suddenly loaded in a low load state when the work efficiency is reduced and the idling state is suddenly loaded.
- the present invention provides a hydraulic excavator control method, the method includes the following steps:
- the controller collects the oil circuit pressure signal of the hydraulic excavator, and calculates the required main pump power with the oil circuit pressure signal;
- the controller sends the required main pump power to the engine ECM;
- the engine ECM first adjusts the fuel injection volume of the engine according to the required main pump power, and then the controller adjusts the main pump power according to the required main pump power.
- the oil path pressure signal includes: the main oil path pressure value of the hydraulic excavator and the pilot pressure values of each path corresponding to the current action of the hydraulic excavator.
- the time before the engine ECM starts to adjust the fuel injection amount of the engine is 0.05 to 0.6 seconds.
- the present invention provides a hydraulic excavator control system, the system includes: a controller, an engine ECM, and an oil circuit pressure acquisition unit; the engine ECM and an oil circuit pressure acquisition unit are respectively connected to the controller in communication;
- the controller calculates the required main pump power of the hydraulic excavator according to the oil path pressure signal of the hydraulic excavator collected by the oil path collection unit, and sends the required main pump power to the engine ECM;
- the engine ECM first adjusts the fuel injection volume of the engine according to the required main pump power, and then the controller adjusts the main pump power according to the required main pump power.
- controller and the engine ECM are connected by CAN bus communication.
- the oil path pressure collection unit includes: a first pressure sensor for collecting the pressure value of the main oil path of the hydraulic excavator and a pilot pressure value for each path corresponding to the current action of the hydraulic excavator The second pressure sensor.
- the beneficial effect achieved by the present invention is that the time for the engine ECM to adjust the fuel injection volume of the engine is earlier than the time for the main pump to adjust to the required main pump power, thereby greatly reducing the load response time of the engine , Improve the working efficiency of the whole machine, avoid the problem of black smoke when idling load, can further reduce the engine idling speed, reduce fuel consumption; in addition, the control method also has the advantages of simplicity, low cost and high reliability.
- Figure 1 is a flowchart of a hydraulic excavator control method provided by an embodiment of the present invention
- Figure 2 is a hydraulic principle diagram of a hydraulic excavator control system provided by an embodiment of the present invention
- Fig. 3 is a diagram of the relationship between the fuel injection quantity and time of an engine of a hydraulic excavator in the prior art
- FIG. 4 is a diagram of the relationship between fuel injection amount and time of an engine of a hydraulic excavator according to an embodiment of the present invention
- 10-engine 11-main pump; 12-pilot pump; 13-electromagnetic proportional valve; 14-main valve; 15-hydraulic pilot handle; 16-controller; 17-walking spool; 18-rotating spool; 19- Boom valve core; 20- Bucket valve core; 21- Stick valve core; 22- Solenoid valve.
- FIG. 1 it is a flowchart of a hydraulic excavator control method provided by an embodiment of the present invention, which mainly includes the following steps:
- the controller Collecting the main oil circuit pressure value of the hydraulic excavator and each pilot pressure value corresponding to the current action of the hydraulic excavator, the controller according to the main oil circuit pressure value and corresponding to the current action of the hydraulic excavator
- the pilot pressure value of each channel obtains the required main pump power and transfers the required main pump power to the engine ECM; the controller can adjust the main pump power according to the required main pump power; the engine ECM can according to the The required main pump power adjusts the fuel injection volume of the engine, and the start time when the engine ECM adjusts the fuel injection volume of the engine is earlier than the start time when the controller adjusts the main pump power.
- the start time when the engine ECM adjusts the fuel injection quantity of the engine is earlier than the start time when the controller adjusts the power of the main pump, which can greatly reduce the load response time of the engine, improve the working efficiency of the whole machine, and avoid black smoke from idling loading
- the problem can further reduce the engine idling speed and reduce fuel consumption.
- the control method also has the advantages of simplicity, low cost and high reliability.
- the advance controller starts to adjust the main pump power for 0.05 to 0.6 seconds, to match the requirements of the hydraulic system, and to increase the working efficiency of the whole machine by 1-5%.
- FIG. 2 it is a hydraulic schematic diagram of a hydraulic excavator control system provided by an embodiment of the present invention, including: an engine 10, a main pump 11, a pilot pump 12, an electromagnetic proportional valve 13, a main valve 14, and a hydraulic pilot handle 15.
- the controller 16 the first pressure acquisition unit and the second pressure acquisition unit;
- the engine 10 is connected to the main pump 11 and the pilot pump 12 for providing power to the main pump 11 and the pilot pump 12;
- the main valve 14 includes a walking spool 17, a rotary spool 18, a boom spool 19, a bucket spool 20, and a stick spool 21.
- a walking spool 17, a rotary spool 18, a boom spool 19, a bucket spool 20, and a stick spool 21 After the outlet of the main pump 11 is connected to the inlet of the main valve 14 through a pipeline, Connected with the walking spool 17, the rotary spool 18, the boom spool 19, the bucket spool 20, and the stick spool 21 in sequence to supply oil for each action spool to form the main oil circuit; the oil return of the main valve 14
- the port is connected to the fuel tank after the solenoid valve 22;
- the pilot pump 12 is connected to the inlet of the electromagnetic proportional valve 13, and the outlet of the electromagnetic proportional valve 13 is connected all the way to the control port of the swash plate regulator of the main pump 11;
- the hydraulic pilot handle 15 is respectively connected with the pilot control port of each action spool, and is used to control the opening and closing of each action spool;
- the first pressure acquisition unit and the second pressure acquisition unit are respectively communicatively connected to the controller 16.
- the first pressure acquisition unit is used to acquire the pressure value of the main oil circuit of the hydraulic excavator;
- the second pressure acquisition unit Used to collect the pilot control oil circuit pressure value of each action valve core;
- the controller 16 can obtain the required main pump power according to the main oil circuit pressure value and the pilot control oil circuit pressure value of each action valve core, and according to The required main pump power adjusts the power of the main pump 11 of the hydraulic excavator;
- the controller 16 is in communication connection with the engine ECM, and is used to transmit the required main pump power to the engine ECM of the hydraulic excavator.
- the time when the engine ECM starts to adjust the fuel injection quantity of the engine is before the time when the controller starts to adjust the power of the main pump.
- the time difference is generally 0.05-0.6 seconds, which can match the requirements of the hydraulic system and improve the working efficiency of the whole machine. 1-5%.
- Figure 3 it is a diagram of the relationship between the fuel injection volume and time of a hydraulic excavator in the prior art.
- Figure 4 is a diagram of the fuel injection volume and time of a hydraulic excavator according to an embodiment of the present invention.
- the relationship diagram; the relationship diagram is obtained when the time when the engine ECM starts to adjust the fuel injection amount of the engine is 0.1 seconds before the time when the controller starts to adjust the power of the main pump.
- the second embodiment of the present invention provides Compared with the hydraulic excavator in the prior art, a hydraulic excavator can greatly reduce the loading response time of the engine 10, thereby improving the working efficiency of the whole machine, avoiding the problem of black smoke from idling loading, and further reducing the engine 10 idling speed to reduce fuel consumption. In addition, it also has the advantages of simplicity, low cost and high reliability.
- the first pressure acquisition unit, the second pressure acquisition unit, and the engine ECM may be connected to the controller 16 through a CAN bus.
- the first pressure acquisition unit and the second pressure acquisition unit are pressure sensors. As shown in FIG. 2, the pilot control of the rotary spool 18, the boom spool 19, the bucket spool 20, and the stick spool 21 A pressure sensor is provided on the oil circuit respectively.
- the hydraulic excavator control system and method provided by the embodiments of the present invention include: collecting the main oil circuit pressure value of the hydraulic excavator, and the controller obtains the required main pump power according to the main oil circuit pressure value
- the controller is used to adjust the power of the main pump according to the required main pump power and transmit the required main pump power to the engine ECM, and the engine ECM adjusts the start time of the engine's fuel injection amount before
- the controller adjusts the start time of the main pump power, which greatly reduces the load response time of the engine, improves the working efficiency of the whole machine, avoids the problem of black smoke from idling loading, and can further reduce the idling speed of the engine and reduce fuel consumption.
- the control method also has the advantages of simplicity, low cost and high reliability.
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
Description
Claims (6)
- 一种液压挖掘机控制方法,其特征在于,所述方法包括如下步骤:控制器采集液压挖掘机的油路压力信号,并所述油路压力信号计算所需主泵功率;控制器将所需主泵功率发送至发动机ECM;发动机ECM首先根据所需主泵功率调节发动机喷油量,随后,控制器根据所需主泵功率调节主泵功率。
- 根据权利要求1所述的液压挖掘机控制方法,其特征在于,所述油路压力信号包括:液压挖掘机的主油路压力值及液压挖掘机当前动作对应的各路先导压力值。
- 根据权利要求1所述的液压挖掘机控制方法,其特征在于,所述发动机ECM开始调节发动机喷油量时间超前控制器开始调节主泵功率时间0.05~0.6秒。
- 一种液压挖掘机控制***,其特征在于,所述***包括:控制器、发动机ECM和油路压力采集单元;所述发动机ECM、油路压力采集单元分别与控制器通讯连接;所述控制器根据油路采集单元采集的液压挖掘机的油路压力信号计算液压挖掘机所需主泵功率,并将所需主泵功率发送至发动机ECM;发动机ECM首先根据所需主泵功率调节发动机喷油量,随后,控制器根据所需主泵功率调节主泵功率。
- 根据权利要求4所述的液压挖掘机控制***,其特征在于,所述控制器与发动机ECM采用CAN总线通讯连接。
- 根据权利要求4所述的液压挖掘机控制***,其特征在于,所述油路压力采集单元包括:用于采集液压挖掘机主油路压力值的第一压力传感器和用于采集液压挖掘机当前动作对应的各路先导压力值的第二压力传感器。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2019465349A AU2019465349B2 (en) | 2019-09-11 | 2019-09-11 | Hydraulic excavator control system and method |
EP19944808.5A EP4030003A4 (en) | 2019-09-11 | 2019-09-11 | HYDRAULIC WINCH CONTROL SYSTEM AND METHOD |
PCT/CN2019/105276 WO2021046736A1 (zh) | 2019-09-11 | 2019-09-11 | 一种液压挖掘机控制***及方法 |
CA3150007A CA3150007A1 (en) | 2019-09-11 | 2019-09-11 | Hydraulic excavator control system and method |
Applications Claiming Priority (1)
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PCT/CN2019/105276 WO2021046736A1 (zh) | 2019-09-11 | 2019-09-11 | 一种液压挖掘机控制***及方法 |
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WO2021046736A1 true WO2021046736A1 (zh) | 2021-03-18 |
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ID=74866816
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PCT/CN2019/105276 WO2021046736A1 (zh) | 2019-09-11 | 2019-09-11 | 一种液压挖掘机控制***及方法 |
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EP (1) | EP4030003A4 (zh) |
AU (1) | AU2019465349B2 (zh) |
CA (1) | CA3150007A1 (zh) |
WO (1) | WO2021046736A1 (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114687876A (zh) * | 2022-04-12 | 2022-07-01 | 潍柴动力股份有限公司 | 一种车辆怠速响应控制方法及车辆 |
CN115110596A (zh) * | 2022-07-26 | 2022-09-27 | 山河智能装备股份有限公司 | 一种液压控制*** |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN114045897B (zh) * | 2021-11-17 | 2023-06-02 | 江苏徐工工程机械研究院有限公司 | 一种正流量***负载突变掉速控制方法、***及挖掘机 |
CN115324149B (zh) * | 2022-06-30 | 2023-10-27 | 三一重机有限公司 | 液压泵控制方法、装置及作业机械 |
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EP0812965A1 (en) * | 1996-06-13 | 1997-12-17 | KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. | Battery-driven working machine |
US20080264499A1 (en) * | 2007-04-30 | 2008-10-30 | Bacon Kevin A | Anti-stall system utilizing implement pilot relief |
CN104074225A (zh) * | 2014-07-08 | 2014-10-01 | 湖南机电职业技术学院 | 一种液压挖掘机功率自适应控制***和方法 |
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CN107044147A (zh) * | 2016-02-05 | 2017-08-15 | 贵州詹阳动力重工有限公司 | 一种电喷发动机轮式液压挖掘机行驶控制***及控制方法 |
Family Cites Families (1)
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JP3925666B2 (ja) * | 1997-01-20 | 2007-06-06 | 株式会社小松製作所 | エンジンおよび可変容量型ポンプの制御装置 |
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2019
- 2019-09-11 WO PCT/CN2019/105276 patent/WO2021046736A1/zh unknown
- 2019-09-11 EP EP19944808.5A patent/EP4030003A4/en active Pending
- 2019-09-11 AU AU2019465349A patent/AU2019465349B2/en active Active
- 2019-09-11 CA CA3150007A patent/CA3150007A1/en active Pending
Patent Citations (6)
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EP0812965A1 (en) * | 1996-06-13 | 1997-12-17 | KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. | Battery-driven working machine |
US20080264499A1 (en) * | 2007-04-30 | 2008-10-30 | Bacon Kevin A | Anti-stall system utilizing implement pilot relief |
CN104074225A (zh) * | 2014-07-08 | 2014-10-01 | 湖南机电职业技术学院 | 一种液压挖掘机功率自适应控制***和方法 |
CN104405002A (zh) * | 2014-10-10 | 2015-03-11 | 龙工(上海)挖掘机制造有限公司 | 一种提高液压挖掘机工作效率的控制装置及方法 |
CN106869222A (zh) * | 2015-12-13 | 2017-06-20 | 姚秋丽 | 一种液压挖掘机工作装置多模式功率自动控制*** |
CN107044147A (zh) * | 2016-02-05 | 2017-08-15 | 贵州詹阳动力重工有限公司 | 一种电喷发动机轮式液压挖掘机行驶控制***及控制方法 |
Non-Patent Citations (1)
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114687876A (zh) * | 2022-04-12 | 2022-07-01 | 潍柴动力股份有限公司 | 一种车辆怠速响应控制方法及车辆 |
CN114687876B (zh) * | 2022-04-12 | 2023-01-06 | 潍柴动力股份有限公司 | 一种车辆怠速响应控制方法及车辆 |
CN115110596A (zh) * | 2022-07-26 | 2022-09-27 | 山河智能装备股份有限公司 | 一种液压控制*** |
CN115110596B (zh) * | 2022-07-26 | 2023-12-19 | 山河智能装备股份有限公司 | 一种液压控制*** |
Also Published As
Publication number | Publication date |
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AU2019465349B2 (en) | 2023-07-27 |
AU2019465349A1 (en) | 2022-03-24 |
CA3150007A1 (en) | 2021-03-18 |
EP4030003A1 (en) | 2022-07-20 |
EP4030003A4 (en) | 2022-10-12 |
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