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 PDF

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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
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WIPO (PCT)
Prior art keywords
hydraulic excavator
main pump
engine
pump power
controller
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PCT/CN2019/105276
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English (en)
French (fr)
Inventor
宋之克
耿家文
牛东东
刘立祥
王禄
王绪通
邢泽成
宋吉
魏红敏
王青
卞清荣
蔺相伟
吕传伟
王顶
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徐州徐工挖掘机械有限公司
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Application filed by 徐州徐工挖掘机械有限公司 filed Critical 徐州徐工挖掘机械有限公司
Priority to AU2019465349A priority Critical patent/AU2019465349B2/en
Priority to EP19944808.5A priority patent/EP4030003A4/en
Priority to PCT/CN2019/105276 priority patent/WO2021046736A1/zh
Priority to CA3150007A priority patent/CA3150007A1/en
Publication of WO2021046736A1 publication Critical patent/WO2021046736A1/zh

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    • 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

本发明公开了一种液压挖掘机控制***及方法，所述方法包括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。本发明大幅度降低了发动机的加载响应时间，提高了整机的工作效率，避免了怠速加载冒黑烟的问题，可以进一步降低发动机怠速转速，降低燃油消耗。

Description

一种液压挖掘机控制***及方法 技术领域
本发明涉及一种液压挖掘机控制***及方法，属于挖掘机技术领域。
背景技术
液压挖掘机的工况极其复杂，负载变化较大。当液压泵负载增加时，发动机增大喷油量，输出扭矩增加，由于机械传递导致发动机具有较长的滞后性。发动机会频繁出现下述工作状态，一是发动机在低负载状态突然加载时易出现加载时间过长，导致工作效率降低；二是发动机在怠速状态突然加载时会出现冒黑烟的问题。大部分厂商会通过改变发动机燃烧室油气混合比的方式，减少发动机加载时间，但同时会出现燃烧不充分，发动机冒黑烟的问题，怠速出现冒黑烟的问题时，大部分厂家会提高整机怠速转速，导致能耗浪费。
发明内容
本发明的目的在于克服现有技术中的不足，提供一种液压挖掘机控制***及方法，以解决现有技术中的发动机在低负载状态突然加载时工作效率降低以及怠速状态突然加载时会出现冒黑烟的技术问题。
为解决上述技术问题，本发明是采用下述技术方案实现的：
第一方面，本发明提供了一种液压挖掘机控制方法，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。
结合第一方面，进一步的，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。
结合第一方面，进一步的，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。
第二方面，本发明提供了一种液压挖掘机控制***，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。
结合第二方面，进一步的，所述控制器与发动机ECM采用CAN总线通讯连接。
结合第二方面，进一步的，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。
与现有技术相比，本发明所达到的有益效果是：发动机ECM调节发动机的喷油量的时间先于主泵调节至所需主泵功率的时间，从而大幅度降低了发动机的加载响应时间，提高了整机的工作效率，避免了怠速加载冒黑烟的问题，可以进一步降低发动机怠速转速，降低燃油消耗；此外，该控制方法还具有简单 易行、低成本以及可靠性高的优点。
附图说明
图1是本发明实施例提供的一种液压挖掘机控制方法的流程图；
图2是本发明实施例提供的一种液压挖掘机控制***的液压原理图；
图3是现有技术中的一种液压挖掘机的发动机喷油量与时间的关系图；
图4是本发明实施例提供的一种液压挖掘机的发动机喷油量与时间的关系图；
其中，10-发动机；11-主泵；12-先导泵；13-电磁比例阀；14-主阀；15-液压先导手柄；16-控制器；17-行走阀芯；18-回转阀芯；19-动臂阀芯；20-铲斗阀芯；21-斗杆阀芯；22-电磁阀。
具体实施方式
以下结合附图和具体实施例对本发明提出的一种液压挖掘机控制***及方法作进一步详细说明。需说明的是，附图均采用非常简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本发明实施例的目的。附图中相同或相似的附图标记代表相同或相似的部件。
实施例一：
如图1所示，是本发明实施例提供的一种液压挖掘机控制方法的流程图，主要包括如下步骤：
采集所述液压挖掘机的主油路压力值与所述液压挖掘机当前动作对应的各路先导压力值，所述控制器根据所述主油路压力值以及与所述液压挖掘机当前动作对应的各路所述先导压力值得到所需主泵功率，并将所需主泵功率至发动机ECM；控制器能够根据所述所需主泵功率调节主泵功率；所述发动机ECM能够根据所述所需主泵功率调节所述发动机的喷油量，且所述发动机ECM调节 所述发动机的喷油量的开始时间先于控制器调节主泵功率的开始时间。
所述发动机ECM调节所述发动机的喷油量的开始时间先于控制器调节主泵功率的开始时间，能够大幅度降低发动机的加载响应时间，提高整机工作效率，避免怠速加载冒黑烟的问题，可以进一步降低发动机怠速转速，降低燃油消耗。此外，该控制方法还具有简单易行、低成本以及可靠性高的优点。
更具体的，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0.05～0.6秒，达到与液压***需求匹配一致，实现整机的工作效率提高1-5％。
实施例二：
如图2所示，是本发明实施例提供的一种液压挖掘机控制***的液压原理图，包括：发动机10、主泵11、先导泵12、电磁比例阀13、主阀14、液压先导手柄15、控制器16、第一压力采集单元和第二压力采集单元；
所述发动机10与主泵11、先导泵12相连，用于为主泵11、先导泵12提供动力；
所述主阀14包括行走阀芯17、回转阀芯18、动臂阀芯19、铲斗阀芯20以及斗杆阀芯21，主泵11的出口通过管路连接主阀14的进口后，依次与行走阀芯17、回转阀芯18、动臂阀芯19、铲斗阀芯20以及斗杆阀芯21相连，为各个动作阀芯供油，构成主油路；主阀14的回油口经电磁阀22后与油箱相连；
先导泵12与电磁比例阀13的进口相连，电磁比例阀13的出口一路与主泵11的斜盘调节器控制口相连；
液压先导手柄15分别与各个动作阀芯的先导控制油口相连，用于控制各个动作阀芯的开断；
第一压力采集单元、第二压力采集单元分别通信连接于所述控制器16，所述第一压力采集单元用于采集所述液压挖掘机的主油路压力值；所述第二压力采集单元用于采集各个动作阀芯的先导控制油路压力值；所述控制器16能够根据所述主油路压力值以及各个动作阀芯的先导控制油路压力值得到所需主泵功率，并根据所述所需主泵功率调节所述液压挖掘机的主泵11功率；
所述控制器16与发动机ECM通讯连接，用于传递所述所需主泵功率至所述液压挖掘机的发动机ECM。
所述发动机ECM开始调节所述发动机喷油量的时间先于控制器开始调节主泵功率的时间，时间差一般取0.05-0.6秒，能够达到与液压***需求匹配一致，实现整机的工作效率提高1-5％。如图3所示，是现有技术中的一种液压挖掘机的发动机喷油量与时间的关系图，图4是本发明实施例提供的一种液压挖掘机的发动机喷油量与时间的关系图；该关系图是在发动机ECM开始调节所述发动机喷油量的时间先于控制器开始调节主泵功率的时间相差0.1秒时得出的，对比分析可见：本发明实施例二提供的一种液压挖掘机相较于现有技术中的液压挖掘机可以大幅度降低了发动机10的加载响应时间，从而提高整机的工作效率，避免了怠速加载冒黑烟的问题，可以进一步降低发动机10怠速转速，降低燃油消耗。此外，还具有简单易行、低成本以及可靠性高的优点。
所述第一压力采集单元、所述第二压力采集单元以及所述发动机ECM可以通过CAN总线连接于所述控制器16。
所述第一压力采集单元和所述第二压力采集单元为压力传感器，如图2所示，回转阀芯18、动臂阀芯19、铲斗阀芯20以及斗杆阀芯21的先导控制油路上分别设置有一个压力传感器。
综上所述，本发明实施例提供的液压挖掘机控制***及方法，包括：采集所述液压挖掘机的主油路压力值，控制器根据所述主油路压力值得到所需主泵功率，所述控制器用于根据所述所需主泵功率调节主泵的功率以及传递所述所需主泵功率至发动机ECM，且所述发动机ECM调节所述发动机的喷油量的开始时间先于控制器调节主泵功率的开始时间，从而大幅度降低了发动机的加载响应时间，提高了整机的工作效率，避免了怠速加载冒黑烟的问题，可以进一步降低发动机怠速转速，降低燃油消耗。此外，该控制方法还具有简单易行、低成本以及可靠性高的优点。
需要说明的是，本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的控制方法而言，由于其采用的控制装置与实施例公开的装置部分相对应，所以对其中涉及的控制装置描述的比较简单，相关之处参见装置部分说明即可。
上述描述仅是对本发明较佳实施例的描述，并非对本发明范围的任何限定，本发明领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于权利要求书的保护范围。

Claims (6)

  1. 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。
  2. 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。
  3. 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。
  4. 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。
  5. 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。
  6. 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。
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