WO2023185114A1 - 用于工程设备的控制方法、处理器及工程设备 - Google Patents
用于工程设备的控制方法、处理器及工程设备 Download PDFInfo
- Publication number
- WO2023185114A1 WO2023185114A1 PCT/CN2022/140051 CN2022140051W WO2023185114A1 WO 2023185114 A1 WO2023185114 A1 WO 2023185114A1 CN 2022140051 W CN2022140051 W CN 2022140051W WO 2023185114 A1 WO2023185114 A1 WO 2023185114A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- engine
- torque
- pressure reducing
- control
- output torque
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000006073 displacement reaction Methods 0.000 claims abstract description 48
- 238000010586 diagram Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000020169 heat generation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Definitions
- the present invention relates to the technical field of engineering machinery, and specifically to a control method, a processor and engineering equipment for engineering equipment.
- a variable piston pump with such a constant torque control device is called a constant power variable piston pump.
- the constant power control valve continues to function. In order to prevent the engine from stalling, the constant power control valve puts the system in a constant torque state. At this time, only part of the displacement of the plunger pump is involved in the work, and the corresponding actuator of the engine cannot be used. Working at the maximum speed, the working efficiency is low; the engine is in a power-rich state, and the excess torque cannot participate in work.
- the purpose of the present invention is to overcome the problem in the prior art that the actuator corresponding to the engine cannot work at the maximum speed and the working efficiency is low; the engine is in a power-rich state and the excess torque cannot participate in doing work, and provides an engineering equipment Control methods, processors and engineering equipment to solve the above problems.
- the first aspect of the present invention provides a control method for engineering equipment.
- the engineering equipment includes an engine, a proportional pressure reducing valve, a plunger pump and a control valve.
- the control valve is connected to the proportional pressure reducing valve and the plunger pump respectively. Connection and control methods include:
- the torque control value of the control valve is adjusted according to the output pressure of the proportional pressure reducing valve to adjust the displacement of the plunger pump, thereby adjusting the working speed of the corresponding actuator of the engine.
- the control valve keeps the power of the plunger pump constant based on the torque control value. .
- the first working condition includes an idle working condition;
- the second working condition includes: the load pressure of the corresponding actuator of the engine is the largest and the displacement of the plunger pump is the largest.
- the input current of the proportional pressure reducing valve satisfies the following formula (1):
- I represents the current percentage of the proportional pressure reducing valve when the effective output torque of the engine is M.
- the current percentage is the percentage of the input current and the maximum allowable current of the proportional pressure reducing valve.
- M represents the current effective output torque of the engine, M1 Indicates the effective output torque of the engine under idling conditions, and M2 indicates the effective output torque of the engine under the second operating condition.
- adjusting the torque control value of the control valve according to the output pressure of the proportional pressure reducing valve to adjust the displacement of the plunger pump, thereby adjusting the working speed of the corresponding actuator of the engine includes:
- variable pressure causes the torque control value of the control valve to increase, thereby increasing the displacement of the plunger pump and increasing the working speed of the actuator.
- increasing the variable pressure of the control valve includes:
- variable pressure of the control valve is increased according to the increase in current of the proportional pressure reducing valve.
- the engineering equipment also includes a control piston and a rocker.
- the control piston is connected to the control valve and the rocker respectively.
- the rocker is connected to the plunger pump.
- the control method also includes:
- control piston When the variable pressure of the control valve increases, the control piston is pushed to move and the rocker is driven to move, so that the displacement of the plunger pump increases, thereby increasing the working speed of the actuator.
- the actuator includes an oil pump.
- the torque of the oil pump satisfies the following formula (2):
- M3 represents the torque of the oil pump
- P represents the working pressure of the oil pump
- q represents the displacement of the oil pump
- C is the constant corresponding to the torque control value of the control valve, and C increases when the torque control value increases.
- the engine speed increases and the effective output torque of the engine increases.
- a second aspect of the present invention provides a processor configured to execute the above control method for engineering equipment.
- a third aspect of the present invention provides engineering equipment, including the above-mentioned processor.
- the effective output torque of the engine is detected, and the input current of the proportional pressure reducing valve is controlled according to the effective output torque of the engine. Specifically, when the effective output torque of the engine increases, the input current of the proportional pressure reducing valve is increased, so that the output pressure of the proportional pressure reducing valve is increased, which increases the torque control value of the constant power control valve, and subsequently increases The displacement of the plunger pump. In this way, the working speed of the actuator under heavy load conditions is effectively increased and the work efficiency is improved.
- the output pressure of the proportional pressure reducing valve increases in proportion to the effective output torque of the engine, so that the effective output torque of the engine can fully participate in the operation and reduce torque waste. Under heavy load conditions, the utilization of the engine's effective torque is improved.
- Figure 1 schematically shows one of the hardware connection diagrams of engineering equipment
- Figure 2 schematically shows a flow chart of a control method for engineering equipment according to an embodiment of the present invention
- Figure 3 schematically shows a hardware connection diagram of engineering equipment according to an embodiment of the present invention
- Figure 4 schematically shows a graph of the output torque of the engine and the current of the proportional pressure reducing valve according to an embodiment of the present invention
- FIG. 5 schematically shows a graph of current and pressure of a proportional pressure reducing valve according to an embodiment of the present invention.
- a variable piston pump with such a constant torque control device is called a constant power variable piston pump.
- Figure 1 shows the control system of a constant power variable plunger pump using a solenoid valve.
- the control system of the constant power variable plunger pump involves: main valve throttle 10, damping 11, solenoid valve 12, load sensitive control valve 13, pressure cut-off control valve 14, constant power control valve 15, small Control piston 16, rocker 17, plunger pump 18, large control piston 19 and oil tank 20.
- the working pressure acts on the rocker 17 through the constant power control valve 15, and the external adjustable spring force offsets this, which determines the constant power variable pressure setting P2 . If the working pressure exceeds the setting force P2 of the spring, the constant power control valve 15 drives the rocker 17, and the rocker 17 drives the plunger pump 18 to turn the pump back (towards qgmin).
- M fmax p max *q max
- p max is the maximum working pressure of the system
- q max is the maximum displacement of the plunger pump.
- the engineering equipment includes an engine, a proportional pressure reducing valve 21, a plunger pump 18 and a constant power control valve 15.
- the constant power control valve 15 is connected to the proportional pressure reducing valve 21 and the plunger pump 18 respectively.
- Figure 2 schematically shows a flow chart of a control method for engineering equipment according to an embodiment of the present invention. As shown in Figure 2, in one embodiment of the present invention, a control method for engineering equipment is provided, including the following steps:
- Step 201 determine the first effective output torque of the engine under the first working condition
- Step 202 determine the second effective output torque of the engine under the second operating condition
- Step 203 determine the current effective output torque of the engine
- Step 204 determine the input current of the proportional pressure reducing valve 21 according to the first effective output torque, the second effective output torque and the current effective output torque to determine the output pressure of the proportional pressure reducing valve 21;
- Step 205 adjust the torque control value of the constant power control valve 15 according to the output pressure of the proportional pressure reducing valve 21 to adjust the displacement of the plunger pump 18, thereby adjusting the working speed of the corresponding actuator of the engine.
- the control valve 15 is controlled based on torque. value to keep the power of the plunger pump 18 constant.
- the effective output torque of the engine is detected, and the input current of the proportional pressure reducing valve 21 is controlled according to the effective output torque of the engine. Specifically, when the effective output torque of the engine increases, the input current of the proportional pressure reducing valve 21 is increased, so that the output pressure of the proportional pressure reducing valve 21 is increased, and the torque control value of the constant power control valve 15 is increased. As a result, the displacement of the plunger pump 18 is increased. In this way, the working speed of the actuator under heavy load conditions is effectively increased and the work efficiency is improved.
- the output pressure of the proportional pressure reducing valve 21 increases in proportion to the effective output torque of the engine, so that the effective output torque of the engine can fully participate in the operation and reduce torque waste. Under heavy load conditions, the utilization of the engine's effective torque is improved.
- control method for engineering equipment according to the embodiment of the present invention will be specifically described below with a specific embodiment.
- Figure 3 schematically shows a hardware connection diagram of engineering equipment according to an embodiment of the present invention.
- the invention discloses a constant power variable automatic adjustment control method of a plunger pump. Can be combined with Figure 2.
- the first working condition (such as idling condition): the variable starting point pressure P1 of the constant power control valve, corresponding to the engine speed n1 and the effective output torque M1 of the engine.
- the second working condition the highest working pressure of the system P2, which corresponds to the normal operating engine speed n2 of the maximum displacement and the effective output torque M2 of the engine.
- the engine speed increases to n, and the current effective output torque of the engine is M.
- the input current of the proportional pressure reducing valve 21 can be obtained through the following formula (1):
- FIG. 4 schematically shows a graph of the output torque of the engine and the current of the proportional pressure reducing valve according to an embodiment of the present invention.
- Maximum load torque parameters: pressure P max , engine speed n2, load maximum torque M2 P max *q max , the current of the proportional pressure reducing valve 21 is the maximum value, the current percentage is 100%, the current percentage is the proportional pressure reducing valve 21
- the input current is a percentage of the maximum allowable current of the proportional pressure reducing valve 21.
- the current of the electric proportional pressure reducing valve 21 is related to the change value of the effective output torque of the engine.
- the effective output torque of the engine is M1
- the current of the proportional pressure reducing valve 21 is zero
- the variable pressure of the constant power control valve 15 is P1.
- the current percentage of the proportional pressure reducing valve 21 is 100%
- the variable pressure of the constant power control valve 15 is increased to P max .
- FIG. 5 schematically shows a graph of current and pressure of a proportional pressure reducing valve according to an embodiment of the present invention.
- the constant power control valve 15 drives the rocker 17 to increase the output displacement of the plunger pump 18 Increase.
- the output torque of the engine is M
- the current of the proportional pressure reducing valve 21 is:
- variable pressure of the constant power control valve 15 increases to P', pushing the small control piston 16 to move to the right.
- the small control piston 16 drives the rocker 17 to move to the right, and the displacement of the plunger pump 18 increases.
- the variable pressure of the constant power control valve 15 increases to P max , the entire displacement of the plunger pump 18 participates in the work, and the corresponding actuator of the engine works at the maximum speed.
- the effective output torque of the engine is maximized, so that the displacement of the plunger pump 18 is increased, and the displacement of the plunger pump 18 is effectively increased. improve the working efficiency of the actuator.
- the displacement of the plunger pump 18 increases with the increase of the effective output torque of the engine under heavy load conditions, and the working speed of the actuator increases accordingly, effectively improving the execution efficiency. Component efficiency.
- the output pressure of the electric proportional pressure reducing valve 21 is increased in proportion to the effective output torque of the engine, so that the effective output torque of the engine can fully participate in the operation without wasting torque. Under heavy load conditions, the utilization of the engine's effective torque is improved.
- the current of the electric proportional pressure reducing valve 21 may also be related to the engine speed signal. Since the engine speed has an approximately linear relationship with the effective output torque before reaching the maximum effective output torque M fmax of the engine, it is feasible to use the engine speed signal as the control signal. The engine speed increases, the current of the electric proportional pressure reducing valve 21 increases, the output pressure of the proportional pressure reducing valve 21 increases, and the constant power control valve 15 drives the rocker 17 to increase the output displacement of the plunger pump 18.
- the effective output torque signal of the engine controls the electric proportional pressure reducing valve 21.
- the increase in current increases the output pressure of the electric proportional pressure reducing valve 21, increases the torque control value of the constant power control valve 15, and subsequently increases the displacement of the plunger pump 18, effectively improving the work of the actuator under heavy load conditions. speed, improving work efficiency.
- An embodiment of the present invention provides a processor configured to execute any one of the control methods for engineering equipment in the above embodiments.
- the engineering equipment includes an engine, a proportional pressure reducing valve, a plunger pump and a control valve.
- the control valve is connected to the proportional pressure reducing valve and the plunger pump respectively.
- the processor can be configured to:
- the torque control value of the control valve is adjusted according to the output pressure of the proportional pressure reducing valve to adjust the displacement of the plunger pump, thereby adjusting the working speed of the corresponding actuator of the engine.
- the control valve keeps the power of the plunger pump constant based on the torque control value. .
- the processor is configured to:
- the first working condition includes the idling condition; the second working condition includes: the load pressure of the corresponding actuator of the engine is the largest and the displacement of the plunger pump is the largest.
- the processor is configured to:
- I represents the current percentage of the proportional pressure reducing valve when the effective output torque of the engine is M.
- the current percentage is the percentage of the input current and the maximum allowable current of the proportional pressure reducing valve.
- M represents the current effective output torque of the engine.
- M1 represents the engine.
- the effective output torque under idling conditions, M2 represents the effective output torque of the engine under the second operating condition.
- the processor is configured to:
- Adjust the torque control value of the control valve according to the output pressure of the proportional pressure reducing valve to adjust the displacement of the plunger pump, thereby adjusting the working speed of the corresponding actuator of the engine including:
- variable pressure causes the torque control value of the control valve to increase, thereby increasing the displacement of the plunger pump and increasing the working speed of the actuator.
- the processor is configured to:
- Increasing the variable pressure of the control valve includes:
- variable pressure of the control valve is increased according to the increase in the output pressure of the proportional pressure reducing valve; and/or the variable pressure of the control valve is increased according to the increase in the current of the proportional pressure reducing valve.
- the engineering equipment also includes a control piston and a rocker.
- the control piston is connected to the control valve and the rocker respectively.
- the rocker is connected to the plunger pump.
- the processor is configured to:
- control piston When the variable pressure of the control valve increases, the control piston is pushed to move and the rocker is driven to move, so that the displacement of the plunger pump increases, thereby increasing the working speed of the actuator.
- the execution element includes an oil pump
- the processor is configured to:
- M3 represents the torque of the oil pump
- P represents the working pressure of the oil pump
- q represents the displacement of the oil pump
- C is the constant corresponding to the torque control value of the control valve, and C increases when the torque control value increases.
- the processor is configured to:
- An embodiment of the present invention provides engineering equipment, including the above-mentioned processor.
- any combination of various embodiments of the present invention can also be carried out. As long as they do not violate the idea of the present invention, they should also be regarded as the disclosed content of the present invention.
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Valve Device For Special Equipments (AREA)
- Control Of Positive-Displacement Pumps (AREA)
Abstract
一种用于工程设备的控制方法、处理器及工程设备。工程设备包括发动机、比例减压阀(21)、柱塞泵(18)和控制阀(15),控制阀(15)分别与比例减压阀(21)以及柱塞泵(18)连接,控制方法包括:确定发动机在第一工况下的第一有效输出扭矩(201);确定发动机在第二工况下的第二有效输出扭矩(202);确定发动机的当前有效输出扭矩(203);根据第一有效输出扭矩、第二有效输出扭矩以及当前有效输出扭矩,确定比例减压阀(21)的输入电流,以确定比例减压阀(21)的输出压力(204);根据比例减压阀(21)的输出压力调整控制阀(15)的扭矩控制值,以调整柱塞泵(18)的排量,从而调整发动机的对应执行元件的工作速度(205)。发动机的有效输出扭矩能够全面参与作业,提高发动机的有效扭矩的利用率,提高工作效率。
Description
相关申请的交叉引用
本申请要求2022年03月31日提交的中国专利申请202210346051.4的权益,该申请的内容通过引用被合并于本文。
本发明涉及工程机械技术领域,具体地,涉及一种用于工程设备的控制方法、处理器及工程设备。
随着工程机械的快速发展及环保政策的实施,工程机械用发动机在满足行驶和作业要求时,在设计选型时功率、扭矩逐步趋向小型化发展。为了满足各种作业工况的要求,避免重载工况下发动机熄火或发动机功率、扭矩匹配过渡富裕的情况,工程机械行业普遍应用恒功率变量柱塞泵,既降低了能耗,又满足了各种作业工况要求。
恒功率变量柱塞泵:为了防止发动机(或电动机)超过其额定输出扭矩,继而导致发动机瞬间熄火,无法正常工作的情况,柱塞泵设计了一种控制阀。在油泵的工作压力P超过一定值后,油泵的排量q与工作压力P成反比,工作压力P增加,排量q减少,使油泵的扭矩M=P*q=C(常数),油泵的扭矩保持不变。带此类恒扭矩控制装置的变量柱塞泵,称为恒功率变量柱塞泵。
在重载工况下,恒功率控制阀持续起作用,为了防止发动机熄火,恒功率控制阀使***处于恒扭矩状态,此时柱塞泵只有部分排量参与工作,发动机对应的执行元件无法在最大速度下工作,工作效率较低;发动机处于动力富裕状态,多余扭矩无法参与做功。
发明内容
本发明的目的是为了克服现有技术中发动机对应的执行元件无法在最大速度下工作,工作效率较低;发动机处于动力富裕状态,多余扭矩无法参与做功的 问题,提供了一种用于工程设备的控制方法、处理器及工程设备以解决上述问题。
为了实现上述目的,本发明第一方面提供一种用于工程设备的控制方法,工程设备包括发动机、比例减压阀、柱塞泵和控制阀,控制阀分别与比例减压阀以及柱塞泵连接,控制方法包括:
确定发动机在第一工况下的第一有效输出扭矩;
确定发动机在第二工况下的第二有效输出扭矩;
确定发动机的当前有效输出扭矩;
根据第一有效输出扭矩、第二有效输出扭矩以及当前有效输出扭矩,确定比例减压阀的输入电流,以确定比例减压阀的输出压力;
根据比例减压阀的输出压力调整控制阀的扭矩控制值,以调整柱塞泵的排量,从而调整发动机的对应执行元件的工作速度,控制阀基于扭矩控制值来保持柱塞泵的功率恒定。
具体地,第一工况包括怠速工况;第二工况包括:发动机的对应执行元件的负载压力最大,柱塞泵的排量最大。
具体地,比例减压阀的输入电流满足以下公式(1):
I=(M-M1)/(M2-M1)*100% 公式(1)
其中,I表示在发动机的有效输出扭矩为M的情况下比例减压阀的电流百分比,电流百分比为输入电流与比例减压阀的最大允许电流的百分比,M表示发动机的当前有效输出扭矩,M1表示发动机在怠速工况下的有效输出扭矩,M2表示发动机在所述第二工况下的有效输出扭矩。
具体地,根据比例减压阀的输出压力调整控制阀的扭矩控制值,以调整所述柱塞泵的排量,从而调整发动机的对应执行元件的工作速度,包括:
在第一工况变化至第二工况的过程中,在发动机的有效输出扭矩增大的情况下,增大比例减压阀的电流,使得比例减压阀的输出压力增加,增大控制阀的变量压力,使得控制阀的扭矩控制值增大,由此柱塞泵的排量增大,使得执行元件的工作速度增大。
具体地,增大控制阀的变量压力包括:
根据比例减压阀的输出压力的增加值来增大控制阀的变量压力;和/或
根据比例减压阀的电流的增大值来增大控制阀的变量压力。
具体地,工程设备还包括控制活塞和摇杆,控制活塞分别与控制阀以及摇杆连接,摇杆与柱塞泵连接,控制方法还包括:
在控制阀的变量压力增大的情况下,推动控制活塞移动,并带动摇杆移动,以使得柱塞泵的排量增大,进而使得执行元件的工作速度增大。
具体地,执行元件包括油泵,在柱塞泵的功率恒定的情况下,油泵的扭矩满足以下公式(2):
M3=P*q=C 公式(2)
其中,M3表示油泵的扭矩,P表示油泵的工作压力,q表示油泵的排量,C为控制阀的扭矩控制值对应的常数,且在扭矩控制值增大的情况下C增大。
具体地,在第一工况变化至第二工况的过程中,发动机的转速增加,发动机的有效输出扭矩增大。
本发明第二方面提供一种处理器,被配置成执行上述的用于工程设备的控制方法。
本发明第三方面提供一种工程设备,包括上述的处理器。
在本发明实施例中,检测发动机的有效输出扭矩,根据发动机的有效输出扭矩来控制比例减压阀的输入电流。具体地,在发动机的有效输出扭矩增大的情况下,增大比例减压阀的输入电流,使得比例减压阀的输出压力升高,提高了恒功率控制阀的扭矩控制值,随之提高了柱塞泵的排量。这样,有效提高了重载工况下执行元件的工作速度,提高了工作效率。通过检测发动机的有效输出扭矩,使得比例减压阀的输出压力与发动机的有效输出扭矩成比例增加,使得发动机的有效输出扭矩能够全面参与作业,减少了扭矩浪费。在重载工况下,提高了发动机的有效扭矩的利用率。
附图是用来提供对本发明的进一步理解,并且构成说明书的一部分,与下面的具体实施方式一起用于解释本发明,但并不构成对本发明的限制。在附图中:
图1示意性示出了工程设备的硬件连接图之一;
图2示意性示出了根据本发明实施例的用于工程设备的控制方法的流程图;
图3示意性示出了根据本发明实施例的工程设备的硬件连接图;
图4示意性示出了根据本发明实施例的发动机的输出扭矩与比例减压阀的电流的曲线图;
图5示意性示出了根据本发明实施例的比例减压阀的电流与压力的曲线图。
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是,此处所描述的具体实施方式仅用于说明和解释本发明,并不用于限制本发明。
为了便于理解本发明实施例中利用比例控制阀来进行控制的具体实施细节及优势,在此之前,首先结合图1来描述利用电磁阀来进行控制的方案,图1示意性示出了工程设备的硬件连接图之一。
恒功率变量柱塞泵:为了防止发动机(或电动机)超过其额定输出扭矩,继而导致发动机瞬间熄火,无法正常工作的情况,柱塞泵设计了一种控制阀。油泵的排量q与工作压力P成反比,在油泵的工作压力P超过一定值后,工作压力P增加,油泵的排量q减少,使M=P*q=C(常数),油泵的扭矩M保持不变。带此类恒扭矩控制装置的变量柱塞泵,称为恒功率变量柱塞泵。
随着工程机械的快速发展及环保政策的实施,工程设备用发动机在满足行驶和作业要求时,在设计选型时功率、扭矩逐步趋向小型化发展。为了满足各种作业工况的要求,避免重载工况下发动机熄火或发动机功率、扭矩匹配过渡富裕的情况,工程机械行业普遍应用恒功率变量柱塞泵,既降低了能耗,又满足了各种作业工况要求。
图1所示为应用电磁阀的恒功率变量柱塞泵的控制***。如图1所示,恒功率变量柱塞泵的控制***涉及:主阀节流口10、阻尼11,电磁阀12、负载敏感控制阀13、压力切断控制阀14、恒功率控制阀15、小控制活塞16、摇杆17、柱塞泵18、大控制活塞19和油箱20。
在图1所示***中,在非工作状态下,发动机的对应执行元件不工作,***压力处于较低状态,在弹簧力的作用下,大控制活塞19迅速复位,柱塞泵18转换为最小排量,减少***的功率损失和发热。
介绍负载敏感控制阀13的工作情况:图1所示***,柱塞泵18的出口压力为P1,发动机的对应执行元件的负载压力为P
LS。柱塞泵输出的流量Q1通过主 阀节流口10来驱动执行元件,主阀节流口10的两端压差ΔP=P1-P
LS;P1作用在负载敏感控制阀13阀芯的左端,P
LS与预设弹簧压力P
K(定值)共同作用在负载敏感控制阀13阀芯的右端。当负载敏感控制阀13受力平衡时,P
K=P1-P
LS=ΔP,柱塞泵18维持一个稳定的排量;如果主阀节流口10的开度发生变化,动态的△P将大于或小于P
K,此时为恢复负载敏感控制阀13的阀芯到力平衡状态,负载敏感控制阀13自动调整柱塞泵18的排量q,改变柱塞泵18的输出流量Q,重新使ΔP=P
K=定值。
介绍压力切断控制阀14的工作情况:图1所示***中,当***工作压力超过压力切断控制阀14的弹簧力时,压力P作用在压力切断控制阀14的阀芯的左端,推动压力切断控制阀14的阀芯右移,使压力P通过压力切断控制阀14进入小控制活塞16,推动小控制活塞16左移,使柱塞泵18转换为最小排量,使发动机的对应执行元件停止工作,防止负载超载工作。此时只有少量油液经压力切断控制阀14溢流,***的压力保持为压力切断控制阀14的设定压力,最大限度地减少了***的功率损失和发热。
介绍恒功率控制阀15的工作情况:图1所示***中,工作压力通过恒功率控制阀15作用于摇杆17,外部可调的弹簧力与此相抵消,它决定恒功率变量压力设置P2。如果工作压力超过弹簧的设置力P2,恒功率控制阀15带动摇杆17,摇杆17驱动柱塞泵18将泵转回(朝向qgmin),工作压力P的增加与排量q的减少成比例,使P*q=C(常数),实现恒功率变量控制的目的。
当发动机的转速升高,发动机的有效输出扭矩大于M
fmax,其中,M
fmax=p
max*q
max,p
max为***最大工作压力,q
max为柱塞泵的最大排量。此时电磁阀12得电,恒功率控制阀15被切断,恒功率控制阀15不起作用。柱塞泵18全部排量参与驱动执行元件,发动机的对应执行元件工作速度提升,提高了工作效率。
在重载工况下(***压力大于弹簧设置力P2),恒功率控制阀15持续起作用。在发动机转速n1(一般指怠速)、输出扭矩M1(M
1=P2*q
max)到发 动机转速n2、输出扭矩M
fmax的阶段,因为此时发动机的有效输出扭矩小于M
fmax,电磁阀12失电,恒功率控制阀15起作用。为了防止发动机熄火,恒功率控制阀15使***处于恒扭矩状态。柱塞泵18只有部分排量参与工作,发动机的对应执行元件无法在最大速度下工作,工作效率受到影响;发动机处于动力富裕状态,多余扭矩无法参与做功。
由上述内容可知,如果***中设置电磁阀12来进行控制的方案存在上述缺陷。进一步地,下面来介绍本发明实施例中利用比例减压阀21来进行控制的具体实施细节及优势。
工程设备包括发动机、比例减压阀21、柱塞泵18和恒功率控制阀15,恒功率控制阀15分别与比例减压阀21以及柱塞泵18连接。图2示意性示出了根据本发明实施例的用于工程设备的控制方法的流程图。如图2所示,在本发明一实施例中,提供了一种用于工程设备的控制方法,包括以下步骤:
步骤201,确定发动机在第一工况下的第一有效输出扭矩;
步骤202,确定发动机在第二工况下的第二有效输出扭矩;
步骤203,确定发动机的当前有效输出扭矩;
步骤204,根据第一有效输出扭矩、第二有效输出扭矩以及当前有效输出扭矩,确定比例减压阀21的输入电流,以确定比例减压阀21的输出压力;
步骤205,根据比例减压阀21的输出压力调整恒功率控制阀15的扭矩控制值,以调整柱塞泵18的排量,从而调整发动机的对应执行元件的工作速度,控制阀15基于扭矩控制值来保持柱塞泵18的功率恒定。
在本发明实施例中,检测发动机的有效输出扭矩,根据发动机的有效输出扭矩来控制比例减压阀21的输入电流。具体地,在发动机的有效输出扭矩增大的情况下,增大比例减压阀21的输入电流,使得比例减压阀21的输出压力升高,提高了恒功率控制阀15的扭矩控制值,随之提高了柱塞泵18的排量。这样,有效提高了重载工况下执行元件的工作速度,提高了工作效率。通过检测发动机的有效输出扭矩,使得比例减压阀21的输出压力与发动机的有效输出扭矩成比例增加,使得发动机的有效输出扭矩能够全面参与作业,减少了扭矩浪费。在重载工况下,提高了发动机的有效扭矩的利用率。
下面以一个具体实施例来对本发明实施例的用于工程设备的控制方法进行具体说明。
图3示意性示出了根据本发明实施例的工程设备的硬件连接图。
本发明公开了一种柱塞泵恒功率变量自动调节控制方法。可结合图2。第一工况(例如怠速工况):恒功率控制阀的变量起点压力P1,对应发动机转速n1、发动机的有效输出扭矩M1。第二工况:***最高工作压力P2,对应最大排量正常工作的发动机转速n2、发动机的有效输出扭矩M2。在重载工况下,发动机的转速增加至n,发动机的当前有效输出扭矩为M,与基准扭矩M1比较,可通过以下公式(1)得到比例减压阀21的输入电流:
输出电流I至先导减压阀21,减压阀21的输出压力P',恒功率控制阀15的压力变量点提升为P',推动小控制活塞16右移,小控制活塞16带动摇杆17右移,柱塞泵18的排量增加,输出流量提升,发动机的对应执行元件的工作速度提高,有效提高了执行元件的工作效率。
在公式M=P*q=C(常数)中,M为扭矩,P为工作压力,q为排量。恒功率控制阀15的压力变量点提高后,恒功率控制阀的扭矩控制值也会提高,这样排量才会增加。
在恒功率控制自动调节的控制逻辑中,发动机的扭矩提高后,电比例减压阀21的电流增加,电比例减压阀21的输出压力提高,恒功率控制阀15的起调点提升,柱塞泵18的排量提高。
图4示意性示出了根据本发明实施例的发动机的输出扭矩与比例减压阀的电流的曲线图。恒功率变量点参数:压力P1,发动机转速n1、恒功率变量控制阀15的扭矩M
1=P
1*q
max,比例减压阀21的电流为零。最大负载扭矩参数:压力P
max,发动机的转速n2,负载最大扭矩M2=P
max*q
max,比例减压阀21的电流为最大值,电流百分比为100%,电流百分比为比例减压阀21的输入电流与比例减压阀21的最大允许电流的百分比。
电比例减压阀21的电流与发动机的有效输出扭矩的变化值相关。发动机的 有效输出扭矩为M1时,比例减压阀21的电流为零,恒功率控制阀15的变量压力为P1。发动机的有效输出扭矩为M2时,比例减压阀21的电流百分比为100%,恒功率控制阀15的变量压力提升至P
max。
图5示意性示出了根据本发明实施例的比例减压阀的电流与压力的曲线图。随着发动机的输出扭矩增加,电比例减压阀21的电流随之线性增加,减压阀21的输出压力成比例增加,恒功率控制阀15带动摇杆17使柱塞泵18的输出排量增加。在发动机的转速从n1升高到n时,发动机的输出扭矩为M,比例减压阀21的电流:
恒功率控制阀15的变量压力提升至P',推动小控制活塞16右移,小控制活塞16带动摇杆17右移,柱塞泵18的排量增加。直至发动机的转速升至n2、有效输出扭矩为最大值M2,恒功率控制阀15的变量压力提升至P
max,柱塞泵18全部排量参与工作,发动机的对应执行元件在最大速度下工作。
本发明实施例在重载工况且发动机不熄火的情况下,通过加入电比例减压阀的新型控制方法,最大限度利用了发动机的有效输出扭矩,使柱塞泵18的排量提升,有效提高了执行元件的工作效率。在本发明实施例中,通过检测发动机的有效输出扭矩,重载工况下柱塞泵18的排量随发动机的有效输出扭矩增加而提高,执行元件的工作速度随之提升,有效提高了执行元件的工作效率。
在本发明实施例中,通过检测发动机的有效输出扭矩,使电比例减压阀21的输出压力与发动机的有效输出扭矩成比例增加,使发动机的有效输出扭矩能够全面参与作业,没有扭矩浪费。在重载工况下,提高了发动机的有效扭矩的利用率。
在一实施例中,电比例减压阀21的电流也可以与发动机的转速信号相关。由于在达到发动机的最大有效输出扭矩M
fmax之前,发动机的转速与有效输出扭矩成近似线性关系,因此采用发动机的转速信号作为控制信号,方案切实可行。发动机的转速增加,电比例减压阀21的电流增加,比例减压阀21的输出压力增加,恒功率控制阀15带动摇杆17使柱塞泵18的输出排量增加。
在本发明实施例中,在重载工况下,如发动机的有效输出扭矩M超过恒功率控制阀15的扭矩设定值M1,则通过发动机的有效输出扭矩信号控制电比例减压阀21的电流增加,使电比例减压阀21的输出压力升高,提高恒功率控制阀15的扭矩控制值,随之提高柱塞泵18的排量,有效提高了重载工况下执行元件的工作速度,提高了工作效率。
本发明实施例提供了一种处理器,该处理器被配置成执行上述实施例中的任意一项用于工程设备的控制方法。
工程设备包括发动机、比例减压阀、柱塞泵和控制阀,控制阀分别与比例减压阀以及柱塞泵连接。
具体地,处理器可以被配置成:
确定发动机在第一工况下的第一有效输出扭矩;
确定发动机在第二工况下的第二有效输出扭矩;
确定发动机的当前有效输出扭矩;
根据第一有效输出扭矩、第二有效输出扭矩以及当前有效输出扭矩,确定比例减压阀的输入电流,以确定比例减压阀的输出压力;
根据比例减压阀的输出压力调整控制阀的扭矩控制值,以调整柱塞泵的排量,从而调整发动机的对应执行元件的工作速度,控制阀基于扭矩控制值来保持柱塞泵的功率恒定。
在本发明实施例中,处理器被配置成:
第一工况包括怠速工况;第二工况包括:发动机的对应执行元件的负载压力最大,柱塞泵的排量最大。
在本发明实施例中,处理器被配置成:
比例减压阀的输入电流满足以下公式(1):
I=(M-M1)/(M2-M1)*100% 公式(1)
I表示在发动机的有效输出扭矩为M的情况下比例减压阀的电流百分比,电流百分比为输入电流与比例减压阀的最大允许电流的百分比,M表示发动机的当前有效输出扭矩,M1表示发动机在怠速工况下的有效输出扭矩,M2表示发动机在所述第二工况下的有效输出扭矩。
在本发明实施例中,处理器被配置成:
根据比例减压阀的输出压力调整控制阀的扭矩控制值,以调整所述柱塞泵的排量,从而调整发动机的对应执行元件的工作速度,包括:
在第一工况变化至第二工况的过程中,在发动机的有效输出扭矩增大的情况下,增大比例减压阀的电流,使得比例减压阀的输出压力增加,增大控制阀的变量压力,使得控制阀的扭矩控制值增大,由此柱塞泵的排量增大,使得执行元件的工作速度增大。
在本发明实施例中,处理器被配置成:
增大控制阀的变量压力包括:
根据比例减压阀的输出压力的增加值来增大控制阀的变量压力;和/或根据比例减压阀的电流的增大值来增大控制阀的变量压力。
在本发明实施例中,工程设备还包括控制活塞和摇杆,控制活塞分别与控制阀以及摇杆连接,摇杆与柱塞泵连接,处理器被配置成:
在控制阀的变量压力增大的情况下,推动控制活塞移动,并带动摇杆移动,以使得柱塞泵的排量增大,进而使得执行元件的工作速度增大。
在本发明实施例中,执行元件包括油泵,处理器被配置成:
在柱塞泵的功率恒定的情况下,油泵的扭矩满足以下公式(2):
M3=P*q=C 公式(2)
M3表示油泵的扭矩,P表示油泵的工作压力,q表示油泵的排量,C为控制阀的扭矩控制值对应的常数,且在扭矩控制值增大的情况下C增大。
在本发明实施例中,处理器被配置成:
在第一工况变化至第二工况的过程中,发动机的转速增加,发动机的有效输出扭矩增大。
本发明实施例提供一种工程设备,包括上述的处理器。
以上结合附图详细描述了本发明的优选实施方式,但是,本发明并不限于上述实施方式中的具体细节,在本发明的技术构思范围内,可以对本发明的技术方案进行多种简单变型,这些简单变型均属于本发明的保护范围。
另外需要说明的是,在上述具体实施方式中所描述的各个具体技术特征,在不矛盾的情况下,可以通过任何合适的方式进行组合。为了避免不必要的重复,本发明对各种可能的组合方式不再另行说明。
此外,本发明的各种不同的实施方式之间也可以进行任意组合,只要其不违背本发明的思想,其同样应当视为本发明所公开的内容。
Claims (10)
- 一种用于工程设备的控制方法,其特征在于,所述工程设备包括发动机、比例减压阀、柱塞泵和控制阀,所述控制阀分别与所述比例减压阀以及所述柱塞泵连接,所述控制方法包括:确定所述发动机在第一工况下的第一有效输出扭矩;确定所述发动机在第二工况下的第二有效输出扭矩;确定所述发动机的当前有效输出扭矩;根据所述第一有效输出扭矩、所述第二有效输出扭矩以及所述当前有效输出扭矩,确定所述比例减压阀的输入电流,以确定所述比例减压阀的输出压力;根据所述比例减压阀的输出压力调整所述控制阀的扭矩控制值,以调整所述柱塞泵的排量,从而调整所述发动机的对应执行元件的工作速度,其中所述控制阀基于所述扭矩控制值来保持所述柱塞泵的功率恒定。
- 根据权利要求1所述的控制方法,其特征在于,所述第一工况包括怠速工况;所述第二工况包括:所述发动机的对应执行元件的负载压力最大,所述柱塞泵的排量最大。
- 根据权利要求2所述的控制方法,其特征在于,所述比例减压阀的输入电流满足以下公式(1):I=(M-M1)/(M2-M1)*100% 公式(1)其中,I表示在所述发动机的有效输出扭矩为M的情况下所述比例减压阀的电流百分比,所述电流百分比为所述输入电流与所述比例减压阀的最大允许电流的百分比,M表示所述发动机的当前有效输出扭矩,M1表示所述发动机在怠速工况下的有效输出扭矩,M2表示所述发动机在所述第二工况下的有效输出扭矩。
- 根据权利要求2所述的控制方法,其特征在于,所述根据所述比例减压阀的输出压力调整所述控制阀的扭矩控制值,以调整所述柱塞泵的排量,从而调整所述发动机的对应执行元件的工作速度,包括:在所述第一工况变化至所述第二工况的过程中,在所述发动机的有效输出扭 矩增大的情况下,增大所述比例减压阀的电流,使得所述比例减压阀的输出压力增加,增大所述控制阀的变量压力,使得所述控制阀的扭矩控制值增大,由此所述柱塞泵的排量增大,使得所述执行元件的工作速度增大。
- 根据权利要求4所述的控制方法,其特征在于,所述增大所述控制阀的变量压力包括:根据所述比例减压阀的输出压力的增加值来增大所述控制阀的变量压力;和/或根据所述比例减压阀的电流的增大值来增大所述控制阀的变量压力。
- 根据权利要求4所述的控制方法,其特征在于,所述工程设备还包括控制活塞和摇杆,所述控制活塞分别与所述控制阀以及所述摇杆连接,所述摇杆与所述柱塞泵连接,所述控制方法还包括:在所述控制阀的变量压力增大的情况下,推动所述控制活塞移动,并带动所述摇杆移动,以使得柱塞泵的排量增大,进而使得所述执行元件的工作速度增大。
- 根据权利要求1所述的控制方法,其特征在于,所述执行元件包括油泵,在所述柱塞泵的功率恒定的情况下,所述油泵的扭矩满足以下公式(2):M3=P*q=C 公式(2)其中,M3表示所述油泵的扭矩,P表示所述油泵的工作压力,q表示所述油泵的排量,C为所述控制阀的扭矩控制值对应的常数,且在所述扭矩控制值增大的情况下C增大。
- 根据权利要求1所述的控制方法,其特征在于,在所述第一工况变化至所述第二工况的过程中,所述发动机的转速增加,所述发动机的有效输出扭矩增大。
- 一种处理器,其特征在于,被配置成执行根据权利要求1至8中任一项所述的用于工程设备的控制方法。
- 一种工程设备,其特征在于,包括根据权利要求9所述的处理器。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210346051.4 | 2022-03-31 | ||
CN202210346051.4A CN114815603A (zh) | 2022-03-31 | 2022-03-31 | 用于工程设备的控制方法、处理器及工程设备 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2023185114A1 true WO2023185114A1 (zh) | 2023-10-05 |
Family
ID=82532834
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2022/140051 WO2023185114A1 (zh) | 2022-03-31 | 2022-12-19 | 用于工程设备的控制方法、处理器及工程设备 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN114815603A (zh) |
WO (1) | WO2023185114A1 (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114815603A (zh) * | 2022-03-31 | 2022-07-29 | 中联重科股份有限公司 | 用于工程设备的控制方法、处理器及工程设备 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4801247A (en) * | 1985-09-02 | 1989-01-31 | Yuken Kogyo Kabushiki Kaisha | Variable displacement piston pump |
CN204284038U (zh) * | 2014-11-25 | 2015-04-22 | 无锡海天机械有限公司 | 一种用于伺服注塑机的节能动力*** |
CN105351164A (zh) * | 2015-10-26 | 2016-02-24 | 江苏恒立液压有限公司 | 轴向柱塞泵电比例扭矩控制装置及其控制方法 |
CN108180181A (zh) * | 2017-12-27 | 2018-06-19 | 湖南响箭重工科技有限公司 | 一种液压***、基于该液压***的控制***及强制搅拌机 |
CN211901133U (zh) * | 2020-02-26 | 2020-11-10 | 上海波赫驱动***有限公司 | 一种刮板输送机用闭式液压*** |
CN212130921U (zh) * | 2020-02-26 | 2020-12-11 | 上海波赫驱动***有限公司 | 一种顺槽破碎机用闭式液压*** |
CN114815603A (zh) * | 2022-03-31 | 2022-07-29 | 中联重科股份有限公司 | 用于工程设备的控制方法、处理器及工程设备 |
-
2022
- 2022-03-31 CN CN202210346051.4A patent/CN114815603A/zh active Pending
- 2022-12-19 WO PCT/CN2022/140051 patent/WO2023185114A1/zh unknown
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4801247A (en) * | 1985-09-02 | 1989-01-31 | Yuken Kogyo Kabushiki Kaisha | Variable displacement piston pump |
CN204284038U (zh) * | 2014-11-25 | 2015-04-22 | 无锡海天机械有限公司 | 一种用于伺服注塑机的节能动力*** |
CN105351164A (zh) * | 2015-10-26 | 2016-02-24 | 江苏恒立液压有限公司 | 轴向柱塞泵电比例扭矩控制装置及其控制方法 |
CN108180181A (zh) * | 2017-12-27 | 2018-06-19 | 湖南响箭重工科技有限公司 | 一种液压***、基于该液压***的控制***及强制搅拌机 |
CN211901133U (zh) * | 2020-02-26 | 2020-11-10 | 上海波赫驱动***有限公司 | 一种刮板输送机用闭式液压*** |
CN212130921U (zh) * | 2020-02-26 | 2020-12-11 | 上海波赫驱动***有限公司 | 一种顺槽破碎机用闭式液压*** |
CN114815603A (zh) * | 2022-03-31 | 2022-07-29 | 中联重科股份有限公司 | 用于工程设备的控制方法、处理器及工程设备 |
Also Published As
Publication number | Publication date |
---|---|
CN114815603A (zh) | 2022-07-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
KR102054520B1 (ko) | 건설기계 유압시스템의 제어방법 | |
KR101975062B1 (ko) | 건설기계의 유압시스템 | |
WO2023185114A1 (zh) | 用于工程设备的控制方法、处理器及工程设备 | |
JP2020169647A (ja) | 負荷検出ポンプ用の電子トルクおよび圧力制御 | |
US20090293470A1 (en) | Over-Loading Prevention Device of Construction Machinery | |
US10428753B2 (en) | Control device for internal combustion engine | |
RU2678398C1 (ru) | Способ и устройство для управления оборотами двигателя на холостом ходу | |
CN103187909A (zh) | 电机控制装置以及电动泵单元 | |
CA3150007A1 (en) | Hydraulic excavator control system and method | |
CN103527542B (zh) | 变量泵液压回路及工程机械 | |
CN103591087A (zh) | 泵送液压***的温度控制装置和控制方法、工程机械 | |
CN104265473A (zh) | 一种发动机的节能控制***及工程机械 | |
KR20160009540A (ko) | 건설기계 엔진의 제어장치 및 제어방법 | |
JP2001140678A (ja) | 建設機械搭載のエンジン制御装置 | |
KR101438227B1 (ko) | 건설기계의 유압펌프 최대 마력 제어를 이용한 엔진 회전수저하 방지 장치 | |
CN115822936A (zh) | 一种工程机械的功率控制方法及*** | |
JPH11351007A (ja) | 作業車両の原動機回転数制御装置および方法 | |
JP3314143B2 (ja) | 建設機械のエンジン制御方法 | |
JP2001193702A (ja) | 建設機械の油圧駆動装置 | |
JP3600204B2 (ja) | 建設機械のエンジン制御装置 | |
CN108466932B (zh) | 底盘取力行车液压调速*** | |
WO2018230639A1 (ja) | 油圧システム | |
KR100953807B1 (ko) | 건설중장비의 유압펌프 마력제어방법 및 이를 이용한 마력제어장치 | |
JP2001065503A (ja) | 建設機械の油圧ポンプ制御回路 | |
CN204239360U (zh) | 启动负载降低式液压***及工程机械 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 22934930 Country of ref document: EP Kind code of ref document: A1 |