CN108757415B - Driving system and control method of throwing device and sand throwing and fire extinguishing train - Google Patents
Driving system and control method of throwing device and sand throwing and fire extinguishing train Download PDFInfo
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- CN108757415B CN108757415B CN201810506384.2A CN201810506384A CN108757415B CN 108757415 B CN108757415 B CN 108757415B CN 201810506384 A CN201810506384 A CN 201810506384A CN 108757415 B CN108757415 B CN 108757415B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
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Abstract
The invention discloses a driving system and a control method of a throwing device and a sand throwing and fire extinguishing train. The control method of the driving system of the throwing device comprises the following steps: acquiring the actual working speed of the engine under the current working condition and the actual highest working pressure of output oil of the hydraulic pump; calculating the maximum allowable displacement of the hydraulic pump under the current working condition according to the actual working speed and the actual maximum working pressure; the displacement control unit is actuated to control the actual displacement of the hydraulic pump in accordance with the maximum allowable displacement. So as to effectively avoid engine flameout. The control method of the throwing device calculates and controls the actual discharge capacity of the hydraulic pump according to the actual working rotating speed of the engine under the current working condition and the actual highest working pressure of the hydraulic pump, so that the power of the hydraulic pump can be matched with the power of the engine in real time, and the problem of flameout of the engine caused by overhigh working pressure of the hydraulic pump due to overlarge load of the throwing device in the working process is effectively solved.
Description
Technical Field
The invention relates to the technical field of fire extinguishing equipment, in particular to a driving system and a control method of a throwing device and a sand throwing and fire extinguishing vehicle.
Background
With the rapid development of sand-throwing fire-extinguishing technology, the automation degree of sand-throwing fire-extinguishing trains is higher and higher. The sand throwing fire extinguishing vehicle comprises a throwing device, wherein the throwing device is driven by a hydraulic control system and a hydraulic motor by taking a diesel engine as a power source. Because the throwing device is directly driven by the hydraulic motor to rotate, the working strength is high, the time is long, and the load working conditions are variable, so that the faults of engine flameout and the like caused by overlarge load are very easy to occur.
Disclosure of Invention
The invention aims to provide a driving system and a control method of a throwing device and a sand throwing and fire extinguishing train, so as to effectively avoid engine flameout.
A first aspect of the present invention provides a control method of a driving system of a scattering device, the driving system including a hydraulic pump, a displacement control unit for controlling a displacement of the hydraulic pump, and an engine for driving the hydraulic pump to rotate, comprising the steps of:
acquiring the actual working speed of the engine under the current working condition and the actual highest working pressure of output oil of the hydraulic pump;
calculating the maximum allowable displacement of the hydraulic pump under the current working condition according to the actual working speed and the actual maximum working pressure;
the displacement control unit is actuated to control the actual displacement of the hydraulic pump in accordance with the maximum allowable displacement.
In some embodiments, calculating the maximum allowable displacement of the hydraulic pump at the current operating condition based on the actual operating speed and the actual maximum operating pressure comprises: and calculating the maximum output torque of the engine according to the actual working rotating speed, and calculating the maximum allowable displacement of the hydraulic pump according to the maximum output torque and the actual highest working pressure.
In some embodiments, the maximum output torque of the engine at the actual operating speed is calculated based on an external characteristic of the engine.
In some embodiments, the displacement control unit is a solenoid-operated valve, and controlling the displacement control unit action according to the maximum allowable displacement comprises controlling a control current of the solenoid-operated valve according to the maximum allowable displacement.
In some embodiments, controlling the control current of the solenoid control valve according to the maximum allowable displacement comprises: acquiring actual control current of an electromagnetic control valve; and calculating the maximum control current of the electromagnetic control valve corresponding to the maximum allowable displacement according to the maximum allowable displacement, comparing the maximum control current with the actual control current, and controlling the control current of the electromagnetic control valve according to the comparison result.
In some embodiments, the control current of the control solenoid control valve is the actual control current when the actual control current is less than the maximum control current; when the actual control current is greater than the maximum control current, the control current for controlling the electromagnetic control valve is the maximum control current.
The invention provides a driving system of a throwing device, which comprises a hydraulic pump, a displacement control unit for controlling the displacement of the hydraulic pump, an engine for driving the hydraulic pump to rotate and a control device, wherein the control device is used for acquiring the actual working speed of the engine and the actual maximum working pressure of the hydraulic pump under the current working condition and calculating the maximum allowable displacement of the hydraulic pump according to the actual working speed and the actual maximum working pressure so as to control the actual displacement of the hydraulic pump according to the maximum allowable displacement.
In some embodiments, the driving system further comprises a rotation speed sensor, wherein the rotation speed sensor is used for acquiring the actual working rotation speed of the engine and sending the actual working rotation speed to the control device; and/or the driving system further comprises a pressure sensor, and the pressure sensor is used for collecting the actual working pressure of the hydraulic pump and sending the actual working pressure to the control device.
In some embodiments, the control device comprises:
the engine torque calculation module is used for calculating the maximum output torque of the engine according to the actual working rotating speed; and
and the displacement calculation module is used for calculating the maximum allowable displacement of the hydraulic pump according to the maximum output torque and the actual highest working pressure.
A third aspect of the invention provides a sand throwing train comprising a throwing device and a driving system for the throwing device as provided in any of the second aspects of the invention, the driving system being adapted to control the operation of the throwing device.
Based on the driving system and the control method of the throwing device and the sand throwing and fire extinguishing vehicle provided by the invention, the control method of the driving system of the throwing device comprises the following steps: acquiring the actual working speed of the engine under the current working condition and the actual highest working pressure of output oil of the hydraulic pump; calculating the maximum allowable displacement of the hydraulic pump under the current working condition according to the actual working speed and the actual maximum working pressure; the displacement control unit is actuated to control the actual displacement of the hydraulic pump in accordance with the maximum allowable displacement. So as to effectively avoid engine flameout. The control method of the throwing device calculates and controls the actual discharge capacity of the hydraulic pump according to the actual working rotating speed of the engine under the current working condition and the actual highest working pressure of the hydraulic pump, so that the power of the hydraulic pump can be matched with the power of the engine in real time, and the problem of flameout of the engine caused by overhigh working pressure of the hydraulic pump due to overlarge load of the throwing device in the working process is effectively solved.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic configuration diagram of a hydraulic control unit of a driving system of a scattering device according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a control device of a driving system of a throwing device according to an embodiment of the present invention;
fig. 3 is a schematic view illustrating a method of controlling a driving system of a scattering device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1 and 2, the driving system of the scattering device of the embodiment of the present invention includes a hydraulic control unit and a control device 18. Wherein the hydraulic control unit includes a hydraulic pump 2, a displacement control unit for controlling a displacement of the hydraulic pump 2, and an engine 1 for driving the hydraulic pump 2 to rotate. The control device 18 is used for acquiring the actual working speed of the engine 1 and the actual maximum working pressure of the hydraulic pump 2 under the current working condition, and calculating the maximum allowable displacement of the hydraulic pump 2 according to the actual working speed and the actual maximum working pressure so as to control the actual displacement of the hydraulic pump 2 according to the maximum allowable displacement.
The control device 18 of the driving system calculates and controls the actual displacement of the hydraulic pump 2 according to the actual working speed of the engine 1 and the actual maximum working pressure of the hydraulic pump 2 under the current working condition, so that the power of the hydraulic pump 2 can be matched with the power of the engine 1 in real time, and the problem of engine flameout caused by overhigh working pressure of the hydraulic pump due to overlarge load of the scattering device in the working process is effectively solved. And the driving system automatically acquires the actual working rotating speed of the engine and the actual maximum working pressure of the hydraulic pump 2 by using the control device and automatically controls the discharge capacity of the hydraulic pump 2, thereby realizing automatic control and reducing human misoperation.
In order to accurately acquire the actual operating rotational speed of the engine, as shown in fig. 1, the drive system of the present embodiment further includes a rotational speed sensor 10. The rotation speed sensor 10 is used for acquiring the actual working rotation speed of the engine and sending the actual working rotation speed to the control device.
Likewise, in order to accurately acquire the actual maximum working pressure of the hydraulic pump 2, the drive system of the present embodiment further includes a pressure sensor 11. The pressure sensor 11 is used for acquiring the actual working pressure of the hydraulic pump 2 and sending the actual working pressure to the control device.
In order to accurately calculate the maximum allowable displacement of the hydraulic pump, as shown in fig. 2, the control device 18 of the present embodiment includes an engine torque calculation module 182 and a hydraulic pump displacement calculation module 181. The engine torque calculation module 182 is configured to calculate the maximum output torque T of the engine 1 according to the actual working speedmax. The hydraulic pump displacement calculation module 181 is used for calculating the maximum output torque TmaxAnd calculating the maximum allowable displacement V of the hydraulic pump 2 by the actual maximum working pressurec。
The engine torque calculation module 182 may be an external characteristic of the engine 1 or a table or formula based on the external characteristic. The hydraulic pump displacement calculation module 181 is a displacement calculation formula for the hydraulic pump.
As shown in fig. 2, the maximum allowable displacement V of the hydraulic pump 2 is calculatedcAnd then also according to the maximum allowable displacement VcThe actual displacement of the hydraulic pump 2 is precisely controlled. Preferably, the control apparatus of the present embodiment performs the displacement of the hydraulic pump 2 by a feedback control methodAnd (5) controlling.
In order to realize the feedback control of the displacement of the hydraulic pump 2, the control apparatus of the present embodiment further includes a comparison module 183. And, as shown in fig. 1, the displacement control unit of the hydraulic pump 2 includes a solenoid-operated valve 15. The magnitude of the control current of the solenoid control end 15A of the solenoid control valve 15 determines the displacement of the hydraulic pump 2. The maximum permissible displacement V of the hydraulic pump 2 is thus calculatedcAfter (the maximum allowable displacement here refers to the maximum allowable displacement of the hydraulic pump at the current rotation speed and the current measured maximum working pressure, and not the maximum displacement of the hydraulic pump 2), the control device calculates the maximum allowable displacement VcCorresponding maximum control current ic. The comparison module 183 compares the maximum control current with the actual control current i of the solenoid control valve 15dThe comparison is carried out and the control current of the solenoid control valve 15 is controlled according to the comparison result, specifically, the current magnitude of the solenoid control end of the solenoid control valve 15 is controlled by a solenoid control end amplifier 17.
The displacement adjustment process of the hydraulic pump 1 is explained in detail below with reference to fig. 1. Two oil inlets of the shuttle valve 7 are respectively connected with outlet ends of the hydraulic pump 2 and the gear pump 9, and an oil outlet of the shuttle valve 7 is used for providing control oil meeting certain pressure. The pressure cutoff valve 16 and the solenoid control valve 15 normally operate in the right position. One part of control oil at an oil outlet of the shuttle valve 7 enters the upper variable oil cylinder 4 through the upper throttling port 8, and the other part of the control oil enters the lower variable oil cylinder 3 through the electromagnetic control valve 15, the pressure cut-off valve 16 and the lower throttling port 5, and as the action area of the lower variable oil cylinder 3 is larger than that of the upper variable oil cylinder 4, the displacement of the hydraulic pump 2 is always at the position of the minimum displacement Vgmin after the pump 1 is normally started. The displacement of the hydraulic pump 2 is changed from the minimum displacement Vgmin to the maximum displacement Vgmax when the solenoid-operated valve 15 is energized, and the larger the current of the solenoid-operated valve 15, the larger the displacement of the hydraulic pump 2. The oil outlet of the hydraulic pump 2 is connected with a throwing motor 14, two ends of the throwing motor 14 are connected with an oil supplementing one-way valve 13 in parallel, and the oil outlet of the throwing motor 14 is connected with an oil tank 12.
In particular, when the current i is actually controlleddLess than the maximum control current icIt is explained that the power of the hydraulic pump is smaller than that of the engine at this time becauseThis continues in accordance with the actual control current idAnd (5) controlling. When the actual control current idGreater than the maximum control current icWhen the maximum control current i is larger than the maximum control current i, the power of the hydraulic pump is larger than the power of the engine, and the control current is required to be reduced to avoid flameout of the enginecAnd (5) controlling.
As shown in fig. 3, the control method of the driving system of the scattering device of the present embodiment includes the following steps:
step 101: acquiring the actual working speed of the engine 1 and the actual highest working pressure of the output oil of the hydraulic pump 2 under the current working condition;
step 102: calculating the maximum allowable displacement of the hydraulic pump under the current working condition according to the actual working speed and the actual maximum working pressure;
step 103: the displacement control unit is actuated to control the actual displacement of the hydraulic pump in accordance with the maximum allowable displacement.
The control method calculates and controls the actual displacement of the hydraulic pump 2 according to the actual working rotating speed of the engine 1 and the actual highest working pressure of the hydraulic pump 2 under the current working condition, so that the power of the hydraulic pump 2 can be matched with the power of the engine 1 in real time, and the problem of flameout of the engine caused by overhigh working pressure of the hydraulic pump due to overlarge load of the scattering device in the working process is effectively solved.
In some embodiments, calculating the maximum allowable displacement of the hydraulic pump at the current operating condition based on the actual operating speed and the actual maximum operating pressure comprises: and calculating the maximum output torque of the engine according to the actual working rotating speed, and calculating the maximum allowable displacement of the hydraulic pump according to the maximum output torque and the actual highest working pressure.
In at least one embodiment, the maximum output torque of the engine at the actual operating speed is calculated based on an external characteristic of the engine.
In some embodiments, controlling the control current of the solenoid control valve according to the maximum allowable displacement comprises: acquiring actual control current of an electromagnetic control valve; and calculating the maximum control current of the electromagnetic control valve corresponding to the maximum allowable displacement according to the maximum allowable displacement, comparing the maximum control current with the actual control current, and controlling the control current of the electromagnetic control valve according to the comparison result.
The embodiment also provides a sand-throwing fire-fighting vehicle, which comprises the throwing device and the driving system of the throwing device, wherein the driving system is used for controlling the working of the throwing device. The sand in the sand pile needs to be thrown to a fire place in the working process of the throwing device of the sand throwing fire extinguishing vehicle, and when hard substances such as stones and the like exist in the sand pile, the throwing device is subjected to extremely high load pressure, so that the sender can be extinguished. Therefore, the driving system of the throwing device of the embodiment is specially designed for the running condition of the sand-throwing fire extinguishing vehicle.
Fig. 1 shows a schematic configuration diagram of a hydraulic control unit of the drive system of the present embodiment. The hydraulic control unit includes an engine 1, a hydraulic pump 2, and a gear pump 9. The engine 1 drives the hydraulic pump 2 and the gear pump 9 to rotate, and the hydraulic pump 2 and the gear pump 9 suck oil from the oil tank 12 through the hydraulic oil filter 6. The lower variable cylinder 3 and the upper variable cylinder 4 jointly control the displacement of the hydraulic pump 2.
Two oil inlets of the shuttle valve 7 are respectively connected with outlet ends of the hydraulic pump 2 and the gear pump 9, and an oil outlet of the shuttle valve 7 is used for providing control oil meeting certain pressure. The pressure cutoff valve 16 and the solenoid control valve 15 normally operate in the right position. One part of control oil at an oil outlet of the shuttle valve 7 enters the upper variable oil cylinder 4 through the upper throttling port 8, and the other part of the control oil enters the lower variable oil cylinder 3 through the electromagnetic control valve 15, the pressure cut-off valve 16 and the lower throttling port 5, and as the action area of the lower variable oil cylinder 3 is larger than that of the upper variable oil cylinder 4, the displacement of the hydraulic pump 2 is always at the position of the minimum displacement Vgmin after the pump 1 is normally started. The displacement of the hydraulic pump 2 is changed from the minimum displacement Vgmin to the maximum displacement Vgmax when the solenoid-operated valve 15 is energized, and the larger the current of the solenoid-operated valve 15, the larger the displacement of the hydraulic pump 2. The oil outlet of the hydraulic pump 2 is connected with a throwing motor 14, two ends of the throwing motor 14 are connected with an oil supplementing one-way valve 13 in parallel, and the oil outlet of the throwing motor 14 is connected with an oil tank 12.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (8)
1. A control method of a drive system of a throwing apparatus, the drive system including a hydraulic pump, a displacement control unit for controlling a displacement of the hydraulic pump, and an engine for driving the hydraulic pump to rotate, characterized by comprising the steps of:
acquiring the actual working speed of the engine and the actual highest working pressure of output oil of the hydraulic pump under the current working condition;
calculating the maximum output torque of the engine at the actual working speed according to an external characteristic curve of the engine, and calculating the maximum allowable displacement of the hydraulic pump under the current working condition according to the maximum output torque and the actual highest working pressure;
controlling the displacement control unit to act to control the actual displacement of the hydraulic pump in accordance with the maximum allowable displacement.
2. The method of controlling a drive system of a throwing device according to claim 1, wherein said displacement control unit is a solenoid-operated valve, and controlling said displacement control unit action according to said maximum allowable displacement comprises controlling a control current of said solenoid-operated valve according to said maximum allowable displacement.
3. The control method of the driving system of the scattering device as claimed in claim 2, wherein controlling the control current of the solenoid control valve according to the maximum allowable displacement comprises: acquiring actual control current of the electromagnetic control valve; and calculating the maximum control current of the electromagnetic control valve corresponding to the maximum allowable displacement according to the maximum allowable displacement, comparing the maximum control current with the actual control current, and controlling the control current of the electromagnetic control valve according to the comparison result.
4. The control method of the driving system of the scattering device as claimed in claim 3, wherein the control current of the solenoid control valve is controlled to the actual control current when the actual control current is less than the maximum control current; and when the actual control current is larger than the maximum control current, controlling the control current of the electromagnetic control valve to be the maximum control current.
5. A driving system of a throwing device, comprising a hydraulic pump, a displacement control unit for controlling the displacement of the hydraulic pump, an engine for driving the hydraulic pump to rotate, and a control device for acquiring an actual working speed of the engine under a current working condition to calculate a maximum output torque of the engine at the actual working speed according to an external characteristic curve of the engine and for acquiring an actual maximum working pressure of the hydraulic pump and calculating a maximum allowable displacement of the hydraulic pump according to the maximum output torque and the actual maximum working pressure to control the actual displacement of the hydraulic pump according to the maximum allowable displacement.
6. The driving system of the throwing device according to claim 5, further comprising a rotation speed sensor for acquiring an actual working rotation speed of the engine and transmitting the actual working rotation speed to the control device; and/or, the driving system further comprises a pressure sensor, and the pressure sensor is used for collecting the actual working pressure of the hydraulic pump and sending the actual working pressure to the control device.
7. The driving system of a dispensing device according to claim 5, wherein the control device comprises:
the engine torque calculation module is used for calculating the maximum output torque of the engine according to the actual working rotating speed; and
and the displacement calculation module is used for calculating the maximum allowable displacement of the hydraulic pump according to the maximum output torque and the actual highest working pressure.
8. A sand throwing train comprising a throwing device and a driving system for the throwing device according to any one of claims 5 to 7 for controlling the operation of the throwing device.
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| CN112023311B (en) * | 2020-09-11 | 2022-04-01 | 徐工集团工程机械有限公司 | Sand-throwing fire extinguishing device and sand-throwing fire extinguishing vehicle |
| CN112983798B (en) * | 2021-03-25 | 2023-02-24 | 烟台杰瑞石油装备技术有限公司 | Control method and control device applied to electrically-driven fracturing equipment |
| WO2023245636A1 (en) | 2022-06-24 | 2023-12-28 | 烟台杰瑞石油装备技术有限公司 | Fracturing control method and fracturing system |
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| JP3801503B2 (en) * | 2001-12-21 | 2006-07-26 | 日立建機株式会社 | Hydraulic drive device and method for working machine |
| CN102297182B (en) * | 2011-08-10 | 2013-01-09 | 中联重科股份有限公司 | Control method of hydraulic system and control method of concrete pump truck |
| CN103062026B (en) * | 2012-12-24 | 2013-11-20 | 北汽福田汽车股份有限公司 | Method and device for controlling pump output of concrete pumping machinery |
| KR102015141B1 (en) * | 2013-03-29 | 2019-08-27 | 두산인프라코어 주식회사 | Control system and method of Hydraulic Pump for Construction Machinery |
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| JP6153441B2 (en) * | 2013-10-03 | 2017-06-28 | 株式会社Kcm | Work vehicle |
| CN104003305B (en) * | 2014-05-26 | 2017-02-01 | 徐工集团工程机械股份有限公司 | Matching method and device of crane pump control system threshold power |
| CN105421521B (en) * | 2015-11-11 | 2018-07-03 | 潍柴动力股份有限公司 | The anti-stall control method of excavator and system |
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Effective date of registration: 20220803 Address after: 221004 26 Tuo Lan Shan Road, Xuzhou economic and Technological Development Zone, Jiangsu Patentee after: Jiangsu Xugong Construction Machinery Research Institute Co.,Ltd. Address before: 221004 26 Tuo Lan Shan Road, Xuzhou economic and Technological Development Zone, Jiangsu Patentee before: XCMG CONSTRUCTION MACHINERY Co.,Ltd. |