CN109437021B - Energy-saving control method and energy-saving control system for crane - Google Patents
Energy-saving control method and energy-saving control system for crane Download PDFInfo
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- CN109437021B CN109437021B CN201811585895.4A CN201811585895A CN109437021B CN 109437021 B CN109437021 B CN 109437021B CN 201811585895 A CN201811585895 A CN 201811585895A CN 109437021 B CN109437021 B CN 109437021B
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- Prior art keywords
- pump
- engine
- energy
- saving control
- crane
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/02—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by hand, foot, or like operator controlled initiation means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses an energy-saving control method and an energy-saving control system for a crane, wherein the energy-saving control method for the crane comprises the following steps: the controller calculates the speed requirement of a user according to the handle signal and the signal of the electronic accelerator pedal, checks the pressure of the outlet of the pump, and can calculate the corresponding power requirement at the speed. The load torque and the rotation speed at which the fuel consumption rate of the engine is the lowest can be calculated from the fuel characteristics of the engine and the efficiency characteristics of the pump. The controller controls the rotating speed of the engine and the displacement of the pump according to the calculation result and the pressure of the pump, and the engine works under the working condition with the best fuel economy under the condition of meeting the requirements of users. The handle and the accelerator pedal of the traditional crane are reserved, and the crane adopting the energy-saving system is obviously different from the traditional crane in operation. The controller can automatically match the discharge capacity of the pump and the rotating speed of the engine, and the purpose of energy conservation is achieved.
Description
Technical Field
The invention relates to the field of cranes, in particular to an energy-saving control method and an energy-saving control system for a crane.
Background
At present, a handle and an accelerator of an automobile crane respectively and independently control the displacement of a pump and the rotating speed of an engine, and a user can only match a handle inclination angle and an accelerator inclination angle by experience in the use process, so that the engine is difficult to work under the working condition with the best fuel economy. In the practical use process of a user, the crane is more common when working under the working condition of low-speed and large-load engine or high-speed and small-load engine.
The technical scheme in the prior art is mainly applied to engineering machinery such as an excavator and the like which need to work at full load all the time, and the attention is paid to the working speed. The hoisting work of the crane is carried out under different loads according to the hoisting requirements, and various speed requirements are met. The existing technical scheme can not meet the working condition that the engine works at the current power under the condition that the crane works at various working speeds to save most energy.
Disclosure of Invention
The invention provides an energy-saving control method and an energy-saving control system for a crane, which can avoid the working condition that an engine works at a low-speed heavy load or an engine at a high-speed light load.
The invention is realized according to the following technical scheme:
the energy-saving control method for the crane comprises a handle for controlling the displacement of a pump, an accelerator pedal for controlling the rotating speed of an engine, a pressure sensor for detecting the pressure of an outlet of the pump, and a controller for calculating the rotating speed of the engine with the lowest fuel consumption rate and the displacement of the pump, and comprises the following steps of:
s1: the controller detects the inclination angle alpha of the operating handle, the position theta of an accelerator pedal and the pressure p of a hydraulic system in real time;
s2: calculating the pump flow demand Q according to the handle inclination angle alpha and the accelerator pedal position theta;
wherein
Vmax-the maximum displacement of the pump;
nmin-a minimum rotational speed of the engine;
nmax-the maximum rotational speed of the engine;
s3: calculating a pump power demand W from the hydraulic system pressure p and the pump flow demand Qx：
Wx＝pQ；
S4: with equivalent output torque TpThe method comprises the following steps that (1) an equal specific oil consumption curve of an engine is drawn according to specific oil consumption data of the engine when a pump rotates at different speeds and outputs equivalent torque;
s5: the tangent point of the current power curve and the equal specific fuel consumption curve of the engine is taken to obtain the optimal working point (T) when the current power W (i)p(i, j), n (i, j)), wherein the current power W (i) is determined by the following method
Wherein T isp(i, j), n (i, j) are constrained by the following conditionsWherein c (i) is a constant, i ═ 1, 2, 3, …, and j ═ 1, 2, 3, …; η is the overall efficiency of the pump and z is the transmission ratio of the engine to the pump;
connecting the optimal working points with different powers to obtain an optimal working curve;
s6: converting the optimal operating curve into the relation n ═ g (W) between the engine speed and the required power, and converting the W obtained in the step S3 into the relation WxThe current optimum engine speed n is obtained by substituting the formulax＝g(Wx) Further, the control displacement of the pump is obtained as follows:
further, the pump is a hydraulic pump.
Further, the output mark of the accelerator pedal position theta is position zero when the accelerator pedal is not stepped, and the output mark of the electronic accelerator pedal when the electronic accelerator pedal is stepped to the bottom is position thetamaxThe median corresponds linearly.
Further, the equivalent output torque TpT × z × η; where T is the output torque, z is the transmission ratio of the engine to the pump, and η is the overall efficiency of the pump.
The energy-saving control system for operating the energy-saving control method of the crane comprises a handle for controlling the displacement of a pump, an accelerator pedal for controlling the rotating speed of an engine, a pressure sensor for detecting the pressure of the outlet of the pump and a controller, wherein the controller operates the energy-saving control method of the crane.
The invention has the beneficial effects that:
the energy-saving control system of the invention reserves the handle and the accelerator pedal of the traditional crane, and the crane adopting the energy-saving system has obvious difference with the traditional crane when a user operates.
According to the operation of a user on the handle and the electronic accelerator pedal, the controller enables the engine to always work under the working condition with the best fuel economy through a power matching algorithm, avoids the working condition that the engine works under a low-speed heavy load or a high-speed light load, and achieves the purpose of energy conservation.
Drawings
FIG. 1 illustrates the principle of an energy-saving control system of a crane;
FIG. 2 is a graph of the engine's equal specific fuel consumption;
fig. 3 is a graph of the optimum operation.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. 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. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the controller detects the angle of the operating handle, the position of the accelerator pedal and the system pressure in real time, and can calculate the speed demand of the user for operating the hoist and the flow demand of the pump according to the rotating speed range of the engine and the maximum displacement of the pump. The power demand of the pump can be calculated further from the system pressure. Considering the difference of mechanical efficiency and volumetric efficiency of the hydraulic pump under different working pressure, displacement and rotating speed, the data of the fuel consumption rate of the engine under different rotating speeds and output torques are converted into the fuel consumption rate of the engine under different rotating speeds and equivalent output torques of the pump. The same pump output power can be obtained by using different combinations of engine speed and pump displacement. According to the engine fuel consumption rate data corresponding to different rotating speeds and equivalent output torques of the pump, the same pump output power and the engine rotating speed and the pump displacement with the lowest fuel consumption rate can be obtained.
The power demand of the pump is calculated as follows:
calculating the flow demand of the pump according to the handle inclination angle alpha and the position theta of the electronic accelerator pedal
Wherein
VmaxMaximum displacement of the pump
nminMinimum rotational speed of the engine
nmaxMaximum speed of the engine
The oil pressure p of the outlet of the pump is detected by the pressure sensor of the outlet of the pump, and the power requirement of the pump can be further calculated
Wx＝pQ
The method for solving the optimal working curve of the engine comprises the following steps: the engine measures the corresponding relation ge between the specific fuel consumption ge of the engine and the engine speed n and the output torque T through a dynamometer, wherein the corresponding relation ge is f (T, n). Multiplying the torque T of the specific fuel consumption data by the total efficiency eta of the pump and the transmission ratio z of the engine and the pump to obtain the equivalent output torque T of the pumppT × z × η. Further, the specific fuel consumption ge of the engine, the engine speed n and the equivalent output torque T of the pump are obtainedpThe relationship of (1):
where the overall efficiency η of the pump is affected by the speed, displacement and output pressure of the pump, this data needs to be obtained from testing the pump.
Drawing an equal specific fuel consumption curve of the engine according to the specific fuel consumption data of the engine when the pump has different rotating speeds and equivalent output torque, wherein the tangent point of the power curve and the equal specific fuel consumption curve of the engine is the optimal working point (T) when the current power W (i)p(i, j), n (i, j)), W (i) is obtained by the following formula
Wherein T isp(i, j), n (i, j) are constrained by the following conditions
And (c (i) is a constant, i is 1, 2, 3, …, and j is 1, 2, 3, …) the optimal operating points of different powers are connected to obtain an optimal operating curve.
The method for calculating the rotation speed of the engine and the displacement of the pump is as follows: converting the optimal working curve into the relation n ═ g (W) between the engine speed and the required power, and calculating the power requirement WxThe current optimum engine speed n is obtained by substituting the formulax＝g(Wx) Further obtain the control displacement of the pump
The output of the electronic accelerator pedal when the accelerator pedal is not depressed is marked as position zero, and the output of the electronic accelerator pedal when the electronic accelerator pedal is fully depressed is marked as position θmaxThe median corresponds linearly. For example, the output of an electronic accelerator pedal of a certain type is a voltage signal, the voltage output range is 0.5-4.8V, the position is marked as zero when the output voltage is 0.5V, and the position is marked as theta when the output voltage is 4.8Vmax。
As shown in fig. 2, the rotation speed of the pump is plotted on the horizontal axis, the equivalent output torque is plotted on the vertical axis, and the line connecting points at which the products of the rotation speed and the equivalent output torque are the same is an equal power curve, and the curves are different when the products are different.
As shown in fig. 3, the dotted line in the figure is the iso-power curve. The tangent point of the equal power curve and the equal specific fuel consumption curve is the optimal working point, and the optimal working point is connected together to form the optimal working curve. And converting the optimal working curve into the relation between the rotating speed of the pump and the output power of the pump.
In conclusion, the handle and the accelerator pedal of the traditional crane are reserved, and the crane adopting the energy-saving system is obviously different from the traditional crane in operation. The controller can automatically match the discharge capacity of the pump and the rotating speed of the engine, and the purpose of energy conservation is achieved. The energy-saving control scheme can be used for a crane of a pump control system, a crane of an electric control load sensitive hydraulic system, other engineering machinery such as an excavator and the like.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (5)
1. The energy-saving control method for the crane comprises a handle for controlling the displacement of a pump, an accelerator pedal for controlling the rotating speed of an engine and a pressure sensor for detecting the pressure of the outlet of the pump, and is characterized in that: the method also comprises a controller, wherein the controller is used for calculating the engine speed and the pump displacement with the lowest fuel consumption rate, and comprises the following steps:
s1: the controller detects the inclination angle alpha of the operating handle, the position theta of an accelerator pedal and the pressure p of a hydraulic system in real time;
s2: calculating the pump flow demand Q according to the handle inclination angle alpha and the accelerator pedal position theta;
wherein
Vmax-the maximum displacement of the pump;
nmin-a minimum rotational speed of the engine;
nmax-the maximum rotational speed of the engine;
s3: calculating a pump power demand W from the hydraulic system pressure p and the pump flow demand Qx：
Wx＝pQ；
S4: with equivalent output torque TpThe vertical axis and the engine speed n are horizontal axes, and the specific oil consumption data of the engine at different rotating speeds and equivalent output torque of the pump are used for drawing the specific oil of the engineA consumption curve;
s5: the tangent point of the current power curve and the equal specific fuel consumption curve of the engine is taken to obtain the optimal working point (T) when the current power W (i)p(i, j), n (i, j)), wherein the current power W (i) is determined by the following method
Wherein T isp(i, j), n (i, j) are constrained by the following conditionsn (i, j)) ═ c (i), where c (i) is a constant, i ═ 1, 2, 3, …, and j ═ 1, 2, 3, …; η is the overall efficiency of the pump and z is the transmission ratio of the engine to the pump;
connecting the optimal working points with different powers to obtain an optimal working curve;
the engine measures the corresponding relation ge of the specific fuel consumption ge of the engine, the engine speed n and the output torque T through the dynamometer, the torque T of the specific fuel consumption data is multiplied by the total efficiency eta of the pump and the transmission ratio z of the engine and the pump to obtain the equivalent output torque T of the pumppT × z × η; further, the specific fuel consumption ge of the engine, the engine speed n and the equivalent output torque T of the pump are obtainedpThe relationship of (1):
wherein the total efficiency eta of the pump is influenced by the rotation speed, the displacement and the output pressure of the pump, and the data needs to be obtained by testing the pump;
s6: converting the optimal operating curve into the relation n ═ g (W) between the engine speed and the required power, and converting the W obtained in the step S3 into the relation WxThe current optimum engine speed n is obtained by substituting the formulax＝g(Wx) Further, the control displacement of the pump is obtained as follows:
2. the energy-saving control method for the crane according to claim 1, wherein: the pump is a hydraulic pump.
3. The energy-saving control method for the crane according to claim 1, wherein: the output mark of the position theta of the accelerator pedal is position zero when the accelerator pedal is not pedaled, and the output mark of the electronic accelerator pedal is position theta when the electronic accelerator pedal is pedaled to the bottommaxThe median corresponds linearly.
4. The energy-saving control method for the crane according to claim 1, wherein: the equivalent output torque Tp＝T×z×η；
Where T is the output torque, z is the transmission ratio of the engine to the pump, and η is the overall efficiency of the pump.
5. An energy-saving control system for operating the energy-saving control method of the crane of claim 1, comprising a handle for controlling the displacement of the pump and an accelerator pedal for controlling the rotation speed of the engine, and a pressure sensor for detecting the pressure at the outlet of the pump, wherein: the energy-saving control method of the crane further comprises a controller, wherein the controller operates the energy-saving control method of the crane in claim 1.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811585895.4A CN109437021B (en) | 2018-12-24 | 2018-12-24 | Energy-saving control method and energy-saving control system for crane |
| PCT/CN2019/127440 WO2020135336A1 (en) | 2018-12-24 | 2019-12-23 | Crane energy-saving control method and crane energy-saving control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811585895.4A CN109437021B (en) | 2018-12-24 | 2018-12-24 | Energy-saving control method and energy-saving control system for crane |
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| Publication Number | Publication Date |
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| CN109437021A CN109437021A (en) | 2019-03-08 |
| CN109437021B true CN109437021B (en) | 2019-12-20 |
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| WO (1) | WO2020135336A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109437021B (en) * | 2018-12-24 | 2019-12-20 | 徐州重型机械有限公司 | Energy-saving control method and energy-saving control system for crane |
| JP7340246B2 (en) * | 2019-10-07 | 2023-09-07 | 株式会社イシダ | Weighing device |
| CN110905674A (en) * | 2019-12-27 | 2020-03-24 | 徐州重型机械有限公司 | Crane power matching control method and system and crane |
| CN111706577B (en) * | 2020-06-28 | 2022-09-02 | 广东电网能源发展有限公司 | Remote control self-balancing hydraulic pump station system |
| CN114248777B (en) * | 2021-12-13 | 2024-03-19 | 潍柴动力股份有限公司 | Method and device for reducing oil consumption, storage medium and electronic equipment |
| CN115321362A (en) * | 2022-08-31 | 2022-11-11 | 徐工集团工程机械股份有限公司建设机械分公司 | Crane closed hydraulic system negative torque testing and controlling method and crane |
| CN116161553B (en) * | 2023-01-04 | 2024-12-10 | 徐州重型机械有限公司 | Hybrid power control method, system and crane |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62142834A (en) * | 1985-12-17 | 1987-06-26 | Komatsu Ltd | Control device for engine of crane |
| JP2902055B2 (en) * | 1990-06-07 | 1999-06-07 | マツダ株式会社 | Vehicle traction control device |
| JP4495706B2 (en) * | 2006-09-12 | 2010-07-07 | 本田技研工業株式会社 | Hybrid vehicle |
| CN101993006B (en) * | 2010-10-12 | 2012-07-04 | 三一汽车起重机械有限公司 | Automobile crane and energy-saving control method and energy-saving control system thereof |
| CN103032185B (en) * | 2012-12-20 | 2016-02-10 | 中联重科股份有限公司 | Control method and control device of automobile crane and automobile crane |
| CN103362666B (en) * | 2013-07-29 | 2015-12-02 | 中联重科股份有限公司 | Power matching control equipment, method and system and engineering machinery |
| CN103925091B (en) * | 2014-04-09 | 2016-09-07 | 三一汽车起重机械有限公司 | Dynamic power matching process |
| CN108083114B (en) * | 2017-11-29 | 2019-05-21 | 徐州重型机械有限公司 | A kind of crane energy-saving control method and system |
| CN109437021B (en) * | 2018-12-24 | 2019-12-20 | 徐州重型机械有限公司 | Energy-saving control method and energy-saving control system for crane |
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2018
- 2018-12-24 CN CN201811585895.4A patent/CN109437021B/en active Active
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2019
- 2019-12-23 WO PCT/CN2019/127440 patent/WO2020135336A1/en active Application Filing
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| WO2020135336A1 (en) | 2020-07-02 |
| CN109437021A (en) | 2019-03-08 |
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