CN109778937B - Self-optimization control device and method based on crushing working condition - Google Patents
Self-optimization control device and method based on crushing working condition Download PDFInfo
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Abstract
The invention discloses a self-optimizing control device and a self-optimizing control method based on a crushing working condition, which comprise a main controller, an electronic monitor, an engine controller, a rotating speed sensor, a main pump pressure sensor and a main pump proportional valve, wherein the electronic monitor and the engine controller are connected with the main controller through buses; the rotating speed sensor is used for monitoring the rotating speed of an engine in the excavator, and the output end of the rotating speed sensor is connected with the input end of the engine controller; the main pump pressure sensor is arranged at an oil outlet of a main pump on the excavator, detects the pressure of the oil outlet of the main pump, and the output end of the main pump is connected with the input end of the main controller; and the main pump proportional valve is connected with the control output end of the main controller and is used for being connected with a hydraulic pump of the breaking hammer to control the discharge capacity of the hydraulic pump. The invention can realize accurate and efficient power matching and improve the energy-saving effect of the device.
Description
Technical Field
The invention belongs to the technical field of excavator electro-hydraulic control, and particularly relates to a self-optimizing control device and method based on a crushing working condition.
Background
The hydraulic breaking hammer is a device which takes hydraulic energy as a power source and converts the hydraulic energy into mechanical striking kinetic energy in the movement process so as to enable a piston to push a drill rod to carry out breaking operation. As a novel crushing tool, the novel crusher has the characteristics of low noise, excellent crushing performance, energy conservation, environmental protection and the like.
The hydraulic excavator is an engineering mechanical device which is flexible in movement and wide in application, and a front-end working device of the hydraulic excavator can flexibly carry various machines and tools, so that the effect of one machine with multiple functions is achieved. In the 21 st century, the economy of China is rapidly developed, the development of infrastructure, mine exploitation and the like is rapid, and the quantity of domestic excavators is continuously increased. From the aspect of measuring the hammer rate of a key technical index excavator for the development of the hammer breaking industry, the hammer rate of the excavator in China is only 6.2% in 2006, and only ten years of time in 2016 is up to 20% in China, and according to statistics, the hammer rate of the excavator in developed countries such as Europe and America reaches 35%, and the hammer rate of the excavator in countries such as Japan and Korea reaches 60%, so that the development space of the hydraulic hammer in China is huge.
The national related functional departments begin to strengthen the supervision and inspection of environmental protection, strictly control the use amount of engineering explosives, and play an increasingly important role in engineering construction and mining when an excavator carries a breaking hammer.
At present, the research on the breaking hammer control technology in China is not sufficient, the power setting of the breaking hammer is unreasonable, and the precise matching cannot be realized in the matching process, so that the energy loss is caused, and the research and the application of the breaking technology are enhanced.
Disclosure of Invention
Aiming at the problems, the invention provides a self-optimization control device and a self-optimization control method based on a crushing working condition, which are characterized in that through a crushing power self-optimization or frequency self-optimization method, an optimal oil consumption value and a corresponding main pump proportional valve current value at a certain rotating speed are searched according to an oil consumption characteristic curve of an engine at a plurality of preset rotating speeds, and optimized control parameters are respectively stored in different crushing modes, so that accurate and efficient power matching is realized, and the energy-saving effect of a system is improved; meanwhile, the invention can also improve the operation management of the machine by monitoring the crushing key parameters.
The technical purpose is achieved, the technical effect is achieved, and the invention is realized through the following technical scheme:
in a first aspect, the present invention provides a self-optimizing control device based on a crushing condition, including:
a main controller;
the electronic monitor and the engine controller are both connected with the main controller through buses; the electronic monitor is used for setting parameters of the self-optimizing control device and selecting an optimizing control mode; the output end of the engine controller is connected with the control end of an engine in the excavator;
the rotating speed sensor is used for monitoring the rotating speed of an engine in the excavator, and the output end of the rotating speed sensor is connected with the input end of the engine controller;
the main pump pressure sensor is arranged at an oil outlet of a main pump on the excavator, detects the pressure of the oil outlet of the main pump, and the output end of the main pump is connected with the input end of the main controller;
and the main pump proportional valve is connected with the control output end of the main controller and used for connecting with a hydraulic pump of the breaking hammer to control the discharge capacity of the hydraulic pump.
Preferably, the self-optimizing control device based on the crushing working condition further comprises a nitrogen pressure sensor, the nitrogen pressure sensor is used for being installed on the crushing hammer and detecting the pressure of nitrogen in a nitrogen chamber of the crushing hammer, and the output end of the nitrogen pressure sensor is connected with the input end of the main controller.
Preferably, the self-optimizing control device based on the crushing condition further comprises: the crushing pilot pressure sensor is arranged on the crushing pilot oil way of the crushing hammer and used for detecting the pressure in the crushing pilot oil way, and the output end of the crushing pilot pressure sensor is connected with the input end of the main controller;
the main pump pressure sensor, the crushing pilot pressure sensor and the nitrogen pressure sensor are all voltage sensors and output voltage signals of 0.5-4.5V;
or the main pump pressure sensor, the crushing pilot pressure sensor and the nitrogen pressure sensor are all current type sensors and output current signals of 4-20 mA.
Preferably, the self-optimizing control device further comprises a GPS controller, and the GPS controller is connected with the main controller and is used for performing remote data monitoring.
In a second aspect, the invention provides a control method of a self-optimizing control device based on a crushing working condition, which comprises the following steps:
(1) presetting at least one optimizing control mode in a main controller, respectively setting at least one crushing power mode in each optimizing control mode, and setting a corresponding target value in each crushing power mode;
(2) setting the maximum flow Q and the pressure value P of the breaking hammer by using an electronic monitor, and calculating the maximum input power W of the breaking hammermax；
(3) Selecting a certain optimizing control mode by using an electronic monitor, and enabling a self-optimizing control device to enter a certain crushing power mode;
(4) continuously adjusting the current value of a main pump proportional valve by a main controller in the self-optimizing control device at a preset rotating speed until a target value corresponding to the crushing power mode is found;
(5) when the target value is found, the self-optimizing control device runs for a set time according to the target value, and the main controller obtains the rotating speed of the engine in the rotating speed sensor, the current value of the main pump proportional valve and the average oil consumption value of the engine;
(6) changing a preset rotating speed value, repeating the steps (4) and (5), so that the self-optimizing control device respectively searches for a target value at each preset rotating speed, and recording the corresponding rotating speed of the engine, the current value of the main pump proportional valve and the average oil consumption value of the engine by the main controller;
(6) comparing the average oil consumption values of the engines at all preset rotating speeds, setting the rotating speed of the engine with the minimum average oil consumption value and a main pump proportional valve as parameters of the crushing power mode, and completing parameter calibration of the crushing power mode;
(7) and (5) repeating the steps (3) to (6) until parameter calibration of all crushing power modes is completed.
Preferably, the main controller is preset with at least one optimization control mode, each optimization control mode is respectively provided with at least one crushing power mode, and each crushing power mode is provided with a corresponding target value specifically as follows:
two optimizing control modes, namely a frequency optimizing control mode and a power optimizing control mode, are preset in a main controller;
three crushing power modes are set in each optimization control mode, namely a light load mode, a standard mode and a heavy load mode;
under the frequency optimizing control mode, the target values corresponding to the three crushing power modes are a first target frequency value, a second target frequency value and a third target frequency value respectively;
under the power optimizing control mode, the target values corresponding to the three crushing power modes are a first target power value, a second target power value and a third target power value respectively.
Preferably, the relationship among the first target frequency value, the second target frequency value and the third target frequency value is:
first target frequency value < second target frequency value < third target frequency value;
the relationship among the first target power value, the second target power value and the third target power value is as follows:
first target power value<Second target power value<A third target power value, wherein the third target power value is less than or equal to the maximum input power W of the breaking hammermax。
Preferably, the step (4) further comprises:
when the main controller in the self-optimizing control device detects the signal from the crushing pilot pressure sensor, the main controller starts to acquire the signal of the main pump pressure sensor.
Preferably, the step (4) further comprises:
acquiring nitrogen charging pressure P in nitrogen pressure sensor by using main controllern0；
When the main controller judges the nitrogen charging pressure value Pn0With a predetermined pressure value PnWhen the difference value exceeds a set threshold value, generating a low-pressure or overpressure prompt signal of the nitrogen chamber, and enabling the nitrogen chamber to be at low pressure or overpressureThe prompting signal is transmitted to the electronic monitor, the electronic monitor makes a corresponding nitrogen pressure abnormity prompt to allow an operator to adjust corresponding nitrogen charging pressure, when a main controller in the self-optimizing control device detects a signal from the crushing pilot pressure sensor and the nitrogen charging pressure meets a set requirement, the main controller starts to acquire a signal of a main pump pressure sensor, and when the pressure value of the main pump exceeds a set value, overpressure alarm is performed.
Preferably, the control method of the self-optimizing control device based on the crushing condition further comprises the following steps:
(8) and sending the relevant operation parameters of the breaking hammer to the GPS controller by using the main controller.
Compared with the prior art, the invention has the beneficial effects that:
according to the method, the optimal oil consumption value (namely the minimum average oil consumption value of the engine) at a certain rotating speed and the corresponding main pump proportional valve current value are searched for under a plurality of preset rotating speeds according to the oil consumption characteristic curve of the engine by a crushing power self-optimization or frequency self-optimization method, and optimized control parameters are stored under different crushing power modes respectively, so that accurate and efficient power matching is realized, and the energy-saving effect of a system is improved; meanwhile, the invention can also improve the operation management of the machine by monitoring the crushing key parameters.
The invention simplifies the power setting of the breaking hammer into three power modes, and the user can select the working mode according to different requirements.
The invention can realize the rapid and accurate calibration of the control parameters of the breaking hammer in different breaking modes.
The invention can realize the monitoring and uploading of the parameters such as nitrogen charging pressure, crushing operation time, hammer striking frequency and the like, and improves the operation monitoring and management of the machine.
Drawings
FIG. 1 is an electrical schematic block diagram of a self-optimizing control device based on crushing conditions according to an embodiment of the present invention;
FIG. 2 is a flow chart of frequency optimization control according to an embodiment of the present invention;
FIG. 3 is a flow chart of power optimization control according to an embodiment of the present invention;
in the figure, 1, a main controller, 2, an electronic monitor, 3, a GPS controller, 4, a main pump pressure sensor, 5, a crushing pilot pressure sensor, 6, a nitrogen pressure sensor, 7, a main pump proportional valve, 8, an engine controller, 9 and a rotating speed sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.
Example 1
The embodiment of the invention provides a self-optimizing control device based on a crushing working condition, which comprises:
the main controller is used for controlling the power output of the breaking hammer, and when the main controller is implemented specifically, an existing controller chip can be purchased from the market directly to serve as the main controller of the embodiment of the invention;
an electronic monitor 2 and an engine controller 8; the electronic monitor 2 and the engine controller 8 are both connected with the main controller through buses; preferably, the electronic monitor 2 and the engine controller 8 are both connected with the main controller through a CAN bus; the electronic monitor 2 is used for setting parameters of the self-optimization control device and selecting an optimization control mode, in the practical application process, the electronic monitor 2 may use a touch display, and may also select other devices capable of realizing display and control, and the connection relationship between the electronic monitor and the main controller is the prior art, so that redundant description is not repeated in this embodiment; the output end of the engine controller 8 is also used for being connected with the control end of an engine in the excavator and controlling the rotating speed of the engine; the engine is used for driving a hydraulic pump in the breaking hammer to operate, namely the engine can drive the hydraulic pump to operate after operating, and the hydraulic pump pumps the hydraulic oil into the breaking hammer of the executing mechanism after operating to provide energy required by movement for the breaking hammer;
the rotating speed sensor 9 is used for monitoring the rotating speed of an engine in the excavator, and the output end of the rotating speed sensor 9 is connected with the input end of the engine controller 8 and is used for sending the collected rotating speed of the engine to the engine controller 8;
the main pump pressure sensor 4 is used for being installed at a main pump oil outlet in the excavator, detecting the pressure of the oil outlet of a main pump in real time, and the output end of the main pump pressure sensor 4 is connected with the input end of the main controller;
and the main pump proportional valve 7 is connected with the control output end of the main controller and used for being connected with a hydraulic pump of the breaking hammer to control the discharge capacity of the hydraulic pump.
In summary, the working principle of the self-optimizing control device based on the crushing condition in this embodiment is as follows:
(1) presetting at least one optimizing control mode in a main controller, respectively setting at least one crushing power mode in each optimizing control mode, and setting a corresponding target value in each crushing power mode;
(2) the electronic monitor 2 is used for setting the maximum flow Q and the pressure value P of the breaking hammer and calculating the maximum input power W of the breaking hammermaxThe maximum input power WmaxThe calculation formula of (2) is as follows: wmax＝(P*Q)/60；
(3) Selecting a certain optimizing control mode by using the electronic monitor 2, and enabling the self-optimizing control device to enter a certain crushing power mode according to a set rule;
(4) the main controller in the self-optimizing control device continuously adjusts the current value of the main pump proportional valve 7 at a preset rotating speed until a target value corresponding to the crushing power mode is found;
(5) when the target value is found, the self-optimizing control device runs for a set time according to the target value, and the main controller obtains the rotating speed of the engine in the rotating speed sensor 9, the current value of the main pump proportional valve 7 and the average oil consumption value of the engine; the average oil consumption value of the engine is obtained by reading the instant friendly value of the engine, accumulating, calculating the oil consumption in a period of time after accumulating for a period of time, and dividing the oil consumption by the accumulated time;
(6) changing a preset rotating speed value, repeating the steps (4) and (5), so that the self-optimizing control device respectively searches for a target value at each preset rotating speed, and recording the corresponding rotating speed of the engine, the current value of the main pump proportional valve 7 and the average oil consumption value of the engine by the main controller;
(6) comparing the average oil consumption values of the engines at all preset rotating speeds, setting the rotating speed of the engine with the minimum average oil consumption value and the main pump proportional valve 7 as parameters of the crushing power mode, and completing parameter calibration of the crushing power mode;
(7) and (5) repeating the steps (3) to (6) until parameter calibration of all crushing power modes is completed.
Example 2
Based on embodiment 1, the present embodiment is different from embodiment 1 in that:
the self-optimizing control device based on the crushing working condition further comprises a uniform-distribution unit; the crushing pilot pressure sensor 5 is arranged on the crushing pilot oil path of the crushing hammer and used for detecting the pressure in the crushing pilot oil path, and the output end of the crushing pilot pressure sensor is connected with the input end of the main controller;
the main pump pressure sensor 4, the crushing pilot pressure sensor 5 and the nitrogen pressure sensor 6 are all voltage type sensors and output voltage signals of 0.5-4.5V;
or the main pump pressure sensor 4, the crushing pilot pressure sensor 5 and the nitrogen pressure sensor 6 are all current type sensors and output current signals of 4-20 mA.
In summary, the working principle of the self-optimizing control device based on the crushing condition in this embodiment is as follows:
(1) presetting at least one optimizing control mode in a main controller, respectively setting at least one crushing power mode in each optimizing control mode, and setting a corresponding target value in each crushing power mode;
(2) setting the maximum flow and pressure value of the breaking hammer by using the electronic monitor 2;
(3) selecting a certain optimizing control mode by using the electronic monitor 2, and enabling the self-optimizing control device to enter a certain crushing power mode according to a set rule;
(4) continuously adjusting the current value of the main pump proportional valve 7 by a main controller in the self-optimizing control device at a preset rotating speed until a target value corresponding to the crushing power mode is found, wherein when the main controller in the self-optimizing control device detects a signal from the crushing pilot pressure sensor 5, a signal of the main pump pressure sensor 4 starts to be acquired;
(5) when the target value is found, the self-optimizing control device runs for a set time according to the target value, and the main controller obtains the rotating speed of the engine in the rotating speed sensor 9, the current value of the main pump proportional valve 7 and the average oil consumption value of the engine;
(6) changing a preset rotating speed value, repeating the steps (4) and (5), so that the self-optimizing control device respectively searches for a target value at each preset rotating speed, and recording the corresponding rotating speed of the engine, the current value of the main pump proportional valve 7 and the average oil consumption value of the engine by the main controller;
(6) comparing the average oil consumption values of the engines at all preset rotating speeds, setting the rotating speed of the engine with the minimum average oil consumption value and the main pump proportional valve 7 as parameters of the crushing power mode, and completing parameter calibration of the crushing power mode;
(7) and (5) repeating the steps (3) to (6) until parameter calibration of all crushing power modes is completed.
Example 3
This example differs from example 1 in that:
the self-optimizing control device based on the crushing working condition further comprises a nitrogen pressure sensor 6, the nitrogen pressure sensor 6 is used for being installed on the crushing hammer and detecting the pressure of nitrogen in a nitrogen chamber of the crushing hammer, and the output end of the nitrogen pressure sensor is connected with the input end of the main controller.
In summary, the working principle of the self-optimizing control device based on the crushing condition in this embodiment is as follows:
(1) presetting at least one optimizing control mode in a main controller, respectively setting at least one crushing power mode in each optimizing control mode, and setting a corresponding target value in each crushing power mode;
(2) setting the maximum flow and pressure value of the breaking hammer by using the electronic monitor 2;
(3) selecting a certain optimizing control mode by using the electronic monitor 2, and enabling the self-optimizing control device to enter a certain crushing power mode according to a set rule;
(4) the main controller in the self-optimizing control device continuously adjusts the current value of the main pump proportional valve 7 at a preset rotating speed until a target value corresponding to the crushing power mode is found, wherein the main controller is used for acquiring the nitrogen charging pressure P in the nitrogen pressure sensor 6n0(ii) a When the main controller judges the nitrogen charging pressure value Pn0With a predetermined pressure value PnWhen the difference value of the pressure difference value exceeds a set threshold value, generating a nitrogen chamber low pressure or overpressure prompt signal, transmitting the nitrogen chamber low pressure or overpressure prompt signal to the electronic monitor 2, and making a corresponding nitrogen pressure abnormity prompt by the electronic monitor 2 for an operator to adjust corresponding nitrogen charging pressure, and when a main controller in the self-optimizing control device detects a signal from the crushing pilot pressure sensor 5 and the nitrogen charging pressure meets the set requirement, starting to acquire a signal of a main pump pressure sensor 4; and when the pressure value of the main pump exceeds a set value, performing overpressure alarm.
(5) When the target value is found, the self-optimizing control device runs for a set time according to the target value, and the main controller obtains the rotating speed of the engine in the rotating speed sensor 9, the current value of the main pump proportional valve 7 and the average oil consumption value of the engine;
(6) changing a preset rotating speed value, repeating the steps (4) and (5), so that the self-optimizing control device respectively searches for a target value at each preset rotating speed, and recording the corresponding rotating speed of the engine, the current value of the main pump proportional valve 7 and the average oil consumption value of the engine by the main controller;
(6) comparing the average oil consumption values of the engines at all preset rotating speeds, setting the rotating speed of the engine with the minimum average oil consumption value and the main pump proportional valve 7 as parameters of the crushing power mode, and completing parameter calibration of the crushing power mode;
(7) and (5) repeating the steps (3) to (6) until parameter calibration of all crushing power modes is completed.
Example 4
Based on any one of embodiments 1 to 3, the present embodiment is different therefrom in that:
the self-optimizing control device based on the crushing working condition further comprises a GPS controller 33, and the GPS controller 3 is connected with the main controller and used for carrying out remote data monitoring.
Example 5
The embodiment provides a control method of a self-optimizing control device based on a crushing working condition, which comprises the following steps:
step (1): presetting at least one optimizing control mode in a main controller, respectively setting at least one crushing power mode in each optimizing control mode, and setting a corresponding target value in each crushing power mode; in a specific implementation manner of this embodiment, the following are specifically performed:
two optimizing control modes, namely a frequency optimizing control mode and a power optimizing control mode, are preset in a main controller;
three crushing power modes are set under each optimizing control mode, namely a light load mode B1, a standard mode B2 and a heavy load mode B3;
under the frequency optimizing control mode, the target values corresponding to the three crushing power modes are a first target frequency value f1, a second target frequency value f2 and a third target frequency value f3 respectively; the first target frequency value f1, the second target frequency value f2 and the third target frequency value f3 all represent the striking frequency of the breaking hammer per second, the requirements of excavators with different tonnages are different, generally 2-4 times, the target frequency is set and the model have a certain relationship, and the relationship among the three is as follows: first target frequency value f1< second target frequency value f2< third target frequency value f 3; in a specific implementation manner of the embodiment of the present invention, a third target frequency corresponding to the heavy load mode B3 is f (the frequency f value is different for different models and is set according to an actual situation); the second target frequency corresponding to the standard mode B2 is 80% f (the percentage can be adjusted according to actual requirements), and the first target frequency corresponding to the light load mode B1 is 60% f (the percentage can be adjusted according to actual requirements);
under the power optimizing control mode, the target values corresponding to the three crushing power modes are a first target power value W1, a second target power value W2 and a third target power value W3 respectively; the first target power value W1<Second target power value W2<The third target power value W3 is, in an embodiment of the present invention, the maximum input power W of the breaking hammermax(ii) a The third target power corresponding to the heavy load mode B3 is W (the power value W is different for different models and is set according to actual conditions), the second target power corresponding to the standard mode B2 is 80% W (the percentage can be adjusted according to actual requirements), and the first target power corresponding to the light load mode B1 is 60% W (the percentage can be adjusted according to actual requirements);
step (2): setting the maximum flow Q and the pressure value P of the breaking hammer by using an electronic monitor, and calculating the maximum input power W of the breaking hammermax；
(3) Selecting a certain optimizing control mode by using an electronic monitor, and enabling a self-optimizing control device to enter a certain crushing power mode according to a set rule;
when the frequency optimizing control mode is selected by the electronic monitor in the step (3), the self-optimizing control device enters a heavy load mode B3; the control method of the self-optimizing control device based on the crushing working condition further comprises the following steps:
(4) continuously adjusting the current value of the main pump proportional valve by a main controller in the self-optimization control device at a preset rotating speed until a target frequency value f3 corresponding to the heavy-load mode B3 is found; (5) when the target frequency value f3 is found, the self-optimizing control device operates for a set time with the target frequency value f3, and the main controller obtains the rotating speed of the engine in the rotating speed sensor, the current value of a main pump proportional valve and the average oil consumption value of the engine; (6) changing a preset rotating speed value, repeating the previous steps (4) and (5), so that the self-optimizing control device respectively searches a target frequency value f3 at each preset rotating speed, and recording the corresponding rotating speed of the engine, the current value of the main pump proportional valve and the average oil consumption value of the engine by the main controller; (7) comparing the average oil consumption values of the engines at all preset rotating speeds, setting the rotating speed of the engine with the minimum average oil consumption value and a main pump proportional valve as parameters of a heavy-load mode B3, and completing parameter calibration of a heavy-load mode B3; (8) repeating the steps (3) to (7), and completing parameter calibration of the light load mode B1 and the standard mode B2 in the same way;
when the electronic monitor is used to select the power optimizing control mode in step (3), the self-optimizing control device enters a heavy load mode B3; the control method of the self-optimizing control device based on the crushing working condition further comprises the following steps:
(4) continuously adjusting the current value of the main pump proportional valve by a main controller in the self-optimization control device at a preset rotating speed until a target power value W3 corresponding to the heavy-load mode B3 is found; (5) when the target power value W3 is found, the self-optimizing control device operates for a set time at the target power value W3, and the main controller acquires the rotating speed of the engine in the rotating speed sensor, the current value of the main pump proportional valve and the average oil consumption value of the engine; (6) changing a preset rotating speed value, repeating the previous steps, enabling the self-optimizing control device to respectively search a target power value W3 at each preset rotating speed, and recording the corresponding engine rotating speed, the current value of a main pump proportional valve and the average oil consumption value of the engine by the main controller; (7) comparing the average oil consumption values of the engines at all preset rotating speeds, setting the rotating speed of the engine with the minimum average oil consumption value and a main pump proportional valve as parameters of a heavy-load mode B3, and completing parameter calibration of a heavy-load mode B3; (8) and (5) repeating the steps (3) to (7), and finishing the parameter calibration of the light load mode B1 and the standard mode B2 in the same way.
Example 6
Based on embodiment 5, step (4) in this embodiment further includes:
when the main controller in the self-optimizing control device detects the signal from the crushing pilot pressure sensor, the main controller starts to acquire the signal of the main pump pressure sensor.
Example 7
Based on embodiment 5, step (4) in this embodiment further includes:
obtaining nitrogen pressure transmission by using main controllerFilling nitrogen pressure P in sensorn0；
When the main controller judges the nitrogen charging pressure value Pn0With a predetermined pressure value PnWhen the difference exceeds the set threshold, generating a nitrogen chamber low pressure or overpressure prompt signal, transmitting the nitrogen chamber low pressure or overpressure prompt signal to an electronic monitor, making a corresponding nitrogen pressure abnormity prompt by the electronic monitor, and allowing an operator to adjust corresponding nitrogen charging pressure.
Example 8
Based on embodiment 7, the control method of the self-optimizing control device based on the crushing condition in the embodiment of the present invention further includes:
sending relevant operating parameters of the breaking hammer to a GPS controller by using a main controller, wherein the relevant operating parameters comprise: and the nitrogen charging pressure value, the striking frequency of the breaking hammer and other parameters are used for realizing the remote monitoring of data.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A self-optimizing control device based on crushing working conditions is characterized by comprising:
a main controller;
the electronic monitor and the engine controller are both connected with the main controller through buses; the electronic monitor is used for setting parameters of the self-optimizing control device and selecting an optimizing control mode; the output end of the engine controller is connected with the control end of an engine in the excavator;
the rotating speed sensor is used for monitoring the rotating speed of an engine in the excavator, and the output end of the rotating speed sensor is connected with the input end of the engine controller;
the main pump pressure sensor is arranged at an oil outlet of a main pump on the excavator, detects the pressure of the oil outlet of the main pump, and the output end of the main pump is connected with the input end of the main controller;
the main pump proportional valve is connected with the control output end of the main controller and is used for being connected with a hydraulic pump of the breaking hammer to control the discharge capacity of the hydraulic pump;
the control method of the self-optimizing control device comprises the following steps:
(1) presetting at least one optimizing control mode in a main controller, respectively setting at least one crushing power mode in each optimizing control mode, wherein each crushing power mode is provided with a corresponding target value which is a frequency value or a power value;
(2) setting the maximum flow Q and the pressure value P of the breaking hammer by using an electronic monitor, and calculating the maximum input power W of the breaking hammermax；
(3) Selecting a certain optimizing control mode by using an electronic monitor, and enabling a self-optimizing control device to enter a certain crushing power mode;
(4) continuously adjusting the current value of a main pump proportional valve by a main controller in the self-optimizing control device at a preset rotating speed until a target value corresponding to the crushing power mode is found;
(5) when the target value is found, the self-optimizing control device runs for a set time according to the target value, and the main controller obtains the rotating speed of the engine in the rotating speed sensor, the current value of the main pump proportional valve and the average oil consumption value of the engine;
(6) changing a preset rotating speed value, repeating the steps (4) and (5), so that the self-optimizing control device respectively searches for a target value at each preset rotating speed, and recording the corresponding rotating speed of the engine, the current value of the main pump proportional valve and the average oil consumption value of the engine by the main controller; comparing the average oil consumption values of the engines at all preset rotating speeds, setting the rotating speed of the engine with the minimum average oil consumption value and a main pump proportional valve as parameters of the crushing power mode, and completing parameter calibration of the crushing power mode;
(7) and (5) repeating the steps (3) to (6) until parameter calibration of all crushing power modes is completed.
2. The self-optimizing control device based on the crushing working condition as claimed in claim 1, wherein: the self-optimizing control device based on the crushing working condition further comprises a nitrogen pressure sensor, the nitrogen pressure sensor is used for being installed on the crushing hammer and detecting the pressure of nitrogen in a nitrogen chamber of the crushing hammer, and the output end of the nitrogen pressure sensor is connected with the input end of the main controller.
3. The self-optimizing control device based on the crushing working condition as claimed in claim 2, wherein: the self-optimizing control device based on the crushing working condition further comprises: the crushing pilot pressure sensor is arranged on the crushing pilot oil way of the crushing hammer and used for detecting the pressure in the crushing pilot oil way, and the output end of the crushing pilot pressure sensor is connected with the input end of the main controller;
the main pump pressure sensor, the crushing pilot pressure sensor and the nitrogen pressure sensor are all voltage sensors and output voltage signals of 0.5-4.5V;
or the main pump pressure sensor, the crushing pilot pressure sensor and the nitrogen pressure sensor are all current type sensors and output current signals of 4-20 mA.
4. The self-optimizing control device based on the crushing working condition as claimed in claim 1, wherein: the self-optimizing control device further comprises a GPS controller, and the GPS controller is connected with the main controller and used for carrying out remote data monitoring.
5. A control method of a self-optimizing control device based on a crushing working condition is characterized by comprising the following steps:
(1) presetting at least one optimizing control mode in a main controller, respectively setting at least one crushing power mode in each optimizing control mode, wherein each crushing power mode is provided with a corresponding target value which is a frequency value or a power value;
(2) setting the maximum flow Q and the pressure value P of the breaking hammer by using an electronic monitor, and calculating the maximum input power W of the breaking hammermax；
(3) Selecting a certain optimizing control mode by using an electronic monitor, and enabling a self-optimizing control device to enter a certain crushing power mode;
(4) continuously adjusting the current value of a main pump proportional valve by a main controller in the self-optimizing control device at a preset rotating speed until a target value corresponding to the crushing power mode is found;
(5) when the target value is found, the self-optimizing control device runs for a set time according to the target value, and the main controller obtains the rotating speed of the engine in the rotating speed sensor, the current value of the main pump proportional valve and the average oil consumption value of the engine;
(6) changing a preset rotating speed value, repeating the steps (4) and (5), so that the self-optimizing control device respectively searches for a target value at each preset rotating speed, and recording the corresponding rotating speed of the engine, the current value of the main pump proportional valve and the average oil consumption value of the engine by the main controller; comparing the average oil consumption values of the engines at all preset rotating speeds, setting the rotating speed of the engine with the minimum average oil consumption value and a main pump proportional valve as parameters of the crushing power mode, and completing parameter calibration of the crushing power mode;
(7) and (5) repeating the steps (3) to (6) until parameter calibration of all crushing power modes is completed.
6. The control method of the self-optimizing control device based on the crushing condition as claimed in claim 5, wherein: the main controller is preset with at least one optimizing control mode, each optimizing control mode is respectively provided with at least one crushing power mode, and each crushing power mode is provided with a corresponding target value which specifically comprises the following steps:
two optimizing control modes, namely a frequency optimizing control mode and a power optimizing control mode, are preset in a main controller;
three crushing power modes are set in each optimization control mode, namely a light load mode, a standard mode and a heavy load mode; under the frequency optimizing control mode, the target values corresponding to the three crushing power modes are a first target frequency value, a second target frequency value and a third target frequency value respectively;
under the power optimizing control mode, the target values corresponding to the three crushing power modes are a first target power value, a second target power value and a third target power value respectively.
7. The control method of the self-optimizing control device based on the crushing condition as claimed in claim 5, wherein: the relationship among the first target frequency value, the second target frequency value and the third target frequency value is as follows:
first target frequency value < second target frequency value < third target frequency value;
the relationship among the first target power value, the second target power value and the third target power value is as follows:
first target power value<Second target power value<A third target power value, wherein the third target power value is less than or equal to the maximum input power W of the breaking hammermax。
8. The control method of the self-optimizing control device based on the crushing condition as claimed in claim 5, wherein: the step (4) further comprises:
when a main controller in the self-optimizing control device detects a signal from a crushing pilot pressure sensor, the main controller starts to acquire a signal of a main pump pressure sensor, and when the pressure value of the main pump exceeds a set value, overpressure alarm is carried out.
9. The control method of the self-optimizing control device based on the crushing condition as claimed in claim 8, wherein: the step (4) further comprises:
nitrogen gas acquisition by main controllerNitrogen charging pressure P in a pressure sensorn0；
When the main controller judges the nitrogen charging pressure value Pn0With a predetermined pressure value PnWhen the difference exceeds the set threshold, generating a nitrogen chamber low pressure or overpressure prompt signal, transmitting the nitrogen chamber low pressure or overpressure prompt signal to an electronic monitor, making a corresponding nitrogen pressure abnormity prompt by the electronic monitor, and allowing an operator to adjust corresponding nitrogen charging pressure.
10. The control method of the self-optimizing control device based on the crushing condition as claimed in claim 5, wherein: the control method of the self-optimizing control device based on the crushing working condition further comprises the following steps:
(8) and sending the relevant operation parameters of the breaking hammer to the GPS controller by using the main controller.
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| CN111980812B (en) * | 2019-05-22 | 2023-02-28 | 山东临工工程机械有限公司 | Method and device for adjusting rotating speed of engine in crushing mode |
| CN110397109A (en) * | 2019-07-29 | 2019-11-01 | 上海三一重机股份有限公司 | Method of controlling security, device, system and the excavator of complete automatically controlled excavator |
| CN112392088A (en) * | 2019-08-15 | 2021-02-23 | 山东临工工程机械有限公司 | Breaking hammer control method and device |
| CN111007830A (en) * | 2019-11-22 | 2020-04-14 | 徐州徐工挖掘机械有限公司 | Debugging device and debugging method for excavator control system |
| CN113158344B (en) * | 2021-04-22 | 2024-02-23 | 上海三一重机股份有限公司 | Control method and device for auxiliary pipeline of excavator, working machine and electronic equipment |
| CN114250818B (en) * | 2021-12-30 | 2023-05-12 | 徐州徐工挖掘机械有限公司 | Control method of multifunctional tool of excavator |
| CN114384957B (en) * | 2022-01-17 | 2023-04-25 | 雷沃工程机械集团有限公司 | Intelligent control system and method for crushing working condition of excavator |
| CN116122279B (en) * | 2023-04-14 | 2023-07-07 | 山东临工工程机械有限公司 | Pile driver control method and pile driver |
| CN119065231A (en) * | 2024-10-16 | 2024-12-03 | 山东派蒙机电技术有限公司 | Hammer control method, device and equipment for unmanned crushing vehicle |
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