CN110816651B - Control method of mining car electro-hydraulic system - Google Patents
Control method of mining car electro-hydraulic system Download PDFInfo
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- CN110816651B CN110816651B CN201911081848.0A CN201911081848A CN110816651B CN 110816651 B CN110816651 B CN 110816651B CN 201911081848 A CN201911081848 A CN 201911081848A CN 110816651 B CN110816651 B CN 110816651B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
- B60P1/16—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element actuated by fluid-operated mechanisms
- B60P1/162—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element actuated by fluid-operated mechanisms the hydraulic system itself
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Abstract
The invention relates to a control method of an electric hydraulic system of a mining truck, and the electric hydraulic system of the mining truck comprises a vehicle-mounted computer, a hydraulic steering system and a hydraulic lifting system, and the control method comprises a control method of the hydraulic steering system and a control method of the hydraulic lifting system. Meanwhile, the working mode of motor driving is adopted, so that the intelligent control of a hydraulic system can be conveniently realized, no tail gas is discharged, and the device is completely environment-friendly.
Description
Technical Field
The invention relates to the field of electric mining vehicles, in particular to a control method of an electric hydraulic system of a mining vehicle.
Background
With the development of science and technology and the progress of society, people have higher and higher requirements on energy conservation and environmental protection of engineering vehicles, and new energy and intelligent mining dump trucks are gradually put into the market to obtain application, which is also a necessary trend of the development of the engineering vehicles.
However, the traditional dump truck has a large reserve, so that the requirements of energy conservation and environmental protection are met, the service life of the traditional dump truck is prolonged at low modification cost, new energy and intelligent modification can be performed, wherein a hydraulic system is driven by a fuel engine instead of a speed regulating motor, and the hydraulic system is an effective solution for performing new energy and intelligent modification on the traditional dump truck.
At present, mining dump trucks at home and abroad comprise a mechanical traction dump truck and an electric drive traction dump truck, the mechanical traction dump truck and the electric drive traction dump truck are mainly driven by a fuel engine, a container lifting system, a vehicle steering system and a vehicle braking system of the dump truck adopt a hydraulic control system, and a part of small-tonnage dump trucks also adopt an air braking system. The oil pump unit of the hydraulic system is driven by a fuel engine through a transfer head, the vibration and the noise are large, and the engine discharges a large amount of tail gas to pollute the environment. Because the hydraulic oil pump is in a long-term running state, especially the steering oil pump keeps constant high-pressure running for a long time, the hydraulic system has more energy consumption and large heat productivity, the service life of the oil pump is shortened, and the reliability of the whole hydraulic system is reduced.
Disclosure of Invention
The invention aims to solve the technical problem of providing a control method of an electric hydraulic system of a mining vehicle, which can realize convenient, flexible and accurate control of the improved electric hydraulic system.
In order to solve the technical problem, the mining vehicle electric hydraulic system comprises a vehicle-mounted computer, a hydraulic steering system and a hydraulic lifting system;
the hydraulic steering system comprises a steering hydraulic oil tank, a steering oil absorption filter, a variable plunger pump, a steering motor, a steering pressure sensor, a steering valve bank, a steering energy accumulator, a steering gear, a steering cylinder three-way bidirectional unloading module, a steering cylinder and an oil return filter, wherein the steering hydraulic oil tank is respectively connected with the steering oil absorption filter and the oil return filter;
the hydraulic lifting system comprises a lifting hydraulic oil tank, a lifting oil absorption filter, a gear pump, a lifting motor, a lifting pilot valve block, a lifting control handle, a lifting motor control switch, a lifting control valve group, a lifting limit switch, a lifting cylinder and an oil return filter, the lifting hydraulic oil tank is respectively connected with the lifting oil absorption filter and the oil return filter, the gear pump is connected with the lifting motor and the lifting control valve group through a pipeline, the lifting control handle is respectively connected with the lifting pilot valve block, the lifting motor control switch and the lifting control valve group through pipelines, the lifting pilot valve block is also connected with a variable plunger pump through a pipeline, the vehicle-mounted computer is respectively connected with a lifting limit switch, a lifting motor control switch and a lifting motor through cables, the lifting cylinder is connected with a lifting control valve group through a pipeline, and the lifting control valve group is also connected with an oil return filter through a pipeline;
the control method of the hydraulic steering system includes:
a1, setting judgment pressure values a1 and a2 of the hydraulic steering system in the vehicle computer, wherein a1 is larger than a2, and setting a rotating speed value a3 of low-rotating-speed operation and a rotating speed value a4 of high-rotating-speed operation of the steering motor;
a2, starting a steering motor, delaying for 15 seconds, relieving pressure of the energy accumulator through a cold starting valve of a steering valve group, enabling the energy accumulator to work in an idle load state under a rotating speed value a4 state of high-rotating-speed work, providing power for a variable plunger pump by the steering motor, and charging the energy accumulator by the variable plunger pump;
a3, when the pressure value of the hydraulic steering system reaches a1, the steering pressure sensor feeds back a signal to a vehicle computer, the vehicle computer reduces the rotating speed of a steering motor to a3, the output flow of the variable plunger pump is close to zero, and only the leakage of the hydraulic steering system is compensated;
a4, when the pressure value of the hydraulic steering system is reduced to a2, the steering pressure sensor feeds back a signal to a vehicle computer, the vehicle computer enables the rotating speed of a steering motor to be increased to a4, the variable plunger pump outputs full displacement, and the steering system is quickly pressurized;
the control method of the hydraulic lifting system comprises the following steps:
b1, when lifting is needed, a lifting motor control switch is pressed, the lifting motor is started by electrifying, a lifting control handle is driven to a lifting gear, the container is lifted, after the lifting is in place, the lifting control handle is switched to a holding position, the cargo compartment is held in the lifting position, and dumping operation is achieved;
b2, when the container needs to descend, the lifting control handle is turned to a descending gear, the container descends, and after the container descends to a position, the lifting limit switch is triggered, the lifting motor stops working, and meanwhile the lifting control handle is switched to a floating position.
As a further improvement of the invention, in A1 of the control method of the hydraulic steering system, a1 is 15.86MPa, a2 is 13.8 MPa, a3 is 750r/min, and a4 is 2000 r/min.
As a further improvement of the present invention, in a3 of the method for controlling a hydraulic steering system, when the pressure value of the hydraulic steering system is increased, the steering gear drives the valve core to rotate by the driving of the steering wheel, outputs corresponding pressure oil to drive the steering cylinder to turn left or right through the steering cylinder three-way bidirectional unloading module, and unloads when the pressure value of the hydraulic steering system is over-pressurized.
As a further improvement of the present invention, in B1 of the method for controlling a hydraulic lifting system, when a lifting motor is electrically started, the lifting motor drives a gear pump to operate, the gear pump outputs lifting hydraulic oil for lifting a hydraulic oil tank to a lifting control valve set, and pilot control oil of the lifting control valve set is from a hydraulic steering system, and the pilot control oil controls the direction change of the lifting control valve set, so as to control the lifting hydraulic oil to enter a lifting cylinder, thereby achieving lifting.
The invention has the beneficial effects that:
aiming at the problems and the energy-saving and environment-friendly requirements of the traditional dumper, the power loss of a hydraulic system can be obviously reduced, the heating of the hydraulic system is reduced, the energy consumption is effectively reduced, and the effects of reducing temperature and saving energy are achieved through pure electric transformation. Meanwhile, the working mode of motor driving is adopted, so that the intelligent control of a hydraulic system can be conveniently realized, no tail gas is discharged, and the device is completely environment-friendly.
The vehicle hydraulic system is low in modification cost, the operation cost can be greatly reduced after modification, and the life cycle of the dumper in use is prolonged.
The invention adopts the motor to replace a fuel engine to respectively drive the steering variable plunger pump and the lifting gear pump, adopts a direct connection mode between the motor and the oil pump, transmits torque through the built-in spline, and has compact structure, high transmission efficiency, stable operation and low noise.
The steering motor adopts two working systems of low-speed rotation and high-speed rotation, and the energy consumption of the steering pump can be effectively reduced by switching the rotating speed of the steering motor, so that the aim of saving energy is fulfilled.
The lifting motor adopts an intermittent working system, so that the working time of the lifting motor can be reduced to the maximum extent, the heat productivity generated by motor idling and gear pump idling can be greatly reduced, and the purpose of saving energy can be achieved.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a functional block diagram of a hydraulic lift system of the present invention.
FIG. 2 is a functional block diagram of the hydraulic steering system of the present invention.
Fig. 3 is a control flowchart of a steering motor of the hydraulic steering system of the present invention.
FIG. 4 is a control flow diagram of the lift motor of the hydraulic lift system of the present invention.
Detailed Description
The mining vehicle electric hydraulic system comprises a vehicle-mounted computer, a hydraulic steering system and a hydraulic lifting system;
the hydraulic steering system comprises a steering hydraulic oil tank, a steering oil absorption filter, a variable plunger pump, a steering motor, a steering pressure sensor, a steering valve bank, a steering energy accumulator, a steering gear, a steering cylinder three-way bidirectional unloading module, a steering cylinder and an oil return filter, wherein the steering hydraulic oil tank is respectively connected with the steering oil absorption filter and the oil return filter;
the hydraulic lifting system comprises a lifting hydraulic oil tank, a lifting oil absorption filter, a gear pump, a lifting motor, a lifting pilot valve block, a lifting control handle, a lifting motor control switch, a lifting control valve group, a lifting limit switch, a lifting cylinder and an oil return filter, the lifting hydraulic oil tank is respectively connected with the lifting oil absorption filter and the oil return filter, the gear pump is connected with the lifting motor and the lifting control valve group through a pipeline, the lifting control handle is respectively connected with the lifting pilot valve block, the lifting motor control switch and the lifting control valve group through pipelines, the lifting pilot valve block is also connected with a variable plunger pump through a pipeline, the vehicle-mounted computer is respectively connected with a lifting limit switch, a lifting motor control switch and a lifting motor through cables, the lifting cylinder is connected with a lifting control valve group through a pipeline, and the lifting control valve group is also connected with an oil return filter through a pipeline;
the control method of the hydraulic steering system includes:
a1, setting judgment pressure values a1 and a2 of the hydraulic steering system in the vehicle computer, wherein a1 is larger than a2, and setting a rotating speed value a3 of low-rotating-speed operation and a rotating speed value a4 of high-rotating-speed operation of the steering motor; a1 is 15.86MPa, a2 is 13.8 MPa, a3 is 750r/min, and a4 is 2000 r/min;
a2, starting a steering motor, delaying for 15 seconds, relieving pressure of the energy accumulator through a cold starting valve of a steering valve group, enabling the energy accumulator to work in an idle load state under a rotating speed value a4 state of high-rotating-speed work, providing power for a variable plunger pump by the steering motor, and charging the energy accumulator by the variable plunger pump;
a3, when the pressure value of the hydraulic steering system reaches a2, the steering gear drives the valve core to rotate by the drive of the steering wheel, corresponding pressure oil is output to pass through the steering cylinder three-way bidirectional unloading module to drive the steering cylinder to turn left or right, the pressure value of the steering cylinder is relieved by the bidirectional unloading module when being over-pressurized, the steering pressure sensor feeds back a signal to the vehicle-mounted computer, when the pressure value of the steering system reaches a1, the vehicle-mounted computer reduces the rotating speed of the steering motor to a3, the output flow of the variable plunger pump is close to zero, and only the leakage of the hydraulic steering system is compensated;
a4, when the pressure value of the hydraulic steering system is reduced to be lower than a2, the steering pressure sensor feeds back a signal to a vehicle computer, the vehicle computer enables the rotating speed of a steering motor to be increased to a4, and the variable plunger pump outputs full displacement so as to quickly charge the steering system;
the control method of the hydraulic lifting system comprises the following steps:
b1, when lifting is needed, a lifting motor control switch is pressed down, the lifting motor is started by electrifying, a lifting control handle is driven to a lifting gear, the lifting motor drives a gear pump to operate, the gear pump outputs lifting hydraulic oil for lifting a hydraulic oil tank to a lifting control valve group, meanwhile pilot control oil of the lifting control valve group comes from a hydraulic steering system, reversing of the lifting control valve group is controlled by the pilot control oil, so that the lifting hydraulic oil is controlled to enter a lifting cylinder, a container is lifted, after the lifting is in place, the lifting control handle is switched to a holding position, and a cargo compartment is held at the lifting position, so that dumping operation is realized;
b2, when the container needs to descend, the lifting control handle is turned to a descending gear, the container descends, after the container descends to a position, the lifting limit switch collects position information of the container, the lifting limit switch is triggered, the lifting motor stops working, and meanwhile the lifting control handle is switched to a floating position.
The invention has the beneficial effects that:
aiming at the problems and the energy-saving and environment-friendly requirements of the traditional dumper, the power loss of a hydraulic system can be obviously reduced, the heating of the hydraulic system is reduced, the energy consumption is effectively reduced, and the effects of reducing temperature and saving energy are achieved through pure electric transformation. Meanwhile, the working mode of motor driving is adopted, so that the intelligent control of a hydraulic system can be conveniently realized, no tail gas is discharged, and the device is completely environment-friendly.
The vehicle hydraulic system is low in modification cost, the operation cost can be greatly reduced after modification, and the life cycle of the dumper in use is prolonged.
The invention adopts the motor to replace a fuel engine to respectively drive the steering variable plunger pump and the lifting gear pump, adopts a direct connection mode between the motor and the oil pump, transmits torque through the built-in spline, and has compact structure, high transmission efficiency, stable operation and low noise.
The steering motor adopts two working systems of low-speed rotation and high-speed rotation, and the energy consumption of the steering pump can be effectively reduced by switching the rotating speed of the steering motor, so that the aim of saving energy is fulfilled.
The maximum power and the maximum torque of the steering motor can be generated when the pressure of a steering system reaches the maximum, the time is short, the overload multiple of the steering motor is 2, and the short-time overload operation can be performed, so that the low-power steering motor can be selected to drive the steering pump, the rated power of the motor is reduced to 27.2Kw from 36.4kW, and the transformation and use cost is effectively reduced.
When the pressure of the hydraulic steering system reaches 15.86MPa, the variable displacement plunger pump is in a zero displacement working state. When the rotation speed is 750r/min, the power consumption is about 2.5kW, and when the rotation speed is 2000r/min, the power consumption is about 6 kW. Therefore, the energy consumption of the steering pump can be effectively reduced by switching the rotating speed of the steering motor, so that the aim of saving energy is fulfilled.
The lifting motor adopts an intermittent working system, so that the working time of the lifting motor can be reduced to the maximum extent, the heat productivity generated by motor idling and gear pump idling can be greatly reduced, and the purpose of saving energy can be achieved. In the unloading process of the dump truck, at the beginning, the material in the cargo compartment is the most and the gravity arm of the cargo compartment is the longest, so the load borne by the lifting cylinder is the largest at the moment, namely the working pressure of the lifting system is the largest at the moment. The lifting pressure is gradually reduced along with the continuous extension of the piston of the lifting cylinder. When the lifting cylinder is changed in level, the lifting pressure is suddenly increased to be close to the initial lifting pressure due to the sudden reduction of the area of the piston, then the lifting pressure is gradually reduced, and when the lifting cylinder is lifted in place, the lifting pressure is reduced to be the lowest.
Claims (4)
1. A control method of an electric hydraulic system of a mining vehicle comprises a vehicle-mounted computer, a hydraulic steering system and a hydraulic lifting system, and is characterized in that: the hydraulic steering system comprises a steering hydraulic oil tank, a steering oil absorption filter, a variable plunger pump, a steering motor, a steering pressure sensor, a steering valve bank, a steering energy accumulator, a steering gear, a steering cylinder three-way bidirectional unloading module, a steering cylinder and an oil return filter, wherein the steering hydraulic oil tank is respectively connected with the steering oil absorption filter and the oil return filter;
the hydraulic lifting system comprises a lifting hydraulic oil tank, a lifting oil absorption filter, a gear pump, a lifting motor, a lifting pilot valve block, a lifting control handle, a lifting motor control switch, a lifting control valve group, a lifting limit switch, a lifting cylinder and an oil return filter, the lifting hydraulic oil tank is respectively connected with the lifting oil absorption filter and the oil return filter, the gear pump is connected with the lifting motor and the lifting control valve group through a pipeline, the lifting control handle is respectively connected with the lifting pilot valve block, the lifting motor control switch and the lifting control valve group through pipelines, the lifting pilot valve block is also connected with a variable plunger pump through a pipeline, the vehicle-mounted computer is respectively connected with a lifting limit switch, a lifting motor control switch and a lifting motor through cables, the lifting cylinder is connected with a lifting control valve group through a pipeline, and the lifting control valve group is also connected with an oil return filter through a pipeline;
the control method of the hydraulic steering system includes:
a1, setting judgment pressure values a1 and a2 of the hydraulic steering system in the vehicle computer, wherein a1 is larger than a2, and setting a rotating speed value a3 of low-rotating-speed operation and a rotating speed value a4 of high-rotating-speed operation of the steering motor;
a2, starting a steering motor, delaying for 15 seconds, relieving pressure of the energy accumulator through a cold starting valve of a steering valve group, enabling the energy accumulator to work in an idle load state under a rotating speed value a4 state of high-rotating-speed work, providing power for a variable plunger pump by the steering motor, and charging the energy accumulator by the variable plunger pump;
a3, when the pressure value of the hydraulic steering system reaches a1, the steering pressure sensor feeds back a signal to a vehicle computer, the vehicle computer reduces the rotating speed of a steering motor to a3, the output flow of the variable plunger pump is close to zero, and only the leakage of the hydraulic steering system is compensated;
a4, when the pressure value of the hydraulic steering system is reduced to a2, the steering pressure sensor feeds back a signal to a vehicle computer, the vehicle computer enables the rotating speed of a steering motor to be increased to a4, the variable plunger pump outputs full displacement, and the steering system is quickly pressurized;
the control method of the hydraulic lifting system comprises the following steps:
b1, when lifting is needed, a lifting motor control switch is pressed, the lifting motor is started by electrifying, a lifting control handle is driven to a lifting gear, the container is lifted, after the lifting is in place, the lifting control handle is switched to a holding position, the cargo compartment is held in the lifting position, and dumping operation is achieved;
b2, when the container needs to descend, the lifting control handle is turned to a descending gear, the container descends, and after the container descends to a position, the lifting limit switch is triggered, the lifting motor stops working, and meanwhile the lifting control handle is switched to a floating position.
2. The control method of the mining vehicle electro-hydraulic system according to claim 1, characterized by: in A1 of the control method of the hydraulic steering system, a1 is 15.86MPa, a2 is 13.8 MPa, a3 is 750r/min, and a4 is 2000 r/min.
3. The control method of the mining vehicle electro-hydraulic system according to claim 1, characterized by: in the method a3 for controlling the hydraulic steering system, when the pressure value of the hydraulic steering system is increased, the steering gear drives the valve core to rotate by the driving of the steering wheel, outputs corresponding pressure oil to drive the steering cylinder to turn left or right through the steering cylinder three-way bidirectional unloading module, and unloads when the pressure value of the hydraulic steering system is over-pressurized.
4. The control method of the mining vehicle electro-hydraulic system according to claim 1, characterized by: in the method B1 of the hydraulic lifting system, when the lifting motor is electrically started, the lifting motor drives the gear pump to operate, the gear pump outputs lifting hydraulic oil from the lifting hydraulic oil tank to the lifting control valve group, and pilot control oil of the lifting control valve group is from the hydraulic steering system, and the pilot control oil controls the direction change of the lifting control valve group, so that the lifting hydraulic oil is controlled to enter the lifting cylinder, and lifting is achieved.
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| CN201911081848.0A CN110816651B (en) | 2019-11-07 | 2019-11-07 | Control method of mining car electro-hydraulic system |
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| CN201911081848.0A CN110816651B (en) | 2019-11-07 | 2019-11-07 | Control method of mining car electro-hydraulic system |
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| CN114179735A (en) * | 2021-11-16 | 2022-03-15 | 华能伊敏煤电有限责任公司 | Automatic driving chassis-by-wire system for mining dump trucks |
| CN116001907A (en) * | 2022-12-30 | 2023-04-25 | 柳工(常州)矿山机械有限公司 | Electric rigid mining dump truck and hydraulic integrated control system thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2984723B2 (en) * | 1994-08-25 | 1999-11-29 | ティー・シー・エム株式会社 | Hydraulic circuit of civil engineering machinery |
| CN101367347B (en) * | 2008-10-03 | 2011-07-20 | 内蒙古北方重型汽车股份有限公司 | Lifting and steering control method and system of self-discharging vehicle for rigid mining |
| CN102363432A (en) * | 2011-06-30 | 2012-02-29 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Steering control device for electric wheel mining dump trucks |
| CN202923631U (en) * | 2012-11-19 | 2013-05-08 | 广州电力机车有限公司 | Hydraulic braking system of mining dump truck |
| CN203111003U (en) * | 2012-12-29 | 2013-08-07 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Converging oil supply system of hinged type dumper lifting hydraulic system |
| CN103660928B (en) * | 2013-12-27 | 2016-09-21 | 阜阳市兴华机械装备有限公司 | Independent hot exchange enclosed fork truck hydrostatic drive system in parallel |
| CN108657050B (en) * | 2017-03-31 | 2020-11-06 | 比亚迪股份有限公司 | Hydraulic lifting system of dumper and dumper |
| JP2019048522A (en) * | 2017-09-08 | 2019-03-28 | 日立建機株式会社 | Transport vehicle |
| CN107856732B (en) * | 2017-11-02 | 2020-03-20 | 北京航天发射技术研究所 | Electro-hydraulic steering hydraulic system for multi-mode control |
| EP3536864B1 (en) * | 2018-03-09 | 2020-12-30 | Sandvik Mining and Construction Oy | Hydraulic system and method of controlling hydraulic actuator |
| CN209096810U (en) * | 2018-11-08 | 2019-07-12 | 扬州盛达特种车有限公司 | Hydraulic integrated control device for mine car steering system and box body lifting system |
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