CN202831050U - Hydraulic pump control system for engineering machinery - Google Patents
Hydraulic pump control system for engineering machinery Download PDFInfo
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- CN202831050U CN202831050U CN 201220509842 CN201220509842U CN202831050U CN 202831050 U CN202831050 U CN 202831050U CN 201220509842 CN201220509842 CN 201220509842 CN 201220509842 U CN201220509842 U CN 201220509842U CN 202831050 U CN202831050 U CN 202831050U
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Abstract
The utility model discloses a hydraulic pump control system for engineering machinery. The hydraulic pump control system for the engineering machinery comprises a detecting device which is used for obtaining actual pose parameters of a rotating body, a main arm, each auxiliary arm and a loading part, a trajectory planning device which is used for presetting objective pose parameters according to the engineering machinery, controllers which are arranged at the output ends of the detecting device and the trajectory planning device and are used for receiving the actual pose parameters and the objective pose parameters, obtaining demand flow of a hydraulic pump when the engineering machinery operates according to the objective pose parameters and outputting a control instruction according to the demand flow, and executive devices which are arranged at the output ends of the controllers and are used for receiving the control instruction and controlling flow of the hydraulic pump so that the hydraulic pump is enabled to output the demand flow. With the help of the hydraulic pump control system for the engineering machinery, precision of the flow control of the hydraulic pump can be greatly improved, and automation control of an excavator is achieved.
Description
Technical Field
The utility model relates to an engineering machine tool technical field especially relates to a hydraulic pump control system for engineering machine tool.
Background
An excavator is a common type of construction machine, and generally includes a body portion and an arm support portion, wherein the body portion includes a walking body, a rotating body and a slewing device therebetween, and the arm support portion includes a main arm, an auxiliary arm and a bucket. In the working process, the rotation angles of the main arm, the auxiliary arm and the bucket are controlled through the three hydraulic cylinders respectively, the rotating body is driven by the rotating device to rotate, and the flow rates of the three hydraulic cylinders and the rotating device are supplied by the hydraulic pump, so that the key point for automatically and accurately controlling the action of the excavator is to accurately control the flow rate of the hydraulic pump.
The control method of the existing excavator hydraulic pump can be divided into two types:
one is to control the pilot pressure by operating handle, control the displacement of the valve core of the multi-way valve, and the displacement change of the valve core of the multi-way valve controls the flow of the pump, such as negative feedback and load sensing system. In such a control mode, the flow control of the hydraulic pump needs more links, the response is not sensitive enough, the hysteresis exists, and the error with the flow required by the automatic control of the excavator is large.
The other hydraulic pump control mode of the excavator is that the pilot pressure is controlled by an operating handle, and if the control is positive feedback flow control, the pilot pressure is divided into two paths: one path of the control valve controls the displacement of the valve core of the multi-way valve, so as to control the speed of the hydraulic cylinder of the excavator; the other path controls the flow. When the excavator is automatically controlled, a certain error exists between the pilot pressure and the required flow in the prior excavator matching process, and the running speed of the excavator can be changed under variable working conditions (such as main arm lifting confluence or when the load pressure is overlarge to generate discharge). Meanwhile, when the load changes, the rotating speed of the engine changes, and the stability of the output flow of the hydraulic pump cannot be guaranteed.
In view of the above, it is desirable to optimally design a hydraulic pump control system and method of an existing excavator, so as to improve accuracy of flow control of a hydraulic pump of the excavator and ensure stability of output flow of the hydraulic pump.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a hydraulic pump control system for engineering machine tool to the realization guarantees the stability of hydraulic pump output flow to the accurate control of engineering machine tool's hydraulic pump flow, thereby realizes the operation according to predetermined orbit with the higher precision of engineering machine tool.
In order to solve the technical problem, the utility model provides a hydraulic pump control system for engineering machinery, the engineering machinery includes walking body, the rotator that is connected with the horizontal gyration of walking body, with main arm, at least one auxiliary arm that the rotator is connected with the vertical gyration of head and the tail in proper order, the auxiliary arm end is connected with the loading part, slewer drives the rotator and revolves, every two adjacent two of rotator, main arm, each auxiliary arm and loading part are through the pneumatic cylinder drive connection, pneumatic cylinder and slewer are supplied flow by the hydraulic pump; the hydraulic pump control system includes:
the detection device is used for acquiring actual pose parameters of the rotating body, the main arm, each auxiliary arm and the loading part;
the track planner is used for presetting target pose parameters according to the engineering machinery;
the controller is arranged at the output ends of the detection device and the track planner and used for receiving the actual pose parameters and preset target pose parameters, acquiring the required flow of the hydraulic pump when the engineering machinery operates according to a target track, and outputting a control instruction according to the required flow;
and the execution device is arranged at the output end of the controller and used for receiving the control command and controlling the flow of the hydraulic pump so as to enable the hydraulic pump to output the required flow.
Preferably, the detecting device is a plurality of tilt sensors respectively configured to detect a tilt angle of the main arm with respect to gravity, a tilt angle of each sub arm with respect to gravity, a tilt angle of the loading unit with respect to gravity, and a tilt angle of the rotation axis of the rotating body and the traveling body with respect to gravity in a preset vertical plane, and the detecting device further includes a rotation angle sensor configured to detect an actual rotation angle of the rotating body with respect to the traveling body:
the controller comprises a DSP module and is used for acquiring the actual length of each hydraulic cylinder according to the detection result of the detection device, acquiring the demand flow of the hydraulic pump and adjusting the demand flow according to the actual length of the hydraulic cylinder, the preset target length difference value and the rotation angle difference value of the actual rotation angle and the target rotation angle; the controller also comprises a register which outputs a corresponding PWM signal according to the result of the DSP module;
the execution device comprises an electromagnetic proportional valve amplifier for amplifying the PWM signal and a flow control valve for outputting the required flow according to the result of the electromagnetic proportional valve amplifier.
Preferably, the controller is further configured to obtain a correction coefficient and a corrected required flow rate according to the actual flow rate and the target flow rate of the hydraulic pump in the last control process.
Preferably, the method further comprises the following steps: the hydraulic pump comprises a dip angle detection device for detecting the dip angle of the hydraulic pump and a flow detection device for detecting the flow of the hydraulic pump;
the controller is further configured to increase or decrease a current inclination angle according to the detected inclination angle and/or flow rate of the hydraulic pump to cause the hydraulic pump to output the corrected required flow rate. .
Preferably, the controller is further configured to obtain a flow coefficient and/or a power coefficient according to a previous control process, feed back a calculation result to a trajectory planner of the construction machine, and increase or decrease the operation speed of the hydraulic cylinder according to the flow coefficient and/or the power coefficient, so that the hydraulic pump outputs the required flow.
Preferably, the method further comprises the following steps: pressure detection means for detecting outlet pressure of the hydraulic pump;
the controller is further configured to minimize the hydraulic pump flow based on the outlet pressure reaching a maximum.
Preferably, the method further comprises the following steps:
an accelerator opening degree detection device that detects the opening degree of the engine accelerator;
the controller is also used for obtaining the power coefficient according to the accelerator opening, reducing the output flow of the pump and increasing the accelerator opening according to the power coefficient larger than 1.
Preferably, the method further comprises the following steps:
the controller is further configured to reduce the engine throttle to an idle state based on the demand being zero.
Preferably, the work machine is an excavator.
The utility model also provides a hydraulic pump control system for engineering machine tool, it includes:
the detection device is used for acquiring actual pose parameters of the rotating body, the main arm, each auxiliary arm and the loading part;
the track planner is used for presetting target pose parameters according to the engineering machinery;
the controller is arranged at the output ends of the detection device and the track planner and used for receiving the actual pose parameters and the preset target pose parameters, acquiring the demand flow of the hydraulic pump when the engineering machinery operates according to the target track, and outputting a control instruction according to the demand flow;
and the execution device is arranged at the output end of the controller and used for receiving the control instruction and controlling the flow of the hydraulic pump so as to enable the hydraulic pump to output the required flow.
By adopting the control system, the controller compares and analyzes the actual pose parameters and the target pose parameters, the required flow of the hydraulic pump when the engineering machinery runs according to the target track can be directly and accurately acquired, and the output flow of the hydraulic pump is controlled, so that the excavator runs according to the preset track. Compared with the prior art, the control system does not need to control the pilot pressure through the operating handle, then controls the flow of the pump through the pilot pressure, or controls the multi-way valve through the pilot pressure and then controls the flow of the pump through the multi-way valve, overcomes the defect of long response time caused by excessive intermediate links, greatly improves the accuracy of the flow control of the hydraulic pump, and realizes the automatic control of the excavator.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of a hydraulic pump control system provided by the present invention;
FIG. 2 is a block control flow diagram of the hydraulic pump control system of FIG. 1;
FIG. 3 is a schematic configuration diagram of a hydraulic pump control method corresponding to FIG. 2;
fig. 4 is a schematic structural diagram of a second embodiment of a hydraulic pump control system provided by the present invention;
FIG. 5 is a control flow block diagram of the hydraulic pump control system of FIG. 4;
fig. 6 is a schematic structural diagram of the boom in fig. 3;
FIG. 7 is a diagram showing a correspondence between the first angle and the length of the first cylinder;
FIG. 8 is a diagram showing a correspondence between the second angle and the length of the second cylinder;
FIG. 9 is a diagram showing the correspondence between the third angle and the length of the third cylinder;
FIG. 10 is a diagram showing the correspondence between the difference between the actual turning angle and the target turning angle and the required flow rate;
FIG. 11 is a control flow diagram of another embodiment of a hydraulic pump control system provided by the present invention;
fig. 12 is a schematic configuration diagram of a hydraulic pump control method corresponding to fig. 11.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 12 is:
a detection device 1; a first tilt sensor 11; a second tilt sensor 12; a third tilt sensor 13; a fourth tilt sensor 14; a rotation angle sensor 15; a pressure detection device 16; an accelerator opening degree detection device 17; a rotational speed detection device 18; a flow rate detection device 19; an oil pump inclination angle detection device 120;
a controller 2; a DSP module 21; a register 22;
an execution device 3; an electromagnetic proportional valve amplifier 31; a flow control valve 32;
a hydraulic pump 4;
an engine 5;
a body 10; a turning device 101; a traveling body 102; a rotating body 103;
a boom 20; a main arm 201; an auxiliary arm 202; a loading part 203; a first hydraulic cylinder 204; a second hydraulic cylinder 205; a third hydraulic cylinder 206.
Detailed Description
The utility model discloses a core is for providing a hydraulic pump control system for engineering machine tool, and this control method and system can improve the accuracy of hydraulic pump flow, realize that engineering machine tool accurately moves according to predetermined orbit.
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of a hydraulic pump control system according to an embodiment of the present invention; FIG. 2 is a block control flow diagram of the hydraulic pump control system of FIG. 1; fig. 3 is a schematic configuration diagram of a hydraulic pump control method corresponding to fig. 2.
In a specific embodiment, as shown in fig. 1 to 3, the present invention provides a hydraulic pump 4 control system for a construction machine, the construction machine includes a walking body 102, a rotating body 103 horizontally and rotatably connected to the walking body 102, a rotating device 101 for driving the rotating body 103 to rotate, a main arm 201 and at least one auxiliary arm 202 sequentially and vertically and rotatably connected to the rotating body 103 end to end, a loading part 203 connected to the end of the auxiliary arm 202, the rotating body 103, the main arm 201, each of the auxiliary arms 202 and the loading part 203 are connected by a hydraulic cylinder, and the hydraulic cylinder and the rotating device 101 are both supplied with flow by the hydraulic pump 4; the hydraulic pump 4 control system includes:
a detecting device 1 for acquiring actual attitude parameters of the rotating body 103, the main arm 201, the respective sub arms 202, and the loading section 203;
and the track planner 6 is used for presetting the pose parameters of the engineering machinery target according to the intention of an operator.
The controller 2 is arranged at the output ends of the detection device 1 and the track planner 6, and is used for receiving the actual pose parameters and the preset target pose parameters, acquiring the required flow Q of the hydraulic pump 4 when the engineering machinery operates according to the target track, and outputting a control instruction according to the required flow Q;
and the execution device 3 is arranged at the output end of the controller 2 and used for receiving a control command and controlling the flow of the hydraulic pump 4 so as to enable the hydraulic pump 4 to output the required flow.
As shown in fig. 2, the hydraulic pump control system is controlled by the following steps:
s11: acquiring actual pose parameters and preset target pose parameters of the rotating body 103, the main arm 201, each of the sub arms 202, and the loading unit 203;
s12: acquiring the required flow Q of the hydraulic pump 4 when the engineering machinery operates according to the target track according to the actual pose parameter and the target pose parameter, and outputting a control instruction according to the required flow Q;
s13: and outputting a control command according to the required flow rate Q, and controlling the flow rate of the hydraulic pump 4 so that the hydraulic pump 4 outputs the required flow rate.
By adopting the control system, the controller 2 compares and analyzes the actual pose parameters and the target pose parameters, the required flow of the hydraulic pump when the engineering machinery runs according to the target track can be directly and accurately acquired, and the output flow of the hydraulic pump is controlled, so that the excavator runs according to the preset track. Compared with the prior art, the control system does not need to control pilot pressure through an operating handle, then controls the flow of the pump through the pilot pressure, or controls the multi-way valve through the pilot pressure and then controls the flow of the pump through the multi-way valve, overcomes the defect of long response time caused by excessive intermediate links, greatly improves the precision of the flow control of the hydraulic pump 4, and realizes the automatic control of the excavator.
Referring to fig. 4 and 5, fig. 4 is a schematic structural diagram of a hydraulic pump control system according to a second embodiment of the present invention; fig. 5 is a control flow block diagram of the hydraulic pump control system shown in fig. 4.
In a specific embodiment, as shown in fig. 4, the detecting device 1 includes a plurality of tilt sensors for detecting the tilt angle of the main arm 201 with respect to the gravity, the tilt angle of each sub arm 202 with respect to the gravity, the tilt angle of the loading unit 203 with respect to the gravity, the tilt angle of the rotation axis of the rotating body 103 with respect to the traveling body 102 with respect to the gravity in a predetermined vertical plane, and the actual rotation angle θ of the rotating body 103 with respect to the traveling body 102RThe rotation angle sensor 15:
the controller 2 comprises a DSP module 21, calculates the actual length of each hydraulic cylinder through a geometric space conversion algorithm, obtains the required flow Q of the hydraulic pump 4 according to the actual length of the hydraulic cylinder and a preset target length, reduces the fluctuation of the required flow Q, and divides the required flow by the rotating speed of the engine to obtain the regulated required flow; the controller 2 further includes a register 22 for outputting a corresponding PWM pulse width modulation signal according to the result of the DSP block;
the actuator 3 includes an electromagnetic proportional valve amplifier 31 that amplifies the PWM pulse width modulation signal and a flow control valve 32 that outputs a required flow rate in accordance with the result of the electromagnetic proportional valve amplifier 31.
With the above control system, as shown in fig. 5, the control process specifically includes step S21:
the inclination angle of the main arm 201 with respect to gravity, the inclination angle of each sub arm 202 with respect to gravity, the inclination angle of the loading unit 203 with respect to gravity, and the inclination angle of the rotation axis of the rotating body 103 and the traveling body 102 with respect to gravity in a predetermined vertical plane (for example, XOZ plane) are detected by a plurality of inclination sensors, and the actual rotation angle between the rotating body 103 and the traveling body 102 is measured by the rotation angle sensor 15.
Next, taking an excavator as an example, to specifically describe the control process of the hydraulic pump control system, the loader 203 of the excavator is a bucket, the number of the sub-arms 202 is one, the first hydraulic cylinder 204 is provided between the revolving unit 103 and the main arm 201, the second hydraulic cylinder 205 is provided between the main arm 201 and the sub-arm 202, and the third hydraulic cylinder 206 is provided between the sub-arm 202 and the bucket.
Referring to fig. 6, fig. 6 is a schematic structural diagram of boom 20 in fig. 3. First, as shown in fig. 3, a three-dimensional coordinate system is established, and a first inclination angle θ between the main arm 201 and gravity can be detected by using a first inclination sensor 11 mounted on the main arm 201, a second inclination sensor 12 mounted on the sub-arm 202, a third inclination sensor 13 mounted on the bucket, a fourth inclination sensor 14 mounted on the rotating body 103, and a turning angle sensor 15 mounted on the turning device 101, respectively1A second inclination angle theta of the sub-arm 202 and gravity2Third inclination angle theta of bucket and gravity3The rotation axes of the rotating body 103 and the traveling body 102 and the fourth inclination angle theta of gravity in the vertical plane XOZXActual rotation angle θ between rotating body 103 and traveling body 102R. The first length L of the first hydraulic cylinder 204 connecting the rotating body 103 and the main arm 201 is calculated1And a second length L of a second hydraulic cylinder 205 connecting the main arm 201 and the sub arm 2022A third length L of a third hydraulic cylinder 206 connecting the sub-arm 202 and the bucket3。
In particular, the amount of the solvent to be used,
from a first angle of inclination theta1And the rotation body 103 has a fourth inclination angle theta on the plane XOZXFrom the formula θL1＝θ1-θX+θL01Determining a first angle θ between the rotating body 103 and the main arm 201L1；
Wherein theta isL01The value is compensated for the main arm 201 angle. Because the angle theta is detected1And thetaXDifference sum thetaL1The difference in actual angle being compensated by the value of thetaL01The compensation is carried out and is also used for compensating the installation error of the inclination angle sensor.
In the same way, by
θL2＝θ2-θ1+θL02Determining a second angle θ between the main arm 201 and the sub-arm 202L2Through thetaL3＝θ3-θ2+θL03Determining a third included angle θ between the boom 202 and the bucketL3。
Further, the first included angle θ can be obtained from the geometric relationshipL1And a first length L1As shown in FIG. 7, the second included angle θL2And a second length L2As shown in FIG. 8, the third included angle θL3And a third length L3The corresponding relationship of (2) is shown in FIG. 9. And after the primary actual pose parameters are obtained, the length of each hydraulic cylinder can be obtained only according to the corresponding relation. Furthermore, the drawings can be made into corresponding tables for query and use in the control process, so that a large amount of operations can be avoided by adopting a geometric calculation method, the reaction speed of the control process is accelerated, and the efficiency of the control process is further improved. Further, the above-mentioned turning angle θRThis can be directly detected by a rotary angle sensor 15 mounted on the rotary device.
The actual pose parameters in the hydraulic pump control method may include a primary pose parameter, an intermediate pose parameter, and a final pose parameter, and for example, in the case of the excavator shown in fig. 3, the primary pose parameter of the excavator may be specifically the first inclination angle θ1A second inclination angle theta2A third inclination angle theta3A fourth inclination angle thetaXAnd angle of revolution thetaR(ii) a The intermediate pose parameter of the excavator can be specifically a first included angle thetaL1A second angle thetaL2And the third included angle thetaL3And angle of revolution thetaR(ii) a The ultimate pose parameter of the excavator can be specifically the first length L1A second length L2A third length L3And angle of revolution thetaR. In the process of acquiring the length of the hydraulic cylinder, the primary pose parameter is detected by adopting the tilt angle sensor, and then the final pose parameter is accurately calculated by a space conversion algorithm.
It is conceivable that the method of detecting the lengths of the hydraulic cylinders is not limited to the above method, and the lengths of the respective hydraulic cylinders may be directly detected by the length sensors.
Alternatively, the first angle sensor may be mounted on the pivot shaft connecting the rotating body 103 and the main arm 201, the second angle sensor may be mounted on the pivot shaft connecting the main arm 201 and the sub-arm 202, and the third angle sensor may be mounted on the pivot shaft connecting the sub-arm 202 and the bucket, respectively, to measure the first angle θL1A second angle thetaL2And third angle thetaL3Then passing through a first angle thetaL1A second angle thetaL2And third angle thetaL3And acquiring the length of the hydraulic cylinder.
As the automatic control of the excavator is generally provided with the track planner 6, the track planner 6 can directly preset target pose parameters through the entity parameters and the operation target of the current excavator. Similarly to the above pose parameters, the trajectory planner 6 can output primary target pose parameters, intermediate target pose parameters, or directly acquire final target pose parameters.
The control system executes step S221 after step S21: acquiring the required flow of the hydraulic pump 4 according to the difference value between the actual length of each hydraulic cylinder and the preset target length and the difference value between the actual rotating angle and the preset target rotating angle, and dividing the required flow by the rotating speed of the engine of the engineering machine to acquire the regulated required flow;
then, step S222 is executed: and outputting a corresponding PWM pulse width modulation signal according to the result of the step S221.
Firstly, the required flow Q can be obtained through the operation of the controller 2, and the specific calculation process is as follows:
the demanded flow Q is the first hydraulic cylinder demanded flow Q1+ second cylinder demand flow Q2+ third cylinder demand flow Q3+ required revolution flow rate QR。
First hydraulic cylinder demand flow Q1Equal to (target cylinder length L)1Actual cylinder length L1) Area A of the first hydraulic cylinder1；
Second hydraulic cylinder demand flow Q2Equal to (target cylinder length L)2Actual cylinder length L2) Area A of the second hydraulic cylinder2；
Third hydraulic cylinder demand flow Q3Equal to (target cylinder length L)3Actual cylinder length L3) Area A of the third hydraulic cylinder3；
Wherein the first cylinder area A1Second hydraulic cylinder area A2Area A of the third hydraulic cylinder3The corresponding small end area of the piston of the hydraulic cylinder is formed when the hydraulic cylinder is contracted, and the corresponding large end area of the piston is formed when the hydraulic cylinder is expanded.
Referring to fig. 10, fig. 10 shows an actual rotation angle θRTarget rotation angle thetaRThe difference value of (a) and the corresponding relation graph of the rotation demand flow; when the angle delta thetaRSmaller, proportional to the magnitude of the angular difference to ensure matching with the desired motion, when the angle delta theta is greater thanRAt a larger flow rate, the flow rate is limited to a certain flow rate due to the flow rate limitation of the hydraulic pump 4. Thereby, the actual rotation angle theta of the excavator is detectedRAngle of revolution theta with respect to targetRTo find out Delta thetaRAnd then according to the difference Delta thetaRThe absolute value of (A) is obtained from the relationship shown in FIG. 10Demanded flow rate QR。
After the required flow Q is obtained, the fluctuation of the required flow Q can be reduced by adopting a PID algorithm, and errors caused by interference are removed. For example, when there is a rotation command, the required flow rate is large, that is, the required flow rate Q of the pump changes greatly, and at this time, the PID algorithm is required to make the required flow rate Q change smoothly, so that the flow rate impact on the pump can be reduced, and the service life of the pump can be prolonged. It should be noted that the fluctuation of the required flow rate Q can be reduced by other methods, such as filtering and averaging.
Then, the rotational speed of the required flow Q is further adjusted. Due to the engine speed NrSpeed variations occur depending on the load, and therefore, when the required flow rate Q is determined, if the pump inclination is directly determined, the engine speed N varies depending on the engine speedrThe change in the output flow rate of the pump changes accordingly. To compensate for this effect, a rotational speed sensor may be mounted on the engine 5 for detecting the rotational speed N of the engine 5rAnd then dividing the required flow rate Q by the engine speed NrThe output displacement per revolution of the variable displacement hydraulic pump 4 is obtained.
Then, the inclination angle value of the pump is obtained in a corresponding proportion of the output displacement per revolution of the variable displacement hydraulic pump 4, and a corresponding PWM signal is output by setting the control register 22 of the PMW pulse width modulation signal.
After step S222, step S23 is executed, which specifically includes:
s231: amplifying the PWM signal through an electromagnetic proportional valve amplifier 31;
s232: the amplified PWM pulse width modulation signal is output to the flow control valve 32 of the hydraulic pump 4 to adjust the inclination angle of the hydraulic pump 4, thereby controlling the flow rate of the hydraulic pump 4.
The open-loop control process of the flow rate of the hydraulic pump 4 is described in detail above, and in fact, the control system of the hydraulic pump 4 is not limited to the open-loop control, and may be configured as a closed-loop feedback control.
In another embodiment, the controller 2 is further configured to obtain the correction factor K according to the actual flow rate and the target flow rate of the hydraulic pump 4 during the previous control processfObtaining the corrected required flow rate as the adjusted required flow rate and correcting the coefficient KfFinally, outputting a corresponding PWM pulse width modulation signal according to the corrected demand flow Q, that is, after the adjustment demand flow is obtained in step S221 of the control process, the method further includes the steps of:
s2211: obtaining a correction coefficient K according to the actual flow and the target flow of the hydraulic pump 4 in the last control processfObtaining the corrected required flow rate as the adjusted required flow rate and correcting the coefficient Kf。
Wherein, according to formula Kf＝Q/QfTo determine a correction factor KfMatching the hydraulic flow to the actual demand.
Wherein Q is the required flow calculated in the last operation period, QfTo complete the flow:
Qf＝ΔL1×A1+ΔL2×A2+ΔL3×A3+ΔθR×q
ΔL1is the actual cylinder length L1Changing the value in one operation period of the controller; Δ L2Is the actual cylinder length L2A change value; Δ L3Is the actual cylinder length L3A change value; delta thetaRIs the actual central revolution center angle thetaRThe value of the change.
A1When Δ L1When shortened, the area of the small end of the main arm 201 hydraulic cylinder piston is equal to Delta L1The piston large end area of the main arm 201 hydraulic cylinder is formed when the main arm is stretched. A. the2When Δ L2When shortened, the area of the small end of the piston of the hydraulic cylinder of the auxiliary arm 202 is equal to Delta L2Piston big end of hydraulic cylinder of auxiliary arm 202 during extensionArea. A. the3When Δ L3When shortened, the area of the small end of the piston of the hydraulic bucket cylinder is equal to delta L3And the large end area of the piston of the hydraulic bucket cylinder is obtained when the hydraulic bucket cylinder is stretched. q is a flow rate required for the rotary motor to drive the rotary body 103 to perform a rotary motion per unit angle.
The above-mentioned flow correction coefficient Kf＝Q/QfWhen K isfWhen the flow rate is more than 1, the flow rate cannot completely meet the requirement, and the K is required to be pressed to ensure that the flow rate can meet the requirementfThe shortage of the flow can be compensated by the proportional amplification; when K isfWhen the flow rate is less than 1, the flow rate supply is larger than necessary, and K is required to satisfy the flow ratefThe scaling down can only reduce the flow to meet the demand.
In this way, the electromagnetic proportional amplifier 31 receives the corresponding PWM pulse width modulation signal output according to the correction demand flow, and the subsequent step controls the flow rate of the hydraulic pump according to the correction demand flow, so as to supplement the flow rate of the hydraulic pump 4, and further improve the control accuracy.
In another specific embodiment, the controller 2 is further configured to obtain a flow coefficient and/or a power coefficient according to the previous control process, feed back the calculation result to the trajectory planner 6 of the construction machine, and reduce the operation speed of the hydraulic cylinder when the flow coefficient is greater than a first preset value and/or the power coefficient is greater than a second preset value, so as to prevent a situation of insufficient flow and perform an effect of optimizing the trajectory. And when the flow coefficient is smaller than a first preset value and the power coefficient is smaller than a second preset value, increasing the running speed of the hydraulic cylinder. Wherein,
coefficient of flow Kflow＝Q/QMAXQ is the demand flow, QMAXThe maximum flow rate of the hydraulic pump 4; when flow coefficient KflowA flow rate greater than 1 means that the required flow rate Q of the pump is greater than the maximum flow rate Q of the pumpMAXAt the moment, the maximum flow of the pump cannot meet the flow demand of the excavator, and the demanded flow Q can also be obtained by multiplying the inclination angle value of the oil pump and the rotating speed value of the engine and amplifying the multiplied values in proportion. Above and flow coefficient KflowTo a corresponding secondA preset value is usually set to 1, although other values may be used in special cases.
Coefficient of power Kpower＝Ppower/Pmax，PpowerFor the power consumed by the hydraulic pump 4, the flow Q of the hydraulic pump 4 is multiplied by the outlet pressure P of the pump to obtain the power P consumed by the hydraulic pump 4power，PmaxIs the maximum power of the engine 5 at the current throttle opening; when K ispowerAbove 1, this indicates that the required power of the engine 5 has exceeded the maximum power. For optimum operation of the excavator, the power coefficient KpowerThe corresponding second preset value is usually set to 0.8, although other values may be used in special cases. The power coefficient K ispowerIt can also be obtained by other means, for example, the rotation speed detection device 18 can be set to detect the rotation speed of the engine and then obtain the power coefficient K according to the rotation speedpower(ii) a When the precision requirement is not high PmaxBut may instead be the maximum power of the engine 5.
In another embodiment, the control system for the hydraulic pump 4 further includes:
an oil pump inclination angle detection device 120 that detects an inclination angle of the hydraulic pump 4 and a flow rate detection device 19 that detects a flow rate of the hydraulic pump 4; the controller 2 is further configured to increase the current inclination angle when detecting that the inclination angle and/or the flow rate of the hydraulic pump 4 is smaller than the inclination angle and/or the flow rate corresponding to the corrected required flow rate output; and when the inclination angle and/or the flow of the hydraulic pump 4 is detected to be larger than the inclination angle and/or the flow corresponding to the output according to the corrected required flow, reducing the current inclination angle, so that the hydraulic pump outputs the required flow, and enhancing the control precision.
Other configurations of the hydraulic pump 4 control system described above may be further provided.
In another embodiment, the control system further comprises a pressure detecting device 16 for detecting the outlet pressure of the hydraulic pump 4, and the controller 2 is further configured to minimize the flow rate of the hydraulic pump 4 when the outlet pressure reaches a maximum value, so as to implement the pressure cutoff function. Therefore, the overflow loss can be reduced, and the hydraulic system of the excavator can be protected. And the pressure of the hydraulic pump 4 is fed back to the track controller 2, if the maximum pressure is continuously unchanged, which indicates that the excavating resistance of the excavator is too large, the track controller 2 plans the track again to avoid obstacles.
In another specific embodiment, the control system further comprises an accelerator opening degree detection device 17 for detecting the opening degree of the engine accelerator, and the controller 2 is further configured to obtain the power coefficient K according to the opening degree of the engine acceleratorpowerAnd when the power coefficient is larger than 1, the output flow of the pump is reduced, and the opening degree of the accelerator is increased. Namely, the following steps are included after the control pressure is outputted:
detecting the throttle opening of the engine 5, and acquiring the power coefficient K of the engine 5 at the momentpower. When power coefficient KpowerWhen the flow rate is larger than 1, the flow controller 2 is transferred to an overload prevention state, the flow rate of the pump is reduced, the opening degree of an accelerator is increased, and the engine 5 is prevented from flameout. The power coefficient K ispowerIt can also be obtained by other means, for example, the rotation speed detection device 18 can be set to detect the rotation speed of the engine and then obtain the power coefficient K according to the rotation speedpower。
In another embodiment, the controller 2 of the above-described control system is further configured to reduce the throttle of the engine 5 to an idle state when the demanded flow rate is zero. Namely, an idle speed control step is added in the control process, namely, when the required flow Q is zero in a preset time period, the flow controller 2 is transferred to an idle speed mode, the accelerator of the engine 5 is reduced, the excavator is in the idle speed mode, and fuel is saved.
The hydraulic pump control system is described in detail above as applied to an excavator in which one hydraulic pump 4 controls the flow rates of all the hydraulic cylinders, and the control process of the hydraulic pump as applied to an excavator including two hydraulic pumps 4 is described below.
Referring to fig. 11 and 12, fig. 11 is a control flow diagram of another embodiment of a hydraulic pump control system provided by the present invention; fig. 12 is a schematic configuration diagram of a hydraulic pump control method corresponding to fig. 11.
In another embodiment, as shown in fig. 11 and 12, the excavator may include two hydraulic pumps, i.e., a first hydraulic pump 4a and a second hydraulic pump 4b, the first hydraulic pump 4a provides flow to a first hydraulic cylinder 204 and a third hydraulic cylinder 206, the pump 4b provides flow to a second hydraulic cylinder 205 and the swing device 101, the pump outlet pressure detecting device has two devices 16a and 16b, and the electromagnetic proportional valve amplifiers 31a and 31b, and the flow control valves 32a and 32b of the pumps.
Most of the control processes of the control system of the double hydraulic pump 4 are similar to those of the single hydraulic pump 4, and the control process mainly comprises the following steps:
s31: acquiring preset target pose parameters and actual pose parameters of the rotating body 103, the main arm 201, the auxiliary arm 202 and the loading unit 203;
s32: respectively acquiring a first demand flow Qa of the first hydraulic pump 4a and a second demand flow Qb of the second hydraulic pump 4b when the engineering machinery operates according to a target track according to the actual pose parameter and the target pose parameter, and outputting a control instruction according to the first demand flow Qa and the second demand flow Qb;
s33: the control command is received, and the first required flow rate Qa is output to the first hydraulic pump 4a and the second required flow rate Qb is output to the second hydraulic pump 4 b.
The calculation method of the individual parameters is different from the engineering machinery of the single hydraulic pump:
first demand flow QaFirst hydraulic cylinder demand flow Q1+ third cylinder demand flow Q3；
Second demand flow QbSecond hydraulic cylinder demand flow Q2+ rotary motor demand flow QR
Correction factor Kfa＝Qa/Qfa，Qfa＝ΔL1×A1+ΔL3×A3
Correction factor Kfb＝Qb/Qfb，Qfb＝ΔL2×A2+ΔθR×q
Wherein QfaAnd QfbThe actual completed flow rate of the corresponding pump is detected for the excavator. Δ L1Is the actual cylinder length L1Change value, Δ L, in one calculation cycle of a flow excavator2Is the actual cylinder length L2Change value, Δ L3Is the actual cylinder length L3Change value, Δ θRIs the actual central revolution center angle thetaRThe value of the change.
First flow coefficient KaflowThe required flow rate Q of the second hydraulic pump 4aaMaximum flow rate of pump QMAxa。
Second flow coefficient Kb flowThe required flow rate Q of the second hydraulic pump 4bbMaximum flow rate of pump QMAXb。
As with the single pump embodiment described above, PmaxThe maximum power of the engine 5 at a certain throttle opening; . Power consumed by the two hydraulic pumps 4: flow rate Q of the first hydraulic pump 4aaMultiplied by the pump outlet pressure PaThe power P consumed by the first hydraulic pump 4a is obtaineda powerFlow rate Q of the second hydraulic pump 4bbMultiplied by the pump outlet pressure PbDeriving the power P consumed by the second hydraulic pump 4bbpower。
Coefficient of power Kpower＝(Papower+Pbp0wer)/Pmax
The power coefficient K ispowerIt can also be obtained by other means, for example, the rotation speed detection device 18 can be set to detect the rotation speed of the engine and then obtain the power coefficient K according to the rotation speedpower(ii) a When the precision requirement is not high PmaxBut may instead be the maximum power of the engine 5.
Obtaining a flow coefficient K according to the last control processaflow、KbflowAnd/or power coefficient KpowerFeeding back the calculation result to a trajectory planner 6 of the engineering machine, reducing the running speed of the hydraulic cylinder when the flow coefficient is greater than a first preset value and/or the power coefficient is greater than a second preset value, and increasing the running speed of the hydraulic cylinder when the flow coefficient is less than the first preset value and the power coefficient is less than the second preset value;
and finally, the PWM output is divided into two paths to respectively control the first hydraulic pump 4a and the second hydraulic pump 4 b.
It should be noted that, the specific control process of the hydraulic pump control system is described above only by taking an excavator as an example, and actually, the hydraulic pump control system is not limited to the excavator, and may be used for various engineering machines such as a forklift, a concrete pump truck and the like.
The hydraulic pump control system for construction machinery provided by the present invention has been described in detail. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.
Claims (9)
1. A hydraulic pump control system for a construction machine comprises a walking body (102), a rotating body (103) horizontally and rotatably connected with the walking body (102), a main arm (201) vertically and rotatably connected with the rotating body (103) end to end, at least one auxiliary arm (202), a loading part (203) is connected with the tail end of the auxiliary arm (202), a rotating device (101) drives the rotating body (103) to rotate, and each adjacent two of the rotating body (103), the main arm (201), each auxiliary arm (202) and the loading part (203) are in driving connection through a hydraulic cylinder, and the hydraulic cylinder and the rotating device (101) are both supplied with flow by a hydraulic pump (4); characterized in that the hydraulic pump control system comprises:
the detection device (1) is used for acquiring actual pose parameters of the rotating body (103), the main arm (201), each auxiliary arm (202) and the loading part (203);
the track planner (6) is used for presetting target pose parameters according to the engineering machinery;
the controller (2) is arranged at the output ends of the detection device (1) and the track planner (6) and is used for receiving the actual pose parameters and preset target pose parameters, acquiring the demand flow of the hydraulic pump (4) when the engineering machinery operates according to a target track, and outputting a control instruction according to the demand flow;
and the execution device (3) is arranged at the output end of the controller (2) and is used for receiving the control instruction and controlling the flow of the hydraulic pump (4) so that the hydraulic pump (4) outputs the required flow.
2. The hydraulic pump control system for a construction machine according to claim 1,
the detection device (1) is a plurality of inclination angle sensors and is respectively used for detecting the inclination angle of the main arm (201) and gravity, the inclination angle of each auxiliary arm (202) and gravity, the inclination angle of the loading part (203) and gravity, and the inclination angles of the rotating axis and gravity of the rotating body (103) and the walking body (102) in a preset vertical plane, and the detection device (1) further comprises a rotation angle sensor (15) for detecting the actual rotation angle of the rotating body (103) relative to the walking body (102):
the controller (2) comprises a DSP module and is used for acquiring the actual length of each hydraulic cylinder according to the detection result of the detection device (1), acquiring the required flow of the hydraulic pump (4) and adjusting the required flow according to the actual length of the hydraulic cylinder, the preset target length difference value and the rotation angle difference value of the actual rotation angle and the target rotation angle; the controller (2) also comprises a register (22) which outputs a corresponding PWM (pulse width modulation) signal according to the result of the DSP module;
the actuator (3) includes an electromagnetic proportional valve amplifier (310) amplifying the PWM signal and a flow control valve (32) outputting a required flow rate according to the result of the electromagnetic proportional valve amplifier (31).
3. The hydraulic pump control system for a construction machine according to claim 2, wherein the controller (2) is further configured to obtain a correction coefficient and a correction demand flow rate based on an actual flow rate and a target flow rate of the hydraulic pump (4) in a last control process.
4. The hydraulic pump control system for a construction machine according to claim 1, further comprising:
an inclination angle detection device (120) for detecting an inclination angle of the hydraulic pump (4) and a flow rate detection device (19) for detecting a flow rate of the hydraulic pump (4);
the controller (2) is further configured to increase or decrease a current inclination angle in accordance with the detected inclination angle and/or flow rate of the hydraulic pump (4) to cause the hydraulic pump (4) to output the corrected required flow rate.
5. The hydraulic pump control system for a construction machine according to any one of claims 1-4, wherein the controller (2) is further configured to obtain a flow coefficient and/or a power coefficient according to a last control process, feed back a calculation result to a trajectory planner of the construction machine, and increase or decrease the operation speed of the hydraulic cylinder according to the flow coefficient and/or the power coefficient so that the hydraulic pump (4) outputs the required flow rate.
6. The hydraulic pump control system for a construction machine according to any one of claims 1-4, further comprising:
a pressure detection device (16) that detects the outlet pressure of the hydraulic pump (4);
the controller (2) is further configured to minimize the hydraulic pump (4) flow rate in response to the outlet pressure reaching a maximum.
7. The hydraulic pump control system for a construction machine according to any one of claims 1-4, further comprising:
an accelerator opening degree detection device (17) that detects the engine accelerator opening degree;
the controller (2) is also used for obtaining the power coefficient according to the accelerator opening, reducing the output flow of the pump and increasing the accelerator opening according to the condition that the power coefficient is larger than 1.
8. The hydraulic pump control system for a construction machine according to any one of claims 1-4, further comprising:
the controller (2) is further configured to reduce the engine throttle to an idle state based on the demand being zero.
9. The hydraulic pump control system for a working machine according to any one of claims 1 to 4, wherein the working machine is an excavator.
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| CN 201220509842 CN202831050U (en) | 2012-09-29 | 2012-09-29 | Hydraulic pump control system for engineering machinery |
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| CN 201220509842 CN202831050U (en) | 2012-09-29 | 2012-09-29 | Hydraulic pump control system for engineering machinery |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102900121A (en) * | 2012-09-29 | 2013-01-30 | 张国军 | Hydraulic pump control system and hydraulic pump control method used for engineering machinery |
| CN104295543A (en) * | 2014-09-09 | 2015-01-21 | 柳州柳工挖掘机有限公司 | Hybrid power engineering machine composite motion control method |
| CN104612194A (en) * | 2013-12-30 | 2015-05-13 | 柳州柳工挖掘机有限公司 | Control method of rotation of excavator working device |
| CN105714873A (en) * | 2016-02-17 | 2016-06-29 | 柳州柳工挖掘机有限公司 | Hydraulic control system and control method for excavators |
| CN105940162A (en) * | 2014-03-31 | 2016-09-14 | 住友建机株式会社 | Shovel |
| CN106948405A (en) * | 2015-11-18 | 2017-07-14 | 斗山英维高株式会社 | The control method of construction machinery |
| CN107191440A (en) * | 2017-07-05 | 2017-09-22 | 河南工程学院 | Control method for construction machinery hydraulic system |
| CN111847320A (en) * | 2020-08-26 | 2020-10-30 | 合肥工业大学 | Self-calibration system and method for a material handling tool |
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| CN115288218A (en) * | 2022-07-28 | 2022-11-04 | 中联重科股份有限公司 | Method for controlling arm support, excavator, storage medium and processor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102900121B (en) * | 2012-09-29 | 2015-10-14 | 张国军 | A kind of hydraulic pump control for engineering machinery and method |
| CN102900121A (en) * | 2012-09-29 | 2013-01-30 | 张国军 | Hydraulic pump control system and hydraulic pump control method used for engineering machinery |
| CN104612194A (en) * | 2013-12-30 | 2015-05-13 | 柳州柳工挖掘机有限公司 | Control method of rotation of excavator working device |
| CN105940162B (en) * | 2014-03-31 | 2019-08-16 | 住友建机株式会社 | Excavator |
| CN105940162A (en) * | 2014-03-31 | 2016-09-14 | 住友建机株式会社 | Shovel |
| CN104295543A (en) * | 2014-09-09 | 2015-01-21 | 柳州柳工挖掘机有限公司 | Hybrid power engineering machine composite motion control method |
| CN106948405A (en) * | 2015-11-18 | 2017-07-14 | 斗山英维高株式会社 | The control method of construction machinery |
| CN105714873A (en) * | 2016-02-17 | 2016-06-29 | 柳州柳工挖掘机有限公司 | Hydraulic control system and control method for excavators |
| CN107191440A (en) * | 2017-07-05 | 2017-09-22 | 河南工程学院 | Control method for construction machinery hydraulic system |
| CN107191440B (en) * | 2017-07-05 | 2019-05-28 | 河南工程学院 | Control method for construction machinery hydraulic system |
| CN112791617A (en) * | 2019-10-28 | 2021-05-14 | 广州极飞科技股份有限公司 | Calibration method for dispensing machine, control device, dispensing machine and medicine filling system |
| CN111847320A (en) * | 2020-08-26 | 2020-10-30 | 合肥工业大学 | Self-calibration system and method for a material handling tool |
| CN111847320B (en) * | 2020-08-26 | 2022-01-28 | 合肥工业大学 | Self-calibration system and method for material handling tool |
| CN115288218A (en) * | 2022-07-28 | 2022-11-04 | 中联重科股份有限公司 | Method for controlling arm support, excavator, storage medium and processor |
| CN115288218B (en) * | 2022-07-28 | 2024-08-02 | 中联重科股份有限公司 | Method for controlling arm support, excavator, storage medium and processor |
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