Control method for solving problem of low-speed walking deviation of excavator
A control method and technology of excavators, which are applied in the directions of earth movers/shovels, construction, etc., can solve the problems of bilateral walking deviation excavators, low speed walking deviation, etc., to solve low speed deviation and bilateral walking running biased effect
Active Publication Date: 2016-03-02
LIUZHOU LIUGONG EXCAVATORS +2
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[0003] The purpose of the present invention is to provide a control method for solving the low-speed walking deviation of the excavator, which effectively solves the problem of bilateral walking deviation when the engine is running at low speed without increasing the hardware cost.
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[0019] in such as figure 1 In the walking control system of the excavator shown, the first pump 1 and the second pump 2 are variable pumps with identical model parameters, and the output pressures of these two pumps are respectively detected by two pressure transmitters 3 and transmitted to the control system. 4, the controller 4 calculates and outputs the current according to the control method of the present invention to control the electric proportional pressure reducing valve 5, and changes the working state of the first pump 1 and the second pump 2, so that the two pumps output the same flow rate, thereby achieving The purpose of making the excavator walk in a straight line.
[0020] right figure 1 The system shown, employs figure 2 The control flow shown is controlled, and the control steps are:
[0021] 1. Set the appropriate double-pump pressure and comparison value PPi and the corresponding pump proportional valve current value Ii for the low-speed gears in each...
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The invention relates to a control method for solving the problem of low-speed walking deviation of an excavator. The control method comprises the steps that the appropriate dual-pump pressure and comparison value PPi and a corresponding pump proportional valve current value Ii are set, wherein the value i corresponds to all low-speed gears; the actual dual-pump pressure and P1+P2 detected in real time and the dual-pump pressure and comparison value PPi of the corresponding gear are compared; when the dual-pump pressure and P1+P2 are smaller than the dual-pump pressure and comparison value PPi of the corresponding gear, the current output by a controller to a pump proportional valve is the corresponding current value Ii, and pump torque is increased, so that consistent maximum flow is kept for dual-pump output; and when the dual-pump pressure and P1+P2 are larger than or equal to the dual-pump pressure and comparison value PPi of the corresponding gear, the current output by the controller to the pump proportional valve is the current value set by a corresponding gear of an original program. The control method has the beneficial effect that under the condition that the hardware cost is not increased, the problem of double-side walking deviation of the excavator in the low-rotating-seed running process of an engine is effectively solved.
Description
technical field [0001] The invention relates to the field of construction machinery and software, in particular to a control method for solving the problem of low-speed running deviation of an excavator. Background technique [0002] When the existing excavator is running at low engine speed, due to the low output torque, the first inflection point set by the P_Q curve of the general pump is relatively small. , due to mechanical, hydraulic power, efficiency and other factors, it is difficult to achieve the same output flow of the double pumps, which makes the machine deviate. Contents of the invention [0003] The purpose of the present invention is to provide a control method for solving the low-speed walking deviation of the excavator, which effectively solves the problem of bilateral walking deviation when the engine is running at a low speed without increasing the hardware cost. [0004] The solution of the present invention is this: [0005] The control method of th...
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Inventor 韦赞洲李文新梁明孔杨军
Owner LIUZHOU LIUGONG EXCAVATORS