An auxiliary optimization method for power matching of an excavator

Abstract

The present invention discloses a power matching auxiliary optimization method for an excavator, comprising: obtaining sample data, wherein the sample data includes: instantaneous fuel consumption, engine torque, main pump pressure, and current main pump current output value; performing data discretization processing on the sample data; forming two groups of matrix data from the discretized data according to the engine torque and instantaneous fuel consumption corresponding to different main pump pressures; inputting the two groups of matrix data into a pre-constructed matrix fusion analysis model to obtain two sets of typical variable values representing engine torque and instantaneous fuel consumption; comparing the typical variable value representing engine torque with a preset threshold to obtain a penalty coefficient of the typical variable; multiplying the penalty coefficient by the current main pump current output value to obtain an optimized main pump current output value. The present invention collects important data during the actual operation of the excavator for data fusion analysis, so as to achieve the purpose of adapting to the operation requirements and balancing efficiency and fuel consumption.

Description

Technical Field

[0001] The present invention relates to a power matching auxiliary optimization method for an excavator, belonging to the technical field of power matching auxiliary optimization. Background Art

[0002] The working device of an excavator is hydraulically driven, and the engine provides kinetic energy for the hydraulic system. In order to enable the engine to provide the maximum power and minimize fuel consumption as much as possible, it is necessary for the power system and the hydraulic system to cooperate fully to achieve the purpose of high efficiency of the hydraulic system and low fuel consumption of the power system. Currently, according to the available references, the power matching strategies include but are not limited to the following: 1. Achieve the power matching of the engine-pump by means of rotational speed sensing control, and the main controller adjusts the opening of the multi-way valve to achieve the power matching of the load-pump; 2. Based on the matching control principle of the electro-hydraulic proportional variable pump following the change of the engine speed deviation to absorb power, the variable pump dynamically adjusts the power matching as the engine power changes; 3. Conduct matching from two aspects of the pump-load and the engine-hydraulic pump. On the one hand, by controlling the engine throttle, the engine torque is changed, and thus the output power of the engine is controlled; on the other hand, starting from the load, the output speed and torque of the engine are adapted to the requirements of the load. However, in the actual application and operation of the excavator, fixed gear speeds and upper limits of hydraulic power are often set. During the power adjustment process, the target speed remains constant, and the power adjustment depends on the load change. The power landing point is on a straight line with the rotational speed as the abscissa and the torque as the ordinate. This type of power matching control method does not have an obvious effect on reducing fuel consumption, and the fuel consumption is directly related to the working conditions, environment, and the operating habits of the operator. This leads to the situation that in the case of already unsatisfactory fuel consumption, the fuel consumption may further increase due to the intervention of influencing factors. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a power matching auxiliary optimization method for an excavator. By collecting important data during the actual working process of the excavator and conducting data fusion analysis, the purpose of adapting to the operation requirements and balancing efficiency and fuel consumption is achieved.

[0004] To achieve the above purpose, the present invention is implemented by adopting the following technical solutions:

[0005] In the first aspect, the present invention provides a power matching auxiliary optimization method for an excavator, including:

[0006] Obtain sample data, where the sample data includes: instantaneous fuel consumption, engine torque, main pump pressure, and the current main pump current output value;

[0007] Perform data discretization processing on the sample data;

[0008] The discretized data is composed of two groups of matrix data according to the engine torque and instantaneous fuel consumption corresponding to different main pump pressures;

[0009] The two groups of matrix data are input into a pre-constructed matrix fusion analysis model to obtain two sets of typical variable values representing engine torque and instantaneous fuel consumption;

[0010] The typical variable value representing the engine torque is compared with a pre-set threshold to obtain the penalty coefficient of the typical variable;

[0011] The penalty coefficient is multiplied by the current main pump current output value to obtain the optimized main pump current output value.

[0012] Furthermore, the instantaneous fuel consumption, engine torque, and main pump pressure belong to the same sampling point, and the main pump current output and engine torque are at the same moment.

[0013] Furthermore, the discretized data is composed of two groups of matrix data according to the engine torque and instantaneous fuel consumption corresponding to different main pump pressures, including:

[0014] The discretized data is respectively composed of two groups of matrix data with the main pump pressure n as the row vector, and the engine torque t and instantaneous fuel consumption q as the column vectors, denoted as M1∈R n*t and M2∈R n*q .

[0015] Furthermore, it also includes: performing standardization processing on the matrix data M1 and M2, standardizing to 1 and having a mean of 0.

[0016] Furthermore, inputting the two groups of matrix data into a pre-constructed matrix fusion analysis model to obtain two sets of typical variable values representing engine torque and instantaneous fuel consumption, including:

[0017] Inputting the two groups of matrix data into a pre-constructed matrix fusion analysis model to find two linear projection vectors u∈R t*1 and v∈R q*1 ;

[0018] According to the two obtained linear projection vectors u∈R t*1 and v∈R q*1 obtain two sets of typical variables M1u and M2v representing engine torque and instantaneous fuel consumption;

[0019] Among them, the formula of the matrix fusion analysis model is as follows:

[0020]

[0021] Among them, M1 and M2 are respectively the two groups of matrix data; M1u and M2v are the two sets of typical variables representing engine torque and instantaneous fuel consumption.

[0022] Further, comparing the typical variable value representing the engine torque with a preset threshold value to obtain a penalty coefficient for the typical variable, includes:

[0023] Setting thresholds Δ0 and Δ1 for the typical variable value M1u representing the engine torque. For the value of the typical variable value M1u less than or equal to Δ0, it is forced to be discarded and assigned a value of 0. For the value of the typical variable M1u greater than or equal to Δ1, it is assigned a value of 1. For the value of the typical variable value M1u greater than Δ0 and less than Δ1, it is multiplied by a coefficient to obtain the penalty coefficient of the phenotypic variable, denoted as β.

[0024] Further, multiplying the penalty coefficient by the current main pump current output value to obtain an optimized main pump current output value. The formula is as follows:

[0025]

[0026] Wherein, I' is the optimized main pump current output value, and I is the current main pump current output value.

[0027] In a second aspect, the present invention provides a power matching auxiliary optimization device for an excavator, including:

[0028] An acquisition unit, configured to acquire sample data, where the sample data includes: instantaneous fuel consumption, engine torque, main pump pressure, and the current main pump current output value;

[0029] A discretization processing unit, configured to perform data discretization processing on the sample data;

[0030] A matrix data acquisition unit, configured to form two sets of matrix data according to the engine torque and instantaneous fuel consumption corresponding to different main pump pressures from the discretized data;

[0031] A data fusion unit, configured to input the two sets of matrix data into a pre-constructed matrix fusion analysis model to obtain two sets of typical variable values representing the engine torque and instantaneous fuel consumption;

[0032] A penalty coefficient acquisition unit, configured to compare the typical variable value representing the engine torque with a preset threshold value to obtain a penalty coefficient for the typical variable;

[0033] An optimization unit, configured to multiply the penalty coefficient by the current main pump current output value to obtain an optimized main pump current output value.

[0034] In a third aspect, the present invention provides a power matching auxiliary optimization device for an excavator, including a processor and a storage medium;

[0035] The storage medium is configured to store instructions;

[0036] The processor is configured to operate according to the instructions to perform the steps of the method according to any one of the foregoing.

[0037] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method according to any one of the foregoing are implemented.

[0038] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0039] Based on the output current of the main pump solenoid valve in the conventional power matching, the present invention further processes the output current of the main pump solenoid valve in combination with the instantaneous fuel consumption, engine torque, and main pump pressure, and to a certain extent solves the problem of the large limitation of the linear correspondence relationship of power matching under light load, optimizing the balance between efficiency and fuel consumption; at the same time, according to different operating requirements such as working conditions, environment, and operator's operating habits, the operating performance of the excavator can be adjusted specifically. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a flowchart of a power matching auxiliary optimization method for an excavator provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The present invention will be further described below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and should not be used to limit the protection scope of the present invention.

[0042] Embodiment 1

[0043] This embodiment introduces a power matching auxiliary optimization method for an excavator, including:

[0044] Obtaining sample data, where the sample data includes: instantaneous fuel consumption, engine torque, main pump pressure, and current main pump current output value;

[0045] Performing data discretization processing on the sample data;

[0046] Grouping the discretized data into two sets of matrix data according to the engine torque and instantaneous fuel consumption corresponding to different main pump pressures;

[0047] Inputting the two sets of matrix data into a pre-constructed matrix fusion analysis model to obtain two sets of typical variable values representing engine torque and instantaneous fuel consumption;

[0048] Comparing the typical variable value representing the engine torque with a preset threshold to obtain a penalty coefficient of the typical variable;

[0049] Multiplying the penalty coefficient by the current main pump current output value to obtain an optimized main pump current output value.

[0050] The power matching auxiliary optimization method for an excavator provided in this embodiment specifically involves the following steps in its application process:

[0051] Power matching part:

[0052] A1: Rotate the throttle knob position, send the message data to the controller via the CAN bus according to the position information, and the controller sends the rotational speed information to control the target rotational speed of the engine;

[0053] A2: The change in load causes the change in the main pump power;

[0054] A3: The change in the main pump power requires power matching to make the main pump and the engine cooperate with each other. When the pump power is low, the power provided by the engine is low, and when the pump power is high, the power provided by the engine is high;

[0055] A4: After power matching, obtain the output current of the main pump solenoid valve, control the displacement of the main pump spool, and adjust the displacement of the main pump.

[0056] Data fusion analysis part:

[0057] B1: Rotate the throttle knob position, send the message data to the controller via the CAN bus according to the position information, and the controller sends the rotational speed information to control the target rotational speed of the engine, and use the same value of the target rotational speed as a set of data for data fusion analysis;

[0058] B2: Obtain the instantaneous fuel consumption q, engine torque t, and main pump pressure p at the same moment to ensure the accuracy of the canonical variables of two sets of related data;

[0059] B3: Discretize the non-discretized data in B2. The discretized data is convenient for forming matrix data for use as the sample input of the subsequent data fusion analysis model;

[0060] B4: Respectively form two sets of matrix data with the main pump pressure n as the row vector and the engine torque t and instantaneous fuel consumption q as the column vectors, denoted as M1∈R n*t and M2∈R n*q ;

[0061] B5: The steps for data fusion analysis of the two sets of matrix data are as follows: First, obtain two linear projection vectors u∈R t*1 and v∈R q*1 through formula (1). Then, obtain the two canonical variables M1u and M2v representing the engine torque and instantaneous fuel consumption according to the two obtained linear projection vectors u∈R t*1 and v∈R q*1 . The following formula gives the formula of the data fusion model:

[0062]

[0063] Among them, the matrix data M1 and M2 are standardized data, standardized to 1 and with a mean of 0; M1u and M2v are the typical variables of this data fusion model. If based on this model, different processing methods for the matrix data should also fall within the protection scope of the present invention.

[0064] B6: Set a threshold for the typical variable value M1u representing the engine torque. For the typical variable value M1u less than or equal to Δ0, it is forced to be discarded and assigned a value of 0. For the typical variable M1u greater than or equal to Δ1, it is assigned a value of 1. For the typical variable value M1u greater than Δ0 and less than Δ1, it is multiplied by a coefficient to obtain the penalty coefficient of the phenotypic variable, denoted as β;

[0065] B7: Multiply the penalty coefficient β by the current main pump current output I, and segmentally output the main pump solenoid valve current output value I' after power matching auxiliary optimization according to formula (2). The formula is as follows:

[0066]

[0067] Among them, I' is the main pump solenoid valve output current value obtained through data fusion analysis, and I is the main pump solenoid valve output current value that is only the power matching output at the current stage without data fusion analysis. It should be noted that the threshold for punishing the typical variable in this process can be a specific value or a range, and changes in the punishment method and threshold should also be within the protection scope of the present invention.

[0068] Based on the output of the main pump solenoid valve current in the conventional power matching, the present invention further processes the main pump solenoid valve output current in combination with the instantaneous fuel consumption, engine torque, and main pump pressure, which solves to a certain extent the problem of the large limitation of the linear correspondence relationship in power matching under light load, and optimizes the balance between efficiency and fuel consumption. At the same time, for different operation requirements such as working conditions, environment, and operator's operation habits, the operation performance of the excavator can be adjusted specifically.

[0069] Embodiment 2

[0070] This embodiment provides a power matching auxiliary optimization device for an excavator, including:

[0071] An acquisition unit for acquiring sample data, where the sample data includes: instantaneous fuel consumption, engine torque, main pump pressure, and the current main pump current output value;

[0072] A discretization processing unit for performing data discretization processing on the sample data;

[0073] A matrix data acquisition unit for forming two groups of matrix data from the discretized data according to the engine torque and instantaneous fuel consumption corresponding to different main pump pressures;

[0074] A data fusion unit, configured to input two sets of matrix data into a pre-constructed matrix fusion analysis model to obtain two sets of typical variable values representing engine torque and instantaneous fuel consumption;

[0075] A penalty coefficient acquisition unit, configured to compare the typical variable value representing the engine torque with a pre-set threshold to obtain the penalty coefficient of the typical variable;

[0076] An optimization unit, configured to multiply the penalty coefficient by the current main pump current output value to obtain an optimized main pump current output value.

[0077] Embodiment 3

[0078] This embodiment provides a power matching auxiliary optimization device for an excavator, including a processor and a storage medium;

[0079] The storage medium is used to store instructions;

[0080] The processor is configured to operate according to the instructions to execute the steps of the method according to any one of Embodiment 1.

[0081] Embodiment 4

[0082] This embodiment provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method according to any one of Embodiment 1 are implemented.

[0083] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. An auxiliary optimization method for power matching of an excavator, characterized in that, Including: Obtain sample data, where the sample data includes: instantaneous fuel consumption, engine torque, main pump pressure, and current main pump current output value; Perform data discretization processing on the sample data; Form two sets of matrix data from the discretized data according to the engine torque and instantaneous fuel consumption corresponding to different main pump pressures; Input the two sets of matrix data into a pre-constructed matrix fusion analysis model to obtain two sets of typical variable values representing engine torque and instantaneous fuel consumption; including: Input two sets of matrix data into a pre-constructed matrix fusion analysis model to obtain two linear projection vectors and ; According to the two obtained linear projection vectors and two sets of typical variables representing engine torque and instantaneous fuel consumption are obtained and ; Among them, the formula of the matrix fusion analysis model is as follows: ； s.t. (1); Among them, and are two sets of matrix data respectively; and are two sets of typical variables representing engine torque and instantaneous fuel consumption; Compare the typical variable value representing the engine torque with a pre-set threshold to obtain the penalty coefficient of the typical variable; including: For the typical variable value representing the engine torque Set a threshold and For the typical variable value Less than or equal to The value is forced to be discarded and assigned 0. For the typical variable Greater than or equal to The value is assigned 1. For the typical variable value Greater than And less than The value is multiplied by a coefficient to obtain the penalty coefficient of the phenotypic variable, denoted as ; Multiply the penalty coefficient by the current main pump current output value to obtain the optimized main pump current output value, and the formula is as follows: (2)； Among them, is the optimized main pump current output value, is the current main pump current output value.

2. The power matching auxiliary optimization method for an excavator according to claim 1, wherein: The instantaneous fuel consumption, engine torque, and main pump pressure belong to the sampling points at the same moment, and the main pump current output and the engine torque are at the same moment.

3. The power matching auxiliary optimization method for an excavator according to claim 1, wherein: Form two sets of matrix data from the discretized data according to the engine torque and instantaneous fuel consumption corresponding to different main pump pressures, including: The discretized data are respectively formed into two sets of matrix data with the row vector being the main pump pressure , the column vector being the engine torque and the instantaneous fuel consumption . They are denoted as and .

4. The power matching auxiliary optimization method for an excavator according to claim 3, characterized in that: Also including: Normalize the matrix data and such that the standard deviation is 1 and the mean is 0.

5. An auxiliary optimization device for power matching of an excavator, which adopts the auxiliary optimization method for power matching of an excavator described in claim 1, is characterized in that Including: An acquisition unit for obtaining sample data, where the sample data includes: instantaneous fuel consumption, engine torque, main pump pressure, and current main pump current output value; A discretization processing unit for performing data discretization processing on the sample data; A matrix data acquisition unit for forming two sets of matrix data from the discretized data according to the engine torque and instantaneous fuel consumption corresponding to different main pump pressures; A data fusion unit for inputting the two sets of matrix data into a pre-constructed matrix fusion analysis model to obtain two sets of typical variable values representing engine torque and instantaneous fuel consumption; A penalty coefficient acquisition unit for comparing the typical variable value representing the engine torque with a pre-set threshold to obtain the penalty coefficient of the typical variable; An optimization unit for multiplying the penalty coefficient by the current main pump current output value to obtain the optimized main pump current output value.

6. An auxiliary optimization device for power matching of an excavator, characterized in that: Including a processor and a storage medium; The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by the processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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