An energy-saving method based on motion flow adaptive control

Abstract

The application discloses an energy-saving method based on action flow self-adaptive control, which comprises the following steps: calculating a theoretical flow value required by an execution load end; calculating a composite action theoretical flow value; calculating a composite action flow coefficient and an actual flow value; and establishing a pump motor rotating speed self-adaptive energy-saving control model based on the action flow. The boom type mobile lifting working platform is driven by a motor to work a main pump, oil is supplied to the whole superstructure system, then the opening degree of a hydraulic valve is controlled by a controller, real-time regulation of the flow is realized and is transmitted to the execution load, so that each action of the superstructure is realized, and the driver and the hydraulic valve are controlled by the self-adaptive control method. The application is based on the electric direct curved arm series products, the energy-saving control problem of the superstructure action is deeply researched, the energy loss of the superstructure action system can be greatly reduced, and the control precision, stability and working reliability of the system are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a control energy-saving method, in particular to a pump motor speed adaptive control method for the flow of the vehicle action of an electric mobile lifting work platform. BACKGROUND

[0002] With the development and application of new energy-saving and environmental protection technology, equipment and products, the application of electric scissor and electric straight arm in mobile lifting work platforms is increasing, and with the high-altitude operation conditions of city and factory construction and maintenance, the demand for electric mobile lifting work platforms is increasing. At present, the vehicle action of the mobile lifting work platform is basically driven by the hydraulic system, and the pump motor speed is controlled in real time by adjusting the flow of the load execution end and the opening of the hydraulic valve, so as to realize the adaptive control of the pump motor speed based on the action flow. However, the control precision of the system is not high, the energy loss is serious, and with the increasing number of electric mobile lifting work platforms in the market, it is more and more important to improve the control precision and stability of the system and save energy. SUMMARY

[0003] The purpose of the present application is to provide a pump motor speed adaptive control method for the flow of the vehicle action of an electric mobile lifting work platform.

[0004] Technical scheme: The present application comprises the following steps:

[0005] (1) Calculate the required theoretical flow value of the execution load end;

[0006] (2) Calculate the composite action theoretical flow value;

[0007] (3) Calculate the composite action flow coefficient and actual flow value;

[0008] (4) Establish a pump motor speed adaptive energy-saving control model based on the action flow.

[0009] Further, the formula for calculating the composite action theoretical flow value in step (2) is:

[0010] Q 复合理论 =Q LuffUp ·A LuffUp +Q LuffDown ·A LuffDown +Q TeleOut ·A TeleOut +Q Teleln ·A Teleln +Q SlewTurn ·(A TurnRig ht OR A TurnLeft )+Q PlatForm ·(A PlatTurn OR APlatLevel OR A JibLuff )

[0011] wherein, A n represents the action flag bit, trigger is 1, non-trigger is 0; Q n represents the flow of each action,

[0012] When the composite action flow exceeds the maximum output flow of the pump, the speed of all composite actions is limited, and the composite action flow coefficient k is:

[0013]

[0014] wherein, 0.94 is the threshold coefficient, and k is the small flow composite action flow coefficient.

[0015] Further, the step (3) composite action actual flow value calculation formula is:

[0016] Q 复合实际 = [(Q LuffUp ·K LuffUp ORQ LuffDown ·K LuffDown )+(Q TeleOut ·K TeleOut OR Q TeleIn ·K TeleIn )+Q slewTurn ·(K TurnRig ht OR K TurnLeft )+Q PlatForm ·(K PlatTurn OR K PlatLevel OR K JibLuff )] / k

[0017] wherein, each action speed valve control coefficient K n =kK i K w , K i is the actual input value of the handle, K w is the action speed coefficient under different working conditions, and k is the composite action flow coefficient.

[0018] Further, the action speed coefficient K w under different working conditions includes the action speed coefficient of the high speed of the boom, the action speed coefficient of the low speed of the boom, and the action speed coefficient of the stepless speed regulation, wherein the action speed coefficient of the high speed of the boom is 1, the action speed coefficient of the low speed of the boom is 0.3-0.8, and the action speed coefficient of the stepless speed regulation is 0.2-1.

[0019] Further, the step (4) of establishing a pump motor speed self-adaptive energy-saving control model based on the action flow comprises:

[0020] (41) action state judgment;

[0021] (42) Calculate the extreme flow of the main pump output;

[0022] (43) Calculate the motor speed n under each action.

[0023] Further, the calculation formula of the step (41) action state judgment is:

[0024] A=A Luff +A Tele +A SlewTurn +A platTurn +A PlatLevel +A JibLuff

[0025] A n is the action flag bit, trigger is 1, non-trigger is 0, if A=0, no action; A=1, single action; A>1, compound action, wherein, A Luff =A LuffUp , A Luff =A LuffDown , but the amplitude rise or amplitude fall at the same time can only have one action.

[0026] Further, the step (42) according to the rated power of the motor, through the display, the maximum speed n max of the motor is determined to determine the maximum flow Q max of the main pump output; according to the minimum execution speed of each action to determine the minimum flow Q min , the minimum speed n min of the motor of different actions is determined:

[0027]

[0028] Wherein, the output flow of the pump is Q, the motor speed is n, the pump efficiency is η, and the pump displacement is P 排量 .

[0029] Further, the step (43) the motor speed calculation formula under each action is:

[0030] If A≥1, then:

[0031] Otherwise: n=0.

[0032] Advantages: compared with the prior art, the present application has the following obvious advantages:

[0033] (1) Based on the load action flow adaptive control pump motor speed, the energy saving effect of the on-board action system is remarkable, and the energy saving is up to 40% or more, and the product endurance and the service life of each component are improved;

[0034] (2) From the multi-stage feedback of the execution load to the power source output, a complete electro-hydraulic closed-loop control is formed, and the control accuracy, stability and safety of the boarding action system are solved. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 The flowchart of the present application is shown in the figure.

[0036] Figure 2 The product equipment work flowchart is shown in the figure.

[0037] Figure 3 The execution load basic parameter model diagram is shown in the figure. DETAILED DESCRIPTION

[0038] The technical solutions of the present application will be further described below with reference to the accompanying drawings.

[0039] The boarding action of the arm type mobile lifting work platform is driven by the motor to work the main pump, supply oil to the entire boarding system, and then the controller controls the opening degree of the hydraulic valve to realize real-time adjustment of the flow and then transfer to the execution load, so as to realize each action of the boarding, and the controller controls the driver and the hydraulic valve according to the method of the present application, as shown in the figure. Figure 2 According to the time requirement of each action and the execution load parameter, the required theoretical flow of each action is obtained, and then the actual flow feedback is obtained through the valve port control according to different working conditions. Under the condition that the main pump displacement is known, the required flow of the action can realize the control of the pump motor speed and the adjustment of the valve port opening degree, and the basic principle of the energy-saving closed-loop control is that the system feedbacks how much flow, and the main pump provides how much flow (i.e. the motor provides how much speed), so as to achieve the purpose of energy-saving closed-loop control.

[0040] As shown in the figure, the present application comprises the following steps: Figure 1

[0041] (1) Calculate the required theoretical flow value of the execution load end;

[0042] (2) Calculate the composite action theoretical flow value;

[0043] (3) Calculate the composite action flow coefficient and actual flow value;

[0044] (4) Establish a pump motor speed self-adaptive energy-saving control model based on the action flow.

[0045] The step (1) is the execution load flow modeling, which mainly calculates the required theoretical flow of each single action of the execution load end, as shown in the figure. Figure 3

[0046] (11) The volume of the oil cylinder V:

[0047] ​​

[0048] Large cavity volume V1, unit L; cylinder diameter D1, unit mm; stroke l, unit mm;

[0049]

[0050] Small cavity volume V2, unit L; cylinder diameter D1, rod diameter D2, unit mm; stroke l, unit mm.

[0051] (12) Action flow:

[0052]

[0053] Flow Q, unit L / min; volume V, unit L; time t, unit s.

[0054] The step (2) is based on the action flow of the adaptive energy-saving control modeling according to the theoretical flow of the executed load, and the composite action theoretical flow value calculation formula is:

[0055] Q 复合理论 = Q LuffUp ·A LuffUp + Q LuffDown ·A LuffDown + Q TeleOut ·A TeleOut + Q TeleIn ·A TeleIn + Q SlewTurn ·(A TurnRig ht OR A TurnLeft )+ Q PlatForm ·(A PlatTurn OR A PlatLevel OR A JibLuff )

[0056] Wherein, A n indicates the action flag bit, triggered as 1 and non-triggered as 0; Q n indicates each action flow,

[0057] When the composite action flow exceeds the maximum output flow of the pump, the speed of all composite actions is limited, and the composite action flow coefficient k is:

[0058]

[0059] Wherein, 0.94 is the threshold coefficient, and the flow coefficient k of a single action or small flow composite action is generally 1.

[0060] The step (3) is the composite action actual flow value calculation formula:

[0061] Q 复合实际 = [(Q LuffUp ·KLuffUp OR Q LuffDown ·K LuffDown )+(Q TeleOut ·K TeleOut OR Q TeleIn ·K TeleIn )+Q SlewTurn ·(K TurnRig ht OR K TurnLeft )+Q PlatForm ·(K PlatTurn OR K PlatLevel OR K JibLuff )] / k

[0062] Wherein, each action speed valve control coefficient K n =k K i K w , K i is the actual input value of the handle, K w is the action speed coefficient under different working conditions, and k is the composite action flow coefficient.

[0063] The action speed coefficient K w under different working conditions includes the action speed coefficient of the high-speed arm support, the action speed coefficient of the low-speed arm support, and the action speed coefficient of the stepless speed regulation, wherein the action speed coefficient of the high-speed arm support is 1, the action speed coefficient of the low-speed arm support is 0.3-0.8, and the action speed coefficient of the stepless speed regulation is 0.2-1, as shown in Table 1.

[0064] Table 1 Action speed coefficient under different working conditions

[0065] Operating condition Action speed coefficient K w ]] High speed of the boom 1 Low speed of the boom 0.3～0.8 Stepless speed regulation 0.2～1

[0066] The step (4) of establishing the pump motor speed adaptive energy-saving control model based on the action flow includes:

[0067] (41) Action state judgment;

[0068] (42) Calculate the extreme flow of the main pump output;

[0069] (43) Calculate the motor speed n under each action.

[0070] The calculation formula of the step (41) of action state judgment is:

[0071] A=A Luff +A Tele +A SlewTurn +A platTurn +A PlatLevel +A JibLuff

[0072] A nAction flag bit, trigger is 1, non-trigger is 0, if A=0, no action; A=1, single action; A>1, composite action, wherein, A Luff =A LuffUp , A Luff =A LuffDown , but the amplitude rise or amplitude fall at the same time only one action.

[0073] The step (42) determines the maximum flow Q max of the main pump output according to the rated power of the motor through the display to mark the maximum speed n max of the motor min ; the minimum flow Q min is determined according to the minimum execution speed of each action, and the minimum speed n min of the motor of different actions is determined:

[0074]

[0075] Wherein, the output flow of the pump is Q, the unit is L / min; the motor speed is n, the unit is r / min; the pump efficiency is η, and the pump displacement is P 排量 , the unit is mL / r.

[0076] The step (43) is the motor speed calculation formula under each action:

[0077] If A≥1, then: Otherwise: n=0.

[0078] The present application includes the theoretical flow modeling of the load execution end of each action, the actual flow modeling of the hydraulic valve control and the pump motor speed adaptive energy-saving control modeling based on the action flow. The system needs how much flow, how much flow the main pump outputs, so as to improve the endurance of the product, and also can improve the service life of the motor related elements, achieve the purpose of high efficiency and energy saving and reduce the product failure rate.

Claims

1. An energy-saving method based on adaptive control of motion flow of a boom-type electric mobile lifting work platform, characterized in that, The method includes the following steps: (1) Calculate the theoretical flow rate required to execute the load; (2) Calculate the theoretical flow rate of the compound action; (3) Calculate the combined action flow coefficient and the actual flow value; (4) Establish an adaptive energy-saving control model for pump motor speed based on the flow rate of the pump; Step (4) of establishing an adaptive energy-saving control model for pump motor speed based on the flow rate includes: (41) Action state judgment; (42) Calculate the extreme flow rate of the main pump output; (43) Calculate the motor speed n under each action; The calculation formula for the action state judgment in step (41) is as follows: A=A Luff +A Tele +A SlewTurn +A PlatTurn +A PlatLevel +A JibLuff A n This is the action flag; 1 indicates a triggered action, and 0 indicates a non-triggered action. If A = 0, there is no action; A = 1, a single action; A > 1, a complex action. Luff =A LuffUp A Luff =A LuffDown However, only one action can occur at the same time: the amplitude starts or the amplitude falls. Step (42) involves calibrating the maximum speed n of the motor via a display based on the motor's rated power. max Determine the maximum output flow rate Q of the main pump max The minimum flow rate Q is determined based on the minimum execution speed of each action. min Determine the minimum motor speed n for different actions. min : Wherein, the pump output flow rate is Q, the motor speed is n, the pump efficiency is η, and the pump displacement is P. 排量 ; The formula for calculating the motor speed under each action in step (43) is as follows: If A≥1, then: Otherwise: n = 0.

2. The energy-saving method based on adaptive control of motion flow of a boom-type electric mobile lifting work platform according to claim 1, characterized in that, The formula for calculating the theoretical flow rate of the composite action in step (2) is as follows: Q 复合理论 =Q LuffUp ·A LuffUp +Q LuffDown ·A LuffDown +Q TeleOut ·A TeleOut +Q TeleIn ·A TeleIn +Q SlewTurn ·(A TurnRight OR A TurnLeft )+Q PlatForm ·(A PlatTurn OR A PlatLevel ORA JibLuff ) Among them, A n This indicates the action flag; 1 indicates a triggered action, and 0 indicates a non-triggered action. (Q) n Indicates the flow rate of each action. When the combined action flow rate exceeds the pump's maximum output flow rate, the speed of all combined actions is limited, and the combined action flow rate coefficient k is: Where 0.94 is the threshold coefficient, and k is the flow coefficient of small flow compound action.

3. The energy-saving method based on adaptive control of motion flow of a boom-type electric mobile lifting work platform according to claim 1, characterized in that, The formula for calculating the actual flow rate of the composite action in step (3) is as follows: Q 复合实际 =[(Q LuffUp ·K LuffUp ORQ LuffDown ·K LuffDown )+(Q TeleOut ·K TeleOut OR Q TeleIn ·K TeleIn )+Q SlewTurn ·(K TurnRight OR K TurnLeft )+Q PlatForm ·(K PlatTurn OR K PlatLevel OR K JibLuff )] / k Among them, the speed control coefficient K of each action is n =k K i K w K i K represents the actual input value of the handle. w denoted as the motion speed coefficient under different working conditions, and k is the composite motion flow coefficient.

4. The energy-saving method based on adaptive control of motion flow of a boom-type electric mobile lifting work platform according to claim 3, characterized in that, The motion speed coefficient K under different working conditions w It includes the speed coefficients for high-speed boom, low-speed boom, and stepless speed adjustment, with the high-speed boom speed coefficient being 1, the low-speed boom speed coefficient being 0.3 to 0.8, and the stepless speed adjustment speed coefficient being 0.2 to 1.

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