An excavator engine speed drop control system and method

Abstract

The present invention discloses an excavator engine speed drop control system and method, comprising a plurality of pressure sensors, each of which is used to be installed at different parts of the hydraulic system of the excavator; an engine controller, which is used to collect the engine speed; a main controller, which is respectively connected to each pressure sensor and the engine controller; the main controller determines the action type of the excavator based on the output signal of each pressure sensor, and calculates the control current according to the action type; the main controller also determines the speed drop severity level based on the engine speed sent by the engine controller, and generates a speed drop compensation current in combination with the control current; the main controller generates a main pump input current based on the speed drop compensation current and the main pump request current; the main pump is connected to the main controller, receives and works according to the main pump input current output by the main controller. The present invention can solve the technical problems of excessive engine speed drop and large speed fluctuation under load mutation.

Description

Technical Field

[0001] The invention belongs to the field of excavating mechanical equipment, and in particular relates to an excavator engine speed reduction control system and method. Background Art

[0002] The hydraulic system of the excavator must not only meet the requirements of normal operation, but also have the characteristics of high efficiency, energy saving and good controllability. The existing hydraulic system and engine power matching is mainly achieved through a variable constant power hydraulic pump, plus an intelligent control strategy. When the excavator is working, the controller receives the pressure signal and outputs the corresponding current according to the set program to control the output of the hydraulic pump. When a sudden load change occurs, the pressure rises instantly. At this time, the power of the engine and the hydraulic system will not match. At this time, if the power of the hydraulic pump is not reduced, the engine will lose speed and stall due to pressure buildup.

[0003] In order to solve the problem of engine stalling due to speed drop, pressure build-up, etc., in the prior art, the controller usually outputs a control signal to change the pump's swing angle according to the engine speed change and change rate, so as to reduce the pump's displacement and reduce the power of the hydraulic pump. Since the power regulation in the prior art only outputs the control signal according to the engine speed and change rate, if the speed drop value is too large or the speed fluctuates greatly, it will cause problems such as increased fuel consumption and poor economy to a certain extent. Summary of the invention

[0004] In response to the above problems, the present invention proposes an excavator engine speed drop control system and method, which outputs a matching control current by identifying the movement of the excavator. When the speed change and the rate of change meet a certain speed drop level, a speed drop compensation current matching the speed change and the rate of change is output, thereby solving the technical problems of excessive engine speed drop and large speed fluctuation under sudden load changes.

[0005] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0006] In a first aspect, the present invention provides an excavator engine speed reduction control system, comprising:

[0007] A plurality of pressure sensors, each of which is used to be installed at a different part of the hydraulic system of the excavator;

[0008] An engine controller, used to collect engine speed;

[0009] A main controller is connected to each pressure sensor and the engine controller respectively; the main controller determines the action type of the excavator based on the output signal of each pressure sensor, and calculates the control current according to the action type; the main controller also determines the speed drop severity level based on the engine speed sent by the engine controller, and generates a speed drop compensation current in combination with the control current; the main controller generates a main pump input current based on the speed drop compensation current and the main pump request current;

[0010] The main pump is connected to the main controller, receives and operates according to the main pump input current output by the main controller.

[0011] Optionally, the action types include boom raising, boom lowering, arm retraction, arm outward swing, bucket retraction, bucket outward swing and rotation, and different action types correspond to different weights;

[0012] The main controller finds the corresponding weight based on the action type, and calculates the total weight by summing up the weights;

[0013] Based on the corresponding relationship between the total weight and the control current, the corresponding control current is found.

[0014] Optionally, the corresponding relationship between the action type and the weight is:

[0015] action Weight Boom down 1 turn around 1 Bucket swing out 1 Arm swing outward 2 Boom up 3 Bucket retracted 4 Stick inward 5 .

[0016] Optionally, the corresponding relationship between the total weight and the control current is:

[0017] When 1≤Z<3, ΔI 0 =20mA;

[0018] When 3≤Z<5, ΔI 0 =30mA;

[0019] When 5≤Z<7, ΔI 0 =40mA;

[0020] When 7≤Z<9, ΔI 0 =50mA;

[0021] When 9≤Z<11, ΔI 0 =60mA;

[0022] When 11≤Z<13, ΔI 0 =70mA;

[0023] When 13≤Z<15, ΔI 0 =80mA;

[0024] When 15≤Z<17, ΔI0 =90mA;

[0025] Among them, Z is the total weight, ΔI 0 To control the current.

[0026] Optionally, the main controller calculates the engine speed change rate based on the engine speed sent by the engine controller, and determines the speed drop severity level based on the corresponding relationship between the engine speed and the engine speed change rate and the speed drop severity level.

[0027] Optionally, the calculation formula of the speed reduction compensation current is:

[0028] ΔI=n×ΔI 0

[0029] Among them, ΔI is the speed drop compensation current, n is the speed drop severity level, ΔI 0 To control the current.

[0030] Optionally, the calculation formula of the main pump input current is:

[0031] I'=I-ΔI

[0032] Among them, I' is the main pump input current, I is the main pump request current, and ΔI is the speed reduction compensation current.

[0033] In a second aspect, the present invention provides an excavator engine speed reduction control method, comprising:

[0034] Using each pressure sensor to collect pressure signals from different parts of the hydraulic system of the excavator;

[0035] Using the engine controller to collect the engine speed;

[0036] Using the main controller to determine the action type of the excavator based on the output signals of each pressure sensor, and calculate the control current according to the action type;

[0037] Using the main controller to determine the speed drop severity level based on the engine speed sent by the engine controller, and generate a speed drop compensation current in combination with the control current;

[0038] generating a main pump input current based on the speed drop compensation current and the main pump request current by using a main controller;

[0039] The main pump receives and operates according to the main pump input current output by the main controller.

[0040] Optionally, the action types include boom raising, boom lowering, arm retraction, arm outward swing, bucket retraction, bucket outward swing and rotation, and different action types correspond to different weights;

[0041] The main controller finds the corresponding weight based on the action type, and calculates the total weight by summing up the weights;

[0042] Based on the corresponding relationship between the total weight and the control current, find the corresponding control current;

[0043] The main controller calculates the engine speed change rate based on the engine speed sent by the engine controller, and determines the speed drop severity level based on the corresponding relationship between the engine speed and the engine speed change rate and the speed drop severity level.

[0044] Optionally, the calculation formula of the speed reduction compensation current is:

[0045] ΔI=n×ΔI 0

[0046] Among them, ΔI is the speed drop compensation current, n is the speed drop severity level, ΔI 0 To control the current;

[0047] The calculation formula of the main pump input current is:

[0048] I'=I-ΔI

[0049] Among them, I' is the main pump input current, I is the main pump request current, and ΔI is the speed reduction compensation current.

[0050] Compared with the prior art, the present invention has the following beneficial effects:

[0051] The present invention realizes precise control of output by collecting different actions of the excavator and assigning different weights to different action types. When the engine operating speed is lower than the set value, the speed drop compensation current matching the current speed and speed change rate is output according to the engine speed and speed change rate meeting one of the given speed drop severity levels, so as to reduce the power of the main pump unit to the set power; the engine speed drop value can be effectively reduced.

[0052] The speed reduction control according to different actions proposed in the present invention can effectively improve the stability of engine speed, and to a certain extent can effectively reduce the fuel consumption of the system, thereby improving the economy of the excavator. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor, among which:

[0054] Figure 1It is a structural schematic diagram of an excavator engine speed reduction control system according to an embodiment of the present invention;

[0055] Figure 2 A schematic diagram of the principle of an excavator engine speed reduction control system according to an embodiment of the present invention;

[0056] Figure 3 The figure is a schematic diagram of the principle of the speed reduction current output according to an embodiment of the present invention. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0059] Example 1

[0060] In an embodiment of the present invention, a speed reduction control system for an excavator engine is provided. Figure 1 As shown, it includes: several pressure sensors, an engine controller, a main controller and a main pump;

[0061] Each pressure sensor is used to be installed at a different part of the hydraulic system of the excavator;

[0062] The engine controller is used to collect engine speed;

[0063] The main controller is connected to each pressure sensor and the engine controller respectively; the main controller determines the action type of the excavator based on the output signal of each pressure sensor, and calculates the control current according to the action type; the main controller also determines the speed drop severity level based on the engine speed sent by the engine controller, and generates the speed drop compensation current in combination with the control current; the main controller generates the main pump input current based on the speed drop compensation current and the main pump request current;

[0064] The main pump is connected to the main controller, receives and operates according to the main pump input current output by the main controller.

[0065] In the embodiment of the present invention, by installing pressure sensors at different parts of the hydraulic system of the excavator, different actions of the excavator are collected, and different weights are assigned to different action types to achieve precise control of the output. When the engine operating speed is lower than the set value, according to the engine speed and the speed change rate meeting one of the given speed drop severity levels, a speed drop compensation current matching the current speed and speed change rate is output to reduce the power of the main pump unit to the set power; the engine speed drop value can be effectively reduced.

[0066] In a specific implementation of the embodiment of the present invention, the action types include boom raising, boom lowering, arm retraction, arm outward swing, bucket retraction, bucket outward swing and rotation, and different action types correspond to different weights;

[0067] The main controller finds the corresponding weight based on the action type, and sums up the weights to calculate the total weight; specifically, when the excavator performs a compound action, the main controller receives the output signals of multiple pressure sensors, and determines the action type of the excavator for each output signal, assigns different weights to different action types, and finally sums up all the weights to obtain the total weight;

[0068] Based on the corresponding relationship between the total weight and the control current, the corresponding control current is found.

[0069] Specifically, under normal circumstances, the boom lowering, rotating, and bucket swinging outward are assigned smaller weights, and the boom raising, arm retracting, and bucket retracting are assigned larger weights. The speed drop control module in the main controller will calculate the corresponding control current based on the calculated weights. Generally, the larger the weight, the larger the output current; specifically, the corresponding relationship between the action type and the weight is:

[0070] action Weight Boom down 1 turn around 1 Bucket swing out 1 Arm swing outward 2 Boom up 3 Bucket retracted 4 Stick inward 5 .

[0071] In a specific implementation of the embodiment of the present invention, the corresponding relationship between the total weight and the control current is:

[0072] When 1≤Z<3, ΔI 0 =20mA;

[0073] When 3≤Z<5, ΔI 0 =30mA;

[0074] When 5≤Z<7, ΔI 0 =40mA;

[0075] When 7≤Z<9, ΔI 0 =50mA;

[0076] When 9≤Z<11, ΔI 0 =60mA;

[0077] When 11≤Z<13, ΔI 0 =70mA;

[0078] When 13≤Z<15, ΔI 0 =80mA;

[0079] When 15≤Z<17, ΔI 0 =90mA;

[0080] Among them, Z is the total weight, ΔI 0 In other specific implementations of the present invention, the corresponding relationship between the total weight and the control current can also be designed as other situations, which can be specifically set according to actual needs.

[0081] In a specific implementation of the embodiment of the present invention, the main controller calculates the engine speed change rate based on the engine speed sent by the engine controller, and determines the speed drop severity level based on the corresponding relationship between the engine speed and the engine speed change rate and the speed drop severity level. Specifically, the speed drop severity levels are divided into several speed drop severity levels according to the size of the engine speed and the speed change rate. The minimum level is 0, indicating that the engine speed is not lower than the set speed, and the speed drop compensation current generated is 0; when the engine speed is lower than the set speed and the speed change rate meets a certain set speed drop severity level interval, it is considered that the corresponding level of speed drop has occurred, and the speed drop compensation current matching the current speed and speed change rate is output.

[0082] The calculation formula of the speed reduction compensation current is:

[0083] ΔI=n×ΔI 0

[0084] Among them, ΔI is the speed drop compensation current, n is the speed drop severity level, ΔI 0 To control the current.

[0085] like Figure 2As shown, the speed drop control module in the main controller calculates the corresponding control current according to the calculated weight value, and then calculates the speed drop compensation current ΔI. The specific working process of the speed drop control module includes: calculating the collected engine speed and the set speed, calculating the engine speed change and the speed change rate, and outputting a speed drop compensation current that matches the current speed change and the speed change rate when the engine speed change and the speed change rate meet a certain level of the given speed drop severity level. Specifically, the speed drop control is performed according to the engine speed, and the engine speed change and the speed change rate are analyzed by an algorithm. When the engine speed is lower than the set value, the speed drop control module determines whether to generate a speed drop compensation current ΔI according to the engine speed drop severity level; the speed drop control module is used for speed drop control when the engine speed is lower than the set value. When it is detected that the engine speed is lower than the set value, the engine speed drop severity level (0-3 levels) is determined according to the engine speed change and the speed change rate, and different speed drop currents are generated according to the speed drop severity level and the weight. When the speed drop severity level is level 0, the speed drop compensation current generated is 0, and when the speed drop severity level is level 1, the speed drop compensation current ΔI=n is generated. 1 ×ΔI 0 mA, when the speed drop severity level reaches level 3, a speed drop compensation current is generated, ΔI=n 3 ×ΔI 0 mA.

[0086] like Figure 3 The figure shows the specific process of the speed-drop current output, that is, firstly the total weight is calculated to obtain the control current, and then the speed-drop compensation current is calculated.

[0087] The calculation formula of the main pump input current is:

[0088] I'=I-ΔI

[0089] Among them, I' is the main pump input current, I is the main pump request current, and ΔI is the speed reduction compensation current.

[0090] like Figure 2 As shown, the generation process of the main pump request current is: the power control module in the main controller calculates the main pump power according to the handle displacement, and converts the main pump power into the main pump request current I through the current conversion module.

[0091] The working process of the control system in the embodiment of the present invention is described in detail below in conjunction with a specific implementation manner.

[0092] When the engine starts, the main controller sends a request to the engine controller through the CAN bus according to the set program. The engine receives the throttle opening information from the main controller through the CAN bus, and then sets the engine speed target value. When the load is relatively low, the speed drop control module does not detect a large change in the engine speed and speed change rate. The speed drop compensation current ΔI = 0, and the main pump input current I' is equal to the main pump request current I. When the excavator bucket is working, the controller receives pressure signals of the boom rising, the bucket retracting, and the dipper arm retracting. The signal processing module of the controller calculates that the weighted value at this time is 12, and the speed drop control module outputs the control current ΔI 0 =70mA. If a hard object is encountered at this time, the external load changes suddenly and the engine speed starts to drop. When the engine speed is lower than the allowed set value, the speed drop control module determines the current engine speed drop as level 2 severity and generates a speed drop compensation current ΔI=n 2 ×ΔI 0 mA. At this time, the relationship between the main pump input current I' and the main pump request current I is I'=I-ΔI.

[0093] Example 2

[0094] An embodiment of the present invention provides an excavator engine speed reduction control method, comprising:

[0095] Using each pressure sensor to collect pressure signals from different parts of the hydraulic system of the excavator;

[0096] Using the engine controller to collect the engine speed;

[0097] Using the main controller to determine the action type of the excavator based on the output signals of each pressure sensor, and calculate the control current according to the action type;

[0098] Using the main controller to determine the speed drop severity level based on the engine speed sent by the engine controller, and generate a speed drop compensation current in combination with the control current;

[0099] generating a main pump input current based on the speed drop compensation current and the main pump request current using a main controller;

[0100] The main pump receives and operates according to the main pump input current output by the main controller.

[0101] In the embodiment of the present invention, by installing pressure sensors at different parts of the hydraulic system of the excavator, different actions of the excavator are collected, and different weights are assigned to different action types to achieve precise control of the output. When the engine operating speed is lower than the set value, according to the engine speed and the speed change rate meeting one of the given speed drop severity levels, a speed drop compensation current matching the current speed and speed change rate is output to reduce the power of the main pump unit to the set power; the engine speed drop value can be effectively reduced.

[0102] In a specific implementation of the embodiment of the present invention, the action types include boom raising, boom lowering, arm retraction, arm outward swing, bucket retraction, bucket outward swing and rotation, and different action types correspond to different weights;

[0103] The main controller finds the corresponding weight based on the action type, and sums up the weights to calculate the total weight; specifically, when the excavator performs a compound action, the main controller receives the output signals of multiple pressure sensors, and determines the action type of the excavator for each output signal, assigns different weights to different action types, and finally sums up all the weights to obtain the total weight;

[0104] Based on the corresponding relationship between the total weight and the control current, the corresponding control current is found.

[0105] Specifically, under normal circumstances, the boom lowering, rotating, and bucket swinging outward are assigned smaller weights, and the boom raising, arm retracting, and bucket retracting are assigned larger weights. The speed drop control module in the main controller will calculate the corresponding control current based on the calculated weights. Generally, the larger the weight, the larger the output current; specifically, the corresponding relationship between the action type and the weight is:

[0106] action Weight Boom down 1 turn around 1 Bucket swing out 1 Arm swing outward 2 Boom up 3 Bucket retracted 4 Stick inward 5 .

[0107] In a specific implementation of the embodiment of the present invention, the corresponding relationship between the total weight and the control current is:

[0108] When 1≤Z<3, ΔI 0 =20mA;

[0109] When 3≤Z<5, ΔI 0 =30mA;

[0110] When 5≤Z<7, ΔI 0 =40mA;

[0111] When 7≤Z<9, ΔI 0 =50mA;

[0112] When 9≤Z<11, ΔI 0 =60mA;

[0113] When 11≤Z<13, ΔI 0 =70mA;

[0114] When 13≤Z<15, ΔI 0 =80mA;

[0115] When 15≤Z<17, ΔI 0 =90mA;

[0116] Among them, Z is the total weight, ΔI 0 In other specific implementations of the present invention, the corresponding relationship between the total weight and the control current can also be designed as other situations, which can be specifically set according to actual needs.

[0117] In a specific implementation of the embodiment of the present invention, the main controller calculates the engine speed change rate based on the engine speed sent by the engine controller, and determines the speed drop severity level based on the corresponding relationship between the engine speed and the engine speed change rate and the speed drop severity level. Specifically, the speed drop severity levels are divided into several speed drop severity levels according to the size of the engine speed and the speed change rate. The minimum level is 0, indicating that the engine speed is not lower than the set speed, and the speed drop compensation current generated is 0; when the engine speed is lower than the set speed and the speed change rate meets a certain set speed drop severity level interval, it is considered that the corresponding level of speed drop has occurred, and the speed drop compensation current matching the current speed and speed change rate is output.

[0118] The calculation formula of the speed reduction compensation current is:

[0119] ΔI=n×ΔI 0

[0120] Among them, ΔI is the speed drop compensation current, n is the speed drop severity level, ΔI 0 To control the current.

[0121] like Figure 2As shown, the speed drop control module in the main controller calculates the corresponding control current according to the calculated weight value, and then calculates the speed drop compensation current ΔI. The specific working process of the speed drop control module includes: calculating the collected engine speed and the set speed, calculating the engine speed change and the speed change rate, and outputting a speed drop compensation current that matches the current speed change and the speed change rate when the engine speed change and the speed change rate meet a certain level of the given speed drop severity level. Specifically, the speed drop control is performed according to the engine speed, and the engine speed change and the speed change rate are analyzed by an algorithm. When the engine speed is lower than the set value, the speed drop control module determines whether to generate a speed drop compensation current ΔI according to the engine speed drop severity level; the speed drop control module is used for speed drop control when the engine speed is lower than the set value. When it is detected that the engine speed is lower than the set value, the engine speed drop severity level (0-3 levels) is determined according to the engine speed change and the speed change rate, and different speed drop currents are generated according to the speed drop severity level and the weight. When the speed drop severity level is level 0, the speed drop compensation current generated is 0, and when the speed drop severity level is level 1, the speed drop compensation current ΔI=n is generated. 1 ×ΔI 0 mA, when the speed drop severity level reaches level 3, a speed drop compensation current is generated, ΔI=n 3 ×ΔI 0 mA.

[0122] like Figure 3 The figure shows the specific process of the speed-drop current output, that is, firstly the total weight is calculated to obtain the control current, and then the speed-drop compensation current is calculated.

[0123] The calculation formula of the main pump input current is:

[0124] I'=I-ΔI

[0125] Among them, I' is the main pump input current, I is the main pump request current, and ΔI is the speed reduction compensation current.

[0126] like Figure 2 As shown, the generation process of the main pump request current is: the power control module in the main controller calculates the main pump power according to the handle displacement, and converts the main pump power into the main pump request current I through the current conversion module.

[0127] The working process of the control system in the embodiment of the present invention is described in detail below in conjunction with a specific implementation manner.

[0128] When the engine starts, the main controller sends a request to the engine controller through the CAN bus according to the set program. The engine receives the throttle opening information from the main controller through the CAN bus, and then sets the engine speed target value. When the load is relatively low, the speed drop control module does not detect a large change in the engine speed and speed change rate. The speed drop compensation current ΔI = 0, and the main pump input current I' is equal to the main pump request current I. When the excavator bucket is working, the controller receives pressure signals of the boom rising, the bucket retracting, and the dipper arm retracting. The signal processing module of the controller calculates that the weighted value at this time is 12, and the speed drop control module outputs the control current ΔI 0 =70mA. If a hard object is encountered at this time, the external load changes suddenly and the engine speed starts to drop. When the engine speed is lower than the allowed set value, the speed drop control module determines the current engine speed drop as level 2 severity and generates a speed drop compensation current ΔI=n 2 ×ΔI 0 mA. At this time, the relationship between the main pump input current I' and the main pump request current I is I'=I-ΔI.

[0129] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0130] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0131] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0132] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0133] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

[0134] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An excavator engine speed reduction control system, characterized in that: include: A plurality of pressure sensors, each of which is used to be installed at a different part of the hydraulic system of the excavator; An engine controller, used to collect engine speed; A main controller is connected to each pressure sensor and the engine controller respectively; the main controller determines the action type of the excavator based on the output signal of each pressure sensor, and calculates the control current according to the action type; the main controller also determines the speed drop severity level based on the engine speed sent by the engine controller, and generates a speed drop compensation current in combination with the control current; the main controller generates a main pump input current based on the speed drop compensation current and the main pump request current; A main pump, connected to the main controller, receives and operates according to the main pump input current output by the main controller; The action types include boom raising, boom lowering, arm retraction, arm outward swing, bucket retraction, bucket outward swing and rotation, and different action types correspond to different weights; The main controller finds the corresponding weight based on the action type, and calculates the total weight by summing up the weights; Based on the corresponding relationship between the total weight and the control current, find the corresponding control current; The corresponding relationship between the total weight and the control current is: When 1≤Z<3, ΔI0=20mA; When 3≤Z<5, ΔI0=30mA; When 5≤Z<7, ΔI0=40mA; When 7≤Z<9, ΔI0=50mA; When 9≤Z<11, ΔI0=60mA; When 11≤Z<13, ΔI0=70mA; When 13≤Z<15, ΔI0=80mA; When 15≤Z<17, ΔI0=90mA; Among them, Z is the total weight, ΔI0 is the control current The calculation formula of the speed reduction compensation current is: ΔI=n×ΔI0 Among them, ΔI is the speed drop compensation current, n is the speed drop severity level, and ΔI0 is the control current.

2. The excavator engine speed reduction control system according to claim 1, characterized in that: The corresponding relationship between the action type and the weight is: 。 3. The excavator engine speed reduction control system according to claim 1, characterized in that: The main controller calculates the engine speed change rate based on the engine speed sent by the engine controller, and determines the speed drop severity level based on the corresponding relationship between the engine speed and the engine speed change rate and the speed drop severity level.

4. The excavator engine speed reduction control system according to claim 1, characterized in that: The calculation formula of the main pump input current is: I'=I-ΔI Among them, I' is the main pump input current, I is the main pump request current, and ΔI is the speed reduction compensation current.

5. A method for controlling the speed drop of an excavator engine, characterized in that: include: Using each pressure sensor to collect pressure signals from different parts of the hydraulic system of the excavator; Using the engine controller to collect the engine speed; Using the main controller to determine the action type of the excavator based on the output signals of each pressure sensor, and calculate the control current according to the action type; Using the main controller to determine the speed drop severity level based on the engine speed sent by the engine controller, and generate a speed drop compensation current in combination with the control current; generating a main pump input current based on the speed drop compensation current and the main pump request current using a main controller; Utilizing the main pump to receive and operate according to the main pump input current output by the main controller; The action types include boom raising, boom lowering, arm retraction, arm outward swing, bucket retraction, bucket outward swing and rotation, and different action types correspond to different weights; The main controller finds the corresponding weight based on the action type, and calculates the total weight by summing up the weights; Based on the corresponding relationship between the total weight and the control current, find the corresponding control current; The main controller calculates the engine speed change rate based on the engine speed sent by the engine controller, and determines the speed drop severity level based on the corresponding relationship between the engine speed and the engine speed change rate and the speed drop severity level; The corresponding relationship between the total weight and the control current is: When 1≤Z<3, ΔI0=20mA; When 3≤Z<5, ΔI0=30mA; When 5≤Z<7, ΔI0=40mA; When 7≤Z<9, ΔI0=50mA; When 9≤Z<11, ΔI0=60mA; When 11≤Z<13, ΔI0=70mA; When 13≤Z<15, ΔI0=80mA; When 15≤Z<17, ΔI0=90mA; Among them, Z is the total weight, ΔI0 is the control current The calculation formula of the speed reduction compensation current is: ΔI=n×ΔI0 Among them, ΔI is the speed drop compensation current, n is the speed drop severity level, and ΔI0 is the control current.

6. The method for controlling the speed drop of an excavator engine according to claim 5, characterized in that: The calculation formula of the main pump input current is: I'=I-ΔI Among them, I' is the main pump input current, I is the main pump request current, and ΔI is the speed reduction compensation current.

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