Engine transient speed drop control method, system, work machine and electronic device

Abstract

The present invention relates to the technical field of working machinery, and provides a method and system for controlling transient engine speed drop, a working machinery and an electronic device. The method includes: taking the set torque of the engine as the target torque, and using the sum of the actual torque and the compensation torque of the hydraulic system as the torque feedback value for torque PID regulation to obtain a first current; taking the set speed of the engine as the target speed, and using the actual speed as the speed feedback value for speed PID regulation to obtain a second current; determining a first compensation current based on the first and second currents; and subtracting the first compensation current from the first given current to obtain a driving current for driving the hydraulic system. The present invention is used to solve the defect in the prior art that when the engine has a transient speed drop, using torque PID or speed PID for control results in untimely control and affects the operation experience of the working machinery, and realizes the coordinated control of torque PID and speed PID, ensuring the timeliness of control and the stability of the hydraulic system.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and particularly to a method and system for controlling engine transient speed drop, a construction machinery, and an electronic device. Background Art

[0002] For construction machinery driven by an engine to drive a gearbox to drive a hydraulic system, when the power demand of the hydraulic system changes rapidly, for example, when an operator quickly pushes a handle, the engine will transiently drop in speed. At this time, although the engine is far from reaching its allowable power, due to the transient characteristics of the engine (such as combustion lag, etc.), the engine's instantaneous speed drop is obvious, which affects the stability of the hydraulic system and seriously affects the operator's operation experience.

[0003] Currently, the main methods for solving engine transient speed drop are torque PID (Proportion Integration Differentiation) and speed PID. Among them, torque PID takes the engine set torque as the target value of PID, the actual torque of the main pump of the hydraulic system as the feedback value, and the output value of PID as the current compensation value. However, when the engine transiently drops in speed, the actual torque of the main pump is far from reaching the engine set torque, resulting in PID being ineffective. By the time torque PID intervenes, the engine has already dropped in speed severely, seriously affecting the operation experience of the construction machinery. And speed PID takes the engine set speed as the target value of PID, the actual engine speed as the feedback value of PID, and the output value of PID as the current compensation value. This method needs to be based on the stall value of the engine when executing, that is, when the stall value is greater than the set stall threshold, the adjustment is triggered. Therefore, when the stall threshold is set relatively large, the time lag is serious and the adjustability is poor, while when it is set relatively small, the normal fluctuation of the engine speed affects the output of PID, resulting in poor stability of the hydraulic system. Summary of the Invention

[0004] The present invention provides a method and system for controlling engine transient speed drop, a construction machinery, and an electronic device, which are used to solve the defect in the prior art that when the engine transiently drops in speed, torque PID or speed PID is used for control, resulting in untimely control and affecting the operation experience of the construction machinery, and realizes the coordinated control of torque PID and speed PID, ensuring the timeliness of control and the stability of the hydraulic system.

[0005] The present invention provides a method for controlling engine transient speed drop, including:

[0006] Taking the set torque of the engine as the target torque, and taking the sum of the actual torque of the hydraulic system and the compensation torque as the torque feedback value, and performing torque PID adjustment to obtain a first current;

[0007] Taking the set speed of the engine as the target speed and the actual speed as the speed feedback value, perform speed PID regulation to obtain a second current;

[0008] Based on the first current and the second current, determine a first compensation current;

[0009] Subtract the first compensation current from the first given current to obtain a drive current for driving the hydraulic system, where the first given current is the current output by the engine to the hydraulic system.

[0010] According to the engine transient speed drop control method of the present invention, it further includes:

[0011] Obtain the pressure and displacement of the hydraulic system at the current moment;

[0012] Based on the pressure and the displacement, determine the actual torque of the hydraulic system.

[0013] According to the engine transient speed drop control method of the present invention, it further includes:

[0014] Subtract the actual speed from the set speed to obtain the stall value of the engine;

[0015] Based on the stall value and a preset mapping relationship, determine the compensation torque;

[0016] Wherein, the preset mapping relationship records the corresponding relationship between the stall value of the engine and the torque compensation value.

[0017] According to the engine transient speed drop control method of the present invention, the taking the set speed of the engine as the target speed and the actual speed as the speed feedback value, and performing speed PID regulation includes:

[0018] Subtract the actual speed from the set speed to obtain the stall value of the engine;

[0019] Compare the stall value with a preset stall threshold;

[0020] When the stall value is greater than the preset stall threshold, perform the speed PID regulation.

[0021] According to the engine transient speed drop control method of the present invention, the based on the first current and the second current, determining the first compensation current includes:

[0022] Taking the larger value of the first current and the second current, or the weighted average value of the first current and the second current as the first compensation current.

[0023] According to the engine transient speed drop control method of the present invention, the step of subtracting the first compensation current from the first given current to obtain a drive current for driving the hydraulic system includes:

[0024] When the hydraulic system includes multiple main pumps, determine the distribution ratio of each main pump;

[0025] Based on the distribution ratio, divide the first compensation current into second compensation currents corresponding to each main pump;

[0026] Subtract each second compensation current from the corresponding second given current to obtain the drive current for driving each main pump of the hydraulic system, where the second given current is the first given current allocated to each main pump of the hydraulic system;

[0027] Wherein, the distribution ratio is the ratio of the displacement of each main pump to the total displacement of the hydraulic system, or the ratio of each second given current to the first given current.

[0028] The present invention also provides an engine transient speed drop control system, including:

[0029] A first processing module, configured to use the set torque of the engine as the target torque, and the sum of the actual torque and the compensation torque of the hydraulic system as the torque feedback value, perform torque PID regulation to obtain a first current;

[0030] A second processing module, configured to use the set speed of the engine as the target speed, and the actual speed as the speed feedback value, perform speed PID regulation to obtain a second current;

[0031] A third processing module, configured to determine a first compensation current based on the first current and the second current;

[0032] An execution module, configured to subtract the first compensation current from the first given current to obtain a drive current for driving the hydraulic system, where the first given current is the current output by the engine to the hydraulic system.

[0033] The present invention also provides a work machine including an engine, a hydraulic system, and the above-mentioned engine transient speed drop control system, or using the engine transient speed drop control method described in any one of the above to control the engine during stall.

[0034] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, it implements the engine transient speed drop control method described in any one of the above.

[0035] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the engine transient speed drop control method described in any one of the above is implemented.

[0036] An engine transient speed drop control method, system, construction machinery and electronic device provided by the present invention perform torque PID adjustment by respectively taking the set torque of the engine as the target torque and the sum of the actual torque and the compensation torque of the hydraulic system as the torque feedback value to obtain the first current; taking the set speed of the engine as the target speed and the actual speed as the speed feedback value to perform speed PID adjustment to obtain the second current, and then determining the first compensation current based on the first current and the second current, and taking the first given current, that is, the current output by the engine to the hydraulic system, and subtracting the first compensation current to correct the drive current for driving the hydraulic system. The coordinated control of torque PID and speed PID is realized, the control time lag during engine transient speed drop is avoided, the adjustability is improved, the current output to the hydraulic system can be adjusted in real time according to the engine speed drop, the pressure fluctuation caused by the engine transient speed drop due to too fast loading method and the like is effectively alleviated, the movement coordination and smoothness during the operation of the construction machinery are improved, and thus the user experience is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are 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 efforts.

[0038] Figure 1 is a schematic flowchart of the engine transient speed drop control method provided by the embodiment of the present invention;

[0039] Figure 2 is a schematic diagram of the control principle of the engine transient speed drop control method provided by the embodiment of the present invention;

[0040] Figure 3 is a test schematic diagram for verifying the effect of the engine transient speed drop control method provided by the embodiment of the present invention with a 200-ton hydraulic excavator as the test object;

[0041] Figure 4 is a schematic structural diagram of an engine transient speed drop control system provided by the embodiment of the present invention;

[0042] Figure 5 is a schematic structural diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts fall within the protection scope of the present invention.

[0044] The following will be combined with Figures 1 to 3 to describe a method for controlling engine transient speed drop of the present invention. It should be noted that the method for controlling engine transient speed drop provided by the embodiments of the present invention is applicable to any working machine driven by an engine to drive a gearbox to drive a hydraulic system, such as: excavators, cranes, rotary drilling rigs, etc.

[0045] The method for controlling engine transient speed drop provided by the embodiments of the present invention is executed by the controller of the working machine. The controller can be the controller originally possessed by the working machine or a newly arranged controller specifically for engine transient speed drop control, as Figure 1 shown, the method includes the following steps:

[0046] 101. Take the set torque of the engine as the target torque, and the sum of the actual torque and the compensation torque of the hydraulic system as the torque feedback value, perform torque PID regulation to obtain the first current;

[0047] It can be understood that the set torque of the engine refers to the engine torque when the working machine is in a steady state, that is, the load is in a stable state, determined by the controller according to the handle position. Taking an excavator as an example, in large-load working conditions such as boom lifting, when the handle is quickly loaded, the total torque of the main pump of the hydraulic system will be greater than the torque of the engine, resulting in engine overload speed drop. And the transient speed drop of the engine makes the actual torque of the hydraulic system much smaller than the set torque of the engine, resulting in the ineffectiveness of torque PID.

[0048] Specifically, when performing torque PID regulation, by taking the set torque of the engine as the target torque and the sum of the actual torque and the compensation torque of the hydraulic system as the torque feedback value, the torque feedback value is increased. When the engine has a transient speed drop, torque PID can intervene in advance, thereby improving the hysteresis of torque PID.

[0049] More specifically, the compensation torque can be obtained by taking the sum of different torque values and the actual torque as the torque feedback value of torque PID and verifying the control effect for engine speed drop.

[0050] 102. Take the set speed of the engine as the target speed and the actual speed as the speed feedback value, perform speed PID regulation to obtain the second current;

[0051] It can be understood that torque PID and speed PID are two methods for determining the current compensation value for engine transient speed drop control. Therefore, steps 101 and 102 are in a parallel relationship. Step 101 can be executed first and then step 102, or step 102 can be executed first and then step 101, or steps 101 and 102 can be carried out simultaneously. There is no specific limitation here.

[0052] 103. Determine a first compensation current based on the first current and the second current;

[0053] It can be understood that since at the initial stage of engine instantaneous speed drop, the current compensation value obtained by speed PID is generally greater than that obtained by torque PID, and in the middle and late stages of engine instantaneous speed drop, the current compensation value obtained by torque PID is generally greater than that obtained by speed PID. Therefore, in one embodiment, the larger value of the first current and the second current can be used as the first compensation current, thus avoiding the problem that the engine speed has severely dropped when the control takes effect easily caused by using torque PID at the initial stage of engine instantaneous speed drop, and also avoiding the problem of poor adjustability easily caused by using speed PID in the middle and late stages of engine instantaneous speed drop.

[0054] 104. Subtract the first given current from the first compensation current to obtain a drive current for driving the hydraulic system, where the first given current is the current output by the engine to the hydraulic system.

[0055] The engine transient scheduling control method provided by the embodiment of the present invention determines the first compensation current based on the first current obtained by torque PID and the second current obtained by speed PID, realizes the coordinated control of engine transient speed drop based on torque PID and speed PID, thus overcoming the defects of using torque PID or speed PID alone for engine transient speed drop control, enabling the engine to quickly recover after transient speed drop, reducing the pressure fluctuation of the hydraulic system, and improving the smoothness of the operation of the working machine.

[0056] It should be noted that since the power of the hydraulic system is equal to the product of torque and speed, in one embodiment of the present invention, the set power of the hydraulic system can also be used as the target power, and the sum of the actual power and the compensation power can be used as the power feedback value for power PID adjustment to obtain the first current. Then, based on the first current and the second current obtained by speed PID, the first compensation current is jointly determined, and the same effect can also be achieved.

[0057] Based on the content of the above embodiments, the engine transient speed drop control method provided by the embodiment of the present invention further includes:

[0058] Obtain the pressure and displacement of the hydraulic system at the current moment;

[0059] Based on the pressure and the displacement, determine the actual torque of the hydraulic system.

[0060] It can be understood that based on the torque of the hydraulic system and the engine speed, as well as the pressure, displacement of the hydraulic system and the engine speed, the power of the hydraulic system can be determined. Therefore, based on the pressure and displacement of the hydraulic system, the torque of the hydraulic system can be obtained.

[0061] Specifically, the current and pressure of the hydraulic system at the current moment can be detected respectively by arranging sensors, and then the current displacement of the hydraulic system can be determined based on the current of the hydraulic system at the current moment. Through the current displacement and pressure of the hydraulic system, the current torque, that is, the actual torque of the hydraulic system at the current moment, can be obtained.

[0062] Based on the content of the above embodiments, the engine transient speed drop control method provided by the embodiments of the present invention further includes:

[0063] Subtract the set speed from the actual speed to obtain the stall value of the engine;

[0064] Based on the stall value and a preset mapping relationship, determine the compensation torque;

[0065] Wherein, the preset mapping relationship records the corresponding relationship between the stall value of the engine and the torque compensation value.

[0066] Specifically, during the debugging or testing of the working machine, when performing engine transient speed drop control based on torque PID, by setting different compensation torques, the control effect for a certain stall value of the engine can be verified, so as to obtain the corresponding relationship between the engine stall value and the torque compensation value.

[0067] More specifically, after determining the stall value of the engine based on the set speed and the actual speed of the engine, the torque compensation value corresponding to the stall value can be retrieved from the corresponding relationship between the engine stall value and the torque compensation value, that is, the compensation torque adapted to the current situation of the engine is obtained.

[0068] Based on the content of the above embodiments, the step of taking the set speed of the engine as the target speed and the actual speed as the speed feedback value for speed PID regulation includes:

[0069] Subtract the set speed from the actual speed to obtain the stall value of the engine;

[0070] Compare the stall value with a preset stall threshold;

[0071] When the stall value is greater than the preset stall threshold, the rotational speed PID adjustment is performed.

[0072] It can be understood that the engine has a rotational speed fluctuation characteristic, that is, during the operation of the engine, the rotational speed will fluctuate within a certain range, and this kind of fluctuation belongs to the normal fluctuation of the engine rotational speed. However, the rotational speed PID takes the set rotational speed of the engine as the target rotational speed, and the actual rotational speed is the rotational speed feedback value. Therefore, the normal fluctuation of the engine rotational speed will affect the output of the rotational speed PID, resulting in repeated fluctuations in the pressure of the hydraulic system.

[0073] Specifically, by taking the difference between the set rotational speed and the actual rotational speed of the engine to obtain the stall value of the engine, and then comparing the stall value with the preset stall threshold, the controller performs the rotational speed PID adjustment only when the stall value of the engine is greater than the preset stall threshold. That is, by setting the preset stall threshold, the influence of the normal fluctuation of the engine on the output of the rotational speed PID is excluded, thereby improving the stability of the hydraulic system.

[0074] Based on the content of the above embodiments, the determining the first compensation current based on the first current and the second current includes:

[0075] Taking the larger value of the first current and the second current, or the weighted average value of the first current and the second current as the first compensation current.

[0076] Specifically, by taking the larger value of the first current and the second current as the first compensation current, it can not only avoid the problem that when using the torque PID at the initial stage of the engine's instantaneous speed drop, the engine rotational speed has already dropped severely when the control takes effect, but also avoid the problem of poor adjustability when using the rotational speed PID in the middle and late stages of the engine's instantaneous speed drop.

[0077] More specifically, by taking the weighted average value of the first current and the second current as the first compensation current, on the one hand, it can achieve the control effect of taking the larger value of the first current and the second current as the first compensation current. That is, at the initial stage of the engine's instantaneous speed drop, the weight value of the second current is set larger, so that the first compensation current is mainly based on the output of the rotational speed PID, and in the middle and late stages of the engine's instantaneous speed drop, the weight value of the first current is set larger, so that the first compensation current is mainly based on the output of the torque PID. On the other hand, the weight can be set based on the actual application environment of the working machine to improve the control effect for the engine's transient speed drop, and can also reduce the influence on the control effect of the engine's transient speed drop when the output jump value of the rotational speed PID or the torque PID occurs.

[0078] Based on the content of the above embodiments, the subtracting the first compensation current from the first given current to obtain the drive current for driving the hydraulic system includes:

[0079] When the hydraulic system includes multiple main pumps, determine the distribution ratio of each main pump;

[0080] Based on the distribution ratio, divide the first compensation current into second compensation currents respectively corresponding to each main pump;

[0081] Subtract each second compensation current from the corresponding second given current to obtain the drive current for driving each main pump of the hydraulic system, where the second given current is the first given current allocated to each main pump of the hydraulic system;

[0082] Wherein, the distribution ratio is the ratio of the displacement of each main pump to the total displacement of the hydraulic system, or the ratio of each second given current to the first given current.

[0083] Specifically, when the hydraulic system includes multiple main pumps, by subtracting the compensation current proportionally allocated to each main pump from the given current output by the engine to each main pump of the hydraulic system, that is, subtracting the second compensation current from the corresponding second given current, it is possible to ensure that the main pump current of each main pump is adjusted proportionally, thereby ensuring the matching degree between each main pump and the load.

[0084] In summary, the control principle of the engine transient speed drop control method provided in the above embodiments of the present invention is as Figure 2 shown. At the same time, in order to verify the effect of using the engine transient speed drop control method provided in the embodiments of the present invention for engine transient speed drop control, a 200-ton hydraulic excavator was used as the test object for effect verification, and the specific test schematic diagram is as Figure 3 shown. Among them, 6 flow sensors, 6 pressure sensors, 1 speed sensor and 1 displacement sensor are used, and the measuring point positions of each sensor are as Figure 3 shown.

[0085] The specific test process is as follows: repeatedly adjust the initial positions of the boom, arm, and bucket multiple times to make the bucket empty and the tip of the bucket touch the ground, and then quickly push the handle from the middle position to the full stroke, so that the excavator repeatedly completes the boom lifting action. At the same time, during the boom lifting process, use the engine transient speed drop control method provided in the above embodiments of the present invention to control the engine transient speed drop. It can be known that when the handle is quickly pushed, the boom of the excavator is lifted, and the load of the main pump is quickly loaded from zero to the maximum in a short time. By collecting data such as the flow rate, pressure, and engine speed of each main pump during the boom lifting action, the engine speed drop, displacement current, and pump port pressure under the fast load signal can be analyzed.

[0086] By detecting the engine speed signal and the pressure signals of each main pump through sensors, it is found that during the above-mentioned boom lifting process, the engine speed can quickly recover after a drop, and the stall value does not exceed 200, which is completely within the allowable stall range of large excavators. At the same time, the pressure fluctuations of the main pumps can be accepted by the operator, and the operator does not feel obvious action impacts. The boom lifting action is smooth and steady. That is, by adopting the engine transient speed drop control method provided by the embodiment of the present invention, it is possible to achieve the effects of quickly recovering the engine speed drop, controlling the stall value and the pressure fluctuations of the main pumps within a reasonable range, and ensuring the smoothness of the excavator's actions.

[0087] Next, a kind of engine transient speed drop control system provided by the present invention will be described. The engine transient speed drop control system described below can be correspondingly referred to the above-described engine transient speed drop control method.

[0088] The engine transient speed drop control system described in the embodiment of the present invention, as Figure 4 shown, includes: a first processing module 410, a second processing module 420, a third processing module 430, and an execution module 440; wherein,

[0089] The first processing module 410 is used to take the set torque of the engine as the target torque, and the sum of the actual torque and the compensation torque of the hydraulic system as the torque feedback value, perform torque PID adjustment, and obtain the first current;

[0090] The second processing module 420 is used to take the set speed of the engine as the target speed, and the actual speed as the speed feedback value, perform speed PID adjustment, and obtain the second current;

[0091] The third processing module 430 is used to determine the first compensation current based on the first current and the second current;

[0092] The execution module 440 is used to subtract the first compensation current from the first given current to obtain the drive current for driving the hydraulic system, and the first given current is the current output by the engine to the hydraulic system.

[0093] The engine transient speed drop control system provided by the embodiment of the present invention performs torque PID regulation by taking the set torque of the engine as the target torque and the sum of the actual torque and the compensation torque of the hydraulic system as the torque feedback value to obtain the first current; taking the set speed of the engine as the target speed and the actual speed as the speed feedback value to perform speed PID regulation to obtain the second current, and then determines the first compensation current based on the first current and the second current, and subtracts the first compensation current from the first given current, that is, the given current output by the engine to the hydraulic system, to correct the drive current for driving the hydraulic system. The coordinated control of torque PID and speed PID is realized, the control time lag during engine transient speed drop is avoided, the adjustability is improved, the current output to the hydraulic system can be adjusted in real time according to the engine speed drop, the pressure fluctuation caused by the too-fast loading method and the like during engine transient speed drop is effectively alleviated, the action coordination and smoothness during the operation of the construction machinery are improved, and further the user experience is improved.

[0094] Optionally, it further includes: an acquisition module;

[0095] The acquisition module is used to acquire the pressure and displacement of the hydraulic system at the current moment; and determine the actual torque of the hydraulic system based on the pressure and the displacement.

[0096] Optionally, it further includes: a calculation module;

[0097] The calculation module is used to subtract the set speed from the actual speed to obtain the stall value of the engine; and determine the compensation torque based on the stall value and a preset mapping relationship, where the preset mapping relationship records the corresponding relationship between the stall value of the engine and the torque compensation value.

[0098] Optionally, the second processing module 420 is specifically used for:

[0099] Subtract the set speed from the actual speed to obtain the stall value of the engine;

[0100] Compare the stall value with a preset stall threshold;

[0101] When the stall value is greater than the preset stall threshold, perform the speed PID regulation.

[0102] Optionally, the third processing module 430 is specifically used for:

[0103] Taking the larger value of the first current and the second current, or the weighted average value of the first current and the second current as the first compensation current.

[0104] Optionally, the execution module 440 is specifically used for:

[0105] When the hydraulic system includes multiple main pumps, determine the distribution ratio of each main pump;

[0106] Based on the distribution ratio, divide the first compensation current into second compensation currents corresponding to each main pump;

[0107] Subtract each second given current from the corresponding second compensation current to obtain the drive current for driving each main pump of the hydraulic system, where the second given current is the first given current allocated to each main pump of the hydraulic system;

[0108] Wherein, the distribution ratio is the ratio of the displacement of each main pump to the total displacement of the hydraulic system, or the ratio of each second given current to the first given current.

[0109] An embodiment of the present invention further provides a work machine including an engine, a hydraulic system, and the engine transient speed drop control system as described above, or a work machine that controls the engine during stall by using any one of the engine transient speed drop control methods as described above.

[0110] It can be understood that a work machine including an engine, a hydraulic system, and the engine transient speed drop control system as described above, or a work machine that controls the engine during stall by using any one of the engine transient speed drop control methods as described above, has all the advantages and technical effects of the engine transient speed drop control system or the engine transient speed drop control method described in any one of the above embodiments, which will not be elaborated here.

[0111] Specifically, the above work machine can be any work machine that needs to drive a hydraulic system through an engine driving a gearbox, such as an excavator, a rotary drilling rig, a crane, etc., which is not specifically limited here.

[0112] Figure 5 An example of a schematic physical structure diagram of an electronic device is shown in Figure 5As shown in the figure, the electronic device may include: a processor 510, a communications interface 520, a memory 530, and a communication bus 540. Among them, the processor 510, the communications interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logical instructions in the memory 530 to execute an engine transient speed drop control method, and the method includes: taking the set torque of the engine as the target torque, and the sum of the actual torque and the compensation torque of the hydraulic system as the torque feedback value, performing torque PID adjustment to obtain a first current; taking the set speed of the engine as the target speed, and the actual speed as the speed feedback value, performing speed PID adjustment to obtain a second current; determining a first compensation current based on the first current and the second current; subtracting the first compensation current from the first given current to obtain a drive current for driving the hydraulic system, and the first given current is the current output by the engine to the hydraulic system.

[0113] In addition, when the logical instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0114] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute an engine transient speed drop control method provided by each of the above methods. The method includes: using the set torque of the engine as the target torque, and the sum of the actual torque and the compensation torque of the hydraulic system as the torque feedback value, performing torque PID regulation to obtain a first current; using the set speed of the engine as the target speed, and the actual speed as the speed feedback value, performing speed PID regulation to obtain a second current; determining a first compensation current based on the first current and the second current; subtracting the first compensation current from the first given current to obtain a drive current for driving the hydraulic system, where the first given current is the current output by the engine to the hydraulic system.

[0115] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, an engine transient speed drop control method is implemented. The method includes: using the set torque of the engine as the target torque, and the sum of the actual torque and the compensation torque of the hydraulic system as the torque feedback value, performing torque PID regulation to obtain a first current; using the set speed of the engine as the target speed, and the actual speed as the speed feedback value, performing speed PID regulation to obtain a second current; determining a first compensation current based on the first current and the second current; subtracting the first compensation current from the first given current to obtain a drive current for driving the hydraulic system, where the first given current is the current output by the engine to the hydraulic system.

[0116] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

[0117] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling engine transient speed drop, characterized in that, Including: Taking the set torque of the engine as the target torque, and the sum of the actual torque and the compensation torque of the hydraulic system as the torque feedback value, performing torque PID adjustment to obtain a first current; alternatively, taking the set power of the hydraulic system as the target power, and the sum of the actual power and the compensation power as the power feedback value, performing power PID adjustment to obtain a first current; Taking the set speed of the engine as the target speed, and the actual speed as the speed feedback value, performing speed PID adjustment to obtain a second current; Based on the first current and the second current, determining a first compensation current; Subtracting the first compensation current from the first given current to obtain a drive current for driving the hydraulic system, where the first given current is the current output by the engine to the hydraulic system; The determining the first compensation current based on the first current and the second current includes: Taking the larger value of the first current and the second current, or the weighted average of the first current and the second current as the first compensation current.

2. The engine transient speed drop control method according to claim 1, characterized in that Further including: Obtaining the pressure and displacement of the hydraulic system at the current moment; Based on the pressure and the displacement, determining the actual torque of the hydraulic system.

3. The engine transient speed drop control method according to claim 1, wherein Further including: Subtracting the set speed from the actual speed to obtain the stall value of the engine; Based on the stall value and a preset mapping relationship, determining the compensation torque; Wherein, the preset mapping relationship records the corresponding relationship between the stall value of the engine and the torque compensation value.

4. The engine transient speed drop control method according to claim 1, characterized in that, The taking the set speed of the engine as the target speed, and the actual speed as the speed feedback value, performing speed PID adjustment includes: Subtracting the set speed from the actual speed to obtain the stall value of the engine; Comparing the stall value with a preset stall threshold; When the stall value is greater than the preset stall threshold, performing the speed PID adjustment.

5. The engine transient speed drop control method according to claim 1, wherein The subtracting the first compensation current from the first given current to obtain a drive current for driving the hydraulic system includes: When the hydraulic system includes multiple main pumps, determining the distribution ratio of each main pump; Based on the distribution ratio, dividing the first compensation current into second compensation currents respectively corresponding to each main pump; Subtracting each second compensation current from the corresponding second given current to obtain the drive current for driving each main pump of the hydraulic system, where the second given current is the first given current allocated to each main pump of the hydraulic system; Wherein, the distribution ratio is the ratio of the displacement of each main pump to the total displacement of the hydraulic system, or the ratio of each second given current to the first given current.

6. An engine transient speed drop control system, characterized in that, Including: A first processing module, configured to take the set torque of the engine as the target torque, and the sum of the actual torque and the compensation torque of the hydraulic system as the torque feedback value, perform torque PID adjustment to obtain a first current; alternatively, the first processing module is configured to take the set power of the hydraulic system as the target power, and the sum of the actual power and the compensation power as the power feedback value, perform power PID adjustment to obtain a first current; The second processing module is configured to use the set speed of the engine as the target speed and the actual speed as the speed feedback value to perform speed PID regulation to obtain a second current; The third processing module is configured to determine a first compensation current based on the first current and the second current; specifically, the third processing module is configured to use the larger value of the first current and the second current, or the weighted average of the first current and the second current as the first compensation current; The execution module is configured to subtract the first compensation current from the first given current to obtain a drive current for driving the hydraulic system, where the first given current is the current output by the engine to the hydraulic system.

7. An earthmoving machine, comprising an engine and a hydraulic system, characterized in that, It further includes the engine transient speed drop control system as described in claim 6, or controls the engine during stall using the engine transient speed drop control method as described in any one of claims 1 to 5.

8. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the engine transient speed drop control method as described in any one of claims 1 to 5.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the engine transient speed drop control method as described in any one of claims 1 to 5.

Images