Engineering machinery control method and control system
By obtaining the engine speed deviation in real time and adjusting the oil volume using the PID control algorithm, the engine speed locking is achieved, which solves the problems of large jitter and vibration and high fuel consumption, and improves mechanical efficiency and service life.
Patent Information
- Application Number
- CN202411366714.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-29
- Publication Date
- 2025-01-07
AI Technical Summary
When the construction machinery engine operates in a complex geographical environment, the speed is difficult to maintain a stable speed, resulting in large jitter and vibration, high fuel consumption, low mechanical efficiency and shortened service life.
By obtaining the throttle opening signal and the actual engine speed, calculating the speed deviation and converting it into torque, adjusting the oil volume using PID control algorithm and three-dimensional map to form a closed-loop control system to ensure that the engine speed is close to the target speed and achieve stable and efficient operation.
It effectively reduces engine shaking and vibration, improves speed response speed, reduces fuel consumption, extends the service life of the machinery, and improves mechanical efficiency.
Smart Images
Figure CN119267023A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the field of engineering machinery, and in particular relates to an engineering machinery control method and a control system. Background Art
[0002] Construction machinery plays an indispensable role in modernization construction. It is widely used in oil drilling, geological exploration, coal mining and other fields. The power of construction machinery comes from the engine, and the first task of engine power control is throttle control, and then engine speed control.
[0003] Since this type of equipment is mostly outdoors and often located in remote areas, its operation is often affected and restricted by the complex and changeable geographical environment. The engine is inconvenient to control, and there are problems such as speed control fluctuating and large engine shaking and vibration. The engine speed is difficult to achieve stable and efficient operation, and fuel consumption is high, which not only reduces mechanical efficiency but also shortens service life. Summary of the invention
[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and to propose a construction machinery control method and control system that can perform closed and refined control on the engine speed so that the speed runs smoothly and efficiently, solving the problem of large engine jitter and vibration, while reducing fuel consumption, improving mechanical efficiency, and extending service life.
[0005] To achieve the above objectives, the present invention proposes the following technical solutions: A construction machinery control method, comprising the following contents: a. Obtain the throttle opening signal and confirm the target speed; b. The actual engine speed is obtained in real time and the speed deviation is calculated. The speed deviation is converted into torque, and the torque is converted into oil volume. The oil volume is injected to make the actual speed close to the target speed. This cycle is repeated to form a closed loop.
[0006] Preferably, a construction machinery control method comprises the following contents: ① Obtain the throttle opening signal and confirm the target speed based on the engine speed demand curve. The target speed is proportional to the throttle opening.
[0007] ② The speed deviation is converted into torque through the PID control algorithm; the maximum torque of the engine is the torque limit, the absolute value of the torque is compared with the torque limit, and the smaller value is taken to obtain the oil volume through the three-dimensional map of speed, torque and oil volume. The oil volume increases or decreases, and then the actual speed is obtained again, the speed deviation is calculated, converted into torque, and compared with the torque limit to obtain the oil volume. The oil volume increases or decreases, and this cycle is repeated to form a PID closed-loop control system for the engine speed, so that the actual speed is controlled within the allowable speed deviation range.
[0008] Preferably, content ① is specifically as follows: the throttle switching switch switches between the remote throttle and the short-range throttle, the throttle switching switch transmits a switch status signal, and waits to receive a throttle opening signal after determining the throttle position; after obtaining the throttle opening signal, the target speed is confirmed based on the engine speed demand curve, and the target speed is proportional to the throttle opening.
[0009] In the proportional relationship between the target speed and the throttle opening, as the throttle opening increases, the target speed of the engine also increases accordingly, allowing the engine to quickly respond to the driver's acceleration needs, optimize fuel economy, and enhance the driver's operating experience; under different driving conditions, it can provide appropriate speed response, and under various working conditions, the engine can maintain stable operation without insufficient power or overheating caused by too low or too high speed, and is suitable for different working conditions.
[0010] The above-mentioned remote throttle, short-range throttle and throttle switching switch are already known in the prior art. The throttle switching switch for switching between the remote throttle and the short-range throttle is also already known in the prior art.
[0011] Preferably, the slope of the curve in the engine speed demand curve diagram in content ① can be adjusted according to actual application to adjust the minimum and maximum speeds.
[0012] Preferably, the calculation formula of the speed deviation in content ② is: ,in is the target speed, is the actual speed, is the speed deviation.
[0013] Preferably, in content ②, the speed deviation is converted into torque through a PID control algorithm, and the formula is: ,in is the deviation speed, and is the calculation parameter, For torque, the calculation parameters can be adjusted and optimized according to the speed deviation.
[0014] if and If the value is large, the speed will rise very high and exceed the target speed. and The value is very small, the speed increase is very small, and it is far below the target speed, so it is necessary to and Adjust the parameters to the optimal state. and The parameters can be determined by specific experiments, and those skilled in the art are capable of determining appropriate and parameter.
[0015] The speed deviation can be positive or negative. When the speed deviation is positive, the torque is positive. At this time, the oil volume increases, which increases the actual speed. When the speed deviation is negative, the torque is negative. At this time, the oil volume also decreases accordingly, which reduces the actual speed, thereby controlling the actual speed within the allowable speed deviation range.
[0016] Preferably, the torque calculated in content ② is brought into the three-dimensional map of speed, torque and oil volume to obtain the corresponding oil volume, which is converted into a pulse width signal and output to the injector. The injector controls the actual injection volume by adjusting the opening time so that the actual speed is controlled within the allowable speed deviation range.
[0017] Preferably, the actual speed of the engine obtained in content ④ needs to be converted into a digital signal for processing. This processing includes filtering, denoising and amplifying the signal to ensure the reliability and accuracy of the data.
[0018] An engineering machinery control system that uses the above method to perform locking control on the engine speed includes the following parts: ①Throttle switch; ②ECU control module, which is used to receive the throttle opening signal sent by the throttle switch and confirm the target speed according to the throttle opening; at the same time, it receives the actual speed signal in real time, obtains the speed deviation, calculates the torque and oil volume, and sends the injection signal; ③ The engine receives the fuel injection signal from the ECU control module, injects fuel according to the fuel injection signal, and the engine burns and works to output power; ④ Engineering machinery, receiving power from the engine to perform mechanical operations.
[0019] Preferably, it also includes a remote throttle, a short-range throttle and a throttle switching switch, wherein the throttle switching switch and the short-range throttle are arranged in the engine control box, the remote throttle is arranged at a remote end of the engineering machinery, the remote throttle and the short-range throttle are connected in parallel to the throttle switching switch, the throttle switching switch switches between the remote throttle and the short-range throttle, the throttle switching switch is connected to the ECU control module by a hard wire, and sends a switch status signal to the ECU control module, and the ECU control module receives the switch status signal to clarify the throttle position.
[0020] Specifically, the throttle switching switch switches between the remote throttle and the short-range throttle. The throttle switching switch transmits a switch status signal to the ECU control module, and waits to receive the throttle opening signal after determining the throttle position. After the ECU control module obtains the throttle opening signal, it confirms the target speed based on the engine speed demand curve. The target speed is proportional to the throttle opening.
[0021] The ECU speed control module obtains the actual engine speed in real time, compares it with the target speed, and calculates the speed deviation in real time; the speed deviation is converted into torque through the PID control algorithm. The torque is limited by the torque limit, which is the maximum torque of the engine. The maximum torque of the engine is the torque limit. The absolute value of the torque is compared with the torque limit, and the smaller value is taken to obtain the oil volume through the three-dimensional map of speed, torque, and oil volume. The oil volume increases or decreases, and then the actual speed is obtained again, the speed deviation is calculated, converted into torque, compared with the torque limit, and the oil volume is obtained. The oil volume increases or decreases, and this cycle is repeated to continuously and dynamically control the actual speed of the engine, and the actual speed is controlled within the allowable speed deviation range, forming a PID closed-loop control system for the engine speed.
[0022] The speed deviation can be positive or negative. When the actual speed is lower than the target speed, the speed deviation is positive and the torque is positive. At this time, the oil volume increases to increase the actual speed. When the actual speed is higher than the target speed, the speed deviation is negative and the torque is negative. At this time, the oil volume also decreases accordingly, reducing the actual speed, thereby controlling the actual speed within the allowable speed deviation range.
[0023] Assuming the target speed is 1500rpm, the engine idles at 750rpm after starting, the actual speed is 750rpm, and the speed deviation is calculated to be 750rpm; in the PID control algorithm 5Nm / rpm, is 0, and the calculated torque is 3750Nm. However, the torque limit, that is, the maximum torque of the engine, is 2800 Nm. Then the oil amount corresponding to 2800 Nm is injected and burned. After combustion, the actual speed of the engine will be improved to a certain extent, the speed deviation will be reduced, and the calculated torque will also be reduced accordingly. As the calculation is repeated, the torque gradually decreases until the actual speed enters the allowable speed deviation range.
[0024] The beneficial effects of the present invention are: The present invention obtains the actual speed in real time, compares it with the target speed, calculates the speed deviation, and obtains the torque and oil volume, so that the actual speed is close to the target speed. This speed regulation method can control the actual speed within the running speed deviation, thereby achieving closed and fine control of the actual speed.
[0025] The present invention greatly improves the response speed of the actual speed by directly adjusting the actual speed, so that the actual speed quickly approaches the target speed, improves the matching efficiency of the actual speed, and reduces fuel consumption.
[0026] The present invention makes the speed regulation more refined and accurate by adjusting the calculation parameters according to the speed deviation, thereby promoting the actual speed to match the target speed.
[0027] The present invention can significantly improve the convenience, safety and work efficiency of operation by providing a remote throttle, a short-range throttle and a throttle switching switch to control the engine throttle in a manner of combining the remote throttle and the short-range throttle.
[0028] By adopting the above scheme, the present invention can lock and finely control the engine speed, so that the speed runs smoothly and efficiently, solving the problem of large engine jitter and vibration, and at the same time greatly improving the matching speed of the actual speed to the target speed, reducing fuel consumption, improving mechanical efficiency, and extending the service life of the engine and even the construction machinery. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.
[0030] Figure 1 It is a structural diagram of the construction machinery control system.
[0031] Figure 2 It is a logical thinking diagram of the construction machinery control method.
[0032] Figure 3 It is the engine speed demand curve.
[0033] Figure 4 It is a three-dimensional map of speed, torque and oil quantity.
[0034] Figure 5 This is a comparison curve between the target speed and the actual speed when the target speed is 1300rpm. DETAILED DESCRIPTION
[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.
[0036] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.
[0037] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.
[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying 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 one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.
[0039] First embodiment: like Figure 2 As shown, a construction machinery control method includes the following contents: obtaining a throttle opening signal to confirm a target speed; obtaining the actual speed of the engine in real time and calculating the speed deviation, converting the speed deviation into torque, converting the torque into oil volume, and injecting the oil volume so that the actual speed is close to the target speed, and this cycle is repeated to form a closed loop.
[0040] Second embodiment: like Figure 2 As shown, a construction machinery control method includes the following contents: ① Obtain the throttle opening signal and determine the target speed based on the engine speed demand curve. The target speed is proportional to the throttle opening, such as Figure 3 shown.
[0041] ② The speed deviation is converted into torque through the PID control algorithm; the maximum torque of the engine is the torque limit, the absolute value of the torque is compared with the torque limit, and the smaller value is taken to obtain the oil volume through the three-dimensional map of speed, torque and oil volume, such as Figure 4 As shown, the oil amount increases or decreases, and then the actual speed is obtained again, the speed deviation is calculated, converted into torque, compared with the torque limit, and the oil amount is obtained. The oil amount increases or decreases, and this cycle is repeated to form a PID closed-loop control system for the engine speed, and the actual speed is controlled within the allowable speed deviation range.
[0042] Content ① is specifically as follows: the throttle switching switch switches between the remote throttle and the short-range throttle, the throttle switching switch transmits a switch status signal, and waits to receive a throttle opening signal after the throttle position is determined; after obtaining the throttle opening signal, the target speed is confirmed based on the engine speed demand curve, and the target speed is proportional to the throttle opening.
[0043] The calculation formula for the speed deviation in content ② is: ,in is the target speed, is the actual speed, is the speed deviation.
[0044] In content ②, the torque is obtained through the PID control algorithm, and the formula is: ,in is the speed deviation, and is the calculation parameter, For torque, the calculation parameters can be adjusted and optimized according to the speed deviation.
[0045] The torque calculated in content ② is brought into the three-dimensional map of speed, torque and oil volume to obtain the corresponding oil volume. The oil volume is converted into a pulse width signal and output to the injector. The injector controls the actual injection volume by adjusting the opening time so that the actual speed is controlled within the allowable speed deviation range.
[0046] In content ④, the actual engine speed is obtained and needs to be converted into a digital signal for processing. This processing includes filtering, denoising and amplifying the signal to ensure the reliability and accuracy of the data.
[0047] Third embodiment: like Figure 1 As shown, a control system for engineering machinery that uses the method described in the first embodiment or the second embodiment to perform locking control on the engine speed includes the following parts: ①Throttle switch; ②ECU control module, which is used to receive the throttle opening signal sent by the throttle switch and confirm the target speed according to the throttle opening; at the same time, it receives the actual speed signal in real time, obtains the speed deviation, calculates the torque and oil volume, and sends the injection signal; ③ The engine receives the fuel injection signal from the ECU control module, injects fuel according to the fuel injection signal, and the engine burns and works to output power; ④ Engineering machinery, receiving power from the engine to perform mechanical operations.
[0048] It also includes a remote throttle, a short-range throttle and a throttle switching switch. The throttle switching switch and the short-range throttle are arranged in the engine control box. The remote throttle is arranged at a far distance of the engineering machinery. The remote throttle and the short-range throttle are connected in parallel to the throttle switching switch. The throttle switching switch switches between the remote throttle and the short-range throttle. The throttle switching switch is connected to the ECU control module through a hard line and sends a switch status signal to the ECU control module. The ECU control module receives the switch status signal to clarify the throttle position.
[0049] Based on the engineering machinery control method provided in the first embodiment or the second embodiment, the following experiment is performed: Assuming that the target speeds are 1500rpm, 1400rpm, 1300rpm, 1200rpm, 1100rpm, and 1000rpm, respectively, the matching situation of the actual speed and the target speed is tested without using the method provided by the present invention and with using the method provided by the present invention.
[0050] like Figure 5 As shown, the target speed is 1300rpm. When the engineering machinery control method provided by the present invention is not used, the matching time between the actual speed and the target speed is 8.2s, and the speed deviation is large, the stabilization time is long, the torque fluctuation is large, the fluctuation of the set injection amount is also large, and a part of the energy needs to be consumed to overcome the oscillation; after using the engineering machinery control method provided by the present invention, the speed deviation is small, the fluctuation of the speed deviation is also small, the torque fluctuation is small, the injection amount is stable, and the actual speed quickly approaches the target speed, the response speed is fast, and the matching time between the actual speed and the target speed is as low as 3s, and the matching time is shortened by 63.41%.
[0051] Table 1 Experimental data table
[0052] It can be seen from Table 1 that when the method provided by the present invention is not used, the matching time between the actual speed of the engine and the target speed is within 8.1~9.2s. After using the method of the present invention, the matching time between the actual speed of the engine and the target speed is stabilized within 2.9~3.6s, and the shortening degree of the matching time is stabilized within 60~65%.
[0053] The experimental data in Table 1 show that the engineering machinery control method provided by the present invention can accurately control the actual speed of the engine, so that the actual speed is close to the target speed, and the actual speed is controlled within the allowable speed deviation range, and the deviation range is very small; in the process of matching the actual speed with the target speed, the matching speed is greatly improved, the shortening degree of the matching time is stabilized within 60~65%, and the matching time is stabilized within 2.9~3.6s.
[0054] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. A construction machinery control method, characterized in that: The throttle opening signal is obtained to confirm the target speed; the actual engine speed is obtained in real time and the speed deviation is calculated. The speed deviation is converted into torque, and the torque is converted into oil volume. The oil volume is injected to make the actual speed close to the target speed, and this cycle is repeated to form a closed loop.
2. A construction machinery control method according to claim 1, characterized in that: The specific contents are as follows: ① Obtain the throttle opening signal and confirm the target speed according to the engine speed demand curve. The target speed is proportional to the throttle opening; ② Obtain the actual engine speed in real time, compare it with the target speed, and calculate the speed deviation; convert the speed deviation into torque through the PID control algorithm; the maximum torque of the engine is the torque limit, take the absolute value of the torque and compare it with the torque limit, take the smaller value, and use the three-dimensional map of speed, torque, and oil volume to obtain the oil volume. The oil volume increases or decreases, and then obtain the actual speed again, calculate the speed deviation, convert it into torque, compare it with the torque limit, obtain the oil volume, and increase or decrease the oil volume. This cycle is repeated to form a PID closed-loop control system for the engine speed, and the actual speed is controlled within the allowable speed deviation range.
3. A construction machinery control method according to claim 2, characterized in that: Content ① is specifically as follows: the throttle switching switch switches between the remote throttle and the short-range throttle, the throttle switching switch transmits a switch status signal, and waits to receive a throttle opening signal after the throttle position is determined; after obtaining the throttle opening signal, the target speed is confirmed based on the engine speed demand curve, and the target speed is proportional to the throttle opening.
4. A construction machinery control method according to claim 2, characterized in that: The calculation formula for the speed deviation in content ② is: ,in is the target speed, is the actual speed, is the speed deviation.
5. The construction machinery control method according to claim 2, characterized in that: In content ②, the speed deviation is converted into torque through the PID control algorithm, and the formula is: ,in is the deviation speed, and is the calculation parameter, For torque.
6. A construction machinery control method according to claim 2, characterized in that: The torque calculated in content ② is brought into the three-dimensional map of speed, torque and oil volume to obtain the corresponding oil volume. The oil volume is converted into a pulse width signal and output to the injector. The injector controls the actual injection volume by adjusting the opening time so that the actual speed is controlled within the allowable speed deviation range.
7. An engineering machinery control system for realizing engine speed control by using the engineering machinery control method according to any one of claims 1 to 6, characterized in that: Includes the following parts: ①Throttle switch; ②ECU control module, which is used to receive the throttle opening signal sent by the throttle switch and confirm the target speed according to the throttle opening; at the same time, it receives the actual speed signal in real time, obtains the speed deviation, calculates the torque and oil volume, and sends the injection signal; ③ The engine receives the fuel injection signal from the ECU control module, injects fuel according to the fuel injection signal, and the engine burns and works to output power; ④ Engineering machinery, receiving power from the engine to perform mechanical operations.
8. The construction machinery control system according to claim 7, characterized in that: It also includes a remote throttle, a short-range throttle and a throttle switching switch. The throttle switching switch and the short-range throttle are arranged in the engine control box. The remote throttle is arranged at a far distance of the engineering machinery. The remote throttle and the short-range throttle are connected in parallel to the throttle switching switch. The throttle switching switch switches between the remote throttle and the short-range throttle. The throttle switching switch is connected to the ECU control module through a hard line and sends a switch status signal to the ECU control module.