Hydraulic excavation energy-saving control method and system and excavator

Abstract

The invention provides a hydraulic excavation energy-saving control method and system and an excavator. The excavator energy-saving control method comprises the following steps that action and pressure information of the excavator is obtained; according to the action and pressure information, matching with a pre-stored action spectrum to obtain a pre-stored engine preloading curve corresponding to the action spectrum; and adjusting the output power of the engine in real time according to the preloading curve of the engine. According to the action and pressure information collected by the controller, the action spectrum of the excavator is obtained, the preloading curve of the engine is formed, the output power of the engine is adjusted in real time according to the action spectrum, engine-pump power matching is more accurate and reasonable, power fluctuation of the engine is reduced, and oil consumption is reduced.

Description

Technical Field

[0001] The invention relates to a hydraulic excavation energy-saving control method, system and excavator, and belongs to the technical field of engineering machinery. Background Art

[0002] At present, as the country's requirements for energy consumption and environmental protection are becoming more and more stringent, major excavator manufacturers are constantly exploring the fuel consumption of the entire vehicle. At present, the main measures adopted are lightweighting of the entire vehicle, reasonable matching of power, and research and development of electric excavators. With the advancement of scientific and technological means, research has found that load spectrum has a significant effect in scientifically planning the working state of the excavator, maximizing the fatigue life of the excavator, and improving the working efficiency of the excavator.

[0003] In terms of reasonable matching of engine and pump power, Chinese patent CN 114722568 A selects different control strategies under different load conditions, establishes the transfer function of the overall control model of the engine, hydraulic pump and excavator, and then selects the matching method. Chinese patent CN 106436810A (a method and system for matching power of an excavator) proposes to use the best speed and torque according to the load size, so that the engine can work at the best performance point in the load stage.

[0004] However, the prior art has the following problems:

[0005] In terms of reasonable matching of engine and pump power, the establishment of the transfer function in CN 114722568 A is very complicated, and the overall control model has a great influence on the final result, which is difficult to achieve in engineering. It is difficult to establish the overall control model of the excavator and the three-dimensional model of the fuel consumption rate, and the accuracy is difficult to guarantee.

[0006] In CN 106436810 A, the load of the excavator varies greatly, and the matching power of the engine is adjusted only according to the size of the load, which is not accurate enough and has an unobvious effect. Summary of the invention

[0007] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a hydraulic excavation energy-saving control method, system and excavator. By identifying the action spectrum of the excavator, the power matching of the engine and the pump is made more accurate and reasonable, the fluctuation of the engine power loading is reduced, and the fuel consumption is reduced.

[0008] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0009] In a first aspect, the present invention provides an excavator energy-saving control method, comprising the following steps:

[0010] Get the motion and pressure information of the excavator;

[0011] According to the motion and pressure information, the pre-stored motion spectrum is matched to obtain a pre-stored engine preload curve corresponding to the motion spectrum;

[0012] The engine output power is adjusted in real time according to the preload curve of the engine.

[0013] Furthermore, the motion and pressure information of the excavator is obtained, including:

[0014] Obtaining the action and pressure sequence of the excavator, wherein the action and pressure sequence include action type, action sequence, pressure magnitude and working time of the corresponding action; the action types include boom raising, boom lowering, arm inward, arm outward swing, bucket inward, bucket outward swing and rotation;

[0015] Read the main pump pressure.

[0016] Furthermore, the motion and pressure sequence of the excavator is obtained, including:

[0017] The pressure is obtained from the pressure sensors installed on the boom, arm, bucket and slewing support through the bus.

[0018] Further, according to the action and pressure information, the pre-stored action spectrum is matched to obtain a pre-stored engine preload curve corresponding to the action spectrum, including:

[0019] According to the order and duration of each action in the excavator's action and pressure sequence, the working condition of the excavator at this time is determined;

[0020] Read the pressure of the main pump and determine the working medium based on the pressure range;

[0021] According to the working condition of the excavator at this time and the matching of the working medium with the pre-stored action spectrum, an adjustment power curve matching the current action spectrum is obtained.

[0022] Further, adjusting the engine output power in real time according to the preload curve of the engine includes:

[0023] Collect engine output power;

[0024] The collected engine output power is calculated with the preloaded power curve, the difference between the two is calculated, and the regulated power matching the current power difference is output, so that the engine output power is consistent with the preloaded power curve.

[0025] In a second aspect, the present invention provides an excavator energy-saving control system, comprising:

[0026] Pressure sensor, used to collect motion and pressure information;

[0027] The engine ECM is used to regulate power output according to the commands of the main controller;

[0028] The main controller is connected to the pressure sensor and the engine ECM respectively, and is used to execute the method as described in the first aspect according to the action and pressure information to control the output power of the engine ECM.

[0029] Furthermore, the pressure sensor includes an action pressure sensor installed in the pilot line and a load pressure sensor installed on the main pump.

[0030] The action pressure sensor is used to provide the main controller with action information of the dipper rod, bucket, boom and rotation, and the load pressure sensor is used to provide the main controller with load pressure.

[0031] Furthermore, the main controller includes:

[0032] A data acquisition module, used to obtain the motion and pressure information of the excavator through a pressure sensor;

[0033] A signal processing module, used for matching the motion and pressure information with a pre-stored motion spectrum to obtain a pre-stored engine preload curve corresponding to the motion spectrum;

[0034] A power control module is used to adjust the engine output power in real time according to the preload curve of the engine.

[0035] In a third aspect, the present invention provides an excavator, comprising an excavator body and an excavator energy-saving control system as described in the second aspect and arranged on the excavator body.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] 1. The present invention forms a preload curve of the engine according to the working spectrum. When the action of the excavator conforms to a certain action spectrum, the output power of the engine is adjusted in real time according to the action spectrum, so that the power matching of the engine and the pump is more accurate and reasonable, the power loading fluctuation of the engine is reduced, and the fuel consumption is reduced.

[0038] 2. The engine ECM adjusts the output power according to the output signal of the main controller, which can effectively reduce the sudden change of engine power, effectively improve the stability of engine speed, and to a certain extent effectively reduce the fuel consumption of the system and improve the economy of the excavator. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a composition diagram of the energy-saving control system of the excavator of the present invention;

[0040] Figure 2 is the pilot pressure control signal of the present invention;

[0041] Figure 3 This is a power regulation principle diagram of the present invention. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0043] Embodiment 1:

[0044] This embodiment provides an excavator energy-saving control method, comprising the following steps:

[0045] Get the motion and pressure information of the excavator;

[0046] According to the motion and pressure information, the pre-stored motion spectrum is matched to obtain a pre-stored engine preload curve corresponding to the motion spectrum;

[0047] The engine output power is adjusted in real time according to the preload curve of the engine.

[0048] Specifically, the motion and pressure information of the excavator is obtained, including:

[0049] Obtaining the action and pressure sequence of the excavator, wherein the action and pressure sequence include action type, action sequence, pressure magnitude and working time of the corresponding action; the action types include boom raising, boom lowering, arm inward, arm outward swing, bucket inward, bucket outward swing and rotation;

[0050] Read the main pump pressure.

[0051] Specifically, the motion and pressure sequence of the excavator is obtained, including:

[0052] The pressure is obtained from the pressure sensors installed on the boom, arm, bucket and slewing support through the bus.

[0053] Specifically, according to the action and pressure information, the pre-stored action spectrum is matched to obtain a pre-stored engine preload curve corresponding to the action spectrum, including:

[0054] According to the order and duration of each action in the excavator's action and pressure sequence, the working condition of the excavator at this time is determined;

[0055] Read the pressure of the main pump and determine the working medium based on the pressure range;

[0056] According to the working condition of the excavator at this time and the matching of the working medium with the pre-stored action spectrum, an adjustment power curve matching the current action spectrum is obtained.

[0057] Specifically, adjusting the engine output power in real time according to the preload curve of the engine includes:

[0058] Collect engine output power;

[0059] The collected engine output power is calculated with the preloaded power curve, the difference between the two is calculated, and the regulated power matching the current power difference is output, so that the engine output power is consistent with the preloaded power curve.

[0060] Embodiment 2:

[0061] This embodiment provides an excavator energy-saving control system, which forms an engine preload curve by identifying the excavator's action spectrum. When the excavator's action conforms to a certain action spectrum, the engine's output power is adjusted in real time according to the action spectrum, making the engine-pump power matching more accurate and reasonable, reducing the fluctuation of the engine power loading, and reducing fuel consumption.

[0062] The fully electric excavator transmits the action information to the controller through the bus, and the controller can identify different types of information based on the information.

[0063] The positive flow excavator is equipped with pressure sensors for boom raising, boom lowering, arm retraction, arm swing, bucket retraction, bucket swing, rotation, etc. in the hydraulic system. When the excavator performs a compound action, the controller receives the signal from the pressure sensor to determine the action type of the excavator. The excavation work of the excavator is usually a compound action of several actions. The controller can determine the working condition of the excavator at this time according to the order and duration of each action in the compound action, such as excavation, throwing, hoisting, leveling, etc. After determining the working condition of the excavator, the controller reads the pressure of the main pump and determines the working medium according to the pressure range. The above conditions are combined to form the excavator working spectrum, and the engine preload curve is formed according to the working spectrum. When the excavator's action meets a certain action spectrum, the engine output power is adjusted in real time according to the action spectrum, so that the engine-pump power matching is more accurate and reasonable, reducing the power load fluctuation of the engine and reducing fuel consumption.

[0064] When the excavator is working, the boom rises, the boom falls, the arm retracts, the arm swings outward, the bucket retracts, the bucket swings outward, and rotates. The current working state of the excavator can be judged according to the order in which the actions start and the duration of the actions. The bucket swings outward and then retracts, the boom rises, the arm retracts, and the bucket enters within a specific time. It can be judged that the excavator is performing excavation work at this time. The controller judges the load size according to the size of the main pump pressure, such as stone, earth, earth and stone, sand, etc. At this time, the excavator enters the set action spectrum model, and the controller calls out the engine preload curve that meets the action spectrum at this time, and adjusts the engine power in real time. The present invention can enable the engine to use the best speed and the best torque according to the action spectrum, so that the engine works at the best performance point corresponding to the load stage, which can greatly improve fuel economy.

[0065] This embodiment provides an excavator energy-saving control system, including: a pressure sensor, a main controller and an engine ECM; the engine ECM is connected to the main controller bus for communication; the pressure sensor is electrically connected to the main controller, and the pressure sensor provides a judgment basis for the main controller; the main controller provides a hardware basis for the excavator energy-saving control method.

[0066] The main controller includes: a data acquisition module, which is used to collect pressure signals through installed pressure sensors; a signal processing module, which is used to judge the specific working condition of the excavator according to the signals of one or some pressure sensors; and a power control module, which is used to output a regulating power matching the current action spectrum when the working condition of the excavator meets a certain action spectrum.

[0067] The engine ECM adjusts the output power according to the output signal of the main controller, which can effectively reduce the engine power mutation, effectively improve the engine speed stability, and to a certain extent effectively reduce the fuel consumption of the system and improve the economy of the excavator.

[0068] When the excavator is working, the boom rises, the boom falls, the arm retracts, the arm swings outward, the bucket retracts, the bucket swings outward, and rotates. The current working status of the excavator can be judged according to the order in which the actions start and the duration of the actions, as follows: Figure 1 The main controller determines the load condition based on the main pump pressure.

[0069]

[0070] The controller data acquisition module collects the signal of the pressure sensor, and the signal processing module determines the specific action and pressure information according to the signal of one or some pressure sensors. As shown in the table, the Pf load pressure in the table, when the controller determines that the excavation is being carried out according to the action pressure sensor signal, it further determines the specific working condition according to the size of the load pressure.

[0071] The bucket swings outward and then retracts, the boom rises, and the arm retracts within a specific time. It can be judged that the excavator is excavating at this time. The controller determines the load size according to the main pump pressure, such as stone, earth, earth and stone, sand, etc. According to the working conditions and the main pump pressure, the excavator enters the set action spectrum model.

[0072] like Figure 3 As shown, the main controller calculates the collected engine output power and the preloaded power curve to calculate the difference between the two. The power regulation module outputs the regulated power that matches the current power difference. Specifically, according to the pressure information collected by the main controller, the preloaded power curve is output, and the real-time output power of the engine is analyzed by the algorithm. When the engine output power is inconsistent with the set value, the power regulation module outputs an regulated power ΔP so that the engine output power is consistent with the preloaded power curve, so that the engine can use the best speed and the best torque, and the engine can work at the best performance point corresponding to the load stage, which can greatly improve fuel economy.

[0073] As an implementation method, the controller can also obtain motion and pressure information from the signal of the handle; the handle includes an electric control handle and a hydraulic pilot handle, the full electric control handle and the main controller provide bus communication, and the main controller can determine the motion information of the excavator based on the electrical signal of the handle.

[0074] When the hydraulic pilot handle is working, the main controller needs to judge the action information of the excavator based on the pressure sensor installed on the pilot line.

[0075] The pressure sensor includes an action pressure sensor installed in the pilot line and a load pressure sensor installed on the main pump. The action pressure sensor is used to provide the main controller with action information of the dipper rod, bucket, boom and rotation, and the load pressure sensor is used to provide the main controller with the load size. The main controller determines the specific action and pressure information of the excavator based on the information provided by the action pressure sensor and the load pressure sensor, enters the preset action spectrum based on the action and pressure information, and adjusts the engine.

[0076] The specific control process of this embodiment is: the engine starts, the main controller sends a request to the engine ECM through the CAN bus according to the set program, the engine receives the control information of the main controller through the CAN bus, and then enters the preset loading program, sets the target value of the engine output power to P, P = f(t), the actual output power is P0, then ΔP = P-P0, the power regulation module outputs the regulated power ΔP.

[0077] This embodiment collects different actions of the excavator, determines the specific action and pressure information, and realizes precise control of the output. The whole vehicle control of this implementation case accurately adjusts the output power of the engine according to different action information and loads, which can effectively improve the stability of the engine power loading, and to a certain extent can effectively reduce the fuel consumption of the system and improve the economy of the excavator.

[0078] Embodiment three:

[0079] This embodiment provides an excavator, including an excavator body and an excavator energy-saving control system as described in the second embodiment and arranged on the excavator body.

[0080] 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.

[0081] 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.

[0082] 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 1 A function specified in one or more boxes.

[0083] 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.

[0084] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An excavator energy-saving control method, characterized in that: The following steps are involved: Get the motion and pressure information of the excavator; According to the motion and pressure information, the pre-stored motion spectrum is matched to obtain a pre-stored engine preload curve corresponding to the motion spectrum; The engine output power is adjusted in real time according to the preload curve of the engine.

2. The excavator energy-saving control method according to claim 1, characterized in that: Get excavator motion and pressure information, including: Obtaining the action and pressure sequence of the excavator, wherein the action and pressure sequence include action type, action sequence, pressure magnitude and working time of the corresponding action; the action types include boom raising, boom lowering, arm inward, arm outward swing, bucket inward, bucket outward swing and rotation; Read the main pump pressure.

3. The excavator energy-saving control method according to claim 2, characterized in that: Capture the motion and pressure sequences of the excavator, including: The pressure is obtained from the pressure sensors installed on the boom, arm, bucket and slewing support through the bus.

4. The excavator energy-saving control method according to claim 2, characterized in that: According to the action and pressure information, the pre-stored action spectrum is matched to obtain a pre-stored engine preload curve corresponding to the action spectrum, including: According to the order and duration of each action in the excavator's action and pressure sequence, the working condition of the excavator at this time is determined; Read the pressure of the main pump and determine the working medium based on the pressure range; According to the working condition of the excavator at this time and the working medium, the pre-stored action spectrum is matched to obtain the adjustment power curve matching the current action spectrum.

5. The excavator energy-saving control method according to claim 1, characterized in that: Adjusting the engine output power in real time according to the preload curve of the engine includes: Collect engine output power; The collected engine output power is calculated with the preloaded power curve, the difference between the two is calculated, and the regulated power matching the current power difference is output, so that the engine output power is consistent with the preloaded power curve.

6. An excavator energy-saving control system, characterized in that: include: Pressure sensor, used to collect motion and pressure information; The engine ECM is used to regulate power output according to the commands of the main controller; The main controller is connected to the pressure sensor and the engine ECM respectively, and is used to execute the method as described in any one of claims 1 to 5 according to the action and pressure information to control the output power of the engine ECM.

7. The excavator energy-saving control system according to claim 6, characterized in that: The pressure sensor includes an action pressure sensor installed in the pilot line and a load pressure sensor installed on the main pump; The action pressure sensor is used to provide the main controller with action information of the dipper rod, bucket, boom and rotation, and the load pressure sensor is used to provide the main controller with the pressure of the main pump.

8. The excavator energy-saving control system according to claim 6, characterized in that: The main controller comprises: A data acquisition module, used to obtain the motion and pressure information of the excavator through a pressure sensor; A signal processing module, used for matching the motion and pressure information with a pre-stored motion spectrum to obtain a pre-stored engine preload curve corresponding to the motion spectrum; A power control module is used to adjust the engine output power in real time according to the preload curve of the engine.

9. An excavator, comprising an excavator body and an excavator energy-saving control system according to any one of claims 6 to 8 arranged on the excavator body.

Images