A hydraulic excavator energy-saving control method, system and excavator

Abstract

This invention provides a hydraulic excavator energy-saving control method, system, and excavator. The excavator energy-saving control method includes the following steps: acquiring the excavator's motion and pressure information; matching the motion and pressure information with a pre-stored motion spectrum to obtain a pre-stored engine pre-loading curve corresponding to the motion spectrum; and adjusting the engine output power in real time according to the engine pre-loading curve. This invention acquires the excavator's motion spectrum based on the motion and pressure information collected by the controller, forms the engine's pre-loading curve, and adjusts the engine's output power in real time according to the motion spectrum, making the engine-pump power matching more precise and reasonable, reducing engine power fluctuations, and lowering fuel consumption.

Description

Technical Field

[0001] This invention relates to a hydraulic excavator energy-saving control method, system, and excavator, belonging to the field of engineering machinery technology. Background Technology

[0002] With increasingly stringent national requirements for energy consumption and environmental protection, major excavator manufacturers are continuously exploring solutions to improve fuel efficiency. Current measures primarily involve lightweighting the entire vehicle, optimizing power output, and developing electric excavators. Advances in science and technology have revealed that load spectrum analysis is highly effective in scientifically planning excavator operation, maximizing fatigue life, and improving work efficiency.

[0003] Regarding the rational matching of engine-pump power, Chinese patent CN 114722568 A proposes selecting different control strategies under different load conditions, establishing the transfer function of the overall control model of the engine, hydraulic pump, and excavator, and then selecting the matching method. Chinese patent CN 106436810A (A Power Matching Method and System for Excavators) suggests using the optimal speed and torque based on the load size, allowing the engine to operate at its optimal performance point during that load phase.

[0004] However, existing technologies have the following problems:

[0005] The establishment of the transfer function in CN 114722568 A for proper matching of engine and pump power is very complex, and the overall control model has a significant impact on the final result, making it difficult to implement in engineering. Establishing a three-dimensional model of the excavator's overall control model and fuel consumption rate is also challenging, and accuracy is difficult to guarantee.

[0006] In CN 106436810 A, the load on the excavator varies greatly. Adjusting the engine's matching power solely based on the load size is not precise enough and the effect is not obvious. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the prior art and provide a hydraulic excavator energy-saving control method, system and excavator. By identifying the excavator's motion spectrum, the power matching between the engine and pump is made more accurate and reasonable, reducing the fluctuation of engine power load and reducing fuel consumption.

[0008] To achieve the above objectives, the present invention is implemented using the following technical solution:

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

[0010] Acquire information on the excavator's movement and pressure.

[0011] Based on the action and pressure information, it is matched with the pre-stored action spectrum to obtain the pre-stored engine preload curve corresponding to the action spectrum;

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

[0013] Furthermore, acquire the excavator's motion and pressure information, including:

[0014] The actions and pressure sequences of the excavator are obtained, including the types of actions, the order of actions, and the pressure magnitude and working time of the corresponding actions; the types of actions include boom raising, boom lowering, stick retraction, stick swinging, bucket retraction, bucket swinging, and swinging.

[0015] Read the pressure of the main pump.

[0016] Furthermore, the excavator's motion and pressure sequences are obtained, including:

[0017] Pressure data is obtained via a bus from pressure sensors located on the boom, stick, bucket, and slewing bearing.

[0018] Furthermore, based on the aforementioned action and pressure information, a pre-stored action spectrum is matched to obtain a pre-stored engine pre-loading curve corresponding to the action spectrum, including:

[0019] Based on the sequence and duration of each action in the excavator's action and pressure sequence, the current working condition of the excavator can be determined.

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

[0021] Based on the current working conditions of the excavator and the working medium, and the matching with the pre-stored motion spectrum, an adjustment power curve matching the current motion spectrum is obtained.

[0022] Furthermore, adjusting the engine output power in real time according to the engine's preload curve includes:

[0023] Collect engine output power;

[0024] The collected engine output power is compared with the preloaded power curve to calculate the difference between the two. The adjusted power that matches the current power difference is then output to keep the engine output power consistent with the preloaded power curve.

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

[0026] Pressure sensors are used to collect motion and pressure information;

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

[0028] The main controller, connected to the pressure sensor and the engine ECM respectively, is used to execute the method described in the first aspect based on 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 motion pressure sensor is used to provide the main controller with motion information of the stick, bucket, boom, and swing, and the load pressure sensor is used to provide the main controller with the load pressure.

[0031] Furthermore, the main controller includes:

[0032] The data acquisition module is used to acquire the excavator's movement and pressure information through pressure sensors;

[0033] The signal processing module is used to match the action and pressure information with the pre-stored action spectrum to obtain the pre-stored engine preload curve corresponding to the action spectrum.

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

[0035] Thirdly, the present invention provides an excavator, including an excavator body and an excavator energy-saving control system as described in the second aspect, disposed on the excavator body.

[0036] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0037] 1. This invention generates a pre-load curve for the engine based on the operating spectrum. When the excavator's movements conform to a certain operating spectrum, the engine's output power is adjusted in real time according to the operating spectrum, making the power matching between the engine and pump more precise and reasonable, reducing engine power load fluctuations, and reducing fuel consumption.

[0038] 2. The engine ECM adjusts the output power according to the output signal of the main controller, which can effectively reduce sudden changes in engine power, effectively improve engine speed stability, and to a certain extent, effectively reduce system fuel consumption and improve the economy of the excavator. Attached Figure Description

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

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

[0041] Figure 3 This is a schematic diagram of the power regulation principle of the present invention. Detailed Implementation

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

[0043] Example 1:

[0044] This embodiment provides an energy-saving control method for excavators, including the following steps:

[0045] Acquire information on the excavator's movement and pressure.

[0046] Based on the action and pressure information, it is matched with the pre-stored action spectrum to obtain the pre-stored engine preload curve corresponding to the action spectrum;

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

[0048] Specifically, acquiring the excavator's movement and pressure information includes:

[0049] The actions and pressure sequences of the excavator are obtained, including the types of actions, the order of actions, and the pressure magnitude and working time of the corresponding actions; the types of actions include boom raising, boom lowering, stick retraction, stick swinging, bucket retraction, bucket swinging, and swinging.

[0050] Read the pressure of the main pump.

[0051] Specifically, the excavator's actions and pressure sequences are obtained, including:

[0052] Pressure data is obtained via a bus from pressure sensors located on the boom, stick, bucket, and slewing bearing.

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

[0054] Based on the sequence and duration of each action in the excavator's action and pressure sequence, the current working condition of the excavator can be determined.

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

[0056] Based on the current working conditions of the excavator and the working medium, and the matching with the pre-stored motion spectrum, an adjustment power curve matching the current motion spectrum is obtained.

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

[0058] Collect engine output power;

[0059] The collected engine output power is compared with the preloaded power curve to calculate the difference between the two. The adjusted power that matches the current power difference is then output to keep the engine output power consistent with the preloaded power curve.

[0060] Example 2:

[0061] This embodiment provides an excavator energy-saving control system. By identifying the excavator's motion spectrum, a pre-loading curve for the engine is formed. When the excavator's motion matches a certain motion spectrum, the engine's output power is adjusted in real time according to the motion spectrum, making the power matching between the engine and the pump more accurate and reasonable, reducing fluctuations in engine power loading, and reducing fuel consumption.

[0062] The fully electric excavator transmits motion information to the controller via a bus, and the controller can identify various types of information based on this information.

[0063] Positive flow excavators are equipped with pressure sensors in their hydraulic systems for boom raising, boom lowering, stick retraction, stick swing, bucket retraction, bucket swing, and slewing. When the excavator performs a combined action, the controller receives signals from the pressure sensors to determine the type of action. Excavation work typically involves several actions combined together. The controller can determine the excavator's current working condition based on the sequence and duration of each action in the combined action, such as digging, excavation, hoisting, or leveling. After determining the working condition, the controller reads the main pump pressure and determines the working medium based on the pressure range. These factors combine to form the excavator's operating spectrum, which in turn generates the engine's preload curve. When the excavator's actions conform to a certain operating spectrum, the engine's output power is adjusted in real time to achieve a more precise and reasonable power matching between the engine and pump, reducing engine power load fluctuations and lowering fuel consumption.

[0064] When an excavator is working, it typically performs the following actions: boom raising, boom lowering, stick retraction, stick outward swing, bucket retraction, bucket outward swing, and rotation. The current working state of the excavator is determined based on the sequence and duration of these actions. The bucket outward swing followed by retraction, boom raising, stick retraction, and the bucket entering its internal position within a specific timeframe indicates that the excavator is performing digging work. The controller determines the load size based on the main pump pressure, such as rock excavation, earthwork, soil-rock excavation, or sand excavation. At this point, the excavator enters a pre-set motion spectrum model, and the controller retrieves the engine's pre-load curve to match this motion spectrum, adjusting the engine power in real time. This invention enables the engine to operate at the optimal speed and torque according to the motion spectrum, allowing the engine to operate at its best performance point corresponding to the load stage, thus significantly improving 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 via a bus communication connection; the pressure sensor is electrically connected to the main controller, and the pressure sensor provides the main controller with a judgment basis; the main controller provides the hardware foundation for the excavator energy-saving control method.

[0066] The main controller includes: a data acquisition module for acquiring pressure signals through installed pressure sensors; a signal processing module for determining the specific working conditions of the excavator based on the signals from one or more pressure sensors; and a power control module for outputting adjustable power that matches the current action spectrum when the working conditions of the excavator conform to 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 sudden changes in engine power, effectively improve engine speed stability, and to a certain extent, effectively reduce system fuel consumption and improve the economy of the excavator.

[0068] When an excavator is working, it typically performs the following actions: boom raising, boom lowering, stick retraction, stick extension, bucket retraction, bucket extension, and rotation. Based on the sequence and duration of these actions, the excavator's current working state can be determined as follows: Figure 1 As shown. The main controller determines the load condition based on the main pump pressure.

[0069]

[0070] The controller's data acquisition module collects signals from the pressure sensors. The signal processing module determines the specific action and pressure information based on the signals from one or more pressure sensors. As shown in the table, Pf represents the load pressure. When the controller determines that digging is underway based on the action pressure sensor signals, it further determines the specific working condition based on the magnitude of the load pressure.

[0071] The bucket swings outward, then retracts inward; the boom rises; and the stick retracts inward—all occurring within a specific timeframe—indicates that the excavator is performing digging work. The controller determines the load size, such as rock, earth, soil-rock, or sand, based on the main pump pressure. According to the working conditions and the main pump pressure, the excavator enters the pre-set motion spectrum model.

[0072] like Figure 3 As shown, the main controller calculates the difference between the collected engine output power and the preloaded power curve. The power adjustment module outputs an adjustment power that matches the current power difference. Specifically, based on the pressure information collected by the main controller, the preloaded power curve is output. The real-time output power of the engine is analyzed by an algorithm. When the engine output power is inconsistent with the set value, the power adjustment module outputs an adjustment power ΔP to make the engine output power consistent with the preloaded power curve. This allows the engine to use the optimal speed and torque, and to operate at the optimal performance point corresponding to the load stage, which greatly improves fuel economy.

[0073] In one implementation, the controller can also obtain motion and pressure information from the signals of the handle; the handle includes an electric control handle and a hydraulic pilot handle, the fully electric control handle and the main controller provide bus communication, and the main controller can determine the excavator's motion information based on the electrical signals of the handle.

[0074] When the hydraulic pilot handle is in operation, the main controller needs to determine the excavator's movement information based on the pressure sensor installed on the pilot line.

[0075] The pressure sensors include an action pressure sensor installed in the pilot line and a load pressure sensor installed on the main pump. The action pressure sensor provides the main controller with action information for the stick, bucket, boom, and swing, while the load pressure sensor provides the main controller with information on the load magnitude. Based on the information provided by the action and load pressure sensors, the main controller determines the specific actions and pressure information of the excavator, and adjusts the engine according to the preset action spectrum.

[0076] The specific control flow of this embodiment is as follows: When the engine starts, the main controller sends a request to the engine ECM via the CAN bus according to the set program. The engine receives the control information from the main controller via the CAN bus and then enters the preset loading program. The target value of the engine output power is set to P, P = f(t), and the actual output power is P0. Then ΔP = P - P0, and the power adjustment module outputs the adjusted power ΔP.

[0077] This embodiment collects different actions of the excavator to determine the specific action and pressure information, thereby achieving precise control of the output. In this implementation case, the vehicle control precisely adjusts the engine's output power according to different action information and loads, which can effectively improve the stability of engine power loading and, to a certain extent, effectively reduce system fuel consumption and improve the excavator's economy.

[0078] Example 3:

[0079] This embodiment provides an excavator, including an excavator body and an excavator energy-saving control system as described in Embodiment 2, which is installed on the excavator body.

[0080] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0081] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0082] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0083] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0084] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An energy-saving control method for excavators, characterized in that, Includes the following steps: Acquire information on the excavator's movement and pressure. Based on the action and pressure information, it is matched with the pre-stored action spectrum to obtain the pre-stored engine preload curve corresponding to the action spectrum; The engine output power is adjusted in real time according to the engine's preload curve. The engine output power is adjusted in real time according to the engine's preload curve, including: Collect engine output power; The collected engine output power is compared with the preloaded power curve to calculate the difference between the two, and the adjustment power that matches the current power difference is output to keep the engine output power consistent with the preloaded power curve. Obtain the excavator's motion and pressure information, including: The actions and pressure sequences of the excavator are obtained, including the types of actions, the order of actions, and the pressure magnitude and working time of the corresponding actions; the types of actions include boom raising, boom lowering, stick retraction, stick swinging, bucket retraction, bucket swinging, and swinging. Read the pressure of the main pump; Based on the action and pressure information, a pre-stored action spectrum is matched to obtain a pre-stored engine pre-loading curve corresponding to the action spectrum, including: Based on the sequence and duration of each action in the excavator's action and pressure sequence, the current working condition of the excavator can be determined. Read the pressure of the main pump and determine the working medium based on the pressure range; Based on the current working conditions and working medium of the excavator, and matching them with the pre-stored motion spectrum, an adjustment power curve matching the current motion spectrum is obtained.

2. The excavator energy-saving control method according to claim 1, characterized in that, Obtain the excavator's motion and pressure sequences, including: Pressure data is obtained via a bus from pressure sensors located on the boom, stick, bucket, and slewing bearing.

3. An energy-saving control system for excavators, characterized in that, include: Pressure sensors are used to collect motion and pressure information; The engine ECM is used to adjust power output according to commands from 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 1-2 based on the action and pressure information to control the output power of the engine ECM.

4. The excavator energy-saving control system according to claim 3, characterized in that, The pressure sensors include an active pressure sensor installed in the pilot line and a load pressure sensor installed on the main pump. The motion pressure sensor is used to provide the main controller with motion information of the stick, bucket, boom, and swing, and the load pressure sensor is used to provide the main controller with the pressure of the main pump.

5. The excavator energy-saving control system according to claim 3, characterized in that, The main controller includes: The data acquisition module is used to acquire the excavator's movement and pressure information through pressure sensors; The signal processing module is used to match the action and pressure information with the pre-stored action spectrum to obtain the pre-stored engine preload curve corresponding to the action spectrum. The power control module is used to adjust the engine output power in real time according to the engine's preload curve.

6. An excavator, comprising an excavator body and an excavator energy-saving control system as described in any one of claims 3-5, disposed on the excavator body.

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