CN104477780B - Device and method for controlling crane operation speed - Google Patents
Device and method for controlling crane operation speed Download PDFInfo
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- CN104477780B CN104477780B CN201410736614.6A CN201410736614A CN104477780B CN 104477780 B CN104477780 B CN 104477780B CN 201410736614 A CN201410736614 A CN 201410736614A CN 104477780 B CN104477780 B CN 104477780B
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- 230000008859 change Effects 0.000 description 68
- 239000003921 oil Substances 0.000 description 20
- 230000007246 mechanism Effects 0.000 description 13
- 238000012546 transfer Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The invention discloses a device for controlling a crane operation speed. The device comprises a first acquisition unit, a first control unit, a second control unit and an energy accumulator, wherein the second control unit is used for acquiring the rotating speed information and operating speed information of a hydraulic pump; whether the rotating speed of the hydraulic pump is matched with the operating speed is judged; if so, an engine maintains the start rotating speed; if not, the rotating speed of the engine and the speed ratio information of a transmission system are acquired; whether the rotating speed of the engine is matched with the operating speed under the current speed ratio is judged; if so, the engine is adjusted to an objective rotating speed status; if not, the speed ratio matching with the operating speed and the rotating speed of the engine are calculated, and the transmission system and the engine are adjusted to the objective speed ratio and the objective rotating speed status. The speed ratio of the intermediate transmission system is changed by the device to adjust the operating speed, and the engine always operates in an economical rotating speed region to reduce the operation fuel consumption of the entire machine. The invention further discloses a method for controlling the crane operation speed.
Description
Technical field
The present invention relates to the operating speed manipulation device of technical field of engineering machinery, particularly crane.The present invention is also related to
And the operating speed method of operating of crane.
Background technology
There is power performance mainly due to hydraulic system as the power resources of executive component by the use of hydraulic pressure more than crane
Good, easy to operate, lightweight, system bulk is little, flexible arrangement the advantages of.
In operation process, its speed of action needs constantly to be adjusted according to handling situations crane, such as it is unloaded,
During warming up, high speed motion is needed, and in heavy duty, minor motion operation, need to carry out low speed operation.One good to rise
Heavy-duty machine needs the demand for ensureing two kinds of operating speeds simultaneously, and when needing high-speed job, operating speed is as high as possible；And need low
During fast operation, operating speed is low as far as possible again, that is, need the high speed, high efficiency and low speed fine motion stability of operation.Therefore,
One or more control elements are often set on crane, for controlling the change of operating speed.
At present, crane job system speed governing mainly has following several method：
The first, adjusts the rotating speed of electromotor.This method of adjustment is generally used for electromotor direct drive hydraulic pump, also may be used
To drive hydraulic pump 201 by parts such as change speed gear box 103, power takeoffs 102 by electromotor 101.By taking autocrane as an example, its
Power transmission line is as shown in Figure 1.
In system using this speed regulating method, the driving member such as change speed gear box 103, power takeoff 102 typically maintains a fixation
Speed than (typically near 1, the size of this fast ratio directly affects some performances of operation to this fast ratio, concrete to affect to imitate
Fruit is described in detail below).When needing adjustment system operating rate, the rotating speed that adjustment drives the electromotor 101 of hydraulic pump 201 can be passed through,
To adjust the rotating speed of hydraulic pump 201, and then the flow of adjustment pump, the regulation of the input flow rate of executive component is realized, and then realized
The regulation of executive component operating rate.
In this method, in order to ensure the operating speed scope of autocrane, the speed range of accommodation of hydraulic pump 201 will
There is certain width, and the regulation of this speed is controlled by operating speed change demand, this change demand comes from
The operating mechanism (such as gas pedal, operation handle) of autocrane, and the change of this speed is turning by electromotor 101
Caused by speed change.
For autocrane, its whole engine oil consumption depends on several aspects：Efficiency, the combustion of electromotor that system is performed
Oily economy, system capacity recovery ability etc..
For the electromotor used by current autocrane, oil consumption during its work is affected by several aspects：Start
The self structure (itself overcoming frictional force and the driving force in order to keep itself continual and steady work) of machine, the load of electromotor
(drive the load of operation unit, drive the load of engine accessory power rating such as electromotor etc.), rotating speed of electromotor etc..General electromotor
Economic operation rotating speed (economical consumption of fuel area) width only account for 1/8 or so of engine governed speed scope, fuel economy is excellent to be sent out
The economic operation rotating speed sector width of motivation is likely to be breached 1/6 or so.
Due to electromotor economical consumption of fuel working area it is less, if in order to ensure autocrane operating speed scope, it is many
Electromotor will not be in being worked in economic operation rotating speed area under operating mode, and the synthetic job oil consumption of machinery will very high (electromotor
Unit power oil consumption difference in economical consumption of fuel area and non-economy oil consumption area is very big, and high person even can be up to more than one times, specifically
Can refer to Fig. 4)；If in order to ensure the operation oil consumption of autocrane, by the collocation of intermediate drive train speed ratio, it is possible to achieve
Allow electromotor it is as much as possible be operated in economical consumption of fuel area (select an input speed/output speed ＜ 1 transmission speed ratio, when
Require electromotor it is more when being operated in economical consumption of fuel area, the speed is than less), if but now operator manipulation machinery carry out
During fine motion, the minor variations of throttle cause the minor variations of engine speed after intermediate drive train amplification, it will make work
The movement range of industry mechanism well beyond expection, so as to reduce the operability of system minor motion, working speed with start
The change curve of machine rotating speed can refer to accompanying drawing 5 (in figure, the curve of top is operating speed, and middle curve is engine speed,
Following curve is poor for rotation speed change).
Second, adjust the discharge capacity of hydraulic pump.In the hydraulic system using this control method, main pump is typically adopted can
The volume adjustable hydraulic pump 201' of Displacement Regulation, its power transmission line is as shown in Figure 2.
System in this way is answered, when needing to adjust speed of action, the row of adjustment volume adjustable hydraulic pump 201' can be passed through
Amount realizes the regulation of the input flow rate of executive component, and then realizes the regulation of executive component operating rate.Now, electromotor 101
Rotating speed be typically maintained on a constant rotating speed.
In this method, in order to ensure the operating speed scope of autocrane, the discharge capacity of volume adjustable hydraulic pump 201' is adjusted
Certain width is needed, and the regulation of this discharge capacity is controlled by operating speed change demand, this change demand is come
From the operating mechanism (such as gas pedal, operation handle) in autocrane；The maximum of variable pump, minimum injection rate depend on vapour
Maximum, the minimum speed of car crane job mechanism, and during operation electromotor rotating speed.If the operation of electromotor 101 turns
Speed relatively low (being located near economical consumption of fuel area), must just select the variable pump of larger displacement (maximum, minimum injection rate is all larger), use
The traffic demand of hydraulic actuating mechanism during meeting autocrane high-speed job；If the operation rotating speed of electromotor 101 is higher
(near rated speed or slightly below rated speed), now the variable pump of smaller discharge capacity (maximum, minimum injection rate is all smaller) be
The traffic demand of hydraulic actuating mechanism when can meet autocrane high-speed job, but because electromotor 101 works long hours
Non-economy operation area, the operation oil consumption of whole machine is higher.
The third, adjusts system dredge oil amount.In the hydraulic system using this control method, main pump, actuator one
As adopt quantitative, be provided with adjustable automatically controlled overflow valve 205 after main pump pressure oil port, its power transmission line is as schemed
Shown in 3.
System in this way is answered, when governing speed is needed, automatically controlled overflow valve 205 lets out in adjustable hydraulic system
Oil leak amount, is used for the flow of the hydraulic oil of acting in adjustment system, realize the regulation of the input flow rate of executive component, and then realizes
The regulation of executive component operating rate.Now, the rotating speed of electromotor 101 is typically all maintained on a constant rotating speed.
In this method, in order to ensure the operating speed scope of autocrane, the leakage rate of automatically controlled overflow valve 205 is adjusted
Need certain scope, and the regulation of leakage rate is controlled by operating speed change demand, this change demand from
In the operating mechanism (such as gas pedal, operation handle) of autocrane.The latus rectum of overflow valve depends on the max-flow of system
Amount, and the maximum of overflow valve, minimum leakage amount are then depended on that actuator is minimum, maximum speed operation when traffic demand it is poor.For
Ensure mechanical maximum operation speed, the maximum stream flow that hydraulic pump 201 is needed the moment and allowed with system is operated, and this is not only caused
The waste of system dynamic, and can also cause because a large amount of hydraulic oil flow back to fuel tank from overflow valve in mechanical low speed operation
Hydraulic system temperature rises the bad phenomenon such as too fast.
4th kind, comprehensive adjustment method.It is adjusted using one or more in said method 1～3 together action.
In the method, when carrying out speed regulation using various methods, certainly will there is the communication problem between multiple regulated variables, so as to add
The acute complexity of control system, and, cannot also be fully solved that oil consumption is higher, the shortcoming that performance is poor.
In addition, during Authorization Notice No. is for the patent of invention of CN101687617B, it is noted that using bottom bracket-travel transmission
The gear ratio of mechanism is limiting single motor crane of motor rotary speed during work.But do not specify in related disclosure and how to utilize
And specific implementation, one or more the speed ratios for the utilization travel transmission mechanism that it is related to, the rotating speed of motor is limited
System, is adjusted for the purpose of reaching speed change, optimization oil consumption, it is impossible to solve above-mentioned four kinds of control methods and deposit not by active
Deficiency.
Therefore, how to overcome that the oil consumption that above-mentioned several method showed is high, performance is poor, hydraulic system temperature not
Stable the shortcomings of, be those skilled in the art's technical issues that need to address.
The content of the invention
The first object of the present invention is to provide a kind of crane job speed manipulation device.During the device can be by changing
Between power train speed than realizing the regulation of operating speed, and control electromotor and always work in economic speed area, so as to realize
Reduce the purpose of overall operation oil consumption.
The second object of the present invention is to provide a kind of crane job speed manipulation method.
To realize above-mentioned first purpose, the present invention provides a kind of crane job speed manipulation device, the crane
Engine operated rotating speed area is preset as engine economical rotating speed area, and described device includes：
First acquisition unit, for obtaining hydraulic pump rotary speed information；
First control unit, for being input into operating speed information；
Whether the second control unit, for obtaining hydraulic pump rotary speed information, operating speed information, judge hydraulic pressure revolution speed
With operating speed, if so, then electromotor keeps initial rotating speed, if it is not, then entering next step；
Engine speed, drive system speed are obtained than information, judges to turn by adjusting electromotor under present gear ratio
Speed matching operating speed, if so, then adjusts electromotor to rotating speed of target state, if it is not, then entering next step；
The speed ratio that match with operating speed of calculating and engine speed, adjust drive system and electromotor to goals ratio with
Rotating speed of target state；
Accumulator, located at crane hydraulic system, for adjust drive system speed than while to the hydraulic system
Replenishment system pressure.
Preferably, second control unit determines whether hydraulic pump in adjustment electromotor to rotating speed of target state
Whether rotating speed matches operating speed, and if so, then electromotor is run with the rotating speed, if it is not, then proceeding to the second step.
Preferably, second control unit calculates in the following manner the speed matched with operating speed and compares and electromotor turn
Speed, adjustment drive system and electromotor are to goals ratio and rotating speed of target state：
Calculate and adjust drive system speed ratio；
Judge that can speed after the adjustment match operating speed than under by adjusting engine speed, if so, then enter down
One step, if it is not, then proceeding to previous step；
Adjustment electromotor is to rotating speed of target state.
To realize above-mentioned second purpose, the present invention provides a kind of crane job speed manipulation method, and the method is default to be sent out
Motivation economic speed area is engine operated rotating speed area, including：
Hydraulic pump rotary speed information, operating speed information are obtained, judges whether hydraulic pressure revolution speed matches operating speed, if so,
Then electromotor keeps initial rotating speed, if it is not, then entering next step；
Engine speed, drive system speed are obtained than information, judges to turn by adjusting electromotor under present gear ratio
Speed matching operating speed, if so, then adjusts electromotor to rotating speed of target state, if it is not, then entering next step；
The speed ratio that match with operating speed of calculating and engine speed, adjust drive system and electromotor to goals ratio with
Rotating speed of target state, and adjust drive system speed than while to hydraulic system replenishment system pressure.
Preferably, also include：In adjustment electromotor to rotating speed of target state, determine whether hydraulic pressure revolution speed whether
With operating speed, if so, then electromotor is run with the rotating speed, if it is not, then proceeding to the second step.
Preferably, the 3rd step includes：
Calculate and adjust drive system speed ratio；
Judge that can speed after the adjustment match operating speed than under by adjusting engine speed, if so, then enter down
One step, if it is not, then proceeding to previous step；
Adjustment electromotor is to rotating speed of target state.
Preferably, the electromotor starting rotating speed is the interval minimum speed of engine economical rotating speed.
Preferably, drive system starting speed is than to guarantee relatively low speed that the initial rotating speed of electromotor is the minimum speed
Than.
Preferably, speed-ratio regulation is realized by converting the gear of driveline gear case.
Preferably, using accumulator to the hydraulic system replenishment system pressure.
The crane job speed manipulation device and method that the present invention is provided, changes the manipulation side of crane job speed
Method, it utilizes the multiple gear ratios speed changing function of drive system, drive system speed is realized than multistage regulation, by changing intermediate drive train
Speed ratio can realize the regulation of operating speed, and control electromotor and always work in economic speed area, it is whole so as to reduce
The purpose of machine operation oil consumption, meanwhile, using drive system speed than multistage regulatory function, may be implemented in low speed operation area and accurately adjust
Section, the function of high-speed job area quick response.Additionally, using the accumulator increased in system, hydraulic system can be made up in transmission
System fluctuates because becoming system pressure of the throw-over than causing the power short time to occur when interrupting, it is ensured that the system pressure of operating system is permanent
It is fixed.
Description of the drawings
Fig. 1 is the power transmission line figure of the first crane power system in prior art；
Fig. 2 is the power transmission line figure of second crane power system in prior art；
Fig. 3 is the power transmission line figure of the third crane power system in prior art；
Fig. 4 is the oil consumption-speed curves figure of certain large diesel engine；
Fig. 5 is single speed than operation speed change curves figure；
Fig. 6 is the systematic schematic diagram of crane job speed manipulation device provided by the present invention；
Fig. 7 is multiple gear ratios operating speed change curve.
Fig. 8 is the flow chart of crane job speed manipulation method provided by the present invention；
In figure：
The drive axle of 101. electromotor, 102. power takeoff, 103. change speed gear box, 104. power transmission shaft, 105. transfer case 106.
The hydraulic pump 201'. variable delivery hydraulics of 107. gearbox shifting control unit, 108. car body controller, 109. speed probe 201.
The automatically controlled overflow of hydraulic actuating mechanism (pump, valve, oil cylinder etc.) 204. hydraulic oil container of 202. centre revolving joint of pump 203. 205.
The operation variable-speed controller of valve 205'. accumulators 206.
Specific embodiment
In order that those skilled in the art more fully understand the present invention program, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.
Fig. 6 is refer to, Fig. 6 is the systematic schematic diagram of crane job speed manipulation device provided by the present invention.
In a kind of specific embodiment, the crane job speed manipulation device that the present invention is provided is motor-driven for controlling lifting
Force system.The dynamical system mainly include electromotor 101, power takeoff 102, change speed gear box 103, transfer case 105, drive axle 106 with
And the hydraulic system being made up of hydraulic pump 201, centre revolving joint 202, hydraulic actuating mechanism 203, hydraulic oil container 204 etc., move
Power enters change speed gear box 103 from after the output of electromotor 101, is then input into transfer case 105, and transfer case 105 has multiple power outputs
End, respectively by the hydraulic pump 201 of drive axle 106 and hydraulic system before and after the driving of power transmission shaft 104.
The rotating speed of electromotor 101 is preset in a rotating speed interval range, the Jing of this rotating speed interval range foundation electromotor
Depending on Ji rotating speed area, moderately extend to both sides typically centered on consumption minimization rotating speed, take interval end value as minimum speed and
Maximum speed, in initial state, electromotor 101 is located on the minimum speed in economic speed area, and change speed gear box 103 is relatively low in one
Gear on, now because the rotating ratio of hydraulic pump 201 is relatively low, therefore system no-load consumption power limited.
The main building block of crane job speed manipulation device has speed probe 109, operation variable-speed controller
206th, car body controller 108, gearbox shifting control unit 107, accumulator 205' etc..
Wherein, speed probe 109 is first acquisition unit, and it is installed on hydraulic pump 201, for detecting hydraulic pressure revolution speed
Information, operation variable-speed controller 206 is the first control unit, for being input into operating speed information, speed probe 109 and operation
Variable-speed controller 206 is all connected to car body controller 108, and car body controller 108 is the second control unit, itself and electromotor 101
Connection, and be connected with change speed gear box 103 by gearbox shifting control unit 107, engine speed information and change speed gear box can be obtained
Gear information, and control electromotor 101 and change speed gear box 103.
Specifically, car body controller 108 controls in the following manner electromotor 101 and change speed gear box 103：
When the operating speed of Working mechanism needs to change to a higher stabilized speed or need persistently to change operation
During speed, operator manipulate operation variable-speed controller 206, send one or continuous speed change request signal to car body controller
On 108, car body controller 108 is by signals of rotational speed sensor, engine rotational speed signal, the change speed gear box of this signal and hydraulic pump 201
Gear is compared, and judges change speed gear box 103 in the case of current shift, and can electromotor 101 in default economic speed area
Meet present speed demand, if meeting, i.e., gear-shift command is sent to electromotor 101, until engine speed meets speed
Till demand；If engine speed still can not meet present speed demand, car body controller 108 can be believed according to speed demand
Number, engine speed interval range, change speed gear box speed than etc. information, calculate suitable change speed gear box gear and engine speed, and
Shifting commands are sent to change speed gear box 103, to electromotor 101 gear-shift command is sent, adjust the work of electromotor 101 and change speed gear box 103
Make state, till the rotating speed of hydraulic pump 201 meets operating speed demand.
Further, car body controller 108 calculates in the following manner the speed matched with operating speed and compares and electromotor turn
Speed, adjustment change speed gear box 103 and electromotor 101 are to goals ratio and rotating speed of target state：
Calculate and adjust the speed of change speed gear box 103 ratio；
Judge that can speed after the adjustment match operating speed than under by adjusting engine speed, if so, then enter down
One step, if it is not, then proceeding to previous step；
Adjustment electromotor 101 is to rotating speed of target state.
Generally, the rotating speed of pump is less than 2200rpm, and in order to take into account vehicle traveling, change speed gear box speed is more general than selecting
For 0.8～14, (different according to vehicle model, ratio coverage is different, but the change speed gear box top-gear ratio of heavy vehicle is generally
0.75～1, low-grade speed than then 8～14)；In order to the rotating speed for ensureing pump meets job requirement, one can be increased in whole driving-chain
To several actuating devices (such as transfer case, angle driver), for improving the speed ratio of driving-chain, being allowed to be more suitable for the operation of pump needs
Ask, the present invention can change whole transmission chain speed ratio by changing gearbox-gear, and then improve the rotating speed of pump.
For example, it is 1200rpm-1600rpm that the economic speed of electromotor 101 is interval, and in initial state, electromotor 101 exists
Run with the rotating speed of 1200rpm under Low gear state, the speed of current shift compares for 14, and the output speed of change speed gear box 103 is 1200rpm
The ≈ 85rpm of ÷ 14, the output rear-guard hydrodynamic of Jing transfer cases 105 press pump 201 disclosure satisfy that current work speed needs.
When operating speed accelerate need change speed gear box 103 output speed be 114rpm when, because under current shift, it is most
High rotating speed 1600rpm can meet operating speed needs (the ≈ 114rpm of 1600rpm ÷ 14), therefore without the need for gearshift, only will need to start
The rotating speed of machine 101 is adjusted to maximum speed 1600rpm from 1200rpm.
When operating speed become it is very fast, need change speed gear box 103 output speed be 150rpm when, then need change speed gear box first
103 are adjusted to a high gear, if the speed of this gear compares for 10, after gearshift, then engine speed are adjusted to into 1500rpm
Meet the requirement (the ≈ 150rpm of 1500rpm ÷ 10) of operating speed.
When operating speed becomes faster, when the output speed for needing change speed gear box 103 is 1400rpm, then need speed change first
Case 103 is adjusted to more high gear, if the speed of this gear compares for 1, after gearshift, then engine speed is adjusted to into 1400rpm i.e.
The requirement (1400rpm ÷ 1=1400pm) of operating speed can be met., whereas if operating speed is from fast to slow, also using same
Control principle, what is carried out by the difference is that only of accelerating slowly with operating speed is that downshift, reduction of speed are operated.
Used as a kind of situation being likely to occur, for same speed demand, car body controller 108 may calculate two groups
Combination, one group is the high rotating speed of low gear, and another group is the high gear slow-speed of revolution, for this situation, can further than higher rotation speed and low
The rate of fuel consumption of rotating speed, the preferential combination low using rate of fuel consumption.Certainly, due to interval interior, each rotating speed in the default rotating speed of electromotor
Oil consumption it is all relatively low, difference is less, accordingly it is also possible to select any one group of combination.
In view of the impact of the factors such as calculating, systematic error, in car body controller 108 in the manner described above by electromotor
101 and change speed gear box 103 adjust to rotating speed of target and target gear, can determine whether hydraulic pressure revolution speed whether match operation speed
Degree, if result is yes, shows regulation and control in place, and electromotor 101 if the result is negative, then continues to press with the rotating speed operation
Electromotor 101 and change speed gear box 103 are controlled according to aforesaid way, until hydraulic pressure revolution speed meets operating speed demand.
In speed change operation process, if change speed gear box 103 occurs in that gearshift operating mode, operating system occurs power interruption
Phenomenon, now hydraulic system pressure meeting moment reduction is to ensure that power interruption will not produce impact to system job, in hydraulic pressure work
Accumulator 205' is added in industry system, for making up the pressure oscillation produced due to the gearshift of change speed gear box 103.
According to the characteristic of electromotor itself, typically near maximum torque point, scope is about sent out in its economic work region
1/7～1/10 (referring to Fig. 4) of motivation rotation speed change scope, and for dynamic power machine, it is desirable to good oil consumption is obtained, is led to
Often there are two methods, one is to make the electromotor state for being operated in light load as much as possible, and two is to make electromotor as much as possible
It is operated in economic speed area.
For engineering machinery, the load of its Working mechanism depends on the performance of machinery, therefore is difficult to be reduced.Cause
And, allow the electromotor economic speed area that is operated in as much as possible just to become the effective method of engineering machinery reduction oil consumption.
In order to reduce the oil consumption of whole crane, the rotating speed of electromotor 101 is fixed on economical consumption of fuel rotating speed area by the present invention,
I.e. operation when minimum speed and maximum speed have determined.But, the interval full rotating speed relative to electromotor 101 of this rotating speed
It is excessively narrow for interval, it is impossible to meet operating speed demand, therefore be accomplished by being enlarged rotating speed interval.
The present invention makes the rotating speed interval of electromotor 101 through power train using the multiple gear ratios principle of gearbox in use for vehicle 103
Further expand after system speed change, so as to meet the requirement of operating speed range of accommodation.
In the present invention, the key element that operation variable-speed controller 206 is controlled has been adjusted, by the control in existing several method
Engine speed processed is changed to only propose operating speed demand, and specifically performs, and by car body controller 108 electromotor is controlled
101st, change speed gear box 103 carries out action；There is advantages below compared to prior art：
Firstly, since electromotor 101 always works in economic speed area, therefore overall operation oil consumption can be significantly reduced.
Secondly, in low speed operation area, because change speed gear box 103 is in compared with low gear, the gear ratio of drive system is larger, starts
After gear ratio diminution, the impact to operating speed diminishes the rotation speed change of machine 101 such that it is able to more accurately adjust operation
Velocity variations；In high velocity, change speed gear box 103 is in higher gear, and the rotation speed change of electromotor 101 is amplified through gear ratio
Afterwards, more fast (referring to Fig. 7, the funiclar curve of top is engine speed to high-speed response in figure, and middle continuous curve is single speed
Than operation speed change curves, ten funiclar curves of lower section represent respectively the hydraulic pressure revolution speed of 7 gears to 16 gears).
Furthermore, using the accumulator 205' increased in system, hydraulic system can be made up in drive system because gearshift causes to move
The system pressure fluctuation that the power short time occurs when interrupting, it is ensured that operating system system pressure is constant.
The above is only a preferred embodiment of the present invention, is specifically not limited thereto, on this basis can be according to reality
Border needs to make with targetedly adjusting, so as to obtain different embodiments.For example, the change speed gear box 103 of drive system has
Multiple choices, can be using automatic gear-box, mechanical automatic speed-changing case, CVT change speed gear boxes etc., according to the speed of change speed gear box than change feelings
Condition, can arrange in pairs or groups different follow-up transmission chain speed ratios to meet operating speed demand of getting on the bus；Or, power taking mouth can also have various
Select, be such as arranged on after transfer case 105, be arranged on change speed gear box 103 with the centre of transfer case 105；Or, changed using torque converter
Become transmission chain speed ratio, etc..Because mode in the cards is more, just no longer illustrate one by one here.
Fig. 8 is refer to, Fig. 8 is the flow chart of crane job speed manipulation method provided by the present invention.
Except above-mentioned crane job speed manipulation device, the present invention also provides a kind of crane job speed manipulation side
Method, the method has been included in the above-mentioned explanation to manipulation device, below it is described further in conjunction with flow chart.
As illustrated, whole speed change work flow is divided into preparation and the megastage of operation two, in the preparatory stage (see the first dotted line
Frame), after system start-up, job request switch is opened, system starts self-inspection, and change speed gear box gear, engine speed, liquid are detected respectively
Press pump rotating speed, operation variable-speed controller position, and judge change speed gear box gear, engine speed, hydraulic pressure revolution speed, operation speed change control
Whether device position processed is normal, and if so, then System self-test is finished, if it is not, then system alarm, after fixing a breakdown, restarting system
System.
In sessions (see the second dotted line frame), the default engine economical rotating speed area of the method is engine operated rotating speed
Area, including：
S101：Hydraulic pump rotary speed information, operating speed information are obtained, judge whether hydraulic pressure revolution speed matches operating speed,
If so, then electromotor keeps initial rotating speed, the such as interval minimum speed of engine economical rotating speed, if it is not, then entering next step.
S102：Engine speed, drive system speed are obtained than information, judges to start by regulation under current shift
Machine rotating speed meets operating speed requirement, if so, then adjusts electromotor to rotating speed of target state, if it is not, then entering next step.
S103：The gear and engine speed that disclosure satisfy that operating speed requirement is calculated, adjustment change speed gear box and electromotor are extremely
Target gear and rotating speed of target state, specifically include：
Change speed gear box gear is calculated and adjusted, system is supplemented to hydraulic system using accumulator while change speed gear box gear is adjusted
System pressure；
Judge that operating speed requirement can be met by adjusting engine speed under gear after the adjustment, if so, then enter
Enter next step, if it is not, then proceeding to previous step；
Adjustment electromotor is to rotating speed of target state.
S104：In adjustment electromotor to rotating speed of target state, determine whether whether hydraulic pressure revolution speed meets operation speed
Degree requires that if so, then electromotor is run with the rotating speed, if it is not, then proceeding to S102.The specific implementation of above steps can join
The description to manipulation device is examined, is repeated no more here.
It will be understood by those skilled in the art that all or part of flow process in above-mentioned implementation, can pass through computer
Completing, described program can be stored in computer readable storage media programmed instruction related hardware, and the program is being performed
When, it may include the embodiment flow process of said method.
Crane job speed manipulation device and method provided by the present invention is described in detail above.Herein
Apply specific case to be set forth the principle and embodiment of the present invention, the explanation of above example is only intended to help
Understand the core concept of the present invention.It should be pointed out that for those skilled in the art, without departing from the present invention
On the premise of principle, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into right of the present invention
In the protection domain of requirement.
Claims (8)
1. a kind of crane job speed manipulation device, it is characterised in that preset in the engine operated rotating speed area of the crane
For engine economical rotating speed area, described device includes：
First acquisition unit, for obtaining hydraulic pump rotary speed information；
First control unit, for being input into operating speed information；
Second control unit, for obtaining hydraulic pump rotary speed information, operating speed information, judges whether hydraulic pressure revolution speed matches work
Industry speed, if so, then electromotor keeps initial rotating speed, if it is not, then entering next step；
Engine speed, drive system speed are obtained than information, can judge by adjusting engine speed under present gear ratio
With operating speed, electromotor is if so, then adjusted to rotating speed of target state, if it is not, then entering next step；
Speed ratio and engine speed that calculating is matched with operating speed, adjustment drive system and electromotor are to goals ratio and target
Rotary regimes；
Accumulator, located at crane hydraulic system, for adjust drive system speed than while supplement to the hydraulic system
System pressure.
2. crane job speed manipulation device according to claim 1, it is characterised in that second control unit exists
Adjustment electromotor determines whether whether hydraulic pressure revolution speed matches operating speed, if so, then electromotor to rotating speed of target state
With the rotating speed operation, if it is not, then proceeding to second step.
3. crane job speed manipulation device according to claim 1, it is characterised in that second control unit is pressed
The speed ratio and engine speed matched with operating speed is calculated according to following manner, adjustment drive system and electromotor are to goals ratio
With rotating speed of target state：
Calculate and adjust drive system speed ratio；
Judge that can speed after the adjustment match operating speed than under by adjusting engine speed, if so, then enter next step,
If it is not, then proceeding to previous step；
Adjustment electromotor is to rotating speed of target state.
4. a kind of crane job speed manipulation method, the default engine economical rotating speed area of the method is engine operated rotating speed
Area, including：
Hydraulic pump rotary speed information, operating speed information are obtained, judges whether hydraulic pressure revolution speed matches operating speed, if so, then sent out
Motivation keeps initial rotating speed, if it is not, then entering next step；
Engine speed, drive system speed are obtained than information, can judge by adjusting engine speed under present gear ratio
With operating speed, electromotor is if so, then adjusted to rotating speed of target state, if it is not, then entering next step；
Speed ratio and engine speed that calculating is matched with operating speed, adjustment drive system and electromotor are to goals ratio and target
Rotary regimes, and adjust drive system speed than while to hydraulic system replenishment system pressure；
Also include：In adjustment electromotor to rotating speed of target state, determine whether whether hydraulic pressure revolution speed matches operating speed,
If so, then electromotor is run with the rotating speed, if it is not, then proceeding to second step；
3rd step includes：
Calculate and adjust drive system speed ratio；
Judge that can speed after the adjustment match operating speed than under by adjusting engine speed, if so, then enter next step,
If it is not, then proceeding to previous step；
Adjustment electromotor is to rotating speed of target state.
5. crane job speed manipulation method according to claim 4, it is characterised in that the electromotor starting rotating speed
For the minimum speed that engine economical rotating speed is interval.
6. crane job speed manipulation method according to claim 5, it is characterised in that drive system starting speed ratio is
Guarantee the relatively low speed ratio that electromotor starting rotating speed is the minimum speed.
7. crane job speed manipulation method according to claim 4, it is characterised in that become by converting drive system
The gear of fast case realizes speed-ratio regulation.
8. crane job speed manipulation method according to claim 4, it is characterised in that using accumulator to the liquid
Pressure system replenishment system pressure.
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| CN106836083B (en) * | 2015-12-07 | 2019-06-21 | 长沙中联重科环境产业有限公司 | Sweeper travel speed control system, method, apparatus and sweeper |
| CN108083114B (en) * | 2017-11-29 | 2019-05-21 | 徐州重型机械有限公司 | A kind of crane energy-saving control method and system |
| CN108131364A (en) * | 2017-12-25 | 2018-06-08 | 徐州重型机械有限公司 | A kind of power drive system and its control method |
| CN109367390B (en) * | 2018-09-21 | 2021-07-16 | 中国重汽集团青岛重工有限公司 | Safety control system and method for power takeoff of dump truck |
| CN116066339A (en) * | 2021-11-01 | 2023-05-05 | 河北雷萨重型工程机械有限责任公司 | Pumping equipment control method and device, storage medium and electronic equipment |
| CN114312298B (en) * | 2022-01-29 | 2023-12-15 | 潍柴动力股份有限公司 | A single-engine cleaning and sweeping vehicle and its control method |
| CN114719019B (en) * | 2022-03-28 | 2023-11-07 | 陕西法士特齿轮有限责任公司 | Control system and control method for power takeoff of AT automatic transmission drive line |
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| JP4435399B2 (en) * | 2000-11-09 | 2010-03-17 | 株式会社タダノ | Engine rotation control device |
| JP5134238B2 (en) * | 2006-12-15 | 2013-01-30 | 株式会社小松製作所 | Engine load control device for work vehicle |
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| CN103032185B (en) * | 2012-12-20 | 2016-02-10 | 中联重科股份有限公司 | Control method and control device of automobile crane and automobile crane |
| CN203902277U (en) * | 2014-04-22 | 2014-10-29 | 徐州重型机械有限公司 | Single-engine power driving device and crane |
| CN104002674B (en) * | 2014-06-10 | 2016-10-05 | 徐工集团工程机械股份有限公司 | Power drive system, control method and single-shot formula autocrane |
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