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WO2013003993A1 - Grue équipée de pneumatiques tout terrain et procédé, appareil et système de commande du moteur de cette grue - Google Patents

Grue équipée de pneumatiques tout terrain et procédé, appareil et système de commande du moteur de cette grue Download PDF

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Publication number
WO2013003993A1
WO2013003993A1 PCT/CN2011/076784 CN2011076784W WO2013003993A1 WO 2013003993 A1 WO2013003993 A1 WO 2013003993A1 CN 2011076784 W CN2011076784 W CN 2011076784W WO 2013003993 A1 WO2013003993 A1 WO 2013003993A1
Authority
WO
WIPO (PCT)
Prior art keywords
state
engine
hoisting
idle speed
tire crane
Prior art date
Application number
PCT/CN2011/076784
Other languages
English (en)
Chinese (zh)
Inventor
彭文钦
Original Assignee
长沙中联重工科技发展股份有限公司
湖南中联重科专用车有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 长沙中联重工科技发展股份有限公司, 湖南中联重科专用车有限责任公司 filed Critical 长沙中联重工科技发展股份有限公司
Priority to PCT/CN2011/076784 priority Critical patent/WO2013003993A1/fr
Publication of WO2013003993A1 publication Critical patent/WO2013003993A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/04—Introducing corrections for particular operating conditions
    • F02D41/08—Introducing corrections for particular operating conditions for idling
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/0205—Circuit arrangements for generating control signals using an auxiliary engine speed control

Definitions

  • the present invention relates to the field of construction machinery, and more particularly to an off-road tire crane and a method, apparatus and system for controlling the same.
  • An off-road tire crane is a full-slewing crane that mounts a crane structure on a special chassis composed of a heavy-duty tire and an axle.
  • the upper structure is basically the same as that of a crawler crane, in order to ensure the stability of the fuselage during installation work.
  • the crane has four retractable supports. On the flat ground, small lifting weights and low speed driving can be carried out without the legs. When lifting, it is generally necessary to lower the legs, increase the bearing surface, and level the fuselage to ensure the stability of the crane.
  • Step S11 The accelerator pedal generates an analog voltage signal and then inputs it to the controller ECU of the engine; Step S13: The controller ECU controls the engine; S 15: The engine is running under the control of the controller ECU.
  • the off-road tire crane uses the same accelerator pedal regardless of the walking or hoisting state, inputs the accelerator pedal analog signal (0-5 V voltage signal) into the engine control unit (ECU), and then the ECU controls the engine.
  • ECU engine control unit
  • Output since the demand for engine output power during hoisting is higher than that during walking, it is easy to cause concurrency failure when walking in a hoisting state, posing a safety hazard.
  • the safety performance of the off-road tire crane when walking in a hoisting state is insufficient, and an effective solution has not been proposed for this problem.
  • a primary object of the present invention is to provide an off-road tire crane and a method, apparatus and system therefor for solving the problem of insufficient safety performance of an off-road tire crane in a hoisting state in the prior art.
  • a method of controlling an engine of an off-road tire crane is proposed.
  • the method for controlling an engine of an off-road tire crane of the present invention comprises: confirming an operating state of an off-road tire crane, the working state including a walking state and a hoisting state; determining an idle speed according to an operating state of the off-road tire crane, wherein The working state of the off-road tire crane is a walking state, determining that the idle speed is a preset first idle speed, and if the working state of the off-road tire crane is a hoisting state, determining that the idle speed is a preset a second idle speed, the second idle speed is greater than the first idle speed; receiving a voltage signal from the accelerator pedal of the off-road tire crane, determining the engine speed according to the voltage signal and the idle speed, and then following The rotational speed controls the engine.
  • an apparatus for controlling an engine of an off-road tire crane comprises: a confirmation device for confirming an operation state of an off-road tire crane, the working state including a walking state and a hoisting state; and an idle determining device for storing the first idle speed and a second idle speed, wherein the second idle speed is greater than the first idle speed, and is further configured to determine an idle speed according to an operating state of the off-road tire crane, wherein if the working state of the off-road tire crane is a walking state, determining the The idle speed is a preset first idle speed, if the working state of the off-road tire crane is a hoisting state, determining that the idle speed is a preset second idle speed; and a control device for receiving the off-road tire
  • the voltage signal of the accelerator pedal of the crane determines the rotational speed of the engine based on the voltage signal and the idle speed determined by the idle determining device, and then controls
  • a system for controlling an engine of an off-road tire crane comprising: a state selection device and a controller, wherein: the state selection device is configured to send a status flag signal to the controller for the The controller confirms an operating state of the off-road tire crane, the working state including a walking state and a hoisting state; and the controller includes the apparatus of the present invention for controlling an engine of an off-road tire crane.
  • an off-road tire crane is proposed.
  • the off-road tire crane of the present invention includes the system of the engine for controlling an off-road tire crane of the present invention.
  • the control of the engine in the hoisting state and the walking state is distinguished.
  • the working state of the crane is the walking state
  • the engine is controlled according to the preset first idle speed
  • the working state is the hoisting state
  • the engine is controlled according to the preset second idle speed; thus, different idle speeds are controlled for different working states, and the idle speed in the hoisting state is greater than the running state.
  • the idle speed of the engine makes the output power of the engine in the hoisting state larger, to avoid the safety caused by insufficient engine power output under the hoisting state.
  • FIG. 1 is a schematic diagram showing a control flow of an engine of an off-road tire crane according to the prior art
  • FIG. 2 is a schematic view showing a method of controlling an engine of an off-road tire crane according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram showing the basic structure of an apparatus for controlling an engine of an off-road tire crane according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of an apparatus for controlling an engine of an off-road tire crane according to an embodiment of the present invention
  • FIG. 1 is a schematic diagram showing a control flow of an engine of an off-road tire crane according to the prior art
  • FIG. 2 is a schematic view showing a method of controlling an engine of an off-road tire crane according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram showing the basic structure of an apparatus for controlling an engine of an off-road tire crane according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of an apparatus for controlling an engine of an off-road tire crane according to
  • FIG. 6 is a schematic diagram of a method of controlling an engine of an off-road tire crane based on a bus in an apparatus for controlling an engine of an off-road tire crane
  • FIG. Fig. 7 is a schematic diagram of a system for controlling an engine of an off-road tire crane according to the present embodiment
  • Fig. 8 is a schematic view showing the appearance of an off-road tire crane related to the present invention.
  • Step S21 confirming an off-road tire crane Working status.
  • the working state here includes a walking state and a hoisting state.
  • Step S23 determining the idle speed of the engine according to the working state of the off-road tire crane. In this step, specifically, if the working state of the off-road tire crane is the walking state, it is determined that the idle speed is the first idle speed, and if the working state of the off-road tire crane is the hoisting state, it is determined that the idle speed is the second idle speed.
  • Step S25 Receive a voltage signal, determine the engine speed of the off-road tire crane based on the voltage signal and the idle speed, and then control the engine according to the speed.
  • the voltage signal here comes from the accelerator pedal of an off-road tire crane.
  • the engine can have a large rotating speed when the crane is in the hoisting state, thereby outputting a large power, which helps to avoid the hidden troubles caused by the walking under the hoisting state, and improves the hoisting state of the off-road tire crane. Safety performance when walking down. This will be further explained below in conjunction with FIG. 3.
  • FIG. 3 is a schematic diagram showing the relationship between the engine speed and the voltage signal output from the accelerator pedal according to an embodiment of the present invention.
  • the abscissa indicates the voltage
  • the ordinate indicates the engine speed
  • line 1 corresponds to the walking state
  • line 2 corresponds to the hoisting state.
  • the figure shows the first preset value of the voltage (0.5V) and the second preset value of the voltage (4.5V).
  • the engine is at idle speed when the voltage output from the accelerator pedal is at the first preset value (0.5 V).
  • the control engine is at an idle speed; when the voltage signal is greater than the first preset value and less than the second preset value, the speed of the control engine is linearly changed from the idle speed to the voltage signal (as shown in FIG. 3).
  • the slope of line 2 is shown); in the case where the voltage signal is greater than or equal to the second predetermined value, the engine speed is controlled to be the maximum engine speed.
  • the control mode of the engine in the walking state is similar, except that when the voltage signal sent from the accelerator pedal is greater than the first preset value and less than the second preset value, the speed of the control engine is linearly changed from the idle speed to the voltage signal. This is done according to the ramp section of line 1 in Figure 3.
  • the controller has different ways of confirming the working condition of the off-road tire crane.
  • a button can be set in the crane. When the driver needs to make the crane in the hoisting work state, the button is pressed, and the circuit connected to the button emits a hoisting status flag signal, which is used to mark that the crane is in a hoisting state.
  • the circuit is connected to the controller, so that the controller detects whether the hoisting status flag signal is received during operation, and confirms that the working state of the off-road tire crane is walking when the hoisting status flag signal is not received, after receiving In the case of hoisting the status flag signal, it is confirmed that the working state of the off-road tire crane is the hoisting state.
  • a switch device having two positions can be arranged in the crane for transmitting the working state signal of the crane, and the working state signal has two specific types: a walking state flag signal and a hoisting state signal.
  • the control device 41 mainly includes: a confirming device 42 for confirming an operating state of the off-road tire crane, the working state including a walking state and a hoisting state; and an idle determining device 43 for storing the first idle speed and a second idle speed, wherein the second idle speed is greater than the first idle speed, and is further configured to determine an idle speed according to an operating condition of the off-road tire crane, wherein if the working state of the off-road tire crane is a walking state, determining that the idle speed is the first idle speed The rotational speed, if the working state of the off-road tire crane is the hoisting state, determining that the idle speed is the second idle speed; the control device 44 is configured to receive a voltage signal from the accelerator pedal of the off-road tire crane, according to the voltage signal and the idle speed determining device 43 The determined idle speed determines the engine speed and then controls the engine according to the speed.
  • the confirmation device 42 can also be used to: detect whether the hoisting status flag signal is received, and if yes, confirm that the working state of the crane is the hoisting state, otherwise confirm that the working state of the crane is the walking state; the hoisting status flag signal is used to mark the off-road The tire crane is in a hoisting state.
  • the confirmation device 42 can also be used to: receive the working state flag signal of the off-road tire crane; and confirm that the working state of the off-road tire crane is walking when the received working state flag signal is the walking state flag signal, in the received work When the status flag signal is the hoisting status flag signal, it is confirmed that the working state of the off-road tire crane is the hoisting state.
  • control device 44 is shown in Figure 5, which is a schematic illustration of one configuration of a control device in an apparatus for controlling an engine of an off-road tire crane in accordance with an embodiment of the present invention.
  • the control device 44 mainly includes: a receiving component 441 for detecting a voltage signal of an accelerator pedal of an off-road tire crane; a voltage value storage device 442 for storing a first preset value of the voltage signal and a second pre- Setting a value, wherein the second preset value is greater than the first preset value; the first control component 443 is configured to control the engine speed to be an idle speed when the voltage signal is less than or equal to the first preset value;
  • the component 444 is configured to: when the voltage signal is greater than the first preset value and less than the second preset value, control the rotational speed of the engine to linearly change from the idle speed to the voltage signal; the third control unit
  • the component 445 is configured to control the engine speed to be the maximum engine speed when the voltage signal is greater than or equal to the second
  • the control system 70 mainly includes a state selection device 71 and a controller 72, wherein: the state selection device 71 is for a controller 72 transmitting a hoisting status flag signal of the off-road tire crane, the hoisting status flag signal is used to mark that the off-road tire crane is in a hoisting state; and the controller 72 can use the device for controlling the engine of the off-road tire crane in the embodiment of the present invention. Structure to achieve.
  • the control system 70 shown in Figure 7 can also include a bus device (not shown) that is coupled to the controller 72 and the engine (not shown) such that control signals from the controller 72 can pass through the bus. The device is sent to the engine instead of being sent directly to the engine.
  • the bus device can be a CAN bus.
  • the control system for controlling the engine speed of the off-road tire crane in the off-road tire crane can be realized by the control system 70 in the embodiment of the present invention.
  • the control of the engine in the hoisting state and the walking state is distinguished, and the idle speed of the engine when the off-road tire crane is in the hoisting state is adjusted, so that the engine is in the hoisting state.
  • the output power is increased to avoid the safety hazard caused by insufficient engine power output under hoisting conditions.
  • the control signal for the engine speed is outputted in the bus mode in this embodiment, which helps to reduce system wiring and improve the reliability of the control system.
  • modules or steps of the present invention can be implemented by a general-purpose computing device, which can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in the storage device by the computing device, or they may be separately fabricated into individual integrated circuit modules, or they may be Multiple modules or steps are made into a single integrated circuit module.
  • the invention is not limited to any specific combination of hardware and software.
  • the above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the scope of the present invention are intended to be included within the scope of the present invention.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

La présente invention porte sur une grue équipée de pneumatiques tout terrain et sur un procédé, un dispositif et un système de commande du moteur de cette grue, qui sont utilisés pour résoudre le problème qui se pose dans la technique antérieure et qui consiste en ce que la sécurité des grues équipées de pneumatiques tout terrain est insuffisante lorsqu'elles se déplacent avec une masse suspendue. Le procédé comprend : la confirmation du mode de fonctionnement d'une grue équipée de pneumatiques tout terrain, le mode de fonctionnement comprenant un mode de déplacement et un mode de masse suspendue ; la détermination de la vitesse de ralenti du moteur de cette grue en fonction du mode de fonctionnement : si le mode de fonctionnement est le mode de déplacement, la détermination de la vitesse de ralenti en tant que première vitesse de ralenti, et si le mode de fonctionnement est le mode de masse suspendue, la détermination de la vitesse de ralenti en tant que seconde vitesse de ralenti, la seconde vitesse de ralenti étant plus grande que la première vitesse de ralenti ; et la réception d'un signal de tension issu d'une pédale d'accélérateur, la détermination de la vitesse de rotation du moteur en fonction du signal de tension et de la vitesse de ralenti, puis la commande du moteur en fonction de la vitesse de rotation. L'utilisation de la solution technique de la présente invention contribue à éviter le risque de défaillance dû à la déplacement avec une masse suspendue, et elle améliore la sécurité des grues équipées de pneumatiques tout terrain lorsqu'elles se déplacent avec une masse suspendue.
PCT/CN2011/076784 2011-07-01 2011-07-01 Grue équipée de pneumatiques tout terrain et procédé, appareil et système de commande du moteur de cette grue WO2013003993A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2011/076784 WO2013003993A1 (fr) 2011-07-01 2011-07-01 Grue équipée de pneumatiques tout terrain et procédé, appareil et système de commande du moteur de cette grue

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2011/076784 WO2013003993A1 (fr) 2011-07-01 2011-07-01 Grue équipée de pneumatiques tout terrain et procédé, appareil et système de commande du moteur de cette grue

Publications (1)

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WO2013003993A1 true WO2013003993A1 (fr) 2013-01-10

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020062815A1 (en) * 2000-11-24 2002-05-30 Young-Jae Kim System and a method for running a diesel engine when starting a vehicle
JP2006220042A (ja) * 2005-02-09 2006-08-24 Toyota Motor Corp 車両の発進制御装置
JP2007071135A (ja) * 2005-09-08 2007-03-22 Hitachi Constr Mach Co Ltd 作業車両の原動機制御装置
CN101025118A (zh) * 2007-02-12 2007-08-29 三一重机有限公司 一种挖掘机发动机自动怠速控制方法
CN201484193U (zh) * 2009-08-31 2010-05-26 戚方洪 发动机油门怠速控制器
JP2010223164A (ja) * 2009-03-25 2010-10-07 Komatsu Ltd 作業車両用エンジンのアイドル回転速度自動制御方法及び作業車両用エンジンのアイドル回転速度自動制御装置
CN201778903U (zh) * 2010-08-14 2011-03-30 徐州徐工基础工程机械有限公司 旋挖钻机自动怠速控制系统

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020062815A1 (en) * 2000-11-24 2002-05-30 Young-Jae Kim System and a method for running a diesel engine when starting a vehicle
JP2006220042A (ja) * 2005-02-09 2006-08-24 Toyota Motor Corp 車両の発進制御装置
JP2007071135A (ja) * 2005-09-08 2007-03-22 Hitachi Constr Mach Co Ltd 作業車両の原動機制御装置
CN101025118A (zh) * 2007-02-12 2007-08-29 三一重机有限公司 一种挖掘机发动机自动怠速控制方法
JP2010223164A (ja) * 2009-03-25 2010-10-07 Komatsu Ltd 作業車両用エンジンのアイドル回転速度自動制御方法及び作業車両用エンジンのアイドル回転速度自動制御装置
CN201484193U (zh) * 2009-08-31 2010-05-26 戚方洪 发动机油门怠速控制器
CN201778903U (zh) * 2010-08-14 2011-03-30 徐州徐工基础工程机械有限公司 旋挖钻机自动怠速控制系统

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