CN102635140A - Control method and control system working device and engineering machinery for traction work - Google Patents
Control method and control system working device and engineering machinery for traction work Download PDFInfo
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- CN102635140A CN102635140A CN2012101324314A CN201210132431A CN102635140A CN 102635140 A CN102635140 A CN 102635140A CN 2012101324314 A CN2012101324314 A CN 2012101324314A CN 201210132431 A CN201210132431 A CN 201210132431A CN 102635140 A CN102635140 A CN 102635140A
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Abstract
The invention discloses a control method and a control system for a working device and engineering machinery for traction work. The control method for the working device comprises the steps: obtaining a turbine torsion and an engine torsion; calculating to acquire a torque ratio; if the torque ratio is within a preset torque ratio scope, maintaining the position of the current working device; when the torque ratio is more than the maximal torque ratio within the preset torque ratio scope, lifting the working device until obtaining a torque ratio which is not more than the maximal torque ratio; and when the torque ratio is less than the minimal torque ratio within the preset torque ratio scope, descending the working device until obtaining a torque ratio which is not less than the minimal torque ratio. According to the control method for the working device, the current operation condition of the working device is determined by the ratio of the turbine torsion to the engine torsion so as to control the lifting of the working device, improve the working efficiency and operation quality of the engineering machinery and reduce labor intensity of drivers.
Description
Technical field
The present invention relates to technical field of engineering machinery, more particularly, relate to a kind of control method, system of equipment and be used to the engineering machinery of the work of drawing.
Background technology
The engineering machinery that is used to the work of drawing at present; With the bulldozer is example, and its condition of work and operating environment are extremely abominable, and do action is frequent in the native operation process of shovel; The working resistance excursion is big; Need the driver to carry out the up-down of equipment-perching knife continually, the main human pilot that relies on of this kind operation is made judgement according to the resistance size that perching knife receives, and manual operation controller is controlled perching knife.Particularly construction under the various environment of soil property, rock matter, orographic condition; Operating personnel need operate perching knife continually; Not only have relatively high expectations for driver's operant level; But also have bigger slowness and inaccuracy inevitably, cause problems such as inefficiency, operation quality is poor, personnel labor intensity is big.
Equally, the engineering machinery that is used to the work of drawing of other except that bulldozer equally also has the problems referred to above.
Therefore, how realizing the automatic lifting control of equipment, improve the operating efficiency and the operation quality of the engineering machinery that is used to the work of drawing, alleviate driver's labour intensity, is those skilled in the art's problem demanding prompt solutions.
Summary of the invention
In view of this, the present invention provides a kind of control method, system of equipment and is used to the engineering machinery of the work of drawing, with the automatic lifting control of the equipment of the engineering machinery that realizes being used to the work of drawing.
For realizing above-mentioned purpose, the existing scheme that proposes is following:
A kind of control method of equipment comprises:
Obtain turbine moment of torsion and engine torque;
Calculate torque ratio, said torque ratio is the ratio of said turbine moment of torsion and engine torque;
If said torque ratio is in predetermined torque than scope, then keep the position of work at present device;
When said torque ratio greater than said predetermined torque than the peak torque in the scope than the time, promote said equipment, be not more than said peak torque ratio until the torque ratio that obtains again;
When said torque ratio less than said predetermined torque than the minimal torque in the scope than the time, the said equipment that descends is not less than said minimal torque ratio until the torque ratio that obtains again.
Preferably, also comprise:
Judge work at present device control model, if said work at present device control model is manual control model, then the up-down of said equipment control is realized by the manually-operated joystick; If said work at present device control model is an automatic control mode, then obtain turbine moment of torsion and engine torque.
Preferably, also comprise:
Obtain the state of a control of said equipment, itself and said work at present device control model are compared;
When satisfying when pre-conditioned, change control model to the control model identical of said equipment with the state of a control of said equipment, said pre-conditioned be that the state of a control and the said work at present device control model of said equipment is inequality.
Preferably, said pre-conditionedly also comprise: the state of a control and the said work at present device control model that postpone the equipment that Preset Time obtains are still inequality.
Preferably,
Promote in the said equipment process, when the torque ratio that obtains again near said peak torque than the time, also comprise: the hoisting velocity that reduces said equipment;
In the said equipment process that descends, when the torque ratio that obtains again near said minimal torque than the time, also comprise: the decrease speed that reduces said equipment.
Preferably, than then also comprise than the peak torque in the scope greater than said predetermined torque when said torque ratio:
Continuously the interval Preset Time between preset times and adjacent twice obtains turbine moment of torsion and engine torque;
Calculate the ratio that at every turn acquires turbine moment of torsion and engine torque, obtain torque ratio;
When judging that torque ratio that said continuous preset times obtains all greater than said peak torque ratio, promotes said equipment.
Preferably, than then also comprise than the minimal torque in the scope less than said predetermined torque when said torque ratio:
Continuously the interval Preset Time between preset times and adjacent twice obtains turbine moment of torsion and engine torque;
Calculate the ratio that at every turn acquires turbine moment of torsion and engine torque, obtain torque ratio;
When judging that torque ratio that said continuous preset times obtains all less than said minimal torque ratio, reduces said equipment.
A kind of actuating device control system comprises:
The turbine torque sensor is used to gather the turbine moment of torsion;
The engine torque sensor is used to gather engine torque;
Electronic control unit is used to obtain turbine moment of torsion and engine torque, calculates torque ratio, and said torque ratio is the ratio of said turbine moment of torsion and engine torque; If said torque ratio is in predetermined torque than scope, then keep the position of work at present device; When said torque ratio greater than said predetermined torque than the peak torque in the scope than the time, promote said equipment, be not more than said peak torque ratio until the torque ratio that obtains again; When said torque ratio less than said predetermined torque than the minimal torque in the scope than the time, the said equipment that descends is not less than said minimal torque ratio until the torque ratio that obtains again.
Preferably; Also comprise: the control model selector switch that switches manual control model and automatic control mode; Said electronic control unit also is used to judge work at present device control model; If said work at present device control model is manual control model, said control model selector switch switches to manual mode; If said work at present device control model is an automatic mode, said control model selector switch switches to automatic mode.
Preferably, also comprise the temperature pick up of gathering the engine water temperature value; Said electronic control unit also is used to obtain the engine water temperature value that said temperature pick up is gathered, and when judging that said engine water temperature value is higher than the preset temperature peak, carries out temperature alarming.
A kind of engineering machinery that is used to the work of drawing comprises above-mentioned system.
Preferably, said engineering machinery is bulldozer, buck raker, land leveller or loader.
Can find out from above-mentioned technical scheme; The control method of equipment disclosed by the invention; Confirm the current operation operating mode that runs into of equipment through the ratio of turbine moment of torsion and engine torque, and then carry out the control that equipment goes up and down, concrete; If said torque ratio is in predetermined torque than scope, then keep the position of work at present device; When said torque ratio greater than said predetermined torque than the peak torque in the scope than the time, promote said equipment, be not more than said peak torque ratio until the torque ratio that obtains again; When said torque ratio compares than the minimal torque in the scope less than said predetermined torque; Said equipment descends; Be not less than said minimal torque ratio until the torque ratio that obtains again; Realize the automatic lifting control of equipment, improved the operating efficiency and the operation quality of the engineering machinery that is used to the work of drawing, alleviated driver's labour intensity.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the flow chart of the control method of the disclosed a kind of equipment of the embodiment of the invention;
Fig. 2 is the flow chart of the control method of the disclosed a kind of equipment of another embodiment of the present invention;
Fig. 3 is the structure chart of the control system of the disclosed a kind of equipment of another embodiment of the present invention;
Fig. 4 is the structure chart of the control system of the disclosed a kind of equipment of another embodiment of the present invention.
The specific embodiment
To combine the accompanying drawing in the embodiment of the invention below, the technical scheme in the embodiment of the invention is carried out clear, intactly description, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the present invention's protection.
The embodiment of the invention discloses a kind of control method, system of equipment and be used to the engineering machinery of the work of drawing, with the automatic lifting control of the equipment of the engineering machinery that realizes being used to the work of drawing.
The control method of the disclosed a kind of equipment of present embodiment, as shown in Figure 1, comprise step:
S101, obtain turbine moment of torsion and engine torque;
S102, calculate torque ratio K, said torque ratio K is the ratio of said turbine moment of torsion and engine torque;
S103, the said torque ratio K of comparison and predetermined torque are than scope (K
1, K
2);
When said torque ratio K is in predetermined torque than scope (K
1, K
2), i.e. K
1≤K≤K
2, then execution in step S104, the position that keeps the work at present device;
When said torque ratio K greater than said predetermined torque scope (K
1, K
2) in peak torque compare K
2, i.e. K＞K
2, then execution in step S105, promote said equipment, be not more than said peak torque until the torque ratio that obtains again and compare K
2
When said torque ratio K less than said predetermined torque scope (K
1, K
2) in minimal torque compare K
1, i.e. K＜K
1, then execution in step S106, the said equipment that descends are not less than said minimal torque until the torque ratio that obtains again and compare K
1
In the control method of the disclosed equipment of present embodiment; Confirm the current operation operating mode that runs into of equipment through the ratio of turbine moment of torsion and engine torque; And then carry out the control that equipment goes up and down; Realize the automatic lifting control of equipment, improved the operating efficiency and the operation quality of the engineering machinery that is used to the work of drawing, alleviated driver's labour intensity.
For improving the adaptive capacity of engineering truck, in traditional engineering machinery transmission, increase fluid torque-converter and carry out the hydraulic machine transmission abominable operating environment and operating mode.Through liquid transfer power, can reduce the dynamic loading and the vibration of transmission system, prolong the application life of transmission system, improve the output torque of engineering machinery, increase the ability to work of engineering machinery greatly.
In the engineering machine in working process, abominable working condition causes the resistance of engineering machinery sharply to change, the turbine output torque that directly causes engineering machinery thereupon acute variation to adapt to complex working condition.Generally, the relation between the working resistance of turbine moment of torsion and engineering machinery is certain, and promptly under certain working condition, along with the increase of working resistance, the turbine moment of torsion also increases; Otherwise working resistance reduces, and the turbine moment of torsion descends thereupon.Therefore the turbine output torque be reflection engineering machinery operating loading the most directly, the most accurate key factor.
Application number is 201110169591.1 application for a patent for invention; A kind of hydraulic type bulldozer perching knife automatic control system and autocontrol method are disclosed; Confirm the current operation operating mode that runs into through the judgement secondary speed in this method, realize the automatic lifting control of perching knife.Because; The principle of confirming the current operation operating mode that runs into based on secondary speed is: have fixed relationship between secondary speed and the turbine moment of torsion; The turbine moment of torsion can reflect the operation operating mode, with the turbine moment of torsion have the fixed relationship secondary speed also with regard to indirect reflection the operation operating mode.
Yet when confirming the current operation operating mode that runs into through secondary speed, error can appear in sensor itself, and the secondary speed that its detection obtains also can have error; And; Because also will certainly there be error in the qualification of conversion accuracy in secondary speed and the turbine goes through torque conversion process, under the inducing of multiple error; Secondary speed can not reflect the load working condition and the resistance size of engineering machinery more realistically; Like this, adopt the judgement secondary speed to confirm the current operation operating mode that runs into, realize that the method for the automatic lifting control of perching knife can not satisfy the requirement of accuracy.
And; The decision condition that adopts torque ratio to go up and down as the control equipment, essence is by turbine moment of torsion and the two-parameter control of engine torque, can overcome the following defective that decision condition produced that single parameter-turbine moment of torsion goes up and down as the control equipment: can not take into account traction working condition and operating efficiency fully; Produce certain loss in efficiency; Concrete, under little accelerator open degree, operating efficiency is lower; And moment of torsion between turbine and the motor and rotating speed difference are very big, and transmission system is had bigger impact.Therefore can draw: the control method of the disclosed equipment of the embodiment of the invention adopts torque ratio control to make all can take into account transmission efficiency and power economy performance under each accelerator open degree; Resultant effect is better, can realize accurate, the efficient and low consumption work of engineering machinery better.
In the above-described embodiments, when judging that torque ratio K compares K greater than peak torque
2The time, promote equipment, in the lifting process of equipment, constantly obtain turbine moment of torsion and engine torque again, calculate torque ratio, torque ratio and peak torque are compared K
2Compare, when judging that the said torque ratio that obtains that recomputates compares K near said peak torque
2The time, in order to prevent overshoot phenomenon, need to reduce the hoisting velocity of equipment, generally the hoisting velocity with equipment reduces half the.Concrete, general provision is not more than K when recomputating the torque ratio that obtains
2, explain that the turbine moment of torsion that obtains again compares K near said peak torque at+0.1 o'clock
2, certainly can also be according to predetermined other values of actual conditions as judging that torque ratio compares K near said peak torque
2Foundation.
Equally, when judging that torque ratio K compares K less than minimal torque
1The time, the decline equipment in the decline process of equipment, constantly obtains turbine moment of torsion and engine torque again, and itself and minimal torque are compared K
1Compare, when judging that the said torque ratio that obtains again compares K near said minimal torque
1The time, in order to prevent overshoot phenomenon, need to reduce the decrease speed of equipment, generally the decrease speed with equipment reduces half the.Concrete, general provision ought obtain torque ratio again and be not less than K
1, explain that the torque ratio that obtains again compares K near said minimal torque at-0.1 o'clock
1, can certainly be according to predetermined other values of actual conditions as judging that torque ratio compares K near said minimal torque
1Foundation.
Another embodiment of the present invention also discloses a kind of control method of equipment, comprises step:
S201, obtain work at present device control model information;
S202, judge according to said work at present device control model information whether work at present device control model is automatic control mode; When judgement is not automatic control mode; Explain that said work at present device control model is manual control model, then execution in step S203, control the up-down of said equipment by the manually-operated joystick.
When being judged as automatic control mode, execution in step S204, obtain turbine moment of torsion and engine torque;
S205, calculate torque ratio K, said torque ratio K is the ratio of said turbine moment of torsion and engine torque;
S206, the said torque ratio K of comparison and predetermined torque are than scope (K
1, K
2);
When said torque ratio K is in predetermined torque than scope (K
1, K
2), i.e. K
1≤K≤K
2, then execution in step S207, the position that keeps the work at present device;
When said torque ratio K greater than said predetermined torque scope (K
1, K
2) in peak torque compare K
2, i.e. K＞K
2, then execution in step S208, promote said equipment, be not more than said peak torque until the torque ratio that obtains again and compare K
2
When said torque ratio K less than said predetermined torque scope (K
1, K
2) in minimal torque compare K
1, i.e. K＜K
1, then execution in step S209, the said equipment that descends are not less than said minimal torque until the torque ratio that obtains again and compare K
1
In the above-described embodiments; When obtaining work at present device control model information; Can also obtain the state of a control of this equipment; Confirm the control model of work at present device according to said work at present device control model information, compare the state of a control and the work at present device control model of said equipment, when satisfying when pre-conditioned; Change control model to the control model identical with the state of a control of said equipment of said equipment, at this moment pre-conditioned is that the state of a control and the said work at present device control model of said equipment is inequality.
For the step of control model that makes the change equipment more accurate opportunity; Above-mentioned pre-conditioned can also comprising: the state of a control and the said work at present device control model of the equipment that delay a period of time obtains are still inequality; Concrete, be taken as 0.5s time delay to time constant arbitrarily between the 1s.
In two above-mentioned method embodiment, in order to confirm the change opportunity of equipment position comparatively accurately, when judging that said torque ratio K compares K greater than said peak torque
2After also comprise:
Continuously the interval Preset Time between preset times and adjacent twice obtains turbine moment of torsion and engine torque;
Calculate the ratio that at every turn acquires turbine moment of torsion and engine torque, obtain torque ratio;
When judging that the torque ratio that said continuous preset times obtains all compares K greater than said peak torque
2, promote said equipment.
And, when said torque ratio K compares K less than said minimal torque
1After also comprise:
Continuously the interval Preset Time between preset times and adjacent twice obtains turbine moment of torsion and engine torque;
Calculate the ratio that at every turn acquires turbine moment of torsion and engine torque, obtain torque ratio;
When judging that the torque ratio that said continuous preset times obtains all compares K less than said minimal torque
1, reduce said equipment.
Concrete, obtain the turbine moment of torsion blanking time scope can but be not defined as 0.5-1s, the number of times that obtains can but be not defined as 3-5.
In two above-mentioned embodiment, said predetermined torque is than scope (K
1, K
2) can be one, and can but the ratio that do not limit the turbine moment of torsion of selecting the maximum throttle state for use and engine torque as predetermined torque than scope (K
1, K
2); Certainly, said predetermined torque is than scope (K
1, K
2) can also be for a plurality of, and corresponding one by one with different throttles, at this moment, also need obtain throttle signal when obtaining said turbine moment of torsion and engine torque.
Because the predetermined torque under each throttle is more inequality than scope; When throttle is higher; Predetermined torque is more higher than all than ratio of the peak torque in the scope and minimal torque, and when throttle was low, predetermined torque was lower than all than ratio of the peak torque in the scope and minimal torque.Therefore, for accurate up-down opportunity of control equipment, the signal of throttle is necessary, and, the throttle signal also with this throttle under predetermined torque more corresponding one by one than scope.
Concrete, in above-mentioned two embodiment, the ratio of getting near different accelerator open degrees are corresponding fluid torque-converter best efficiency point η max ± 5% turbine moment of torsion and engine torque as predetermined torque under the different throttles than the ratio of the peak torque in the scope; The ratio of getting fluid torque-converter efficient and be near different accelerator open degrees are corresponding the η 75% ± 5% turbine moment of torsion and engine torque as predetermined torque under the different throttles than the ratio of the minimal torque in the scope.Certainly, maximum, minimal torque ratio can be set at other value based on engineering machinery real work situation.
The disclosed a kind of actuating device control system of another embodiment of the present invention, as shown in Figure 3, comprising:
The disclosed a kind of actuating device control system of another embodiment of the present invention, as shown in Figure 4, comprising:
Concrete, electronic control unit 204 comprises:
Memory module stores the mapping table of throttle signal and torque ratio scope;
Acquisition module is used to obtain throttle signal, turbine moment of torsion and engine torque, from the mapping table of said throttle signal and torque ratio scope, confirms the torque ratio scope under the current throttle state according to throttle signal;
Computing module is used to calculate the turbine moment of torsion that said acquisition module obtains and the ratio of engine torque, as torque ratio;
Judge module is used to compare torque ratio and the torque ratio scope under the current throttle state under the current throttle state;
The control signal generation module, be used for when said torque ratio greater than the peak torque of said torque ratio scope than the time, generate the signal that promotes equipment; When said torque ratio less than the minimal torque in the said torque ratio scope than the time, generate the signal of decline equipment.
The throttle signal that throttle signal sensor 201 is gathered, the turbine moment of torsion that turbine torque sensor 202 is gathered, the engine torque that engine torque sensor 203 is gathered, all the communication interface through electronic control unit 204 inputs to electronic control unit 204; The acquisition module of electronic control unit 204 obtains throttle signal, turbine moment of torsion and engine torque, and the torque ratio scope under definite current throttle state, and transmits it to said judge module; Computing module calculates the torque ratio under the current throttle state, also transmits it to said judge module; Torque ratio under the said judge module comparison current throttle state and the torque ratio scope under the current throttle state; When said torque ratio compares greater than the peak torque in the said torque ratio scope; Said control signal generation module generates the signal that promotes equipment; When said torque ratio less than the minimal torque in the said torque ratio scope than the time, said control signal generation module generates the signal of decline equipment; The signal that said control signal generation module generates all acts on the electrofluidic control device of equipment, to promote or the reduction equipment.
As shown in Figure 4 equally; The disclosed actuating device control system of present embodiment can also comprise: the control model selector switch 205 that switches manual control model and automatic control mode; At this moment; The judging unit of electronic control unit 204 also is used to judge work at present device control model, if said work at present device control model is manual control model, said control model selector switch switches to manual mode; If said work at present device control model is an automatic mode, said control model selector switch switches to automatic mode.
And said actuating device control system can also comprise the temperature pick up 206 and alarm unit 207 of gathering the engine water temperature value; At this moment; The acquisition module of electronic control unit 204 also is used to obtain the engine water temperature value that said temperature pick up is gathered; When the judge module of electronic control unit 204 judged that said engine water temperature value is higher than the preset temperature peak, alarm unit 207 carried out temperature alarming.
Equally; More accurate in order to make alarm unit 207 carry out opportunity of temperature alarming; After the judge module of electronic control unit 204 judged that said engine water temperature value is higher than the preset temperature peak, behind the delay Preset Time, the acquisition module of electronic control unit 204 obtained the engine water temperature value again; When the judge module of electronic control unit 204 judges that the transmitter water temperature value of obtaining again still is higher than the preset temperature peak, carry out temperature alarming.
Concrete, be taken as 0.5s above-mentioned time delay to the time constant between the 1s, can also be set at other values according to actual mode of occupation.
Another embodiment of the present invention also discloses a kind of engineering machinery that is used to the work of drawing, and this project machinery comprises the disclosed actuating device control system of the foregoing description.
No longer actuating device control system is carried out detailed argumentation here, see also the disclosed content of the foregoing description.
Concrete, the disclosed engineering machinery of present embodiment specifically can be bulldozer, buck raker, land leveller or loader, certainly, can also be used to the engineering machinery of the work of drawing for other.
With the bulldozer is example, and above-mentioned equipment promptly refers to perching knife or ridge buster, obtains turbine moment of torsion and engine torque under the current throttle state, calculates torque ratio, if said moment of torsion is in the predetermined torque scope, then keeps the position of perching knife;
When said torque ratio greater than said predetermined torque than the peak torque in the scope than the time, promote perching knife or ridge buster, be not more than said peak torque ratio until the torque ratio that obtains again;
When said torque ratio less than said predetermined torque than the minimal torque in the scope than the time, decline perching knife or ridge buster are not less than said minimal torque ratio until the torque ratio that obtains again.
Each embodiment adopts the mode of going forward one by one to describe in this manual, and what each embodiment stressed all is and the difference of other embodiment that identical similar part is mutually referring to getting final product between each embodiment.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be conspicuous concerning those skilled in the art, and defined General Principle can realize under the situation that does not break away from the spirit or scope of the present invention in other embodiments among this paper.Therefore, the present invention will can not be restricted to these embodiment shown in this paper, but will meet and principle disclosed herein and features of novelty the wideest corresponding to scope.
Claims (12)
1. the control method of an equipment is characterized in that, comprising:
Obtain turbine moment of torsion and engine torque;
Calculate torque ratio, said torque ratio is the ratio of said turbine moment of torsion and engine torque;
If said torque ratio is in predetermined torque than scope, then keep the position of work at present device;
When said torque ratio greater than said predetermined torque than the peak torque in the scope than the time, promote said equipment, be not more than said peak torque ratio until the torque ratio that obtains again;
When said torque ratio less than said predetermined torque than the minimal torque in the scope than the time, the said equipment that descends is not less than said minimal torque ratio until the torque ratio that obtains again.
2. method according to claim 1 is characterized in that, also comprises:
Judge work at present device control model, if said work at present device control model is manual control model, then the up-down of said equipment control is realized by the manually-operated joystick; If said work at present device control model is an automatic control mode, then obtain turbine moment of torsion and engine torque.
3. method according to claim 2 is characterized in that, also comprises:
Obtain the state of a control of said equipment, itself and said work at present device control model are compared;
When satisfying when pre-conditioned, change control model to the control model identical of said equipment with the state of a control of said equipment, said pre-conditioned be that the state of a control and the said work at present device control model of said equipment is inequality.
4. method according to claim 3 is characterized in that, said pre-conditionedly also comprise: the state of a control and the said work at present device control model that postpone the equipment that Preset Time obtains are still inequality.
5. according to any described method among the claim 1-4, it is characterized in that,
Promote in the said equipment process, when the torque ratio that obtains again near said peak torque than the time, also comprise: the hoisting velocity that reduces said equipment;
In the said equipment process that descends, when the torque ratio that obtains again near said minimal torque than the time, also comprise: the decrease speed that reduces said equipment.
6. according to any described method among the claim 1-4, it is characterized in that, when said torque ratio than then also comprises than the peak torque in the scope greater than said predetermined torque:
Continuously the interval Preset Time between preset times and adjacent twice obtains turbine moment of torsion and engine torque;
Calculate the ratio that at every turn acquires turbine moment of torsion and engine torque, obtain torque ratio;
When judging that torque ratio that said continuous preset times obtains all greater than said peak torque ratio, promotes said equipment.
7. according to any described method among the claim 1-4, it is characterized in that, when said torque ratio than then also comprises than the minimal torque in the scope less than said predetermined torque:
Continuously the interval Preset Time between preset times and adjacent twice obtains turbine moment of torsion and engine torque;
Calculate the ratio that at every turn acquires turbine moment of torsion and engine torque, obtain torque ratio;
When judging that torque ratio that said continuous preset times obtains all less than said minimal torque ratio, reduces said equipment.
8. an actuating device control system is characterized in that, comprising:
The turbine torque sensor is used to gather the turbine moment of torsion;
The engine torque sensor is used to gather engine torque;
Electronic control unit is used to obtain turbine moment of torsion and engine torque, calculates torque ratio, and said torque ratio is the ratio of said turbine moment of torsion and engine torque; If said torque ratio is in predetermined torque than scope, then keep the position of work at present device; When said torque ratio greater than said predetermined torque than the peak torque in the scope than the time, promote said equipment, be not more than said peak torque ratio until the torque ratio that obtains again; When said torque ratio less than said predetermined torque than the minimal torque in the scope than the time, the said equipment that descends is not less than said minimal torque ratio until the torque ratio that obtains again.
9. system according to claim 8; It is characterized in that; Also comprise: the control model selector switch that switches manual control model and automatic control mode; Said electronic control unit also is used to judge work at present device control model, if said work at present device control model is manual control model, said control model selector switch switches to manual mode; If said work at present device control model is an automatic mode, said control model selector switch switches to automatic mode.
10. system according to claim 8 is characterized in that, also comprises the temperature pick up of gathering the engine water temperature value; Said electronic control unit also is used to obtain the engine water temperature value that said temperature pick up is gathered, and when judging that said engine water temperature value is higher than the preset temperature peak, carries out temperature alarming.
11. an engineering machinery that is used to the work of drawing is characterized in that, comprises any described system like claim 8-10.
12. engineering machinery according to claim 11 is characterized in that, said engineering machinery is bulldozer, buck raker, land leveller or loader.
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| CN201210132431.4A CN102635140B (en) | 2012-04-28 | 2012-04-28 | Control method and control system of working device, and engineering machinery for traction work |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103967640A (en) * | 2014-05-21 | 2014-08-06 | 山推工程机械股份有限公司 | Hydraulic type engineering machine and torque control method and device thereof |
| CN104196070A (en) * | 2014-09-23 | 2014-12-10 | 山推工程机械股份有限公司 | Bulldozer working device automatic control method and system |
| CN106032673A (en) * | 2015-03-20 | 2016-10-19 | 徐工集团工程机械股份有限公司 | Perching knife load control system, grader and method |
| CN113846715A (en) * | 2021-09-30 | 2021-12-28 | 湖南三一华源机械有限公司 | Land leveler control method and device and land leveler |
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| CN103967640A (en) * | 2014-05-21 | 2014-08-06 | 山推工程机械股份有限公司 | Hydraulic type engineering machine and torque control method and device thereof |
| CN103967640B (en) * | 2014-05-21 | 2017-01-04 | 山推工程机械股份有限公司 | A kind of hydraulic type engineering machinery and torque control method, torque control device |
| CN104196070A (en) * | 2014-09-23 | 2014-12-10 | 山推工程机械股份有限公司 | Bulldozer working device automatic control method and system |
| CN106032673A (en) * | 2015-03-20 | 2016-10-19 | 徐工集团工程机械股份有限公司 | Perching knife load control system, grader and method |
| CN106032673B (en) * | 2015-03-20 | 2018-10-16 | 徐工集团工程机械股份有限公司 | A kind of perching knife load control system, land leveller and method |
| CN113846715A (en) * | 2021-09-30 | 2021-12-28 | 湖南三一华源机械有限公司 | Land leveler control method and device and land leveler |
| WO2023051136A1 (en) * | 2021-09-30 | 2023-04-06 | 湖南三一华源机械有限公司 | Land leveller control method and apparatus, and land leveller |
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