CN113917909B - Centralized lubrication system, control method and device suitable for excavator and storage medium - Google Patents
Centralized lubrication system, control method and device suitable for excavator and storage medium Download PDFInfo
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- CN113917909B CN113917909B CN202111232696.7A CN202111232696A CN113917909B CN 113917909 B CN113917909 B CN 113917909B CN 202111232696 A CN202111232696 A CN 202111232696A CN 113917909 B CN113917909 B CN 113917909B
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- 238000005461 lubrication Methods 0.000 title claims abstract description 206
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000003860 storage Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000002159 abnormal effect Effects 0.000 claims abstract description 19
- 230000008859 change Effects 0.000 claims abstract description 19
- 230000001050 lubricating effect Effects 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 230000000750 progressive effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 238000012163 sequencing technique Methods 0.000 claims description 2
- 238000012360 testing method Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 7
- 230000001105 regulatory effect Effects 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 5
- 238000007789 sealing Methods 0.000 description 5
- 238000003745 diagnosis Methods 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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Abstract
The invention discloses a centralized lubrication system, a control method, a device and a storage medium suitable for an excavator, belonging to the field of excavator lubrication systems, wherein the system comprises: the system comprises a main controller, an electronic monitor, a data acquisition module and a lubrication module, wherein the main controller performs self-checking according to operation data sent by the lubrication system; after the self-checking is passed, comparing the change frequency and the time duty ratio of the voltage signals acquired by the pilot pressure sensor corresponding to the executing mechanism with the preset value, and inputting the voltage signals into a fuzzy control system to obtain lubrication interval time under the actual working condition; presetting the lubrication interval time of a lubrication mechanism in a lower period; if the self-test fails, the detected abnormal or fault data can be used for judging the abnormal or fault data generation node, and the node is in an operating state. According to the invention, the lubrication system can automatically adjust and optimize the lubrication interval time according to different working conditions, so that each lubrication point of the excavator is in a good lubrication state.
Description
Technical Field
The invention belongs to the field of excavator lubrication systems, and particularly relates to a centralized lubrication system, a control method, a control device and a storage medium suitable for an excavator.
Background
In the maintenance work of the fault excavator, the faults caused by the abrasion of the joint points are found to account for 55% -60%. Most of the existing lubrication systems are distributed in a progressive mode, the lubrication interval time is generally set uniformly by means of human experience by adopting an interval time lubrication mode, but the lubrication mode cannot meet the requirements of different specifications and different load working conditions in actual use; in addition, the problems of poor maintainability and low intelligent degree exist, the pressure switch is only arranged on the distributor for monitoring, a man-machine interaction interface and fault analysis and diagnosis are lacked, and important hinge points are easy to damage under the condition of insufficient lubrication or lubrication failure. The technical scheme disclosed in the prior art is that the front and the rear of the electric control flow regulating valve are respectively connected with a pressure sensor, the controller controls the opening of the electric control flow regulating valve according to signals transmitted back by the pressure sensors, and meanwhile, whether an oil way works normally is judged by monitoring pressure fluctuation of a lubricating pipeline. According to the method, more pressure sensors and electric control flow regulating valves are required to be installed on the lubrication circuit, the sealing and normal operation of the lubrication circuit can be affected to a certain extent, the system cost is high, the structure is complex, and fault points are increased.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides a centralized lubrication system, a control method, a device and a storage medium which are applicable to an excavator; by combining the fuzzy strategy with the lubrication control system, the lubrication system can automatically adjust and optimize the lubrication interval time according to different working conditions, so that each lubrication point of the excavator is in a good lubrication state. By utilizing the pilot pressure sensor corresponding to each executing mechanism of the excavator, such as the pilot pressure sensor for lifting and lowering the movable arm, the number of additional pressure sensors and the number of electric control flow regulating valves are reduced, the structure cost is reduced, the sealing performance of a lubricating pipeline is improved, and the failure rate is reduced.
The technical scheme is as follows: in a first aspect, the present invention provides a control method of a centralized lubrication system for an excavator, comprising the following working steps:
Initializing a lubrication system after the electric lubrication pump is electrified;
the main controller and the electronic monitor receive the output operation data through a lubrication system which is connected with the main controller and the electronic monitor;
The main controller performs self-checking according to the collected operation data; further judging whether the signal output by the lubrication system exceeds a preset threshold range;
If the judgment exceeds the self-checking of the preset threshold range, the failure detection mode is entered, the main controller judges the failure type and the occurrence position of the abnormal data through the operation data, and sends a control instruction to the electric lubrication pump and ends the operation state of the electric lubrication pump;
the electronic monitor receives and stores the operation data and the fault information and forwards the operation data and the fault information to the output equipment and the alarm module to prompt a driver;
If the judgment does not exceed the self-checking passing of the preset threshold range, the main controller reads the lubrication interval time data record in the previous period from the storage module, and calculates the change frequency and the time duty ratio of the voltage signal according to the voltage signal output by the pilot pressure sensor of the corresponding executing mechanism in the current period;
The change frequency and the time duty ratio of the voltage signal are compared with preset values, and then an actual lubrication time interval is obtained through an input fuzzy control system;
The main controller presets the lubrication interval time of the lubrication mechanism in the lower period according to the actual lubrication interval time;
in the running process of the next period, when a preset lubrication time interval of the current period is reached, the main controller sends a control instruction to the lubrication system to enable the electric lubrication pump to execute a lubrication task on each lubrication point through a plurality of groups of components;
wherein, the fuzzy control system includes: a comparator unit, a fuzzifier unit, a fuzzy inference engine unit and a defuzzifier unit.
In a further embodiment, the fuzzy control system strategy is specifically as follows:
The change frequency and the time duty ratio of the voltage signal are used for obtaining a comparison result through a comparator unit in the fuzzy control system, and the comparison result is input into a fuzzification unit for fuzzification to obtain an input fuzzy value;
The fuzzy inference engine unit performs fuzzy inference on the input fuzzy value and calculates to obtain a lubrication interval increment fuzzy value;
Obtaining a lubrication time interval through a deblurring unit, and further obtaining lubrication interval time under actual working conditions;
The method comprises the steps of setting a voltage signal change frequency f 0, a time duty ratio p 0 and an average lubrication time interval t 0 of an actuator under the condition that the actuator acts; the comparator unit compares the change frequency f and the time duty ratio p of the current voltage signal with a set value to obtain a frequency deviation delta f and a time duty ratio deviation delta p, and inputs the frequency deviation delta f and the time duty ratio deviation delta p into the fuzzifier unit to obtain a fuzzy value.
The strategy of the fuzzy control system comprises the following steps:
in a further embodiment, the fuzzy value comprises: the voltage signal varies the frequency ambiguity value and the time duty cycle ambiguity value.
In a further embodiment, the fuzzy inference engine unit performs fuzzy inference on fuzzy values with reference to a fuzzy knowledge base.
In a further embodiment, the lubrication interval increment ambiguity value is input into a Jie Mo device to obtain a lubrication time interval Δt, and finally the lubrication interval time t 0 +Δt under the actual working condition is obtained.
In a second aspect, the centralized lubrication system comprises: the system comprises a main controller, a monitoring alarm module, a data acquisition module and a lubrication module;
The main controller is used for acquiring the operation data of each execution mechanism in the lubrication system and performing data processing; judging and analyzing whether abnormal or fault data exist in the operation data, and outputting the judged abnormal or fault data to the electronic monitor; controlling the running state of each execution node in the lubrication system;
The monitoring alarm module comprises: the electronic monitor, the output equipment and the alarm equipment are connected with the electronic monitor;
The storage module of the electronic monitor automatically stores the received abnormal or fault data, stores the received abnormal or fault data into the historical database, is used for storing the operation data and fault information in the lubrication system, and displays the operation data and the fault information through a display screen in the output equipment in a visualized interface; the alarm device includes: the electronic monitor controls the buzzer and the alarm indicator lamp to send out an alarm to remind a driver after judging the fault information;
The lubrication module is sequentially connected with a plurality of distributors in parallel or in series through the electric lubrication pump, and the distributors are respectively communicated with lubrication points in each execution mechanism, so that the electric lubrication pump and the lubrication points in the execution mechanisms form a progressive connection structure through the distributors; the electric lubricating pump is provided with a CAN module so as to convert the lubricating system to collect operation data, and the converted operation data is sent to the main controller and the electronic monitor through a CAN line; the distributor is provided with a pressure switch, and a signal wire of the pressure switch is connected to the electric lubrication pump;
The data acquisition module is used for acquiring voltage signals output by the pilot pressure sensors corresponding to the execution mechanisms and the pressure switches connected with the lubrication pipelines in the lubrication system, and feeding the acquired voltage signals back to the main controller so that the main controller acquires the calculated value of the fuzzy control system and the data support set of the operation data of the lubrication system.
In a further embodiment, the main controller takes a voltage signal set output by a pilot pressure sensor corresponding to each executing mechanism as a support data set input by the fuzzy control system; the plurality of execution mechanisms comprise: arm, bucket, and boom; the main controller takes voltage signals output by corresponding pilot pressure sensors of the movable arm, the bucket rod and the bucket as a reference data set, and is further used for independently calculating lubrication time intervals of the movable arm, the bucket rod and the bucket through the main controller and the fuzzy control system; meanwhile, a driver sets a movable arm parameter, a bucket arm parameter or a bucket parameter to carry out sequencing adjustment of priority according to different use scenes, so that references of automatic lubrication time intervals can be flexibly adjusted under different use scenes, and the automatic lubrication time interval automatic lubrication device is suitable for various working conditions;
in a further embodiment, the output device includes a display screen, a buzzer, and an alarm indicator light disposed on the excavator electronic monitor.
In a third aspect, a centralized lubrication apparatus for an excavator, the apparatus comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is operative to perform the steps of any one of the methods described above in accordance with the instructions.
In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of any of the methods described above.
The beneficial effects are that: compared with the prior art, the invention has the following advantages:
(1) According to the invention, the fuzzy control system strategy is combined with the lubrication control system, so that the lubrication system can automatically adjust and optimize the lubrication interval time according to different working conditions, and each lubrication point of the excavator is in a good lubrication state.
(2) Under different working conditions, the pilot pressure sensor is arranged on the corresponding actuating mechanism of the excavator and used for effectively acquiring voltage signals of lifting and lowering of the movable arm in the actuating mechanism when the actuating mechanism is detected to act, compared with the existing excavator, the additional pressure sensor and the electric control flow regulating valve are reduced, the structure cost is reduced, the sealing performance of a lubrication pipeline is improved, and the failure rate is reduced.
(3) By collecting and analyzing key data in the lubrication system, the real-time fault diagnosis function is realized, the type and the position of the fault are judged, the maintenance efficiency is improved, and the maintenance cost is reduced.
Drawings
Fig. 1 is a control flow chart of the centralized lubrication system of the present invention.
Fig. 2 is a diagram showing a control strategy structure of the fuzzy control system of the present invention.
Fig. 3 is a topology structure diagram of a node in the centralized lubrication system of the present invention applied to an excavator.
FIG. 4 is a schematic illustration of an embodiment of a centralized lubrication system actuator of the present invention adapted for use with an excavator.
In the figure; an electric lubrication pump 1, an electronic monitor 2, a main controller 3, a boom-up pilot pressure sensor 4, a boom-down pilot pressure sensor 5, a distributor 6 and a pressure switch 7.
Detailed Description
In order to more fully understand the technical content of the present invention, the technical solution of the present invention will be further described and illustrated with reference to the specific embodiments, but is not limited thereto.
The applicant finds that in the maintenance work of the failed excavator, the failure caused by joint point abrasion accounts for 55% -60%, and the specific reasons are that the centralized lubrication system on the excavator at present can mostly only rely on the experience of a driver to set a lubrication time interval, so that the requirements of different specifications and different load working conditions can not be met in actual use; secondly, only the pressure switch 7 is arranged on the distributor 6 for monitoring, a man-machine interaction interface and fault analysis diagnosis are lacked, and important hinge points are damaged when abnormal conditions occur, such as insufficient lubrication or lubrication failure. In addition, although a plurality of pressure sensors and electric control flow regulating valve lubricating systems are installed in the market, the sealing and normal operation of a lubricating circuit are affected to a certain extent, the system cost is high, the structure is complex, and fault points are increased.
Example 1
Further described with reference to fig. 1, the present embodiment provides a control method of a centralized lubrication system for an excavator, which uses a voltage signal output by a pilot pressure sensor for raising and lowering a boom as a reference data set, and includes the following working steps:
Initializing a lubrication system after the electric lubrication pump 1 is electrified;
the main controller 3 and the electronic monitor 2 receive the operation data output by the lubrication system through a CAN line;
The main controller 3 performs self-checking according to the collected operation data; further judging whether the signal output by the lubrication system exceeds a preset threshold range;
If the judgment exceeds the self-checking of the preset threshold range, the failure detection mode is entered, the main controller 3 judges the failure type and the occurrence position of the abnormal data through the operation data, and sends a control instruction to the electric lubrication pump 1 and ends the operation state of the electric lubrication pump;
The electronic monitor 2 receives and stores the operation data and the fault information and forwards the operation data and the fault information to the output equipment and the alarm module to prompt a driver;
If the judgment does not exceed the self-checking passing of the preset threshold range, the main controller 3 reads the lubrication interval time data record in the previous period from the storage module, and calculates the change frequency and the time duty ratio of the voltage signals according to the voltage signals output by the movable arm pressure boosting sensor 4 and the movable arm pressure reducing sensor 5 in the current period;
The change frequency and the time duty ratio of the voltage signal are compared with preset values, and then an actual lubrication time interval is obtained through an input fuzzy control system;
The main controller 3 presets the lubrication interval time of the lubrication mechanism in the lower period according to the actual lubrication interval time;
in the running process of the next period, when a preset lubrication time interval of the current period is reached, the main controller 3 sends a control instruction to the lubrication system to enable the electric lubrication pump 1 to execute a lubrication task on each lubrication point through a plurality of components 6;
wherein, the fuzzy control system includes: a comparator unit, a fuzzifier unit, a fuzzy inference engine unit and a defuzzifier unit.
Further describing the strategy of the fuzzy control system in conjunction with FIG. 2 includes the steps of:
The change frequency and the time duty ratio of the voltage signal are used for obtaining a comparison result through a comparator unit in the fuzzy control system, and the comparison result is input into a fuzzification unit for fuzzification to obtain an input fuzzy value;
The fuzzy inference engine unit performs fuzzy inference on the input fuzzy value and calculates to obtain a lubrication interval increment fuzzy value;
Obtaining a lubrication time interval through a deblurring unit, and further obtaining lubrication interval time under actual working conditions;
the voltage signal change frequency f 0, the time duty ratio p 0 and the average lubrication time interval t 0 of the actuating mechanism can be obtained through calculation and actual investigation under the set condition; the comparator unit compares the change frequency f and the time duty ratio p of the current voltage signal with a set value to obtain a frequency deviation delta f and a time duty ratio deviation delta p, and inputs the frequency deviation delta f and the time duty ratio deviation delta p into the fuzzifier unit to obtain a fuzzy value.
Further, the blur value includes: the voltage signal varies the frequency ambiguity value and the time duty cycle ambiguity value.
Further, the fuzzy inference engine unit performs fuzzy inference on the fuzzy values with reference to a fuzzy knowledge base.
Further, the lubrication interval increment fuzzy value is input into a Jie Mo device to obtain a lubrication time interval deltat, and finally the lubrication interval time t 0 + deltat under the actual working condition is obtained.
The implementation process of the embodiment is as follows:
Determining the domain of input and output of the fuzzy control system according to the test statistics; the combination of fuzzy variables is selected as follows: negative large (NB), negative Small (NS), zero value (ZE), positive Small (PS), positive large (PB); and generating a triangle and Z-shaped membership function by the input and output variables by means of the MATLAB fuzzy control tool box.
Then, determining a fuzzy control rule, wherein the larger the frequency f is, the more frequent the joint movement is, the more easily the joint points are worn, and the more the needed lubricating grease amount is, so that the change frequency f is a main factor affecting the lubricating time interval; the time duty ratio p is the duty ratio of the action time of the movable arm in the lubrication period when the excavator executes the excavating task, and can indirectly reflect the movement state of the joint point and is influenced by secondary factors. When the frequency deviation Δf is NB and the time duty ratio deviation Δp is NB, the lubrication time interval should be increased, that is, the lubrication time interval increment Δt is PB; when the frequency deviation Δf is PB and the time duty deviation Δp is PB, the lubrication time interval should be increased, that is, the lubrication time interval increment Δt is NB. And so on, establishing a fuzzy control rule is shown in table 1.
TABLE 1 Deltat fuzzy control rule Table
After the lubrication time interval fuzzy control rule table is determined, the rule table is output as a fuzzy rule curved surface by utilizing a MATLAB fuzzy tool control box.
Finally, a fuzzy inference algorithm is adopted, and the embodiment adopts a Mamdani algorithm to obtain a fuzzy control table, so that the lubrication time interval can be dynamically adjusted, and the final output calculation formula is as follows: t=t 0 +Δt.
Example two
With reference to fig. 3, the present embodiment provides a centralized lubrication system, including: the system comprises a main controller 3, an electronic monitor 2, a data acquisition module and a lubrication module;
The main controller 3 is used for acquiring the operation data of each execution mechanism in the system and calculating; judging and analyzing whether the running data sent by the lubrication system has abnormal or fault data, and outputting the judged abnormal or fault data to the electronic monitor 2; instructions are sent to start and stop of the electric lubrication pump 1.
The electronic monitor 2 is used for storing operation data and fault information in the system and displaying an interface; the storage module automatically stores the received abnormal or fault data and stores the received abnormal or fault data into the historical database, and the display module displays the operation data, fault codes and fault information in the system in real time; the buzzer of the alarm module sends out an alarm to remind a driver, and meanwhile, the red alarm indicator lamp is on.
The lubrication module is sequentially connected with a plurality of distributors 6 in parallel or in series through the electric lubrication pump 1, and the distributors 6 are respectively communicated with lubrication points in the execution mechanisms, so that the electric lubrication pump 1 and the lubrication points in the execution mechanisms form a progressive distribution connection structure through the distributors 6; the electric lubricating pump 1 is provided with a CAN module so as to convert a lubricating system to collect operation data, and the converted operation data is sent to the main controller 3 and the electronic monitor 2 through CAN lines; the distributor 6 is provided with a pressure switch 7, and a signal line of the pressure switch 7 is connected to the electric lubrication pump 1.
The data acquisition module is used for acquiring voltage signals output by the movable arm lifting pilot pressure sensor 4, the movable arm lowering pilot pressure sensor 5 and a pressure switch 7 connected with a lubricating pipeline in the lubricating system, and feeding the acquired voltage signals back to the main controller 3, so that the main controller 3 acquires a calculated value of the fuzzy control system and a data support set of operating data of the lubricating system.
In a further embodiment, the main controller 3 uses the collected voltage signals of the boom-up pilot pressure sensor 4 and the boom-down pilot pressure sensor 5 as a support data set input by a fuzzy control system; similarly, the main controller takes voltage signals output by the corresponding pilot pressure sensors of the bucket rod and the bucket as a reference data set, and is further used for independently calculating the lubrication time intervals of the bucket rod and the bucket through the main controller and the fuzzy control system. At present, the centralized lubrication system of the excavator is distributed in a progressive mode, a driver sets a movable arm parameter, a bucket arm parameter or a bucket parameter to conduct priority sorting adjustment according to different use scenes, and then the automatic lubrication time interval reference is flexibly adjusted under different use scenes. For the multi-point pump type centralized lubrication system capable of independently controlling each lubrication pipeline, the main controller 3 can independently set lubrication time intervals of the movable arm, the bucket rod and the bucket by taking voltage signals collected by the pressure sensors of the movable arm, the bucket rod and the bucket as references.
In a further embodiment, the output device comprises a display screen, a buzzer and an alarm indicator light which are arranged on the electronic monitor of the excavator, when a fault occurs, the buzzer gives an alarm to remind the driver, and meanwhile, the red alarm indicator light is on.
Example III
The embodiment provides a centralized lubrication device suitable for an excavator, which comprises a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is operative to perform the steps of any one of the methods described above in accordance with the instructions.
Example IV
Initializing a lubrication system after the electric lubrication pump 1 is electrified;
the main controller 3 and the electronic monitor 2 receive the output operation data through a lubrication system connected with the main controller and the electronic monitor;
The main controller 3 performs self-checking according to the collected operation data; further judging whether the signal output by the lubrication system exceeds a preset threshold range;
If the judgment exceeds the self-checking of the preset threshold range, the failure detection mode is entered, the main controller 3 judges the failure type and the occurrence position of the abnormal data through the operation data, and sends a control instruction to the electric lubrication pump 1 and ends the operation state of the electric lubrication pump;
The electronic monitor 2 receives and stores the operation data and the fault information and forwards the operation data and the fault information to the output equipment and the alarm module to prompt a driver;
if the judgment does not exceed the self-checking passing of the preset threshold range, the main controller 3 reads the lubrication interval time data record in the previous period from the storage module, and calculates the change frequency and the time duty ratio of the voltage signal according to the voltage signal output by the pilot pressure sensor of the corresponding executing mechanism in the current period;
The change frequency and the time duty ratio of the voltage signal are compared with preset values, and then an actual lubrication time interval is obtained through an input fuzzy control system;
The main controller 3 presets the lubrication interval time of the lubrication mechanism in the lower period according to the actual lubrication interval time;
in the running process of the next period, when the preset lubrication time interval of the current period is reached, the main controller 3 sends a control instruction to the lubrication system to enable the electric lubrication pump 1 to execute lubrication tasks on each lubrication point through the plurality of components 6.
According to the invention, the fuzzy control system strategy is combined with the lubrication control system, so that the lubrication system can automatically adjust and optimize the lubrication interval time according to different working conditions, and each lubrication point of the excavator is in a good lubrication state. And secondly, by utilizing the pilot pressure sensor of the actuating mechanism, the setting quantity of the extra pressure sensor and the electric control flow regulating valve is reduced, the structure cost is reduced, the sealing performance of the lubrication pipeline is improved, and the failure rate is reduced. In addition, by collecting and analyzing key data in the lubrication system, a fault diagnosis function is realized, the type and the position of the fault are judged, and the maintenance efficiency is improved.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (9)
1. The control method of the centralized lubrication system suitable for the excavator is characterized by comprising the following working steps:
Initializing a lubrication system after the electric lubrication pump is electrified;
the main controller and the electronic monitor receive the output operation data through a lubrication system which is connected with the main controller and the electronic monitor;
The main controller performs self-checking according to the collected operation data; further judging whether the signal output by the lubrication system exceeds a preset threshold range;
if the signal output by the lubrication system exceeds the preset threshold range, the self-check is failed, a fault detection mode is entered, the main controller judges the fault type and the occurrence position of abnormal data through operation data, and a control instruction is sent to the electric lubrication pump to end the operation state of the electric lubrication pump;
the electronic monitor receives and stores the operation data and the fault information and forwards the operation data and the fault information to the output equipment and the alarm module to prompt a driver;
If the signal output by the lubrication system does not exceed the preset threshold range, the self-checking is passed, the main controller reads the lubrication interval time data record in the previous period from the storage module, and calculates the change frequency and the time duty ratio of the voltage signal according to the voltage signal output by the pilot pressure sensor of the corresponding executing mechanism in the current period;
the change frequency and the time duty ratio of the voltage signal are compared with the lubrication time interval preset in the upper period, and then the actual lubrication time interval is obtained through the input fuzzy control system;
The main controller presets the lubrication interval time of the lubrication mechanism in the lower period according to the actual lubrication interval time;
in the running process of the next period, when a preset lubrication time interval of the current period is reached, the main controller sends a control instruction to the lubrication system to enable the electric lubrication pump to execute a lubrication task on each lubrication point through a plurality of groups of components;
wherein, the fuzzy control system includes: a comparator unit, a fuzzifier unit, a fuzzy inference engine unit and a defuzzifier unit.
2. The method for controlling a centralized lubrication system for an excavator according to claim 1, wherein the fuzzy control system strategy is specifically as follows:
The change frequency and the time duty ratio of the voltage signal are used for obtaining a comparison result through a comparator unit in the fuzzy control system, and the comparison result is input into a fuzzification unit for fuzzification to obtain an input fuzzy value;
The fuzzy inference engine unit performs fuzzy inference on the input fuzzy value and calculates to obtain a lubrication interval increment fuzzy value;
Obtaining a lubrication time interval through a deblurring unit, and further obtaining lubrication interval time under actual working conditions;
The method comprises the steps of setting a voltage signal change frequency f 0, a time duty ratio p 0 and an average lubrication time interval t 0 of an actuator under the condition that the actuator acts; the comparator unit compares the change frequency f and the time duty ratio p of the current voltage signal with a set value to obtain a frequency deviation delta f and a time duty ratio deviation delta p, and inputs the frequency deviation delta and the time duty ratio deviation delta p into the fuzzifier unit to obtain a fuzzy value.
3. A control method of a centralized lubrication system for an excavator according to claim 2, wherein the fuzzy value comprises: frequency ambiguity values and time duty cycle ambiguity values.
4. The control method of a centralized lubrication system for an excavator according to claim 2, wherein the fuzzy inference engine unit performs fuzzy inference on fuzzy values with reference to a fuzzy knowledge base.
5. The control method of the centralized lubrication system for the excavator according to claim 2, wherein the lubrication interval increment fuzzy value is input into a Jie Mo device to obtain a lubrication time interval Δt, and finally the lubrication interval time t 0 +Δt under the actual working condition is obtained.
6. A centralized lubrication system for an excavator, comprising: the system comprises a main controller, a monitoring alarm module, a data acquisition module and a lubrication module;
The main controller is used for acquiring the operation data of each execution mechanism in the lubrication system and performing data processing; judging and analyzing whether abnormal or fault data exist in the operation data, and outputting the judged abnormal or fault data to the electronic monitor; controlling the running state of each execution node in the lubrication system;
The monitoring alarm module comprises: the electronic monitor, the output equipment and the alarm equipment are connected with the electronic monitor;
The storage module of the electronic monitor automatically stores the received abnormal or fault data, stores the received abnormal or fault data into the historical database, is used for storing the operation data and fault information in the lubrication system, and displays the operation data and the fault information through a display screen in the output equipment in a visualized interface; the alarm device includes: the electronic monitor controls the buzzer and the alarm indicator lamp to send out an alarm to remind a driver after judging the fault information;
The lubrication module is sequentially connected with a plurality of distributors in parallel or in series through the electric lubrication pump, and the distributors are respectively communicated with lubrication points in each execution mechanism, so that the electric lubrication pump and the lubrication points in the execution mechanisms form a progressive connection structure through the distributors; the electric lubricating pump is provided with a CAN module so as to convert the lubricating system to collect operation data, and the converted operation data is sent to the main controller and the electronic monitor through a CAN line; the distributor is provided with a pressure switch, and a signal wire of the pressure switch is connected to the electric lubrication pump;
The data acquisition module is used for acquiring voltage signals output by the pilot pressure sensors corresponding to the execution mechanisms and the pressure switches connected with the lubrication pipelines in the lubrication system, and feeding the acquired voltage signals back to the main controller so that the main controller acquires a calculated value of the fuzzy control system and a data support set of operation data of the lubrication system;
The main controller takes a voltage signal set output by a pilot pressure sensor corresponding to each executing mechanism as a support data set input by the fuzzy control system; the plurality of execution mechanisms comprise: arm, bucket, and boom; the main controller takes voltage signals output by corresponding pilot pressure sensors of the movable arm, the bucket rod and the bucket as a reference data set, and is further used for independently calculating lubrication time intervals of the movable arm, the bucket rod and the bucket through the main controller and the fuzzy control system; meanwhile, according to different use scenes, the driver sets the movable arm parameter, the bucket arm parameter or the bucket parameter through the electronic monitor to carry out sequencing adjustment of priority.
7. The centralized lubrication system for an excavator of claim 6 wherein the output equipment comprises a display screen, a buzzer and an alarm indicator light provided on the excavator electronic monitor.
8. A centralized lubrication device suitable for an excavator, which is characterized by comprising a processor and a storage medium;
the storage medium is used for storing instructions;
The processor being operative according to the instructions to perform the steps of the method according to any one of claims 1 to 5.
9. Computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any one of claims 1 to 5.
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| CN114962966B (en) * | 2022-05-27 | 2024-02-13 | 徐工集团工程机械股份有限公司科技分公司 | Centralized lubrication device with working condition identification function, loader and control method thereof |
| CN115076588B (en) * | 2022-06-14 | 2024-01-23 | 珠海格力智能装备有限公司 | Control method, device and system thereof |
| CN117429028B (en) * | 2023-12-19 | 2024-04-16 | 海天塑机集团有限公司 | Lubrication control method, device and system of injection molding machine |
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