Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
The invention relates to the field of operation machinery, and provides a control method and device of a hydraulic excavator and the hydraulic excavator, and the control method comprises the steps that the first output quantity and the change rate of a main pump power adjusting PID control module are determined, the first input quantity of the main pump power adjusting PID control module is the difference value of the set main pump maximum absorption torque and the main pump real-time absorption torque, and the change rate of the first output quantity is the change rate of the main pump power adjusting PID control module; the first target displacement of a main pump is determined based on the pilot pressure of a pilot handle, and when the change rate of the first output quantity is larger than the first preset change rate, the second output quantity of an engine power adjusting PID control module serves as the feed-forward compensation quantity of a main pump power adjusting PID control module; and second target displacement is determined based on the difference value between the first target displacement and the first output quantity after feed-forward compensation is added, and then the main pump is controlled to output hydraulic oil. In this way, the displacement of the main pump is controlled in a feedforward compensation mode, and the shaking condition of the hydraulic excavator caused by frequent adjustment of the power of the main pump by the main pump power adjustment PID control module can be eliminated.
本发明涉及作业机械领域，提供一种液压挖掘机的控制方法、装置和液压挖掘机，包括：确定主泵功率调节PID控制模块的第一输出量及其变化率，主泵功率调节PID控制模块的第一输入量为设定的主泵最大吸收扭矩与主泵实时吸收扭矩的差值，基于先导手柄的先导压力确定主泵的第一目标排量，当第一输出量的变化率大于第一预设变化率时，将发动机功率调节PID控制模块的第二输出量作为主泵功率调节PID控制模块的前馈补偿量；基于第一目标排量与加入前馈补偿后的第一输出量的差值确定第二目标排量，进而控制主泵输出液压油。如此，通过前馈补偿的方式控制主泵排量可以消除因主泵功率调节PID控制模块频繁调节主泵功率带来液压挖掘机的抖动状况。
The invention relates to the field of operation machinery, and provides a control method and device of a hydraulic excavator and the hydraulic excavator, and the control method comprises the steps that the first output quantity and the change rate of a main pump power adjusting PID control module are determined, the first input quantity of the main pump power adjusting PID control module is the difference value of the set main pump maximum absorption torque and the main pump real-time absorption torque, and the change rate of the first output quantity is the change rate of the main pump power adjusting PID control module; the first target displacement of a main pump is determined based on the pilot pressure of a pilot handle, and when the change rate of the first output quantity is larger than the first preset change rate, the second output quantity of an engine power adjusting PID control module serves as the feed-forward compensation quantity of a main pump power adjusting PID control module; and second target displacement is determined based on the difference value between the first target displacement and the first output quantity after feed-forward compensation is added, and then the main pump is controlled to output hydraulic oil. In this way, the displacement of the main pump is controlled in a feedforward compensation mode, and the shaking condition of the hydraulic excavator caused by frequent adjustment of the power of the main pump by the main pump power adjustment PID control module can be eliminated.
本发明涉及作业机械领域，提供一种液压挖掘机的控制方法、装置和液压挖掘机，包括：确定主泵功率调节PID控制模块的第一输出量及其变化率，主泵功率调节PID控制模块的第一输入量为设定的主泵最大吸收扭矩与主泵实时吸收扭矩的差值，基于先导手柄的先导压力确定主泵的第一目标排量，当第一输出量的变化率大于第一预设变化率时，将发动机功率调节PID控制模块的第二输出量作为主泵功率调节PID控制模块的前馈补偿量；基于第一目标排量与加入前馈补偿后的第一输出量的差值确定第二目标排量，进而控制主泵输出液压油。如此，通过前馈补偿的方式控制主泵排量可以消除因主泵功率调节PID控制模块频繁调节主泵功率带来液压挖掘机的抖动状况。
Control method and device of hydraulic excavator and hydraulic excavator
液压挖掘机的控制方法、装置和液压挖掘机
01.03.2024
Patent
Elektronische Ressource
Chinesisch
IPC:
E02F
Baggern
,
DREDGING
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