技术领域Technical Field
本发明属于单轨吊机车技术领域，具体涉及了一种柴油机单轨吊制动回收能量的释放控制系统及方法The invention belongs to the technical field of monorail crane locomotives, and specifically relates to a control system and method for releasing energy recovered by braking of a diesel engine monorail crane.
背景技术Background Art
相比其它矿山辅助运输设备，单轨吊在运行速度、运输能力和行驶距离等方面都具有一定的优势。在高负载、大坡度下，柴油机单轨吊在制动时有着巨大的制动能，但大部分能量在机车制动过程以热能的方式损失掉。由于目前对柴油机单轨吊节能系统研究较少，传统的回转能量回收系统多用于液压挖掘机，其原理是通过二次元件将挖掘机回转能量转化成液压能存储于蓄能器中，并通过能量释放阀开启动作对能量进行释放，进而提高系统的节能效率，但是该系统的能量释放方法并未考虑蓄能器内液压油的状态，若蓄能器存储液压油体积较小，蓄能器单独供能无法长时间驱动机车运行，并且蓄能器内液压油压力过高会使得能量释放阀在全打开时，导致单轨吊运行速度会出现大幅度波动的现象，影响驾驶人员的舒适性和机车行驶的安全性。Compared with other mining auxiliary transportation equipment, monorail cranes have certain advantages in terms of operating speed, transportation capacity and driving distance. Under high load and large slope, diesel monorail cranes have huge braking energy when braking, but most of the energy is lost in the form of heat energy during the braking process of the locomotive. Due to the current lack of research on the energy-saving system of diesel monorail cranes, traditional rotary energy recovery systems are mostly used for hydraulic excavators. The principle is to convert the excavator's rotary energy into hydraulic energy through secondary components and store it in the accumulator, and release the energy through the opening action of the energy release valve, thereby improving the energy-saving efficiency of the system. However, the energy release method of this system does not take into account the state of the hydraulic oil in the accumulator. If the volume of hydraulic oil stored in the accumulator is small, the accumulator alone cannot drive the locomotive for a long time, and the excessive pressure of the hydraulic oil in the accumulator will cause the energy release valve to be fully opened, resulting in a large fluctuation in the operating speed of the monorail crane, affecting the comfort of the driver and the safety of the locomotive.
发明内容Summary of the invention
本发明所要解决的技术问题是：提供了一种柴油机单轨吊制动回收能量的释放控制系统及方法，在主泵供能的同时对能量释放阀进行控制，保证了机车运行速度的稳定性。The technical problem to be solved by the present invention is: to provide a control system and method for releasing the energy recovered by braking of a diesel engine monorail crane, to control the energy release valve while the main pump supplies energy, and to ensure the stability of the locomotive running speed.
本发明提供一种柴油机单轨吊制动回收能量的释放控制方法，包括步骤：The present invention provides a method for controlling the release of energy recovered by braking of a diesel engine monorail crane, comprising the steps of:
a)计算速度偏差ve，其计算公式为ve＝vi-vo，vi为设定的运行速度参考曲线，vo为机车实际运行速度；a) Calculate the speed deviation ve , the calculation formula is ve = vi -v o , vi is the set running speed reference curve, vo is the actual running speed of the locomotive;
b)根据系统状态计算蓄能器满足释放条件的压力Psys，并根据蓄能器内液压油压力值Pacc的高低，划分为三类储能等级，当Psys＜Pacc≤λ1Psys时为I级储能；当λ1Psys＜Pacc≤λ2Psys时为II为级储能；当λ2Psys＜Pacc时为III级储能，其中λ1和λ2为储能等级划分系数，1<λ1＜λ2；b) Calculate the pressure Psys of the accumulator that meets the release condition according to the system state, and divide it into three energy storage levels according to the hydraulic oil pressure value Pacc in the accumulator: when Psys < Pacc ≤λ 1 Psys , it is level I energy storage; when λ1 Psys < Pacc ≤ λ2 Psys , it is level II energy storage; when λ2 Psys < Pacc , it is level III energy storage, where λ1 and λ2 are energy storage level division coefficients, 1<λ1 <λ2 ;
c)当蓄能器储能等级为I级时，按照最大程度释放蓄能器内能量；c) When the energy storage level of the accumulator is level I, the energy in the accumulator is released to the maximum extent;
d)当蓄能器储能等级为II级时，当速度偏差ve>0时，按固定比例释放蓄能器内能量，当ve≤0时，停止释放蓄能器内能量；d) When the energy storage level of the accumulator is II, when the speed deviation ve >0, the energy in the accumulator is released at a fixed ratio, and when ve ≤0, the energy release in the accumulator stops;
e)当蓄能器储能等级为III级时，根据速度偏差ve大小按照比例动态释放蓄能器内能量；e) When the energy storage level of the accumulator is level III, the energy in the accumulator is dynamically released in proportion to the speed deviation ve ;
f)当Pacc≤λ2Psys，根据ve变化使主泵在额定转速下动态调节主泵排量；f) When Pacc ≤λ2 Psys , the displacement of the main pump is dynamically adjusted at the rated speed according to the change ofve ;
g)当Pacc>λ2Psys，将参考曲线vi转化为主泵在额定转速下的排量曲线；g) When Pacc >λ2 Psys , convert the reference curvevi into the displacement curve of the main pump at rated speed;
h)重复执行步骤a)至步骤g)，直至完成单轨吊此次任务。h) Repeat steps a) to g) until the monorail crane mission is completed.
进一步的，蓄能器满足释放条件的压力Psys计算公式为Psys＝j(2Fδ+mgrsinθ)/Dm，其中j为压力增益系数，且j>1，取值范围为1.2～1.5，F为驱动轮夹紧力；δ为驱动轮滚阻系数；m为机车质量；g为重力加速度；r为驱动轮半径；θ为运行坡度，当单轨吊上坡运行θ符号为正，否则为负；Dm为二次元件排量。Furthermore, the calculation formula for the pressure Psys of the accumulator that meets the release condition is Psys =j(2Fδ+mgrsinθ)/Dm , where j is the pressure gain coefficient, and j>1, and the value range is 1.2-1.5, F is the clamping force of the driving wheel; δ is the rolling resistance coefficient of the driving wheel; m is the mass of the locomotive; g is the acceleration of gravity; r is the radius of the driving wheel; θ is the running slope, when the monorail crane runs uphill, the sign of θ is positive, otherwise it is negative; Dm is the displacement of the secondary element.
进一步的，储能等级划分系数λ1取值范围为1＜λ1＜1.5、λ2取值范围为1.5≤λ2＜2。Furthermore, the energy storage level division coefficient λ1 has a value range of 1<λ1 <1.5, and the value range of λ2 has a value range of 1.5≤λ2 <2.
进一步的，在步骤d中，按固定比例释放蓄能器内能量为最大程度的0.4～0.7倍。Further, in step d, the energy in the accumulator is released at a fixed ratio of 0.4 to 0.7 times the maximum.
进一步的，在步骤g中，根据参考曲线vi转化的主泵排量Di计算公式为Di＝kDmvi/(2πrn)，其中；k为排量增益系数，取值范围为0.6～0.8；n为主泵额定转速；Dm为二次元件排量。Further, in step g, the main pump displacementDi calculated according to the reference curvevi isDi =kDmvi/ (2πrn), wherein; k is the displacement gain coefficient, ranging from 0.6 to 0.8; n is the rated speed of the main pump; andDm is the secondary element displacement.
进一步的，当Pacc≤Psys，蓄能器不释放能量。Furthermore, when Pacc ≤P sys , the accumulator does not release energy.
进一步的，所述蓄能器通过三位四通比例换向阀控制能量释放，在步骤c中，三位四通比例换向阀按照最大开口释放策略进行能量释放，对三位四通比例换向阀输出固定电流Ii＝Imax，使得三位四通比例换向阀保持最大开口度，其中Imax为三位四通比例换向阀开口度最大的控制电流；在步骤d中，当ve>0时，对三位四通比例换向阀输出电流Ii＝Icon，当ve≤0时，对三位四通比例换向阀不再输出电流，其中Icon为三位四通比例换向阀维持一定开口度的控制电流；在步骤e中，三位四通比例换向阀按照比例换向释放策略进行能量释放，根据ve数值大小，对三位四通比例换向阀动态输出电流Ii＝Idyn，其中Idyn为根据速度偏差ve大小，动态输出的变化控制电流。Further, the accumulator controls energy release through a three-position four-way proportional directional valve. In step c, the three-position four-way proportional directional valve releases energy according to a maximum opening release strategy, and outputs a fixed current Ii =Imax to the three-position four-way proportional directional valve, so that the three-position four-way proportional directional valve maintains a maximum opening degree, wherein Imax is a control current for the three-position four-way proportional directional valve to have a maximum opening degree; in step d, when ve >0, the three-position four-way proportional directional valve outputs a current Ii =Icon , and when ve ≤0, the three-position four-way proportional directional valve no longer outputs current, whereinIcon is a control current for the three-position four-way proportional directional valve to maintain a certain opening degree; in step e, the three-position four-way proportional directional valve releases energy according to a proportional reversing release strategy, and according to the value of ve , the three-position four-way proportional directional valve dynamically outputs a current Ii =Idyn , wherein Idyn is a control current that changes dynamically according to the speed deviation ve .
本发明还提供一种柴油机单轨吊制动回收能量的释放控制系统，包括液压系统和控制系统，所述液压系统主要包括二次元件、主泵、蓄能器、三位四通比例换向阀、单向阀，二次元件的A口同时接主泵的A口和三位四通比例换向阀的B口，二次元件的B口同时接主泵的B口和三位四通比例换向阀的A口，三位四通比例换向阀的P口和T口分别接单项阀的出油口和油箱，单向阀的进油口接蓄能器的出口；所述控制系统主要包括倾角传感器、速度传感器、压力传感器和控制单元，倾角传感器安装于负载用于检测机车运行坡度，速度传感器安装于负载和二次元件之间，用于检测机车运行速度，压力传感器安装于单向阀进口和蓄能器出口之间，用于检测蓄能器内油液压力，控制单元根据传感器反馈信息，对三位四通比例换向阀输出控制信号；The present invention also provides a release control system for the energy recovered by braking of a diesel engine monorail crane, comprising a hydraulic system and a control system, wherein the hydraulic system mainly comprises a secondary element, a main pump, an accumulator, a three-position four-way proportional reversing valve, and a one-way valve, wherein the A port of the secondary element is simultaneously connected to the A port of the main pump and the B port of the three-position four-way proportional reversing valve, the B port of the secondary element is simultaneously connected to the B port of the main pump and the A port of the three-position four-way proportional reversing valve, the P port and the T port of the three-position four-way proportional reversing valve are respectively connected to the oil outlet of the one-way valve and the oil tank, and the oil inlet of the one-way valve is connected to the outlet of the accumulator; the control system mainly comprises an inclination sensor, a speed sensor, a pressure sensor and a control unit, wherein the inclination sensor is installed on the load to detect the running slope of the locomotive, the speed sensor is installed between the load and the secondary element to detect the running speed of the locomotive, the pressure sensor is installed between the inlet of the one-way valve and the outlet of the accumulator to detect the oil pressure in the accumulator, and the control unit outputs a control signal to the three-position four-way proportional reversing valve according to the feedback information of the sensor;
所述控制元件在执行存储器中存储的计算机程序时实现柴油机单轨吊制动回收能量的释放控制方法。The control element implements a release control method for diesel engine monorail crane braking recovery energy when executing a computer program stored in a memory.
与现有技术相比，本发明具有如下有益效果:Compared with the prior art, the present invention has the following beneficial effects:
(1)实际中由于蓄能器存储油液体积较小，单独供能时无法保证单轨吊长时间行驶，本发明通过泵和蓄能器双动力驱动单轨吊运行，实现了制动能的有效利用，避免了蓄能器单独供能时机车续航短的问题。(1) In practice, since the volume of oil stored in the accumulator is small, it is impossible to ensure that the monorail crane can run for a long time when it is powered alone. The present invention drives the monorail crane to run by dual power of a pump and an accumulator, thereby achieving effective utilization of braking energy and avoiding the problem of short locomotive endurance when the accumulator is powered alone.
(2)当蓄能器内存储油液压力过高，在进行能量释放时使得机车运行速度瞬间上升，造成速度波动，本发明在能量释放过程中按照蓄能器内油液压力的高低，对三位四通比例换向阀执行不同的释放策略，避免了能量释放产生的速度冲击，提高了机车运行的平稳性和驾驶人员的舒适性。(2) When the oil pressure stored in the accumulator is too high, the locomotive speed increases instantaneously during energy release, causing speed fluctuations. During the energy release process, the present invention implements different release strategies for the three-position four-way proportional reversing valve according to the oil pressure in the accumulator, thereby avoiding the speed shock caused by energy release and improving the stability of locomotive operation and the comfort of the driver.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为柴油机单轨吊制动回收能量的释放控制系统。Figure 1 shows the release control system of the diesel engine monorail crane's braking energy recovery.
图中：1-二次元件，2-主泵，3-蓄能器，4-压力传感器，5-倾角传感器，6-速度传感器，7-三位四通比例换向阀，8-单向阀。In the figure: 1-secondary element, 2-main pump, 3-accumulator, 4-pressure sensor, 5-tilt sensor, 6-speed sensor, 7-three-position four-way proportional reversing valve, 8-check valve.
图2为本发明的柴油机单轨吊制动回收能量的释放控制方法。FIG2 is a diagram showing a method for controlling the release of energy recovered by braking of a diesel engine monorail crane according to the present invention.
具体实施方式DETAILED DESCRIPTION
下面结合附图和具体实施例对本发明进一步详细说明The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
如图1所示，一种柴油机单轨吊制动回收能量的释放控制系统主要由液压系统和控制系统组成，所述液压系统主要包括二次元件1、主泵2、蓄能器3、三位四通比例换向阀7、单向阀8，二次元件1的A口同时接主泵2的A口和三位四通比例换向阀7的B口，二次元件1的B口同时接主泵2的B口和三位四通比例换向阀7的A口，三位四通比例换向阀7的P口和T口分别接单项阀9的出油口和油箱，单向阀8的进油口接蓄能器3的出口。所述控制系统主要包括压力传感器4、倾角传感器5和速度传感器6，压力传感器4安装于单向阀8进口和蓄能器3出口之间，用于检测蓄能器3内油液压力，倾角传感器5安装于负载用于检测机车运行坡度，速度传感器6安装于负载和二次元件1之间，用于检测机车运行速度，控制单元根据传感器反馈信息对三位四通比例换向阀7输出控制信号。As shown in Figure 1, a diesel engine monorail crane brake recovery energy release control system is mainly composed of a hydraulic system and a control system. The hydraulic system mainly includes a secondary element 1, a main pump 2, an accumulator 3, a three-position four-way proportional reversing valve 7, and a one-way valve 8. The A port of the secondary element 1 is connected to the A port of the main pump 2 and the B port of the three-position four-way proportional reversing valve 7 at the same time, the B port of the secondary element 1 is connected to the B port of the main pump 2 and the A port of the three-position four-way proportional reversing valve 7 at the same time, the P port and the T port of the three-position four-way proportional reversing valve 7 are connected to the oil outlet of the one-way valve 9 and the oil tank respectively, and the oil inlet of the one-way valve 8 is connected to the outlet of the accumulator 3. The control system mainly includes a pressure sensor 4, an inclination sensor 5 and a speed sensor 6. The pressure sensor 4 is installed between the inlet of the one-way valve 8 and the outlet of the accumulator 3 to detect the oil pressure in the accumulator 3. The inclination sensor 5 is installed on the load to detect the running slope of the locomotive. The speed sensor 6 is installed between the load and the secondary element 1 to detect the running speed of the locomotive. The control unit outputs a control signal to the three-position four-way proportional reversing valve 7 according to the sensor feedback information.
其中，P口为主进油口，A口为工作进油口，B口为工作回油口，T口为主回油口。Among them, port P is the main oil inlet, port A is the working oil inlet, port B is the working oil return port, and port T is the main oil return port.
可以理解，在其他实施例中，三位四通比例换向阀可以替换为高性能电液伺服阀。It can be understood that in other embodiments, the three-position four-way proportional directional valve can be replaced by a high-performance electro-hydraulic servo valve.
相应地，结合上述方案，本发明还提供一种柴油机单轨吊制动回收能量的释放控制方法如图2所示，可应用于上述所述能量释放控制系统，以供控制单元执行，所述控制方法包括以下过程：Accordingly, in combination with the above scheme, the present invention also provides a release control method for diesel engine monorail crane braking recovery energy as shown in FIG2, which can be applied to the above energy release control system for execution by the control unit. The control method includes the following process:
a)以图2方向为例，控制单元输出机车运行的参考速度曲线vi同时通过安装于二次元件1上的速度传感器6实时检测机车运行速度vo。参考速度曲线vi为控制单元根据指令及周围环境设定。a) Taking the direction of FIG. 2 as an example, the control unit outputs the reference speed curvevi of the locomotive and detects the locomotive running speed vo in real time through the speed sensor 6 installed on the secondary element 1. The reference speed curvevi is set by the control unit according to the instruction and the surrounding environment.
b)控制单元计算出速度偏差ve，其计算公式为ve＝vi-vo，利用安装于蓄能器3出口的压力传感器4b) The control unit calculates the speed deviation ve , which is calculated as ve = vi - vo , using the pressure sensor 4 installed at the outlet of the accumulator 3
检测蓄能器3内液压油的压力值Pacc，并根据当前单轨吊工况和系统状态计算蓄能器3满足释放条件的压力Psys。The pressure value Pacc of the hydraulic oil in the accumulator 3 is detected, and the pressure Psys of the accumulator 3 that satisfies the release condition is calculated according to the current monorail crane working condition and system status.
c)当Pacc≤Psys，控制单元对三位四通比例换向阀输出电流Ii＝0，蓄能器不释放能量。c) When Pacc ≤Psys , the control unit outputs a current Ii = 0 to the three-position four-way proportional directional valve, and the accumulator does not release energy.
d)根据蓄能器3内存储液压油压力值Pacc的高低，将其划分为三类储能等级，当Psys＜Pacc≤λ1Psys时为I级储能；当λ1Psys＜Pacc≤λ2Psys时为II为级储能；当λ2Psys＜Pacc时为III级储能，其中λ1和λ2为储能等级划分系数(1<λ1＜λ2)；d) According to the hydraulic oil pressure value Pacc stored in the accumulator 3, it is divided into three energy storage levels: when Psys <Pacc ≤λ1 Psys , it is level I energy storage; when λ1 Psys <Pacc ≤λ2 Psys , it is level II energy storage; when λ2 Psys <Pacc , it is level III energy storage, where λ1 and λ2 are energy storage level division coefficients (1<λ1 <λ2 );
e)当蓄能器3储能等级为I级时，三位四通比例换向阀7按照最大开口释放策略进行能量释放，控制单元对三位四通比例换向阀7输出固定电流Ii＝Imax，使得三位四通比例换向阀8保持最大开口度，其中Imax为三位四通比例换向阀开口度最大的控制电流；e) When the energy storage level of the accumulator 3 is level I, the three-position four-way proportional directional valve 7 releases energy according to the maximum opening release strategy, and the control unit outputs a fixed current Ii =Imax to the three-position four-way proportional directional valve 7, so that the three-position four-way proportional directional valve 8 maintains the maximum opening degree, wherein Imax is the control current of the three-position four-way proportional directional valve with the maximum opening degree;
f)当蓄能器3储能等级为II级时，三位四通比例换向阀7按照通断切换释放策略进行能量释放，通过判断ve的正负进行开关动作，当ve>0时，控制单元输出电流Ii＝Icon，当ve≤0时，控制单元不再输出电流，其中Icon为三位四通比例换向阀维持一定开口度的控制电流；f) When the energy storage level of the accumulator 3 is level II, the three-position four-way proportional reversing valve 7 releases energy according to the on-off switching release strategy, and performs switching actions by judging the positive and negative values of ve . When ve >0, the control unit outputs a current Ii =Icon . When ve ≤0, the control unit no longer outputs current, whereIcon is the control current for the three-position four-way proportional reversing valve to maintain a certain opening degree;
g)当蓄能器4储能等级为III级时，三位四通比例换向阀7按照比例换向释放策略进行能量释放，PID控制器根据ve数值大小，动态输出电流Ii＝Idyn，其中Idyn为PID控制根据速度偏差ve大小，g) When the energy storage level of the accumulator 4 is level III, the three-position four-way proportional reversing valve 7 releases energy according to the proportional reversing release strategy. The PID controller dynamically outputs the current Ii =Idyn according to the value ofve , where Idyn is the value of the speed deviationve of the PID control.
动态输出的变化控制电流；Dynamic output changes control current;
h)当Pacc≤λ2Psys，PID控制器根据ve变化使得主泵在额定转速下动态调节主泵排量；h) When Pacc ≤λ2 Psys , the PID controller dynamically adjusts the displacement of the main pump at the rated speed according to the change ofve ;
i)当Pacc>λ2Psys，将参考曲线vi转化为主泵在额定转速下的排量曲线，并使得主泵排量为Di；i) When Pacc >λ2 Psys , the reference curvevi is converted into the displacement curve of the main pump at the rated speed, and the displacement of the main pump is set to Di ;
j)未完成单轨吊此次任务时，重新执行步骤a)至步骤i)，直至完成单轨吊此次任务。j) When the monorail crane task is not completed, re-execute steps a) to i) until the monorail crane task is completed.
进一步的，蓄能器满足释放条件的压力Psys计算公式为Psys＝j(2Fδ+mgrsinθ)/Dm，其中j为压力增益系数，且j>1，取值范围为1.2～1.5，F为驱动轮夹紧力；δ为驱动轮滚阻系数；m为机车质量；g为重力加速度；r为驱动轮半径；θ为运行坡度，当单轨吊上坡运行θ符号为正，否则为负；Dm为二次元件排量。Furthermore, the calculation formula for the pressure Psys of the accumulator that meets the release condition is Psys =j(2Fδ+mgrsinθ)/Dm , where j is the pressure gain coefficient, and j>1, and the value range is 1.2-1.5, F is the clamping force of the driving wheel; δ is the rolling resistance coefficient of the driving wheel; m is the mass of the locomotive; g is the acceleration of gravity; r is the radius of the driving wheel; θ is the running slope, when the monorail crane runs uphill, the sign of θ is positive, otherwise it is negative; Dm is the displacement of the secondary element.
进一步的，储能等级划分系数λ1取值范围为1＜λ1＜1.5、λ2取值范围为1.5≤λ2＜2。Furthermore, the energy storage level division coefficient λ1 has a value range of 1<λ1 <1.5, and the value range of λ2 has a value range of 1.5≤λ2 <2.
进一步的，在步骤f中，三位四通比例换向阀维持一定开口度的控制电流Icon取值范围为Icon＝(0.4～0.7)Imax。Furthermore, in step f, the control current Icon for maintaining a certain opening degree of the three-position four-way proportional reversing valve has a value range of Icon = (0.4-0.7) Imax .
进一步的，在步骤i中，根据参考曲线vi转化的主泵排量Di计算公式为Di＝kDmvi/(2πrn)，其中；k为排量增益系数，取值范围为0.6～0.8；n为主泵额定转速；Dm为二次元件排量。Further, in step i, the main pump displacementDi calculated according to the reference curvevi isDi =kDmvi /(2πrn), wherein; k is the displacement gain coefficient, ranging from 0.6 to 0.8; n is the rated speed ofthe main pump; andDm is the secondary element displacement.
以上所述仅为本发明的实例性实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above description is only an exemplary embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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| CN202310761434.2ACN116677676B (en) | 2023-06-26 | 2023-06-26 | Release control system and method for braking recovery energy of diesel engine monorail crane |
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| CN202310761434.2ACN116677676B (en) | 2023-06-26 | 2023-06-26 | Release control system and method for braking recovery energy of diesel engine monorail crane |
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