Self-learning control method for engine rotate of excavator based on double closed-loop PID method(PDF)
长安大学学报（自然科学版）[ISSN:1006-6977/CN:61-1281/TN]
- Issue:
- 2016年04期
- Page:
- 111-118
- Research Field:
- 汽车与机械工程
- Publishing date:
Info
- Title:
- Self-learning control method for engine rotate of excavator based on double closed-loop PID method
- Author(s):
- ZHANG Jun; CHEN Si-ru; CAO Ji-xiang; SI Gui-mao; ZHANG Xin-rong; ZHANG Hong-bing
- (1. National Engineering Laboratory for Highway Maintenance Equipment, Chang’an University, Xi’an 710064, Shaanxi, China; 2. Department of Economics and Management, Shaanxi College of Communication Technology, Xi’an 710018, Shaanxi, China)
- Keywords:
- mechanical engineering; excavator; energy saving; PID; engine; throttle motor
- PACS:
- U415.511
- DOI:
- -
- Abstract:
- In order to solve the problems of positioning engine governor and engine speed for different working tasks, this paper analyzed a 21t ZG3210-9 excavator and proposed engine speed setting and control method under different working tasks, taking position of throttle motor and engine speed as feedback parameters for control system. Hersmor G16 PLC controller and linear position feedback throttle motor were employed to construct the engine speed control system. Throttle motor position control model and engine speed control model were designed based on PID method and double closed-loop PID model for engine speed control was established. Output limit method was used to improve engine speed control model. Control experiment was carried on ZG3210-9 excavator, and an experiment parameter monitor system based on CAN bus and LabVIEW was used to monitor the control effect and tune three parameters of PID controller. The results show that motor control system has fast response speed and strong robustness. Position control accuracy of throttle motor eP is less than 0.5%.The optimized PID parameters combination is (5,0.5,0.6). The double closed-loop PID method can realize the control function of positioning engine speed for different working tasks. On this basis, segment PID control strategy under different engine speed errors can significantly reduce control time and improve the stability of engine speed. The total engines study time t is less than 60 s and the engine speed accuracy en is less than 10 r/min. The relationship between throttle motor position and engine speed has good linearity, and its correlation coefficient is more than 0.999, which lays theoretical foundation for the further research of dynamic energy saving of excavator.
Last Update: 2016-07-29