CN114687870A - Vehicle-mounted power take-off generator set control system and control method - Google Patents
Vehicle-mounted power take-off generator set control system and control method Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/06—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving electric generators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D1/00—Controlling fuel-injection pumps, e.g. of high pressure injection type
- F02D1/02—Controlling fuel-injection pumps, e.g. of high pressure injection type not restricted to adjustment of injection timing, e.g. varying amount of fuel delivered
- F02D1/04—Controlling fuel-injection pumps, e.g. of high pressure injection type not restricted to adjustment of injection timing, e.g. varying amount of fuel delivered by mechanical means dependent on engine speed, e.g. using centrifugal governors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
- F02D31/002—Electric control of rotation speed controlling air supply
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
- F02D31/007—Electric control of rotation speed controlling fuel supply
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/0002—Controlling intake air
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/18—Circuit arrangements for generating control signals by measuring intake air flow
- F02D41/182—Circuit arrangements for generating control signals by measuring intake air flow for the control of a fuel injection device
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/04—Control effected upon non-electric prime mover and dependent upon electric output value of the generator
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/14—Arrangements for controlling electric generators for the purpose of obtaining a desired output by variation of field
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2101/00—Special adaptation of control arrangements for generators
- H02P2101/25—Special adaptation of control arrangements for generators for combustion engines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2101/00—Special adaptation of control arrangements for generators
- H02P2101/45—Special adaptation of control arrangements for generators for motor vehicles, e.g. car alternators
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Abstract
The invention discloses a control system and a control method for a vehicle-mounted power take-off generator set, wherein a generator and an engine are controlled by a control host with a display interface and a control console, the engine and a gear box are arranged on a vehicle chassis, the gear box outputs power to a power take-off port, a speed regulator is arranged on the engine, the speed regulator is controlled by a speed regulating actuator, a transmission rod of the speed regulating actuator is physically locked with an oil injection pull rod of the engine, an output shaft of the power take-off port is connected to an electromagnetic clutch through a universal transmission shaft and then connected to a rotor shaft of the generator, a speed regulator switch is arranged on the control host, and a magnet exciting coil and a power supply output interface are arranged on the generator. The invention has the advantages that: the power of the vehicle engine is utilized, the chassis power take-off port is connected with the generator set, a three-phase alternating current power supply is generated to supply power for each power utilization system of the vehicle, the use of a mobile generator is reduced, and the maneuvering performance and the equipment guarantee capacity of the vehicle are greatly improved.
Description
Technical Field
The invention relates to a power supply system in the field of ground energy equipment, in particular to a control system and a control method for a vehicle-mounted power take-off generator set, and belongs to the field of power supply of vehicle engines.
Background
Because the traditional battery inverter system cannot adapt to severe environments such as open fields due to large battery size and long charging time, the diesel generator set occupies valuable position space of mobile machinery, and the popularization is not facilitated. The power taking mode of the power taking generator in the vehicle-mounted power taking power generation system has two types: one is to take power at a power take-off to generate power; the other is to directly take power at the output shaft of the engine to generate power. The method for power take-off power generation at the power take-off port is characterized in that a power take-off port of a vehicle chassis is connected with a generator set, and a three-phase alternating current power supply is generated to supply power for each power system of the vehicle.
The invention discloses a device which is called as a dragging device of a novel vehicle-mounted power taking and generating system under the application number of 201810124116.4 and can improve the generating performance of a generator. The actual running process of the vehicle is divided into a parking state and a marching state, the rotating speeds of the engines in the two states are different, and in the marching state, the rotating speed of the engine is in variable-speed running, and the generator generates voltage fluctuating in a certain range interval. In a parking state, the rotating speed of an engine is constant, a generator set generates stable three-phase alternating current through a control system, the device does not carry out engine speed regulation and generator voltage regulation, the problems of accurate speed regulation of the parking engine and stable voltage regulation of a travelling generator are not solved, and a control system and a control method for stable voltage regulation are provided.
Disclosure of Invention
The invention provides a control system and a control method aiming at the defects of the power generation of the existing vehicle-mounted power take-off generator set, and the control system and the control method can be used for carrying out accurate speed regulation on a parking engine and stable voltage regulation on a traveling generator.
The control system and the control method of the vehicle-mounted power takeoff generator set are characterized in that a generator and an engine are controlled by a control host with a display interface and a control console, the engine and a gear box are installed on a vehicle chassis, the gear box outputs power to a power takeoff, a speed regulator is installed on the engine and is controlled by a speed regulating actuator, a transmission rod of the speed regulating actuator is physically locked with an oil injection pull rod of the engine, an output shaft of the power takeoff is connected to an electromagnetic clutch through a universal transmission shaft and then connected to a rotor shaft of the generator, a speed regulator switch is arranged on the control host, and a magnet exciting coil and a power supply output interface are arranged on the generator.
And further optimizing, wherein the engine rotating speed signal is fed back to the control host by the non-contact type eddy current displacement sensor.
Further optimization, the control host outputs PWM control pulse to the excitation power supply converter after receiving the power generation signal and the output voltage and current signals of the generator, and the excitation power supply converter modulates and outputs different excitation currents according to the PWM signals provided by the host, so that the output voltage of the generator is changed.
And further optimizing, wherein the displacement detection of the engine speed regulation actuator adopts a high-precision hysteresis extension displacement sensor to directly measure or adopts a rotary encoder to indirectly measure.
Further optimize, the generator on be provided with axle vibration monitoring sensor and temperature sensor.
A control method of a vehicle-mounted power take-off generator set,
A. the method comprises the steps that a 'speed governor switch' is arranged on a console of a vehicle control host, the 'speed governor switch' on the console is closed in a parking state, the control host automatically adjusts the rotating speed to a preset rotating speed after receiving a parking signal, then the 'power takeoff generator power supply' switch is closed, a generator set works, and the voltage is automatically adjusted to a set value through speed regulation;
B. in a driving state, a speed regulation actuator of the engine is separated from a driving accelerator, and the automatic speed regulation of the engine fails; closing a power take-off generator power supply switch, controlling a host to send a control signal to a generator, and outputting three-phase alternating-current voltage by the generator for a system to use;
C. the control signal compatible with the vehicle ECU is utilized to transmit a rotating speed signal to be regulated and controlled to the ECU, and the ECU automatically adjusts the opening of a throttle valve according to the signal size, so that the air inflow of the engine is adjusted;
D. keeping the rotating speed unchanged, and changing the output voltage of the power take-off generator by adjusting the magnetic flux of the magnet exciting coil;
E. after receiving the power generation signal and the output voltage and current signals of the generator, the excitation power supply converter outputs PWM control pulses to the excitation power supply converter, and the excitation power supply converter modulates and outputs different excitation currents according to the PWM signals provided by the host, so that the output voltage of the generator is changed.
Further optimizing, the oxygen content sensor and the air quantity sensor of the vehicle detect the change of air inflow, and simultaneously control the change of the oil injection quantity of the engine, and finally can control the oil mist quantity injected into the cylinder.
The rotation speed signal of the engine is fed back to the control host, the control host rapidly sends out a speed regulation signal, the speed regulation actuator converts the speed regulation signal into mechanical torque, the torque acts on an oil injection pull rod of the engine and realizes accurate control of the position of an accelerator together with an engine accelerator return spring, so that the oil injection quantity of an oil injection pump is adjusted, the rotation speed of the engine is stabilized at a set rotation speed, and meanwhile, the rotation angle of the accelerator is fed back to the control host through a sensor to form a double closed loop of the rotation speed and the position of the accelerator.
And further optimizing, after the rotating speed signal of the engine is calculated by a PID algorithm I and a PID algorithm II, the speed regulating signal is output to a speed regulating actuator.
Further optimizing, the first PID algorithm is a critical proportion method, and the formula is as follows:
err(t)is the deviation err(t)＝i(t)-o(t)Wherein i(t)As an input quantity, o(t)Is the output quantity;
Tiis the integration time; t isDIs the differential time; k is a radical of formulapIs a proportionality coefficient of u(t)Is a rotating speed signal;
the PID algorithm II is an incremental PID control algorithm, and the formula is as follows:
u(k)＝u(k-1)+Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-2e(k-1)+e(k-2)]
wherein KpIs a proportionality coefficient, KiIs an integral coefficient, KdIs a differential coefficient; e (k) is the error between the actual output and the expected value of the system; u (k) is the output of the controller.
The invention has the advantages that: 1. the power of the vehicle engine is utilized, the chassis power take-off port is connected with the generator set, a three-phase alternating current power supply is generated to supply power for each power utilization system of the vehicle, the use of a mobile generator is reduced, and the maneuvering performance and the equipment guarantee capacity of the vehicle are greatly improved.
2. And dynamically regulating the output voltage within a specified range. The fluctuation range of the rotating speed is large in the running process of the vehicle, a dynamic control algorithm is researched, and the voltage is effectively controlled to be stable.
3. A parking power generation stability control system under the condition of a multi-link transmission mechanism is researched. According to the actual vehicle structure, mechanical energy is transmitted from an engine to a generator rotor, a plurality of clutching, speed changing and transmission links are needed, and each link has a change of mechanical characteristics, so that compared with a conventional diesel generator set, the output characteristics of power takeoff and power generation and the mechanical characteristics of a prime motor have a larger difference.
4. The rotating speed adjusting method and the rotating speed converting method of the automobile engine in two running states of running and parking are researched. The functions of driving accelerator and parking speed regulation are required to be independent and not influenced mutually, and the functions can be automatically switched by one key.
Drawings
FIG. 1 is a schematic block diagram of a vehicle-mounted power take-off generator set control system and method.
Fig. 2 is a schematic structural diagram of a pneumatic valve device of a control system and a control method of a vehicle-mounted power take-off generator set.
FIG. 3 is a table of P, P/I, P/I/D parameters.
FIG. 4 is a graph of P, P/I, P/I/D.
Fig. 5 is a structure diagram of a three-layer BP neural network.
Detailed Description
The following further describes a control system and a control method of the vehicle-mounted power take-off generator set with reference to the accompanying drawings.
The control system of the vehicle-mounted power take-off generator set mainly comprises three functional blocks, namely engine speed control, generator voltage control and upper computer parameter monitoring. The vehicle is divided into a parking state and a marching state, the engine rotating speed is different in the two states, in the marching state, the engine rotating speed is in variable speed operation, and the generator generates voltage fluctuating in a certain range interval. Under the parking state, the engine speed is constant, and the generator set generates stable three-phase alternating current through the control system.
The control system and the control method mainly solve the power supply technology of the vehicle in two states of parking and marching, the power take-off generator set is controlled by the excitation signal output by the control system to output controllable three-phase alternating-current voltage, and simultaneously, all the operation parameters of the generator set can be visually displayed on an interface of the control system of the upper computer. The upper computer is also provided with a CAN bus communication interface which CAN be interconnected with a superior monitoring system and upload the running state parameters of the generator set. When the system operates, signals such as rotating speed, voltage, current, temperature, displacement, switching instructions, parking state and the like are collected to an upper computer through various sensors to be subjected to centralized processing, display and uploading.
The vehicle-mounted power take-off generator set control system is characterized in that a parking engine speed regulating device and a speed regulating switch are additionally arranged on the basis of an original vehicle, the rotating speed of the engine is stabilized at 1500rpm, and a stable power source is provided for a generator set. The power take-off port is connected with the generator shaft through the universal transmission shaft and the electromagnetic clutch, and when the generator set does not need to work, the control system can send a signal to the electromagnetic clutch to disconnect the power of the generator rotor from the output shaft of the power take-off port. And other power systems of the vehicle are ensured to be stable.
The control system of the vehicle-mounted power takeoff generator set is characterized in that a generator and an engine are controlled by a control host with a display interface and a control console, the engine and a gear box are installed on a vehicle chassis, the gear box outputs power to a power takeoff, a speed regulator is installed on the engine and controlled by a speed regulating actuator, a transmission rod of the speed regulating actuator is physically locked with an oil injection pull rod of the engine, an output shaft of the power takeoff is connected to an electromagnetic clutch through a universal transmission shaft and then connected to a rotor shaft of the generator, a speed regulator switch is arranged on the control host, and a magnet exciting coil and a power supply output interface are arranged on the generator.
The engine speed signal is fed back to the control host by the non-contact eddy current displacement sensor.
The control host outputs PWM control pulse to the excitation power supply converter after receiving the power generation signal and the output voltage and current signal of the generator, and the excitation power supply converter modulates and outputs different excitation currents according to the PWM signal provided by the host, so that the output voltage of the generator is changed.
The displacement detection of the engine speed regulation actuator adopts a high-precision hysteresis extension displacement sensor to directly measure or adopts a rotary encoder to indirectly measure. The generator is provided with a shaft vibration monitoring sensor and a temperature sensor.
The control method of the vehicle-mounted power take-off generator set is characterized by comprising the following steps:
A. the method comprises the steps that a 'speed governor switch' is arranged on a console of a vehicle control host, the 'speed governor switch' on the console is closed in a parking state, the control host automatically adjusts the rotating speed to a preset rotating speed after receiving a parking signal, then the 'power takeoff generator power supply' switch is closed, a generator set works, and the voltage is automatically adjusted to a set value through speed regulation;
B. in a driving state, a speed regulation actuator of the engine is separated from a driving accelerator, and the automatic speed regulation of the engine fails; closing a power take-off generator power supply switch, controlling a main machine to send a control signal to a generator, and then outputting three-phase alternating-current voltage by the generator for a system to use;
C. the control signal compatible with the vehicle ECU is utilized to transmit a rotating speed signal to be regulated and controlled to the ECU, and the ECU automatically adjusts the opening of a throttle valve according to the signal size so as to adjust the air inflow of the engine;
D. keeping the rotating speed unchanged, and changing the output voltage of the power take-off generator by adjusting the magnetic flux of the magnet exciting coil;
E. after receiving the power generation signal and the output voltage and current signals of the generator, the excitation power supply converter outputs PWM control pulses to the excitation power supply converter, and the excitation power supply converter modulates and outputs different excitation currents according to the PWM signals provided by the host, so that the output voltage of the generator is changed.
When the electric generator is parked for generating electricity, the electric generator is required to output a stable three-phase alternating current power supply, the engine is required to output a stable fixed-value rotating speed, and then, a speed regulating device which can manually or automatically regulate the rotating speed of the engine in a parking state is required. Meanwhile, the speed regulating device cannot influence the speed changing process of the vehicle in the running state, so the speed regulating device and the running state need to be interlocked, namely, in the running state, the speed regulating device fails and is disconnected from the physical connection with the original vehicle accelerator connecting rod.
When the vehicle is parked, once the switch is pressed down, the control host of the power generation system receives the speed regulation signal and sends a control signal to the engine speed regulation actuator, and the electromagnetic clutch of the actuator transmission rod is physically locked with the pull rod of the fuel injection pump of the engine, so that the control relation that the driving accelerator control pull rod is connected with the pull rod of the speed regulation actuator in parallel is formed. The rotating speed signal of the engine is fed back to the control host machine by the non-contact type eddy current displacement sensor, the control host machine rapidly sends out a speed regulating signal, the speed regulating signal is converted into mechanical torque proportional to the speed regulating signal by the actuator, and the mechanical torque is acted on the pull rod and is used together with an engine accelerator return spring to realize the accurate position control of the accelerator. Therefore, the fuel injection quantity of the fuel injection pump is adjusted, and the rotating speed of the engine is stabilized at the set rotating speed. Meanwhile, the rotation angle of the accelerator is fed back to the control host through the embedded sensor of the actuator, so that a double closed loop of the rotation speed and the position of the accelerator is formed, and the rotation speed is more accurate and stable.
And after the rotating speed signal of the engine is calculated by the PID algorithm I and the PID algorithm II, the speed regulating signal is output to the speed regulating actuator.
PID algorithm 1: critical ratio method
The PID algorithm controls the controlled quantity through an error signal, and the controller is the summation of three links of proportion, integral and differential.
1. An input quantity of i(t)(ii) a 2. An output of o(t)(ii) a 3. The deviation is err(t)＝i(t)-o(t)
The critical proportionality method is described as follows:
(1) integrating time T of regulatoriIs set to maximum (T)iInfinity), differential time zero (T)d0), the ratio δ is appropriate, the system is put into automatic operation after a period of equilibration operation.
(2) Gradually reducing the proportion delta to obtain a constant amplitude oscillation process, and recording the critical proportion deltakAnd a critical oscillation period TkThe value is obtained.
(3) According to deltakAnd TkThe values are calculated by an empirical formula to obtain the parameters delta and T of the regulatori、TdThe value of (c).
(4) And adjusting the setting parameters of the regulator to the calculated values according to the operation program of P first, I last and D last. If not satisfactory, further adjustments may be made. The P, P/I, P/I/D parameter is shown in FIG. 3, and the curve is shown in FIG. 4.
PID algorithm 2: incremental PID control algorithm
The incremental PID control algorithm is described as follows:
u(k)＝u(k-1)+Kp[e(k)-e(k-1)]+Kie(k)+Kd[e(k)-2e(k-1)+e(k-2)]
in the above formula, Kp, Ki and Kd are respectively proportional, integral and differential coefficients; e (k) is the error between the actual output of the system and the desired value; u (k) is the output of the controller.
The number of input variables of the BP neural network depends on the complexity of a controlled system, and three adjustable parameters of PID correspond to output nodes. Since the output cannot be negative, the output layer activation function takes a non-negative sigmoid function
Sigmoid function with hidden layer taking positive and negative symmetry
Thus, the structure of constructing a three-layer BP network is 3-8-3.
The structure of the designed three-layer BP neural network is shown in figure 5:
in fig. 5, the input and output of the network input layer are:
wherein the input variables of the network are used as inputs to the controller, i.e.
x1＝e(k)-e(k-1)
x2＝e(k)
x3＝e(k)-2e(k-1)+e(k-2)
The input and output of the network hidden layer are as follows:
in the formula, a weighting coefficient is added to the hidden layer; i ═ l, 2, … 8; the superscripts (l), (2) and (3) represent the input layer, the hidden layer and the output layer, respectively.
The input and output of the network output layer are as follows:
in the formula, output nodes of the output layer respectively correspond to three adjustable parameters Kp, Ki and Kd.
Taking the performance index function as:
in general, the weighting coefficients of the network are modified according to a gradient descent method, i.e. the adjustment is searched according to the direction of negative gradient of the weighting coefficients E (k), and an inertia term which makes the search converge rapidly and is globally minimum is added
Where, the bite is the learning rate and a is the inertia coefficient.
And is also provided with
Then there is
Due to the fact that
Unknown, a BP network can be used for establishing an identification model of a controlled object, and the model is used for training a BP network controller so as to solve the problem of derivative terms during weight correction
The calculation of (2). Symbolic function for text approximation
And replacement, thereby simplifying the calculation. The effect of this computational inaccuracy can be compensated for by adjusting the learning rate.
The learning algorithm for the network output layer weighting coefficient obtained by the analysis is as follows:
learning method capable of obtaining hidden layer weighting coefficient in same way
Wherein g '(·) g (x) (1-g (x)), and f' (·) 1-f2(x)。
The controller control algorithm is summarized as follows:
(l) Determining the structure of BP network, i.e. determining the number M of nodes of input layer and the number Q of nodes of hidden layer, and giving the initial value of weighting coefficient of each layer
And
the learning rate η and the inertia coefficient α are selected, where k is 1.
(2) Samples are taken to obtain rink (k) and yout (k), and the time error e (k) is calculated to be rink (k) -yout (k).
(3) And calculating the input and output of each layer of neuron of the neural network NN, wherein the output of the NN output layer is three adjustable parameters KP, Ki and Kd of the PID controller.
(4) The output u (l) of the PID controller is calculated.
(5) Learning neural network, and online adjusting weighting coefficient
And
and realizing the self-adaptive adjustment of PID control parameters.
(6) K is set to k + l, and the process returns to (2).
When the vehicle is in gear or in driving, the electromagnetic clutch mechanically separates the speed regulating actuator from the engine throttle pull rod, and the disengaged actuator does not influence the normal use of the speed regulating mechanism in driving.
The pressure regulating principle of the power takeoff generator is as follows: the output voltage of the power take-off generator is changed by adjusting the magnetic flux of the magnetic poles, namely changing the excitation current, while keeping the rotating speed constant (1500 rpm). After receiving the power generation signal and the output voltage and current signals of the generator, the control host outputs PWM control pulses to the excitation power supply converter through a control algorithm, and the excitation power supply converter modulates and outputs different excitation currents according to the PWM signals provided by the host, so that the output voltage of the generator is changed.
By adopting a high-speed and high-precision data acquisition card and combining the strong data processing capacity of an industrial computer (PXI industrial personal computer), the voltage and current sampling, processing and output processes can be completed in a very short time, and the voltage and current sampling, processing and output processes can be quickly responded and meet the control requirements.
In order to improve the reliability of the excitation power supply converter and avoid the damage of electronic elements caused by vehicle vibration, a resin pouring mode is adopted to solidify and package the PCB and the electronic elements, and a radiator of a power electronic device is enlarged. The operation is reliable, and the device has strong capability of coping with severe environment.
The rotating speed range of the power take-off port is 700rpm-2500rpm, and the power is not less than 80 kW. The output shaft of the power take-off is connected to an electromagnetic clutch through a universal transmission shaft and then connected to a rotor shaft of a generator, power connection and disconnection are completed by means of the action of the electromagnetic clutch, and the electromagnetic clutch is set to be a normally-open type.
Under the driving state, the engine speed regulating actuator is separated from the driving accelerator, and the automatic speed regulation of the engine fails. The power supply switch of the power take-off generator is closed, the electromagnetic clutch of the transmission shaft acts, the control host sends a control signal to the generator, and the generator outputs three-phase alternating-current voltage for the system to use.
And in the parking state, a 'speed regulation switch' of the console is closed, and the control host automatically regulates the rotation speed to 1500rpm after receiving a parking signal. And then the power take-off generator is closed to supply power, the generator set works, and the speed is automatically regulated to output voltage to a set value.
When the generator set has heavy faults in operation, the vehicle is overhauled and the generator set is not required to be put into operation, the transmission shaft electromagnetic clutch disconnects the power connection between the generator set and the engine, and the original performances of the vehicle are not influenced.
The system adopts virtual instrument software LabVIEW to program an upper computer control interface, and the programming software is provided with abundant virtual instruments and visual display controls. The interface is intuitive and friendly, various operating parameters and control states of the generator set can be intuitively displayed, and meanwhile, for the operating data of the generator set, the upper computer can realize practical functions of real-time storage, curve analysis, data export, historical curve query and the like.
The software is programmed with various flexibly applied control algorithms, and can carry out quick response and steady-state response. The perfect software is matched with a high-speed and high-precision multifunctional interface board, the analog quantity sampling rate can reach 1Mbps, and the frequency of an output control signal reaches more than 500 KHz. Has high industrial control performance.
The control system has the functions of equipment self-checking, alarm display, on-line data monitoring and data uploading. The upper computer is provided with a CAN bus interface and CAN be interconnected with the upper level centralized monitoring host computer to upload or receive control instructions.
The engine speed adopts a non-contact eddy current displacement sensor, and a periodic speed signal can be obtained by detecting the radial displacement of the engine rotating shaft or the flywheel gear and the probe.
The displacement detection of the engine speed regulation actuator adopts a high-precision hysteresis expansion displacement sensor to directly measure or adopts a rotary encoder to indirectly measure.
The voltage and current of the output end of the generator are realized by adopting a high-precision closed-loop Hall transformer.
In addition, a shaft vibration monitoring sensor and a temperature sensor are further arranged on the generator set, once mechanical failure occurs in the generator set, dynamic balance damage can be caused, vibration of the main shaft is aggravated, and when the shaft vibration exceeds a set amplitude value, the system sends out an instruction to separate the generator set and display and alarm.
Claims (10)
1. On-vehicle power takeoff generating set control system, generator and engine are by the control host computer control that has display interface and control cabinet, and engine and gear box are installed on vehicle chassis, and the gear box is to power takeoff's output, its characterized in that: the engine is provided with a speed regulator, the speed regulator is controlled by a speed regulating actuator, a transmission rod of the speed regulating actuator is physically locked with an oil injection pull rod of the engine, an output shaft of the power take-off port is connected to an electromagnetic clutch through a universal transmission shaft and then connected to a rotor shaft of the generator, the control host is provided with a speed regulator switch, and the generator is provided with a magnet exciting coil and a power supply output interface.
2. The vehicle-mounted power take-off generator set control system of claim 1, wherein: the engine rotating speed signal is fed back to the control host by the non-contact type eddy current displacement sensor.
3. The vehicle-mounted power take-off generator set control system of claim 1, wherein: the control host outputs PWM control pulse to the excitation power supply converter after receiving the power generation signal and the output voltage and current signal of the generator, and the excitation power supply converter modulates and outputs different excitation currents according to the PWM signal provided by the host, thereby changing the output voltage of the generator.
4. The vehicle-mounted power take-off generator set control system of claim 1, wherein: the displacement detection of the engine speed regulation actuator adopts a high-precision hysteresis extension displacement sensor to directly measure or adopts a rotary encoder to indirectly measure.
5. The vehicle-mounted power take-off generator set control system of claim 1, wherein: the generator is provided with a shaft vibration monitoring sensor and a temperature sensor.
6. The control method of the vehicle-mounted power take-off generator set is characterized by comprising the following steps:
A. the method comprises the following steps that a 'speed governor switch' is arranged on a console of a vehicle control host machine, the 'speed governor switch' on the console is closed in a parking state, the control host machine automatically adjusts the rotating speed to a preset rotating speed after receiving a parking signal, then the 'power takeoff generator power supply' switch is closed, a generator set works, and the speed is automatically adjusted to output voltage to a set value;
B. in a driving state, a speed regulation actuator of the engine is separated from a driving accelerator, and the automatic speed regulation of the engine fails; closing a power take-off generator power supply switch, controlling a main machine to send a control signal to a generator, and then outputting three-phase alternating-current voltage by the generator for a system to use;
C. the control signal compatible with the vehicle ECU is utilized to transmit a rotating speed signal to be regulated and controlled to the ECU, and the ECU automatically adjusts the opening of a throttle valve according to the signal size so as to adjust the air inflow of the engine;
D. keeping the rotating speed unchanged, and changing the output voltage of the power take-off generator by adjusting the magnetic flux of the magnet exciting coil;
E. after receiving the power generation signal and the output voltage and current signals of the generator, the excitation power supply converter outputs PWM control pulses to the excitation power supply converter, and the excitation power supply converter modulates and outputs different excitation currents according to the PWM signals provided by the host, so that the output voltage of the generator is changed.
7. The vehicle-mounted power take-off generator set control method according to claim 6, characterized in that: the oxygen content sensor and the air quantity sensor of the vehicle detect the change of air inflow, and simultaneously control the change of the oil injection quantity of the engine, and finally can control the oil mist quantity injected into the cylinder.
8. The vehicle-mounted power take-off generator set control system and method according to claim 1 or 6, characterized in that: the rotating speed signal of the engine is fed back to the control host, the control host rapidly sends out a speed regulating signal, the speed regulating actuator converts the speed regulating signal into mechanical torque, the torque acts on an oil injection pull rod of the engine and realizes accurate position control of an accelerator together with an accelerator return spring of the engine, so that the oil injection quantity of an oil injection pump is regulated, the rotating speed of the engine is stabilized at a set rotating speed, and meanwhile, the rotating angle of the accelerator is fed back to the control host through a sensor to form a double closed loop of the rotating speed and the position of the accelerator.
9. The vehicle-mounted power take-off generator set control system and method according to claim 8, characterized in that: and after the rotating speed signal of the engine is calculated by the PID algorithm I and the PID algorithm II, the speed regulating signal is output to the speed regulating actuator.
10. The vehicle-mounted power take-off generator set control system and method according to claim 9, characterized in that: the first PID algorithm is a critical proportion method, and the formula is as follows:
err(t)is the deviation err(t)＝i(t)-o(t)Wherein i is(t)As an input quantity, o(t)Is the output quantity;
Tiis the integration time; t isDIs the differential time; k is a radical ofpIs a proportionality coefficient of u(t)Is a rotating speed signal;
the PID algorithm II is an incremental PID control algorithm, and the formula is as follows:
u(k)＝u(k-1)+Kp[e(k)-e(k-1)]+Xie(k)+Kd[e(k)-2e(k-1)+e(k-2)]
wherein KpIs a proportionality coefficient, KiIs an integral coefficient, KdIs a differential coefficient; e (k) is the error between the actual output of the system and the desired value; u (k) is the output of the controller.
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