阅读说明：本技术 一种履带式移动破碎筛分站动力控制系统 (Crawler-type removes broken screening station power control system ) 是由 吴志良 黄珠芹 黄康华 韦衍 周开平 杨庭欧 农景森 于 2021-10-12 设计创作，主要内容包括：本发明涉及一种履带式移动破碎筛分站动力控制系统,包括底座,发动机组固定在底座上,发动机组一端通过皮带轮与发电机组一端相连,发动机组另一端与液力耦合器相连；液力耦合器通过皮带轮带动主机转动；所述发电机组另一端与液压泵相连,电机的电能由发电机组提供；液压控制系统的压力油由液压泵提供。本发明对功率分配更加合理,功率损耗和使用成本低,能够防止发动机带载启动、过载熄火；同时防止发动机转速波动过大导致发电机组损坏及液压系统脉动。(The invention relates to a power control system of a crawler-type mobile crushing and screening station, which comprises a base, wherein an engine unit is fixed on the base, one end of the engine unit is connected with one end of the generator unit through a belt pulley, and the other end of the engine unit is connected with a hydraulic coupler; the hydraulic coupler drives the main machine to rotate through a belt pulley; the other end of the generator set is connected with the hydraulic pump, and the electric energy of the motor is provided by the generator set; the pressure oil of the hydraulic control system is provided by a hydraulic pump. The invention has more reasonable power distribution, low power loss and use cost, and can prevent the engine from being started with load and flameout due to overload; meanwhile, the generator set damage and the hydraulic system pulsation caused by overlarge fluctuation of the rotating speed of the engine are prevented.)

1. A power control system of a crawler-type mobile crushing and screening station comprises a base, an engine unit, a generator set, a hydraulic control system, a hydraulic coupler and an integrated controller; the engine set is fixed on the base, one end of the engine set is connected with one end of the generator set through a belt pulley, and the other end of the engine set is connected with the hydraulic coupler; the hydraulic coupler drives the main machine to rotate through a belt pulley; the other end of the generator set is connected with the hydraulic pump, and the electric energy of the motor is provided by the generator set; the pressure oil of the hydraulic control system is provided by a hydraulic pump; the method is characterized in that:

the engine unit controls the hydraulic coupler through the integrated controller; a torque sensor for detecting output torque is arranged at the power output end of the hydraulic coupler, a rotating speed sensor for monitoring the rotating speed of a crankshaft is arranged on the engine unit, and the torque sensor and the rotating speed sensor are both connected with the integrated controller so as to transmit torque data and rotating speed data to the integrated controller;

the implementation method of the power control system comprises the following steps:

(1) when the power control system is initially started, the integrated controller controls an oil guide pipe inside the hydraulic coupler to guide out working oil inside the working cavity, so that an output shaft of the hydraulic coupler is in a static state; at the moment, the hydraulic coupler has no torque and rotational speed output; the generator set and the engine set rotate synchronously in a no-load way, and the hydraulic control system and the motor do not act, so that the no-load starting of the engine set is ensured, and the loaded starting of the engine set is prevented;

(2) after the rotating speed of the engine is stable, the rotating speed sensor transmits a signal to the integrated controller, and the integrated controller controls an oil guide pipe inside the hydraulic coupler to guide working oil into the working cavity, so that the hydraulic coupler outputs rotating speed and torque to drive the equipment main machine to operate; the generator set generates electricity to provide stable electric energy for the motor; the hydraulic pump provides stable pressure oil for the hydraulic control system;

(3) when the load of the main engine is suddenly increased, the torque sensor transmits a torque sudden change signal of the main engine to the integrated controller, and the integrated controller controls the oil guide pipe inside the hydraulic coupler to adjust the oil quantity of the working cavity of the hydraulic coupler, so that the output rotating speed of the hydraulic coupler is reduced, the output torque of the hydraulic coupler is increased, and the torque of the engine is ensured not to be suddenly increased under the condition that the load of the main engine is suddenly increased.

2. The tracked mobile crushing and screening station power control system of claim 1, wherein the workflow includes the steps of:

(1) initial setting:

setting a torque upper limit value N, and when the actual torque N is greater than the set torque upper limit value N, entering a rotating speed control mode by a program; presetting an initial value F0 of the engine speed in a control program additionally arranged in a controller, setting an actual speed value to be F1, setting an error value to be e, and subtracting F0 from F1 by using e; defining Eff as a linguistic feature point of an input error, and setting the linguistic feature point as a set of 4 elements of [1.. 4], wherein the error of a first acquisition cycle is e1, and the error of a second acquisition cycle is e 2; setting de as the error rate of change, de equal to e1 minus e 2; defining Deff as a language feature point of input error change, setting the language feature point as a set of 4 elements of [1.. 4], and presetting u as an output control quantity; defining Uff as a linguistic feature point of an output control quantity, setting the linguistic feature point as a set of 7 elements of [1.. 7], defining Rule as a fuzzy Rule, and presetting a membership fuzzy Rule table as a 7 multiplied by 7 determinant of [1.. 7,1.. 7 ]; defining an output maximum value Fmax to be 100;

(2) determining the degree of membership of the error value:

step one, if an error value e is larger than the 4 th element of a negative error input characteristic value Eff and is smaller than or equal to the 3 rd element of the negative error input characteristic value Eff, namely-Eff [4] < e ≦ Eff [3], an error membership value Pn is-2, and the first element of an error membership set PF [1] ═ Fmax x (((-Eff [3] -e) ÷ (Eff [4] -Eff [3 ]));

step two, if the error value e is greater than the 3 rd element of the negative error input characteristic value Eff and less than or equal to the 2 nd element of the negative error input characteristic value Eff, namely-Eff [3] < e ≦ Eff [2], the error membership value Pn is-1, and the first element of the error membership set PF [1] ═ Fmax x (((-Eff [2] -e) ÷ (Eff [3] -Eff [2 ]));

step three, if the error value e is greater than the 2 nd element of the negative error input characteristic value Eff and is less than or equal to the 1 st element of the negative error input characteristic value Eff, namely-Eff [2] < e ≦ Eff [1], the error membership value Pn is 0, and the first element of the error membership set PF [1] ═ Fmax x (((-Eff [1] -e) ÷ (Eff [2] -Eff [1 ]));

step four, if the error value e is greater than the 1 st element of the error input characteristic value Eff and less than or equal to the 2 nd element of the error input characteristic value Eff, namely Eff [1] < e ≦ Eff [2], the error membership value Pn is 1, and the first element of the error membership set PF [1] ═ Fmax × ((Eff [2] -e) (Eff [2] -Eff [1 ]));

step five, if the error value e is greater than the 2 nd element of the error input characteristic value Eff and less than or equal to the 3 rd element of the error input characteristic value Eff, namely Eff [2] < e ≦ Eff [3], the error membership value Pn is 2, and the first element PF [1] ═ Fmax × ((Eff [3] -e) (separationof Eff [3] -Eff [2])) of the error membership set;

step six, if the error value e is greater than the 3 rd element of the error input characteristic value Eff and is less than or equal to the 4 th element of the error input characteristic value Eff, namely, Eff [3] < e ≦ Eff [4], the error membership value Pn is 3, and the first element PF [1] ═ Fmax × ((Eff [4] -e) (emf [4] -Eff [3])) of the error membership set;

seventhly, if the error value e is smaller than or equal to the 4 th element of the negative error input characteristic value Eff, namely e is less than or equal to-Eff [4], the error membership value Pn is 2, the first element PF [1] of the error membership set is the maximum output value FMAX, namely PF [1] is FMAX;

step eight, if the error value e is greater than the 4 th element of the error input characteristic value Eff, namely e is greater than Eff [4], the error membership value Pn is 0, and the first element PF [1] of the error membership set is 0;

step nine, a second element PF [2] of the error membership set is equal to Fmax-PF [1 ];

(3) determining the degree of membership of the error change value:

step one, if an error change rate de is larger than the 4 th element of a negative error change input characteristic value Deff and is smaller than or equal to the 3 rd element of the negative error change input characteristic value Deff, namely-Deff [4] < de ≦ Deff [3], an error change value membership value Dn ═ 2, and the first element DF [1] ═ Fmax x (((-Deff [3] -de) ÷ (Deff [4] -Deff [3])) of an error change value membership set;

step two, if the error change rate de is greater than the 3 rd element of the negative error change input characteristic value Deff and is less than or equal to the 2 nd element of the negative error change input characteristic value Deff, namely-Deff [3] < de ≦ Deff [2], the error change value membership value Dn is-1, and the first element of the error change value membership set DF [1] ═ Fmax x (((-Deff [2] -de) ÷ (Deff [3] -Deff [2 ]));

step three, if the error change rate de is greater than the 2 nd element of the negative error change input characteristic value Deff and is less than or equal to the 1 st element of the negative error change input characteristic value Deff, namely-Deff [2] < de ≦ Deff [1], then the error change value membership value Dn is 0, and the first element of the error change value membership set DF [1] ═ Fmax x (((-Deff [1] -de) ÷ (Deff [2] -Deff [1 ]));

step four, if the error change rate de is greater than the 1 st element of the error change input characteristic value Deff and is less than or equal to the 2 nd element of the error change input characteristic value Deff, namely Deff [1] < de ≦ Deff [2], the error change value membership value Dn is 1, and the first element DF [1] ═ Fmax x (((Deff [2] -de) ÷ (Deff [2] -Deff [1])) of the error change value membership set;

step five, if the error change rate de is greater than the 2 nd element of the error change input characteristic value Deff and is less than or equal to the 3 rd element of the error change input characteristic value Deff, namely Deff [2] < de ≦ Deff [3], the error change value membership value Dn is 2, and the first element DF [1] ═ Fmax x (((Deff [3] -de) ÷ (Deff [3] -Deff [2])) of the error change value membership set;

step six, if the error change rate de is greater than the 3 rd element of the error change input characteristic value Deff and is less than or equal to the 4 th element of the error change input characteristic value Deff, namely Deff [3] < de ≦ Deff [4], the error change value membership value Dn is 3, and the first element DF [1] ═ Fmax x (((Deff [4] -de) ÷ (Deff [4] -Deff [3])) of the error change value membership set;

seventhly, if the error change rate de is less than or equal to the 4 th element of the negative error change input characteristic value Deff, namely de is less than or equal to-Deff [4], the error change value membership value Dn is 2, and the first element DF [1] of the error change value membership set is the maximum output value Fmax, namely DF [1] is Fmax;

step eight, if the error change rate de is greater than the 4 th element of the error change input characteristic value Deff, that is, de > Deff [4], the error change value membership value Dn is 0, and the first element DF [1] of the error change value membership set is zero, that is, DF [1] is 0;

step nine, a second element DF [2] of the error variation value membership degree set is equal to Fmax-DF [1 ];

(4) four output validity rules are obtained after using error range optimization:

rule 1, Un [1] ═ rule [ Pn +2, Dn +2 ];

rule 2, Un [2] ═ rule [ Pn +3, Dn +2 ];

rule 3, Un [3] ═ rule [ Pn +2, Dn +3 ];

rule 4, Un [4] ═ rule [ Pn +3, Dn +3 ];

solving the values of the rule 1 to the rule 4 through a fuzzy rule table;

(5) judging an input membership function, and solving a language output membership value:

step one, if PF [1] is less than or equal to DF [1], outputting a first element UF [1] of a membership grade set to be PF [1], otherwise, UF [1] to be DF [1 ];

step two, if PF [2] is less than or equal to DF [1], outputting a second element UF [2] of the membership grade set to PF [2], otherwise, UF [2] to DF [1 ];

step three, if PF [1] is less than or equal to DF [2], outputting a third element UF [3] of the membership grade set to PF [1], otherwise UF [3] to DF [2 ];

step four, if PF [2] is less than or equal to DF [2], outputting a fourth element UF [4] of the membership grade set to PF [2], otherwise UF [4] to DF [2 ];

when Un [1] ═ Un [2], UF [1] > UF [2], then UF [2] ═ 0, otherwise UF [1] ═ 0;

when Un [1] ═ Un [3], UF [1] > UF [3], then UF [3] ═ 0, otherwise UF [1] ═ 0;

when Un [1] ═ Un [4], UF [1] > UF [4], then UF [4] ═ 0, otherwise UF [1] ═ 0;

when Un [2] ═ Un [3], UF [2] > UF [3], UF [3] ═ 0, otherwise UF [2] ═ 0;

when Un [2] ═ Un [4], UF [2] > UF [4], then UF [4] ═ 0, otherwise UF [2] ═ 0;

when Un [3] ═ Un [4], UF [3] > UF [4], then UF [4] ═ 0, otherwise UF [3] ═ 0;

(6) converting the label value of the output membership function into a membership function value:

step one, if a rule 1 is greater than or equal to 0, namely Un [1] is greater than or equal to 0, a function value converted by the rule 1 is equal to a numerical value of an element corresponding to a numerical value of a fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 1, namely Un [1] ═ UFF [ Un [1] ], otherwise, the function value converted by the rule 1 is equal to a negative value of an element numerical value of a negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 1, namely Un [1] ═ UFF [ -Un [1] ];

step two, if the rule 2 is greater than or equal to 0, namely Un [2] is greater than or equal to 0, the function value converted by the rule 2 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 2, namely Un [2] ═ UFF [ Un [2] ], otherwise, the function value converted by the rule 1 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 2, namely Un [2] ═ UFF [ -Un [2] ];

step three, if the rule 3 is greater than or equal to 0, namely Un [3] is greater than or equal to 0, the function value converted by the rule 3 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 3, namely Un [3] ═ UFF [ Un [3] ], otherwise, the function value converted by the rule 1 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 3, namely Un [3] ═ UFF [ -Un [3] ];

step four, if the rule 4 is greater than or equal to 0, namely Un [4] is greater than or equal to 0, the function value converted by the rule 4 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the rule 4 corresponding to the output quantity characteristic value UFF, namely Un [4] ═ UFF [ Un [4] ], otherwise, the function value converted by the rule 4 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the rule 4 corresponding to the output quantity characteristic value UFF, namely Un [4] ═ UFF [ -Un [4] ];

(7) calculating a membership function value and then calculating an actual output value U:

defining intermediate variable 1 as Temp 1 and intermediate variable 2 as Temp 2, then Temp 1 ═ UF [1] × Un [1] + UF [2] × Un [2] + UF [3] × Un [3] + UF [4] × Un [4 ]; temp 2 ═ UF [1] + UF [2] + UF [3] + UF [4 ]; and the actual output value U is equal to the intermediate variable 1 divided by the intermediate variable 2, namely U is Temp 1/Temp 2, and after the actual output value is obtained, the output value U is converted into a controller output analog quantity so as to control the liquid level height of the clutch oil tank.

Technical Field

The invention belongs to the field of crushing and screening equipment, and particularly relates to a power control system of a crawler-type mobile crushing and screening station.

Background

The movable crushing and screening station is efficient crushing and screening equipment, has the advantages of flexibility in maneuverability, high working efficiency and the like, and is widely applied to operation processes of various quarries, building demolition waste, mine operation and the like at present.

The power system of the existing crushing and screening station generally adopts the following two modes:

first, the engine drives the hydraulic pump to provide power to the hydraulic system, and all the actions of the whole equipment are driven by the hydraulic system. The hydraulic component of the power system has high cost, high requirement on the professional of a user and difficult maintenance; the energy consumption is high, and the use cost is high; the energy requirement and energy loss are relatively large. When the hydraulic system element is in failure, the engine is easily shut down and flameout; when the load of the main engine changes suddenly, the hydraulic system can generate hydraulic impact, so that the hydraulic pipeline is easy to explode, and the danger coefficient is high.

Secondly, the end part of the engine is used for taking power to drive the generator to generate power, and the generator is used for providing electric energy for the equipment motor and the electric stick; the motor drives the hydraulic pump to provide power for the hydraulic system, and the motor drives the host machine to work; the electric rod drives the equipment conveyer belt to work. The power system has more power elements, higher energy requirement and energy loss, and easy overload of the motor when the load of the main machine changes suddenly.

Disclosure of Invention

The invention aims to provide a power control system of a crawler-type mobile crushing and screening station, which aims to solve at least one of the technical problems in the prior art.

The invention provides a power control system of a crawler-type mobile crushing and screening station, which comprises a base, an engine unit, a generator set, a hydraulic control system, a hydraulic coupler and an integrated controller, wherein the engine unit is arranged on the base; the engine set is fixed on the base, one end of the engine set is connected with one end of the generator set through a belt pulley, and the other end of the engine set is connected with the hydraulic coupler; the hydraulic coupler drives the main machine to rotate through a belt pulley; the other end of the generator set is connected with the hydraulic pump, and the electric energy of the motor is provided by the generator set; the pressure oil of the hydraulic control system is provided by a hydraulic pump;

the engine unit controls the hydraulic coupler through the integrated controller; a torque sensor for detecting output torque is arranged at the power output end of the hydraulic coupler, a rotating speed sensor for monitoring the rotating speed of a crankshaft is arranged on the engine unit, and the torque sensor and the rotating speed sensor are both connected with the integrated controller so as to transmit torque data and rotating speed data to the integrated controller;

the implementation method of the power control system comprises the following steps:

(1) when the power control system is initially started, the integrated controller controls an oil guide pipe inside the hydraulic coupler to guide out working oil inside the working cavity, so that an output shaft of the hydraulic coupler is in a static state; at the moment, the hydraulic coupler has no torque and rotational speed output; the generator set and the engine set rotate synchronously in a no-load way, and the hydraulic control system and the motor do not act, so that the no-load starting of the engine set is ensured, and the loaded starting of the engine set is prevented;

(2) after the rotating speed of the engine is stable, the rotating speed sensor transmits a signal to the integrated controller, and the integrated controller controls an oil guide pipe inside the hydraulic coupler to guide working oil into the working cavity, so that the hydraulic coupler outputs rotating speed and torque to drive the equipment main machine to operate; the generator set generates electricity to provide stable electric energy for the motor; the hydraulic pump provides stable pressure oil for the hydraulic control system;

(3) when the load of the main engine is suddenly increased, the torque sensor transmits a torque sudden change signal of the main engine to the integrated controller, and the integrated controller controls the oil guide pipe inside the hydraulic coupler to adjust the oil quantity of the working cavity of the hydraulic coupler, so that the output rotating speed of the hydraulic coupler is reduced, the output torque of the hydraulic coupler is increased, and the torque of the engine is ensured not to be suddenly increased under the condition that the load of the main engine is suddenly increased.

Further, the work flow of the power control system comprises the following steps:

(1) initial setting:

setting a torque upper limit value N, and when the actual torque N is greater than the set torque upper limit value N, entering a rotating speed control mode by a program; presetting an initial value F0 of the engine speed in a control program additionally arranged in a controller, setting an actual speed value to be F1, setting an error value to be e, and subtracting F0 from F1 by using e; defining Eff as a linguistic feature point of an input error, and setting the linguistic feature point as a set of 4 elements of [1.. 4], wherein the error of a first acquisition cycle is e1, and the error of a second acquisition cycle is e 2; setting de as the error rate of change, de equal to e1 minus e 2; defining Deff as a language feature point of input error change, setting the language feature point as a set of 4 elements of [1.. 4], and presetting u as an output control quantity; defining Uff as a linguistic feature point of an output control quantity, setting the linguistic feature point as a set of 7 elements of [1.. 7], defining Rule as a fuzzy Rule, and presetting a membership fuzzy Rule table as a 7 multiplied by 7 determinant of [1.. 7,1.. 7 ]; defining an output maximum value Fmax to be 100;

(2) determining the degree of membership of the error value:

step one, if an error value e is larger than the 4 th element of a negative error input characteristic value Eff and is smaller than or equal to the 3 rd element of the negative error input characteristic value Eff, namely-Eff [4] < e ≦ Eff [3], an error membership value Pn is-2, and the first element of an error membership set PF [1] ═ Fmax x (((-Eff [3] -e) ÷ (Eff [4] -Eff [3 ]));

step two, if the error value e is greater than the 3 rd element of the negative error input characteristic value Eff and less than or equal to the 2 nd element of the negative error input characteristic value Eff, namely-Eff [3] < e ≦ Eff [2], the error membership value Pn is-1, and the first element of the error membership set PF [1] ═ Fmax x (((-Eff [2] -e) ÷ (Eff [3] -Eff [2 ]));

step three, if the error value e is greater than the 2 nd element of the negative error input characteristic value Eff and is less than or equal to the 1 st element of the negative error input characteristic value Eff, namely-Eff [2] < e ≦ Eff [1], the error membership value Pn is 0, and the first element of the error membership set PF [1] ═ Fmax x (((-Eff [1] -e) ÷ (Eff [2] -Eff [1 ]));

step four, if the error value e is greater than the 1 st element of the error input characteristic value Eff and less than or equal to the 2 nd element of the error input characteristic value Eff, namely Eff [1] < e ≦ Eff [2], the error membership value Pn is 1, and the first element of the error membership set PF [1] ═ Fmax × ((Eff [2] -e) (Eff [2] -Eff [1 ]));

step five, if the error value e is greater than the 2 nd element of the error input characteristic value Eff and less than or equal to the 3 rd element of the error input characteristic value Eff, namely Eff [2] < e ≦ Eff [3], the error membership value Pn is 2, and the first element PF [1] ═ Fmax × ((Eff [3] -e) (separationof Eff [3] -Eff [2])) of the error membership set;

step six, if the error value e is greater than the 3 rd element of the error input characteristic value Eff and is less than or equal to the 4 th element of the error input characteristic value Eff, namely, Eff [3] < e ≦ Eff [4], the error membership value Pn is 3, and the first element PF [1] ═ Fmax × ((Eff [4] -e) (emf [4] -Eff [3])) of the error membership set;

seventhly, if the error value e is smaller than or equal to the 4 th element of the negative error input characteristic value Eff, namely e is less than or equal to-Eff [4], the error membership value Pn is 2, the first element PF [1] of the error membership set is the maximum output value FMAX, namely PF [1] is FMAX;

step eight, if the error value e is greater than the 4 th element of the error input characteristic value Eff, namely e is greater than Eff [4], the error membership value Pn is 0, and the first element PF [1] of the error membership set is 0;

step nine, a second element PF [2] of the error membership set is equal to Fmax-PF [1 ];

(3) determining the degree of membership of the error change value:

step one, if an error change rate de is larger than the 4 th element of a negative error change input characteristic value Deff and is smaller than or equal to the 3 rd element of the negative error change input characteristic value Deff, namely-Deff [4] < de ≦ Deff [3], an error change value membership value Dn ═ 2, and the first element DF [1] ═ Fmax x (((-Deff [3] -de) ÷ (Deff [4] -Deff [3])) of an error change value membership set;

step two, if the error change rate de is greater than the 3 rd element of the negative error change input characteristic value Deff and is less than or equal to the 2 nd element of the negative error change input characteristic value Deff, namely-Deff [3] < de ≦ Deff [2], the error change value membership value Dn is-1, and the first element of the error change value membership set DF [1] ═ Fmax x (((-Deff [2] -de) ÷ (Deff [3] -Deff [2 ]));

step three, if the error change rate de is greater than the 2 nd element of the negative error change input characteristic value Deff and is less than or equal to the 1 st element of the negative error change input characteristic value Deff, namely-Deff [2] < de ≦ Deff [1], then the error change value membership value Dn is 0, and the first element of the error change value membership set DF [1] ═ Fmax x (((-Deff [1] -de) ÷ (Deff [2] -Deff [1 ]));

step four, if the error change rate de is greater than the 1 st element of the error change input characteristic value Deff and is less than or equal to the 2 nd element of the error change input characteristic value Deff, namely Deff [1] < de ≦ Deff [2], the error change value membership value Dn is 1, and the first element DF [1] ═ Fmax x (((Deff [2] -de) ÷ (Deff [2] -Deff [1])) of the error change value membership set;

step five, if the error change rate de is greater than the 2 nd element of the error change input characteristic value Deff and is less than or equal to the 3 rd element of the error change input characteristic value Deff, namely Deff [2] < de ≦ Deff [3], the error change value membership value Dn is 2, and the first element DF [1] ═ Fmax x (((Deff [3] -de) ÷ (Deff [3] -Deff [2])) of the error change value membership set;

step six, if the error change rate de is greater than the 3 rd element of the error change input characteristic value Deff and is less than or equal to the 4 th element of the error change input characteristic value Deff, namely Deff [3] < de ≦ Deff [4], the error change value membership value Dn is 3, and the first element DF [1] ═ Fmax x (((Deff [4] -de) ÷ (Deff [4] -Deff [3])) of the error change value membership set;

seventhly, if the error change rate de is less than or equal to the 4 th element of the negative error change input characteristic value Deff, namely de is less than or equal to-Deff [4], the error change value membership value Dn is 2, and the first element DF [1] of the error change value membership set is the maximum output value Fmax, namely DF [1] is Fmax;

step eight, if the error change rate de is greater than the 4 th element of the error change input characteristic value Deff, that is, de > Deff [4], the error change value membership value Dn is 0, and the first element DF [1] of the error change value membership set is zero, that is, DF [1] is 0;

step nine, a second element DF [2] of the error variation value membership degree set is equal to Fmax-DF [1 ];

(4) four output validity rules are obtained after using error range optimization:

rule 1, Un [1] ═ rule [ Pn +2, Dn +2 ];

rule 2, Un [2] ═ rule [ Pn +3, Dn +2 ];

rule 3, Un [3] ═ rule [ Pn +2, Dn +3 ];

rule 4, Un [4] ═ rule [ Pn +3, Dn +3 ];

solving the values of the rule 1 to the rule 4 through a fuzzy rule table;

(5) judging an input membership function, and solving a language output membership value:

step one, if PF [1] is less than or equal to DF [1], outputting a first element UF [1] of a membership grade set to be PF [1], otherwise, UF [1] to be DF [1 ];

step two, if PF [2] is less than or equal to DF [1], outputting a second element UF [2] of the membership grade set to PF [2], otherwise, UF [2] to DF [1 ];

step three, if PF [1] is less than or equal to DF [2], outputting a third element UF [3] of the membership grade set to PF [1], otherwise UF [3] to DF [2 ];

step four, if PF [2] is less than or equal to DF [2], outputting a fourth element UF [4] of the membership grade set to PF [2], otherwise UF [4] to DF [2 ];

when Un [1] ═ Un [2], UF [1] > UF [2], then UF [2] ═ 0, otherwise UF [1] ═ 0;

when Un [1] ═ Un [3], UF [1] > UF [3], then UF [3] ═ 0, otherwise UF [1] ═ 0;

when Un [1] ═ Un [4], UF [1] > UF [4], then UF [4] ═ 0, otherwise UF [1] ═ 0;

when Un [2] ═ Un [3], UF [2] > UF [3], UF [3] ═ 0, otherwise UF [2] ═ 0;

when Un [2] ═ Un [4], UF [2] > UF [4], then UF [4] ═ 0, otherwise UF [2] ═ 0;

when Un [3] ═ Un [4], UF [3] > UF [4], then UF [4] ═ 0, otherwise UF [3] ═ 0;

(6) converting the label value of the output membership function into a membership function value:

step one, if a rule 1 is greater than or equal to 0, namely Un [1] is greater than or equal to 0, a function value converted by the rule 1 is equal to a numerical value of an element corresponding to a numerical value of a fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 1, namely Un [1] ═ UFF [ Un [1] ], otherwise, the function value converted by the rule 1 is equal to a negative value of an element numerical value of a negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 1, namely Un [1] ═ UFF [ -Un [1] ];

step two, if the rule 2 is greater than or equal to 0, namely Un [2] is greater than or equal to 0, the function value converted by the rule 2 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 2, namely Un [2] ═ UFF [ Un [2] ], otherwise, the function value converted by the rule 1 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 2, namely Un [2] ═ UFF [ -Un [2] ];

step three, if the rule 3 is greater than or equal to 0, namely Un [3] is greater than or equal to 0, the function value converted by the rule 3 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 3, namely Un [3] ═ UFF [ Un [3] ], otherwise, the function value converted by the rule 1 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 3, namely Un [3] ═ UFF [ -Un [3] ];

step four, if the rule 4 is greater than or equal to 0, namely Un [4] is greater than or equal to 0, the function value converted by the rule 4 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the rule 4 corresponding to the output quantity characteristic value UFF, namely Un [4] ═ UFF [ Un [4] ], otherwise, the function value converted by the rule 4 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the rule 4 corresponding to the output quantity characteristic value UFF, namely Un [4] ═ UFF [ -Un [4] ];

(7) calculating a membership function value and then calculating an actual output value U:

defining intermediate variable 1 as Temp 1 and intermediate variable 2 as Temp 2, then Temp 1 ═ UF [1] × Un [1] + UF [2] × Un [2] + UF [3] × Un [3] + UF [4] × Un [4 ]; temp 2 ═ UF [1] + UF [2] + UF [3] + UF [4 ]; and the actual output value U is equal to the intermediate variable 1 divided by the intermediate variable 2, namely U is Temp 1/Temp 2, and after the actual output value is obtained, the output value U is converted into a controller output analog quantity so as to control the liquid level height of the clutch oil tank.

Compared with the prior art, the invention has the following remarkable progress:

(1) the control method used by the invention can intelligently monitor and control the liquid level height of the clutch oil tank, thereby reducing the torque output from the engine to the motor and keeping the output rotating speed of the engine to be always maintained at the set rotating speed.

(2) The power control system of the invention has more reasonable power distribution, low power loss and use cost; the protective device can protect a generator set and an engine set, and prevent the engine from being started with load and flameout due to overload; meanwhile, the generator set damage and the hydraulic system pulsation caused by overlarge fluctuation of the rotating speed of the engine are prevented.

Drawings

FIG. 1 is a block diagram of the structural connections of the power control system of the present invention.

Fig. 2 is a schematic structural diagram of the power control system of the present invention.

The reference signs are: 1. base, 2, engine unit, 3, generating set, 4, hydraulic pump, 5, fluid coupling.

Detailed Description

As shown in figures 1 and 2, the invention discloses a power control system of a crawler-type mobile crushing and screening station, which comprises a base 1, an engine unit 2, a generator set 3, a hydraulic control system, a hydraulic coupler 5 and an integrated controller; the engine unit 2 is fixed on the base 1, one end of the engine unit 2 is connected with one end of the generator set 3 through a belt pulley, and the other end of the engine unit 2 is connected with the hydraulic coupler 5; the hydraulic coupler 5 drives the main machine to rotate through a belt pulley; the other end of the generator set 3 is connected with the hydraulic pump 4, and the electric energy of the motor is provided by the generator set 3; the pressure oil of the hydraulic control system is provided by a hydraulic pump 4; the engine unit 2 controls the hydraulic coupler 5 through an integrated controller; a torque sensor for detecting output torque is arranged at the power output end of the hydraulic coupler 5, a rotating speed sensor for monitoring the rotating speed of the crankshaft is arranged on the engine unit 2, and the torque sensor and the rotating speed sensor are both connected with the integrated controller so as to transmit torque data and rotating speed data to the integrated controller.

The implementation method (working principle) of the power control system is as follows:

when the power system is initially started, the integrated controller controls an oil guide pipe inside the hydraulic coupler 5 to guide out working oil inside the working cavity, so that an output shaft of the hydraulic coupler 5 is in a static state; at this time, the hydraulic coupler 5 has no torque and rotational speed output; the generator set 3 and the engine set 2 rotate synchronously in a no-load mode, and the hydraulic control system and the motor do not act, so that the no-load starting of the engine set 2 is guaranteed, and flameout, engine stewing and the like caused by the loaded starting of the engine set 2 are effectively prevented.

After the rotating speed of the engine is stable, the stable rotating speed of the engine can be set to 1500r/min, the rotating speed sensor transmits signals to the integrated controller, and the integrated controller controls the oil guide pipe inside the hydraulic coupler 5 to guide the working oil into the working cavity, so that the hydraulic coupler 5 outputs the rotating speed and the torque to drive the equipment main machine to operate. The generator set 3 generates electricity to provide stable electric energy for the motor; the hydraulic pump 4 supplies the hydraulic control system with stable pressure oil.

When the load of the main engine is suddenly increased, the torque sensor transmits a main engine torque sudden change signal to the integrated controller, and the integrated controller controls an oil guide pipe inside the hydraulic coupler 5 to adjust the oil quantity of a working cavity of the hydraulic coupler, so that the output rotating speed of the hydraulic coupler 5 is reduced, the output torque of the hydraulic coupler 5 is increased, the engine torque is ensured not to be suddenly increased under the condition that the load of the main engine is suddenly increased to cause the engine to be out of speed and flameout, the generator set 3 and the hydraulic pump 4 are further ensured to work under a stable rotating speed, the generation voltage and the frequency are effectively prevented from being unstable due to the unstable rotating speed of the generator set 3, and the equipment motor is burnt even the generator set 3 is burnt; and pulsation of the hydraulic system caused by unstable rotation speed of the hydraulic pump 4.

The specific work control flow of the invention is carried out by referring to the following steps:

the above corresponding initial value parameters are all written into the program in the control program, namely e ═ 0,12,24,48], de ═ 0,16,32,64], u ═ 0,15,30,45,60,75, 90; setting the rated rotating speed of the engine to be 1500rmp in the control panel; the upper torque limit is set to 1050N/m and the lower torque limit is set to 500N/m.

(1) Initial setting:

setting a torque upper limit value N1050, and when the actual torque N is greater than the set torque upper limit value N, entering a rotating speed control mode by the program; presetting an initial value F0 of the engine speed in a control program additionally arranged in a controller to be 1500rmp, setting an actual speed value to be F1, setting an error value to be e, and subtracting F0 from F1; defining Eff as a linguistic feature point of an input error, and setting the linguistic feature point as a set of 4 elements of [1.. 4], wherein the error of a first acquisition cycle is e1, and the error of a second acquisition cycle is e 2; setting de as the error rate of change, de equal to e1 minus e 2; defining Deff as a language feature point of input error change, setting the language feature point as a set of 4 elements of [1.. 4], and presetting u as an output control quantity; defining Uff as a language feature point of an output control quantity, setting the language feature point as a set of 7 elements of [1.. 7], defining Rule as a fuzzy Rule, and presetting the fuzzy Rule as a 7 multiplied by 7 determinant of [1.. 7,1.. 7 ]; defining an output maximum value Fmax to be 100;

the error value e is divided into 7 fuzzy sets, negative large (NB), Negative Medium (NM), Negative Small (NS), Zero (ZO), Positive Small (PS), Positive Medium (PM), and Positive Large (PL), the range of values of e is set to [ -48, -24, -12,0,12,24,48], 4 elements of Eff are [0,12,24,48], and similarly, the error change rate de is divided into 7 fuzzy sets, negative large (NB), Negative Medium (NM), Negative Small (NS), Zero (ZO), Positive Small (PS), Positive Medium (PM), and Positive Large (PL), the range of values of de is set to [ -64, -32, -16, 0,16,32,64], 4 elements of Deff are [0,16,32,64], and similarly, the output control amount is divided into 7 fuzzy sets, and 7 elements of Uff may be [0,15,30,45,60,75,90, 30 ], fuzzy rule table, as shown in the following table:

-6	-5	-4	-4	-2	1	4
							-6	-4	-3	-3	-1	2	3
-b	-4	-2	-1	0	2	5
							-5	-3	0	0	1	3	5
-5	-2	1	1	2	4	6
							-5	-2	2	3	3	4	6
-4	-1	3	4	4	5	6

(2) determining the degree of membership of the error value:

step one, if an error value e is larger than the 4 th element of a negative error input characteristic value Eff and is smaller than or equal to the 3 rd element of the negative error input characteristic value Eff, namely-Eff [4] < e ≦ Eff [3], an error membership value Pn is-2, and the first element of an error membership set PF [1] ═ Fmax x (((-Eff [3] -e) ÷ (Eff [4] -Eff [3 ]));

step two, if the error value e is greater than the 3 rd element of the negative error input characteristic value Eff and less than or equal to the 2 nd element of the negative error input characteristic value Eff, namely-Eff [3] < e ≦ Eff [2], the error membership value Pn is-1, and the first element of the error membership set PF [1] ═ Fmax x (((-Eff [2] -e) ÷ (Eff [3] -Eff [2 ]));

step three, if the error value e is greater than the 2 nd element of the negative error input characteristic value Eff and is less than or equal to the 1 st element of the negative error input characteristic value Eff, namely-Eff [2] < e ≦ Eff [1], the error membership value Pn is 0, and the first element of the error membership set PF [1] ═ Fmax x (((-Eff [1] -e) ÷ (Eff [2] -Eff [1 ]));

step four, if the error value e is greater than the 1 st element of the error input characteristic value Eff and less than or equal to the 2 nd element of the error input characteristic value Eff, namely Eff [1] < e ≦ Eff [2], the error membership value Pn is 1, and the first element of the error membership set PF [1] ═ Fmax × ((Eff [2] -e) (Eff [2] -Eff [1 ]));

step five, if the error value e is greater than the 2 nd element of the error input characteristic value Eff and less than or equal to the 3 rd element of the error input characteristic value Eff, namely Eff [2] < e ≦ Eff [3], the error membership value Pn is 2, and the first element PF [1] ═ Fmax × ((Eff [3] -e) (separationof Eff [3] -Eff [2])) of the error membership set;

step six, if the error value e is greater than the 3 rd element of the error input characteristic value Eff and is less than or equal to the 4 th element of the error input characteristic value Eff, namely, Eff [3] < e ≦ Eff [4], the error membership value Pn is 3, and the first element PF [1] ═ Fmax × ((Eff [4] -e) (emf [4] -Eff [3])) of the error membership set;

seventhly, if the error value e is smaller than or equal to the 4 th element of the negative error input characteristic value Eff, namely e is less than or equal to-Eff [4], the error membership value Pn is 2, the first element PF [1] of the error membership set is the maximum output value FMAX, namely PF [1] is FMAX;

step eight, if the error value e is greater than the 4 th element of the error input characteristic value Eff, namely e is greater than Eff [4], the error membership value Pn is 0, and the first element PF [1] of the error membership set is 0;

step nine, a second element PF [2] of the error membership set is equal to Fmax-PF [1 ];

the fuzzy table corresponding to the error value e is as follows:

(3) determining the degree of membership of the error change value:

step one, if an error change rate de is larger than the 4 th element of a negative error change input characteristic value Deff and is smaller than or equal to the 3 rd element of the negative error change input characteristic value Deff, namely-Deff [4] < de ≦ Deff [3], an error change value membership value Dn ═ 2, and the first element DF [1] ═ Fmax x (((-Deff [3] -de) ÷ (Deff [4] -Deff [3])) of an error change value membership set;

step two, if the error change rate de is greater than the 3 rd element of the negative error change input characteristic value Deff and is less than or equal to the 2 nd element of the negative error change input characteristic value Deff, namely-Deff [3] < de ≦ Deff [2], the error change value membership value Dn is-1, and the first element of the error change value membership set DF [1] ═ Fmax x (((-Deff [2] -de) ÷ (Deff [3] -Deff [2 ]));

step three, if the error change rate de is greater than the 2 nd element of the negative error change input characteristic value Deff and is less than or equal to the 1 st element of the negative error change input characteristic value Deff, namely-Deff [2] < de ≦ Deff [1], then the error change value membership value Dn is 0, and the first element of the error change value membership set DF [1] ═ Fmax x (((-Deff [1] -de) ÷ (Deff [2] -Deff [1 ]));

step four, if the error change rate de is greater than the 1 st element of the error change input characteristic value Deff and is less than or equal to the 2 nd element of the error change input characteristic value Deff, namely Deff [1] < de ≦ Deff [2], the error change value membership value Dn is 1, and the first element DF [1] ═ Fmax x (((Deff [2] -de) ÷ (Deff [2] -Deff [1])) of the error change value membership set;

step five, if the error change rate de is greater than the 2 nd element of the error change input characteristic value Deff and is less than or equal to the 3 rd element of the error change input characteristic value Deff, namely Deff [2] < de ≦ Deff [3], the error change value membership value Dn is 2, and the first element DF [1] ═ Fmax x (((Deff [3] -de) ÷ (Deff [3] -Deff [2])) of the error change value membership set;

step six, if the error change rate de is greater than the 3 rd element of the error change input characteristic value Deff and is less than or equal to the 4 th element of the error change input characteristic value Deff, namely Deff [3] < de ≦ Deff [4], the error change value membership value Dn is 3, and the first element DF [1] ═ Fmax x (((Deff [4] -de) ÷ (Deff [4] -Deff [3])) of the error change value membership set;

seventhly, if the error change rate de is less than or equal to the 4 th element of the negative error change input characteristic value Deff, namely de is less than or equal to-Deff [4], the error change value membership value Dn is 2, and the first element DF [1] of the error change value membership set is the maximum output value Fmax, namely DF [1] is Fmax;

step eight, if the error change rate de is greater than the 4 th element of the error change input characteristic value Deff, that is, de > Deff [4], the error change value membership value Dn is 0, and the first element DF [1] of the error change value membership set is zero, that is, DF [1] is 0;

step nine, subtracting a first element DF [1] of the membership grade set from a second element DF [2] of the error variation value membership grade set which is the maximum output value Fmax, namely DF [2] is Fmax-DF [1 ];

the fuzzy table corresponding to the error change value De is as follows:

(4) four output validity rules are obtained after using error range optimization:

rule 1, Un [1] ═ rule [ Pn +2, Dn +2 ];

rule 2, Un [2] ═ rule [ Pn +3, Dn +2 ];

rule 3, Un [3] ═ rule [ Pn +2, Dn +3 ];

rule 4, Un [4] ═ rule [ Pn +3, Dn +3 ];

solving the values of the rule 1 to the rule 4 through a fuzzy rule table;

(5) judging an input membership function, and solving a language output membership value:

step one, if a first element PF [1] of an input error membership set is less than or equal to a first element DF [1] of an input error variation value membership set, namely PF [1] is less than or equal to DF [1], a first element UF [1] of an output membership set is equal to the first element PF [1] of the input error membership set, namely UF [1] ═ PF [1], otherwise, the first element UF [1] of the output membership set is equal to the first element DF [1] of the input error variation value membership set, namely UF [1] ═ DF [1 ];

step two, if a second element PF [2] of the input error membership set is less than or equal to a first element DF [1] of the input error variation value membership set, namely PF [2] is less than or equal to DF [1], a second element UF [2] of the output membership set is equal to the second element PF [2] of the input error membership set, namely UF [2] ═ PF [2], otherwise, the second element UF [2] of the output membership set is equal to the first element DF [1] of the input error variation value membership set, namely UF [2] ═ DF [1 ];

step three, if the first element PF [1] of the input error membership set is less than or equal to the second element DF [2] of the input error variation value membership set, namely PF [1] is less than or equal to DF [2], the third element UF [3] of the output membership set is equal to the first element PF [1] of the input error membership set, namely UF [3] ═ PF [1], otherwise, the third element UF [3] of the output membership set is equal to the second element DF [2] of the input error variation value membership set, namely UF [3] ═ DF [2 ];

step four, if the second element PF [2] of the input error membership set is less than or equal to the second element DF [2] of the input error variation value membership set, namely PF [2] is less than or equal to DF [2], then the fourth element UF [4] of the output membership set is equal to the second element PF [2] of the input error membership set, namely UF [4] ═ PF [2], otherwise the fourth element UF [4] of the output membership set is equal to the second element DF [2] of the input error variation value membership set, namely UF [4] ═ DF [2 ];

if the rule 1 matrix Un [1] is equal to the rule 2 matrix Un [2], i.e. Un [1] ═ Un [2], the first element of the output membership set UF [1] is greater than if the second element of the output membership set UF [2], i.e. UF [1] > UF [2], then the second element of the output membership set UF [2] is equal to zero, i.e. UF [2] ═ 0, else the first element of the output membership set UF [1] is equal to zero, i.e. UF [1] ═ 0;

if the rule 1 matrix Un [1] is equal to the rule 3 matrix Un [3], i.e. Un [1] ═ Un [3], the first element of the output membership set UF [1] is greater than if the third element of the output membership set UF [3], i.e. UF [1] > UF [3], then the third element of the output membership set UF [3] is equal to zero, i.e. UF [3] ═ 0, else the first element of the output membership set UF [1] is equal to zero, i.e. UF [1] ═ 0;

if the rule 1 matrix Un [1] is equal to the rule 4 matrix Un [4], i.e. Un [1] ═ Un [4], the first element of the output membership set UF [1] is greater than if the fourth element of the output membership set UF [4], i.e. UF [1] > UF [4], then the fourth element of the output membership set UF [4] is equal to zero, i.e. UF [4] ═ 0, else the first element of the output membership set UF [1] is equal to zero, i.e. UF [1] ═ 0;

if the rule 2 matrix Un [2] is equal to the rule 3 matrix Un [3], i.e. Un [2] ═ Un [3], the second element of the output membership set UF [2] is greater than if the third element of the output membership set UF [3], i.e. UF [2] > UF [3], then the third element of the output membership set UF [3] is equal to zero, i.e. UF [3] ═ 0, else the second element of the output membership set UF [2] is equal to zero, i.e. UF [2] ═ 0;

if the rule 2 matrix Un [2] is equal to the rule 4 matrix Un [4], i.e. Un [2] ═ Un [4], the second element of the output membership set UF [2] is greater than if the fourth element of the output membership set UF [4], i.e. UF [2] > UF [4], then the fourth element of the output membership set UF [4] is equal to zero, i.e. UF [4] ═ 0, else the second element of the output membership set UF [2] is equal to zero, i.e. UF [2] ═ 0;

if the rule 3 matrix Un [2] is equal to the rule 4 matrix Un [4], i.e. Un [3] ═ Un [4], the third element of the output membership set UF [3] is greater than if the fourth element of the output membership set UF [4], i.e. UF [3] > UF [4], then the fourth element of the output membership set UF [4] is equal to zero, i.e. UF [4] ═ 0, else the third element of the output membership set UF [3] is equal to zero, i.e. UF [3] ═ 0;

(6) converting the label value of the output membership function into a membership function value:

step one, if a rule 1 is greater than or equal to 0, namely Un [1] is greater than or equal to 0, a function value converted by the rule 1 is equal to a numerical value of an element corresponding to a numerical value of a fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 1, namely Un [1] ═ UFF [ Un [1] ], otherwise, the function value converted by the rule 1 is equal to a negative value of an element numerical value of a negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 1, namely Un [1] ═ UFF [ -Un [1] ];

step two, if the rule 2 is greater than or equal to 0, namely Un [2] is greater than or equal to 0, the function value converted by the rule 2 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 2, namely Un [2] ═ UFF [ Un [2] ], otherwise, the function value converted by the rule 1 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 2, namely Un [2] ═ UFF [ -Un [2] ];

step three, if the rule 3 is greater than or equal to 0, namely Un [3] is greater than or equal to 0, the function value converted by the rule 3 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 3, namely Un [3] ═ UFF [ Un [3] ], otherwise, the function value converted by the rule 1 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the output quantity characteristic value UFF corresponding to the rule 3, namely Un [3] ═ UFF [ -Un [3] ];

step four, if the rule 4 is greater than or equal to 0, namely Un [4] is greater than or equal to 0, the function value converted by the rule 4 is equal to the numerical value of the element corresponding to the numerical value of the fuzzy rule table of the rule 4 corresponding to the output quantity characteristic value UFF, namely Un [4] ═ UFF [ Un [4] ], otherwise, the function value converted by the rule 4 is equal to the negative value of the element numerical value of the negative numerical value of the fuzzy rule table of the rule 4 corresponding to the output quantity characteristic value UFF, namely Un [4] ═ UFF [ -Un [4] ];

the fuzzy table corresponding to the output value u is as follows:

(7) calculating a membership function value and then calculating an actual output value U:

define intermediate variable 1 as Temp 1 and intermediate variable 2 as Temp 2.

The intermediate variable 1 is equal to the first element of the output membership set UF [1] times the rule 1Un [1] plus the second element of the output membership set UF [2] times the rule 2Un [2[ plus the third element of the output membership set UF [3] times the rule 3Un [3[ plus the fourth element of the output membership set UF [4] times the rule 4Un [4], i.e., Temp 1 ═ UF [1] × Un [1] + UF [2] × Un [2] + UF [3] × Un [3] + UF [4] × Un [4 ].

The intermediate variable 2 is equal to the first element of the output membership set UF [1] plus the second element of the output membership set UF [2] plus the 3 rd element of the output membership set UF [3] plus the fourth element of the output membership set UF [4], i.e. Temp 2 ═ UF [1] + UF [2] + UF [3] + UF [4 ].

And the actual output value U is equal to the intermediate variable 1 divided by the intermediate variable 2, namely U is Temp 1/Temp 2, the actual output value is obtained, and then the output value U is converted into a controller output analog quantity to control the liquid level height of a clutch oil tank, so that the torque output from the engine to the main breaking motor is reduced, and the output rotating speed of the engine is kept at the set rotating speed all the time.

The control principle is as follows: the opening degree value of 0-100 corresponding to the output value U is first converted into an analog value recognizable by the controller, i.e. 0-27648 or 5530 + 27648, wherein 0-27648 corresponds to the controller for output control in the voltage mode of 0-10V or the current mode of 0-20mA, and 5530 + 27648 corresponds to the output control in the current mode of 4-20 Ma.

Although the foregoing embodiments have described the present invention in detail, it will be apparent to those skilled in the art that the foregoing embodiments may be modified only by those skilled in the art, or may be modified only by those skilled in the art; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention. That is, the present invention is not limited to the details of the above-described exemplary embodiments, and those skilled in the art can implement the present invention in other specific forms without departing from the spirit or essential characteristics thereof. The invention is intended to cover all modifications which come within the meaning and range of equivalency of the claims.