CN111535394A - Hydraulic control system, hydraulic oil flow control method, device and equipment - Google Patents
Hydraulic control system, hydraulic oil flow control method, device and equipment Download PDFInfo
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- CN111535394A CN111535394A CN202010464828.8A CN202010464828A CN111535394A CN 111535394 A CN111535394 A CN 111535394A CN 202010464828 A CN202010464828 A CN 202010464828A CN 111535394 A CN111535394 A CN 111535394A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
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Abstract
The application provides a hydraulic control system, a hydraulic oil flow control method, a hydraulic oil flow control device and hydraulic oil flow control equipment, and relates to the technical field of hydraulic excavators. The hydraulic control system may include: the hydraulic control system comprises a pilot handle, a controller, an engine, a main pump, a plurality of electric proportional motors, a hydraulic oil tank, a main valve and a plurality of hydraulic actuators; the controller is in communication connection with the control end of the main pump and can control the main pump to suck the total required flow of the hydraulic actuating mechanisms out of the hydraulic oil tank; the controller is also in communication connection with the control ends of the electric proportional motors so as to control the corresponding electric proportional motors to discharge hydraulic oil with required flow to the working oil cylinders of the hydraulic actuators according to the required flow of the hydraulic actuators. By applying the embodiment of the application, the action executed by the hydraulic executing mechanism can better accord with the effect brought by the operation of the operating hand on the control of the pilot handle.
Description
Technical Field
The application relates to the technical field of hydraulic excavators, in particular to a hydraulic control system, a hydraulic oil flow control method, a hydraulic oil flow control device and hydraulic oil flow control equipment.
Background
With the continuous progress of science and technology, hydraulic excavators are developing towards the direction of intellectualization and environmental protection. The comfort of an operator is directly influenced by the design quality of a hydraulic system on the hydraulic excavator.
At present, the hydraulic system is mainly controlled by a main pump, a main valve and an actuating mechanism. That is, during the operation of the hydraulic excavator, the operator can control the main pump and the main valve to deliver the hydraulic oil to the hydraulic actuator on the hydraulic excavator by operating the pilot handle, so that the hydraulic actuator performs the corresponding operation.
However, since the hydraulic system at present usually causes the hydraulic oil to flow into the hydraulic actuator with small load and small inertia preferentially, the action performed by the hydraulic actuator does not conform to the effect of the operation of the pilot handle by the operator.
Disclosure of Invention
An object of the present application is to provide a hydraulic control system, a method, a device, and an apparatus for controlling hydraulic oil flow, which can make actions performed by a hydraulic actuator more suitable for effects brought by an operator controlling a pilot handle, in view of the above-mentioned deficiencies in the prior art.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a hydraulic control system, including: the hydraulic control system comprises a pilot handle, a controller, an engine, a main pump, a plurality of electric proportional motors, a hydraulic oil tank, a main valve and a plurality of hydraulic actuators;
the engine is in driving connection with the main pump, the oil inlet end of the main pump is also connected with the hydraulic oil tank, the oil outlet end of the main pump is respectively communicated with the oil inlet ends of the electric proportional motors, and the oil outlet end of each electric proportional motor is respectively communicated with one hydraulic actuating mechanism through the main valve;
the pilot handle is electrically connected with the controller and used for transmitting a pilot signal generated by the pilot handle to the controller; the controller is also in communication connection with the control end of the main pump so as to determine the required flow of each hydraulic actuator and the total required flow of a plurality of hydraulic actuators based on pilot signals generated by the pilot handle and control the main pump to suck out the hydraulic oil with the total required flow from the hydraulic oil tank;
the controller is also in communication connection with the control ends of the plurality of electric proportional motors so as to control the corresponding electric proportional motors to discharge the hydraulic oil with the required flow to the working oil cylinders of the hydraulic execution mechanisms according to the required flow of the hydraulic execution mechanisms.
Optionally, the rotating shafts of a plurality of the electric proportional motors are coaxially and rigidly connected.
Optionally, a plurality of said hydraulic actuators comprises: the hydraulic system comprises a plurality of hydraulic actuators and a plurality of working oil cylinders of the hydraulic actuators.
Optionally, the plurality of hydraulic actuators comprises at least two of: hydraulic movable arm, hydraulic bucket rod, hydraulic shovel.
Optionally, the plurality of hydraulic actuators further comprises: a hydraulic swing motor, and/or a hydraulic travel motor.
In a second aspect, an embodiment of the present application further provides a hydraulic oil flow control method, where the method is applied to a controller in the hydraulic control system in the first aspect, and the method includes:
the controller acquires a pilot signal generated by the pilot handle;
the controller determines the demand flow of each hydraulic actuator and the total demand flow of a plurality of hydraulic actuators based on pilot signals generated by the pilot handles;
the controller controls the main pump to suck out the hydraulic oil with the total required flow from the hydraulic oil tank;
and the controller controls the corresponding electric proportional motor to discharge the hydraulic oil with the required flow to the working oil cylinder of each hydraulic actuating mechanism according to the required flow.
Optionally, the rotation speeds of the plurality of electric proportional motors are the same, and the controller controls the corresponding electric proportional motor to discharge the hydraulic oil of the required flow to the working oil cylinder of each hydraulic actuator according to the required flow, including:
and the controller controls the swing angle of the corresponding electric proportional motor according to the required flow, so that the corresponding electric proportional motor discharges the hydraulic oil with the required flow to the working oil cylinder of each hydraulic actuating mechanism.
Optionally, the controller controls the swing angle of the corresponding electric proportional motor according to the required flow, including:
the controller determines the demand flow ratio of the hydraulic actuators according to the demand flow of the hydraulic actuators;
the controller controls the swing angles of the plurality of electric proportional motors according to the required flow ratio so that the displacement ratio of the plurality of electric proportional motors is the required flow ratio.
In a third aspect, an embodiment of the present application further provides a hydraulic oil flow control device, where the hydraulic oil flow control device is applied to a controller in the hydraulic control system in the first aspect, and the hydraulic oil flow control device includes:
the acquisition module is used for acquiring a pilot signal generated by the pilot handle;
the determination module is used for determining the demand flow of each hydraulic actuator and the total demand flow of a plurality of hydraulic actuators based on the pilot signals generated by the pilot handles;
the first control module is used for controlling the main pump to suck out the hydraulic oil with the total required flow from the hydraulic oil tank;
and the second control module is used for controlling the corresponding electric proportional motor to discharge the hydraulic oil with the required flow to the working oil cylinder of each hydraulic actuating mechanism according to the required flow.
Optionally, the rotation speeds of the plurality of electric proportional motors are the same, and the second control module is specifically configured to control the swing angle of the corresponding electric proportional motor according to the required flow rate, so that the corresponding electric proportional motor discharges the hydraulic oil of the required flow rate to the working cylinders of the hydraulic actuators.
Optionally, the second control module is further specifically configured to determine a required flow ratio of the plurality of hydraulic actuators according to required flow of the plurality of hydraulic actuators;
according to the demand flow ratio, controlling the swing angles of the electric proportional motors so that the displacement ratio of the electric proportional motors is the demand flow ratio.
In a fourth aspect, an embodiment of the present application provides a control apparatus, including: the hydraulic oil flow control method comprises a processor, a storage medium and a bus, wherein the storage medium stores machine readable instructions executable by the processor, when the control device runs, the processor and the storage medium communicate through the bus, and the processor executes the machine readable instructions to execute the steps of the hydraulic oil flow control method of the second aspect.
In a fourth aspect, the present application provides a storage medium, and the computer program is executed by a processor to execute the steps of the hydraulic oil flow control method according to the second aspect.
In a fifth aspect, an embodiment of the present application provides a hydraulic excavator, where the hydraulic excavator has the hydraulic control system mentioned in the first aspect.
The beneficial effect of this application is:
the embodiment of the application provides a hydraulic control system, a hydraulic oil flow control method, a hydraulic oil flow control device and hydraulic oil flow control equipment, wherein the hydraulic control system comprises: the hydraulic control system comprises a pilot handle, a controller, an engine, a main pump, a plurality of electric proportional motors, a hydraulic oil tank, a main valve and a plurality of hydraulic actuators; the controller is in communication connection with the control end of the main pump and can control the main pump to suck the total required flow of the hydraulic actuating mechanisms out of the hydraulic oil tank; the controller is also in communication connection with the control ends of the electric proportional motors so as to control the corresponding electric proportional motors to discharge hydraulic oil with required flow to the working oil cylinders of the hydraulic actuators according to the required flow of the hydraulic actuators. By adopting the hydraulic control system provided by the embodiment of the application, after the plurality of electric proportional motors are added between the main pump and the main valve, the controller can control the discharge capacity of the corresponding electric proportional motor according to the pilot signal generated by the pilot handle and the determined required flow of each hydraulic actuating mechanism, so that the required flow of each hydraulic actuating mechanism of the discharge capacity of each electric proportional motor is consistent, and the action executed by each hydraulic actuating mechanism is more consistent with the effect brought by the operation of an operator on the pilot handle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a hydraulic control system according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a hydraulic oil flow control method according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart illustrating another hydraulic oil flow control method according to an embodiment of the present disclosure;
fig. 4 is a schematic flowchart of another hydraulic oil flow control method according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a hydraulic oil flow control device according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a control device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Fig. 1 is a schematic structural diagram of a hydraulic control system according to an embodiment of the present application, and as shown in fig. 1, the hydraulic control system may include: a pilot handle 101, a controller 102, an engine 103, a main pump 104, a plurality of electric proportional motors 105, a hydraulic oil tank 106, a main valve 107, and a plurality of hydraulic actuators;
the engine 103 is in driving connection with a main pump 104, the oil inlet end of the main pump 104 is also connected with a hydraulic oil tank 106, the oil outlet end of the main pump 104 is respectively communicated with the oil inlet ends of a plurality of electric proportional motors 105, and the oil outlet end of each electric proportional motor 105 is respectively communicated with a hydraulic actuating mechanism through a main valve 107;
the pilot handle 101 is electrically connected with the controller 102 and is used for transmitting a pilot signal generated by the pilot handle 101 to the controller 102; the controller 102 is also in communication connection with the control end of the main pump 104 to determine the demand flow of each hydraulic actuator and the total demand flow of a plurality of hydraulic actuators based on the pilot signal generated by the pilot handle 101, and to control the main pump 104 to draw out the total demand flow of hydraulic oil from the hydraulic oil tank 106;
the controller 102 is also connected with control ends of a plurality of electric proportional motors 105 in a communication manner, so as to control the corresponding electric proportional motors 105 to discharge hydraulic oil with required flow to the working cylinders 108 of the hydraulic actuators according to the required flow of the hydraulic actuators.
Specifically, the engine 103 may convert chemical energy of diesel fuel into mechanical energy to drive the main pump 104 to operate. Of course, the main pump 104 may be driven by an electric motor in addition to the driving of the engine 103 in fig. 1, and the present application does not limit the driving method of the main pump 104. In general, hydraulic pumps can be classified into a fixed displacement type and a variable displacement type, and the variable displacement hydraulic pumps can be adjusted manually or automatically to adjust the displacement of hydraulic oil. The main pump 104 may be a variable displacement hydraulic pump of the type described herein, and the controller 102 may regulate the displacement of hydraulic oil in the main pump 104 according to the total demand flow of the plurality of hydraulic actuators, so the main pump 104 is also commonly referred to as an electric proportional motor. The number of the main pumps 104 may be one or more (e.g., two), and the number of the main pumps 104 is not limited herein.
After the engine 103 or the electric motor drives the main pump 104 to operate, the main pump 104 can suck hydraulic oil in the hydraulic oil tank 106 from the oil inlet end thereof, and then convey the hydraulic oil sucked from the hydraulic oil tank 106 to the oil inlet ends of the plurality of electric proportional motors 105 through the oil outlet ends thereof and the pipelines, meanwhile, the oil outlet end of each electric proportional motor 105 can be communicated with one hydraulic actuator through a main valve 107 (also called a reversing valve), and each hydraulic actuator can also be connected with the hydraulic oil tank 106 through the main valve 107. In general, the working cylinder 108 of the hydraulic actuator has two chambers, each of which can be filled with hydraulic oil or drained of hydraulic oil, and the drained hydraulic oil can be injected into the hydraulic oil tank 106 through the main valve 107 and the pipeline, so that the cyclic utilization of the hydraulic oil can be ensured. The number of the electric proportional motors 105 corresponds to the number of the hydraulic actuators, and for example, when the number of the hydraulic actuators on the hydraulic excavator is n, the number of the electric proportional motors 105 is also n.
The pilot handle 101 on the hydraulic excavator is used for indicating the hydraulic actuating mechanism to execute corresponding actions, an operator controls the pilot handle 101, only one hydraulic actuating mechanism can be enabled to execute independent actions at the same time, and multiple hydraulic actuating mechanisms can also be enabled to execute corresponding actions. When the hydraulic excavator needs to perform a compound action, the compound action can be performed through one pilot handle 101, or can be performed through cooperation of a plurality of pilot handles 101.
Each pilot handle 101 of the hydraulic excavator can be electrically connected with the controller 102, and an operator controls the pilot handles 101 to specifically control the operation speed of the plurality of hydraulic actuators. For example, the operation of the pilot handle 101 for controlling the operation of the boom and the bucket, specifically, the operation of the boom and the bucket is equivalent to the simultaneous operation of the boom and the bucket in such a manner that the user pulls the pilot handle 101 having the function to the rear left, wherein the operation speed is determined by the stroke of the pilot handle 101 from the center point, and the operation speed of the boom and the bucket is equivalent to the higher the stroke of the pilot handle 101 from the center point.
Further, the working speeds of the plurality of hydraulic actuators may be specifically controlled in the following manner. After the user manipulates the pilot handle 101, a pilot signal (e.g., a pilot pressure signal) generated by the manipulated pilot handle 101 may be converted into a pilot electrical signal by the pressure sensor and transmitted to the controller 102. In another practical embodiment, the operator can also operate the electric control handle to transmit the pilot electric signal directly generated by the electric control handle to the controller 102. The present application does not limit the manner in which the pilot electrical signal is generated.
The controller 102 may calculate the demand flow rate of each hydraulic actuator and the total demand flow rate of the plurality of hydraulic actuators based on the received pilot electric signals. For example, 3 hydraulic actuators (A, B, C) are required to perform a combined operation, wherein the hydraulic actuator a is responsive to the pilot electrical signal 1, the hydraulic actuator B is responsive to the pilot electrical signal 2, and the hydraulic actuator C is responsive to the pilot electrical signal 3. The controller 102 may calculate the flow rate of the hydraulic oil required by each hydraulic actuator and the total flow rate of the hydraulic oil required by the corresponding hydraulic actuator when the corresponding hydraulic actuator performs the combined operation according to the pilot electrical signal 1, the pilot electrical signal 2, and the pilot electrical signal 3.
The controller 102 can control the main pump 104 to suck out the hydraulic oil with the total required flow from the hydraulic oil tank 106 according to the total required hydraulic oil flow when the 3 hydraulic actuators execute the compound action; the controller 102 may also control the displacement of the corresponding electric proportional motor 105 according to the hydraulic oil flow rate required by each of the 3 hydraulic actuators when executing the compound operation, so that the displacement of each electric proportional motor 105 is consistent with the hydraulic oil flow rate required by the working cylinder 108 of each hydraulic actuator. When a plurality of hydraulic actuators are caused to perform combined operation by one pilot lever, the hydraulic actuators can be caused to operate in synchronization, and when a plurality of hydraulic actuators are caused to perform combined operation by a plurality of pilot levers, the hydraulic actuators can be caused to operate at a certain speed ratio.
In summary, the present application provides a hydraulic control system, which includes: the hydraulic control system comprises a pilot handle, a controller, an engine, a main pump, a plurality of electric proportional motors, a hydraulic oil tank, a main valve and a plurality of hydraulic actuators; the controller is in communication connection with the control end of the main pump and can control the main pump to suck the total required flow of the hydraulic actuating mechanisms out of the hydraulic oil tank; the controller is also in communication connection with the control ends of the electric proportional motors so as to control the corresponding electric proportional motors to discharge hydraulic oil with required flow to the working oil cylinders of the hydraulic actuators according to the required flow of the hydraulic actuators. By adopting the hydraulic control system provided by the embodiment of the application, after the plurality of electric proportional motors are added between the main pump and the main valve, the controller can control the discharge capacity of the corresponding electric proportional motor according to the pilot signal generated by the pilot handle and the determined required flow of each hydraulic actuating mechanism, so that the required flow of each hydraulic actuating mechanism of the discharge capacity of each electric proportional motor is consistent, and the action executed by each hydraulic actuating mechanism is more consistent with the effect brought by the operation of an operator on the pilot handle.
Further, the rotating shafts of the plurality of electric proportional motors 105 are coaxially and rigidly connected.
Specifically, the axes of the electric proportional motors 105 can be fixed on the same component, so that the rotation speeds of the electric proportional motors 105 can be ensured to be the same, the flow rate of the hydraulic oil discharged from each electric proportional motor 105 to the working oil cylinder 108 of each hydraulic actuator is just the hydraulic oil with the flow rate required by each hydraulic actuator, and the hydraulic control system is more energy-saving.
The above mentioned hydraulic actuator may be in two forms, wherein one may be in the form of an actuator working cylinder, and the other may be in the form of a hydraulic rotary motor, and/or a hydraulic travel motor working part. These two implementations can be illustrated by the following two examples.
In one example, as shown in fig. 1, the plurality of hydraulic actuators may include: a plurality of hydraulic actuators (not shown), and a plurality of hydraulic actuator work cylinders 108.
Specifically, each hydraulic actuator may be connected to at least one working cylinder 108, the hydraulic actuator on the hydraulic excavator may be composed of two parts, which are the hydraulic actuator and the working cylinder 108 connected to the hydraulic actuator, respectively, a main valve 107 may distribute hydraulic oil into a chamber of the working cylinder 108, hydraulic oil in the chamber of the working cylinder 108 may also return to the hydraulic oil tank 106 through the main valve 107, and the working cylinder 108 may convert hydraulic energy generated by the hydraulic oil into mechanical energy, so that the hydraulic actuator performs an operation. Wherein, this hydraulic actuator can include: a hydraulic boom, a hydraulic arm, a hydraulic bucket, etc., the working cylinder 108 connected thereto may include: hydraulic boom cylinder, hydraulic arm cylinder, and hydraulic bucket cylinder. In general, each hydraulic actuator may be connected to one working cylinder 108, and of course, one hydraulic actuator may also be connected to a plurality of working cylinders 108, for example, a hydraulic boom is usually matched with a dual cylinder (2 working cylinders), and the application does not limit the number of working cylinders connected to each hydraulic actuator.
In another example, the hydraulic actuator on the hydraulic excavator may further include: hydraulic swing motors, and/or hydraulic travel motors (not shown in fig. 1). Specifically, the hydraulic swing motor and the hydraulic travel motor may be collectively referred to as a hydraulic motor, the hydraulic motor and the main pump 104 have similar structures and are opposite in function, and the main pump 104 converts mechanical energy input by the engine 103 or the electric motor into hydraulic energy of hydraulic oil and supplies the hydraulic oil to the hydraulic actuator through a pipeline; the hydraulic motor converts input hydraulic energy into mechanical energy to drive a working part to move, wherein the working part corresponding to the hydraulic rotary motor is a rotary table, a bucket can be rotated to a discharging position to discharge, the working part corresponding to the hydraulic walking motor is a chassis, and the chassis can move to drive the hydraulic excavator to move forwards or backwards.
Fig. 2 is a schematic flow chart of a hydraulic oil flow control method provided in an embodiment of the present application, and as shown in fig. 2, the method may include:
s201, acquiring a pilot signal generated by a pilot handle.
Specifically, a pilot handle on the hydraulic excavator may be referred to as a pilot valve or an operation handle, and corresponds to a pressure control valve. In general, the pilot handle may be installed at a plurality of positions in the cab, and may be divided into a left pilot handle operated by a left hand of a user and a right pilot handle operated by a right hand of the user according to the installation position. The pilot handles at each location have a specific function, as the right pilot handle typically indicates hydraulic bucket and hydraulic boom work on a hydraulic dig. The right pilot handle may enable the hydraulic bucket or the hydraulic boom to operate alone, or the hydraulic bucket and the hydraulic boom to operate simultaneously, or of course, the pilot handles at a plurality of positions may be operated simultaneously to enable the hydraulic excavator to perform a combined operation.
The stroke size of the pilot handle is controlled by controlling the pilot handle, and the operation speed of the hydraulic execution mechanisms is further controlled. During the operation of the pilot handle, the pilot handle generates a pilot signal in real time, which may also be referred to as a pilot pressure signal, and the pilot signal includes pilot pressure signals corresponding to the operating speeds of the plurality of hydraulic actuators.
And S202, determining the required flow of each hydraulic actuator and the total required flow of a plurality of hydraulic actuators based on the pilot signals generated by the pilot handles.
Specifically, each pilot handle can be provided with a plurality of pressure sensors, and each pressure sensor can convert a pilot signal generated by the pilot handle into a pilot electric signal. For example, the control of the pilot handle by the operator can make two hydraulic actuators perform a compound action, then the pressure sensors corresponding to the two hydraulic actuators can firstly convert the pilot signal generated by the pilot handle into corresponding pilot electric signals, and then the controller can calculate the required hydraulic oil flow rate when the two hydraulic actuators perform respective actions and calculate the total required hydraulic oil flow rate when the two hydraulic actuators perform the compound action according to the two pilot electric signals.
And S203, controlling the main pump to suck out the hydraulic oil with the total required flow from the hydraulic oil tank.
Specifically, after calculating the total required hydraulic oil flow when the multiple hydraulic actuators perform the compound action, the controller may generate a corresponding control signal and send the control signal to the main pump, and the main pump may suck the total required hydraulic oil flow when the multiple hydraulic actuators perform the compound action from the hydraulic oil tank according to the control signal.
And S204, controlling the corresponding electric proportional motor to discharge the hydraulic oil with the required flow to the working oil cylinder of each hydraulic actuating mechanism according to the required flow.
Specifically, after calculating the flow rate of the hydraulic oil required by each of the hydraulic actuators to perform the respective operation, the controller may generate a plurality of control signals and send the plurality of control signals to the corresponding electric proportional motors, and the corresponding electric proportional motors may discharge the flow rate of the hydraulic oil required by each of the hydraulic actuators to perform the respective operation to the corresponding working cylinders according to the control signals.
In another embodiment, when the rotation speeds of the plurality of electric proportional motors are the same, the embodiment of the application can also provide a hydraulic oil flow control method. Fig. 3 is a schematic flow chart of another hydraulic oil flow control method according to an embodiment of the present application, and as shown in fig. 3, the method may include:
and S301, controlling the swing angle of the corresponding electric proportional motor according to the required flow, so that the corresponding electric proportional motor discharges the hydraulic oil with the required flow to the working oil cylinder of each hydraulic actuating mechanism.
Specifically, the controller may generate a plurality of control signals according to a required hydraulic oil flow rate when each hydraulic actuator performs its own operation, and then the controller controls the swing angle of the corresponding electric proportional motor according to the plurality of control signals. The swing angle is proportional to the flow rate of the hydraulic oil, for example, when the flow rate of the hydraulic oil required by the hydraulic actuator a is greater than that of the hydraulic oil required by the hydraulic actuator B, the swing angle of the electric proportional motor corresponding to the hydraulic actuator a is greater than that of the electric proportional motor corresponding to the hydraulic actuator B. When the swing angle of the electric proportional motor is determined, the corresponding electric proportional motor can discharge the hydraulic oil with the required flow to the working oil cylinder of each hydraulic actuating mechanism.
Fig. 4 is a schematic flow chart of another hydraulic oil flow control method provided in an embodiment of the present application, and as shown in fig. 4, the method may include:
s401, determining the demand flow ratio of the plurality of hydraulic actuators according to the demand flow of the plurality of hydraulic actuators.
And S402, controlling the swing angles of the plurality of electric proportional motors according to the required flow ratio so that the displacement ratio of the plurality of electric proportional motors is the required flow ratio.
Specifically, the calculation unit in the controller may calculate the hydraulic oil flow rates required when the plurality of hydraulic actuators perform the respective operations. For example, a hydraulic excavator needs 3 hydraulic actuators (A, B, C) to execute compound actions, and after an operator controls a pilot handle, the controller can calculate the required flow of the 3 hydraulic actuators. Wherein, assuming that the hydraulic actuator A requires 20L of hydraulic oil flow, the hydraulic actuator B requires 30L of hydraulic oil flow, and the hydraulic actuator C requires 50L of hydraulic oil flow, the controller can calculate the required flow ratio (2:3:5) of the three hydraulic actuators.
After the required flow rate ratios of the plurality of hydraulic actuating structures are determined, the controller can control the swing angles of the plurality of electric proportional motors according to the required flow rate ratios, so that the swing angles of the plurality of electric proportional motors form corresponding ratios. For example, when the hydraulic excavator needs three hydraulic actuators (A, B, C) to execute compound actions, the corresponding required flow ratio is (2:3:5), the controller controls the swing angles of the electric proportional motors to form the ratio of (2:3:5), and therefore the displacement ratio of the electric proportional motors can be the required flow ratio. That is, since the controller can control the swing angles of the electric proportional motors and can make the swing angle ratios of the plurality of electric proportional motors equal to the required flow rate ratios of the hydraulic actuators, the respective hydraulic actuators can operate in synchronization or at a certain speed ratio regardless of the flow rate of the hydraulic oil required when the plurality of hydraulic actuators perform the combined operation.
On the basis of providing the above hydraulic oil flow control method, the present application also provides a device, an apparatus and a storage medium capable of executing the hydraulic oil flow control method, which are explained below. Fig. 5 is a schematic structural diagram of a hydraulic oil flow control device according to an embodiment of the present application, and as shown in fig. 5, the device may include:
an obtaining module 501, configured to obtain a pilot signal generated by a pilot handle.
The determination module 502 is configured to determine a demand flow rate of each hydraulic actuator and a total demand flow rate of a plurality of hydraulic actuators based on a pilot signal generated by a pilot handle.
The first control module 503 is configured to control the main pump to draw the total required flow of hydraulic oil from the hydraulic oil tank.
And the second control module 504 is configured to control the corresponding electric proportional motor to discharge hydraulic oil at the required flow rate to the working oil cylinder of each hydraulic actuator according to the required flow rate.
Optionally, the rotation speeds of the plurality of electric proportional motors are the same, and the second control module 504 is specifically configured to control the swing angle of the corresponding electric proportional motor according to the required flow rate, so that the corresponding electric proportional motor discharges hydraulic oil at the required flow rate to the working cylinders of the hydraulic actuators.
Optionally, the second control module 504 is further specifically configured to determine a demand flow ratio of the multiple hydraulic actuators according to the demand flow of the multiple hydraulic actuators; according to the demand flow ratio, the swing angles of the plurality of electric proportional motors are controlled so that the displacement ratio of the plurality of electric proportional motors is the demand flow ratio.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 6 is a schematic structural diagram of a control device according to an embodiment of the present application, and as shown in fig. 6, the control device may include: the control device comprises a processor 601, a storage medium 602 and a bus 603, wherein the storage medium 602 stores machine-readable instructions executable by the processor 601, when the control device operates, the processor 601 and the storage medium 602 communicate through the bus 603, and the processor 601 executes the machine-readable instructions to execute the steps of the hydraulic oil flow control method. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present application further provides a storage medium, where a computer program is stored on the storage medium, and the computer program is executed by a processor to perform the steps of the hydraulic oil flow control method.
Optionally, the present application further provides a hydraulic excavator, which is provided with the above hydraulic control system.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to perform some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A hydraulic control system, comprising: the hydraulic control system comprises a pilot handle, a controller, an engine, a main pump, a plurality of electric proportional motors, a hydraulic oil tank, a main valve and a plurality of hydraulic actuators;
the engine is in driving connection with the main pump, the oil inlet end of the main pump is also connected with the hydraulic oil tank, the oil outlet end of the main pump is respectively communicated with the oil inlet ends of the electric proportional motors, and the oil outlet end of each electric proportional motor is respectively communicated with one hydraulic actuating mechanism through the main valve;
the pilot handle is electrically connected with the controller and used for transmitting a pilot signal generated by the pilot handle to the controller; the controller is also in communication connection with the control end of the main pump so as to determine the required flow of each hydraulic actuator and the total required flow of a plurality of hydraulic actuators based on pilot signals generated by the pilot handle and control the main pump to suck out the hydraulic oil with the total required flow from the hydraulic oil tank;
the controller is also in communication connection with the control ends of the plurality of electric proportional motors so as to control the corresponding electric proportional motors to discharge the hydraulic oil with the required flow to the working oil cylinders of the hydraulic execution mechanisms according to the required flow of the hydraulic execution mechanisms.
2. The system of claim 1, wherein the shafts of a plurality of said electric proportional motors are rigidly connected coaxially.
3. The system of claim 1, wherein the plurality of hydraulic actuators comprises: the hydraulic system comprises a plurality of hydraulic actuators and a plurality of working oil cylinders of the hydraulic actuators.
4. The system of claim 3, wherein the plurality of hydraulic actuators comprises at least two of: hydraulic movable arm, hydraulic bucket rod, hydraulic shovel.
5. The system of any of claims 1-4, wherein the plurality of hydraulic actuators further comprises: a hydraulic swing motor, and/or a hydraulic travel motor.
6. A hydraulic oil flow control method, applied to a controller in any one of the hydraulic control systems 1 to 5, comprising:
the controller acquires a pilot signal generated by the pilot handle;
the controller determines the demand flow of each hydraulic actuator and the total demand flow of a plurality of hydraulic actuators based on pilot signals generated by the pilot handles;
the controller controls the main pump to suck out the hydraulic oil with the total required flow from the hydraulic oil tank;
and the controller controls the corresponding electric proportional motor to discharge the hydraulic oil with the required flow to the working oil cylinder of each hydraulic actuating mechanism according to the required flow.
7. The method of claim 6, wherein the plurality of electric proportional motors have the same rotation speed, and the controller controls the corresponding electric proportional motor to discharge the required flow rate of hydraulic oil to the working cylinder of each hydraulic actuator according to the required flow rate, and the method comprises:
and the controller controls the swing angle of the corresponding electric proportional motor according to the required flow, so that the corresponding electric proportional motor discharges the hydraulic oil with the required flow to the working oil cylinder of each hydraulic actuating mechanism.
8. The method of claim 7, wherein the controller controls the swing angle of the corresponding electric proportional motor according to the demanded flow rate, comprising:
the controller determines the demand flow ratio of the hydraulic actuators according to the demand flow of the hydraulic actuators;
the controller controls the swing angles of the plurality of electric proportional motors according to the required flow ratio so that the displacement ratio of the plurality of electric proportional motors is the required flow ratio.
9. A hydraulic oil flow control apparatus for use in a controller of a hydraulic control system according to any one of the above items 1 to 5, the apparatus comprising:
the acquisition module is used for acquiring a pilot signal generated by the pilot handle;
the determination module is used for determining the demand flow of each hydraulic actuator and the total demand flow of a plurality of hydraulic actuators based on the pilot signals generated by the pilot handles;
the first control module is used for controlling the main pump to suck out the hydraulic oil with the total required flow from the hydraulic oil tank;
and the second control module is used for controlling the corresponding electric proportional motor to discharge the hydraulic oil with the required flow to the working oil cylinder of each hydraulic actuating mechanism according to the required flow.
10. A control apparatus, characterized by comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine readable instructions executable by the processor, when the control device is operated, the processor communicates with the storage medium through the bus, and the processor executes the machine readable instructions to execute the steps of the hydraulic oil flow control method according to any one of claims 6 to 8.
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| CN202010464828.8A CN111535394B (en) | 2020-05-27 | 2020-05-27 | Hydraulic control system, hydraulic oil flow control method, device and equipment |
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| CN111535394B (en) | 2022-04-01 |
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