CN113202952B - Control method and system for bucket rod regeneration valve of excavator - Google Patents
Control method and system for bucket rod regeneration valve of excavator Download PDFInfo
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- CN113202952B CN113202952B CN202110545434.XA CN202110545434A CN113202952B CN 113202952 B CN113202952 B CN 113202952B CN 202110545434 A CN202110545434 A CN 202110545434A CN 113202952 B CN113202952 B CN 113202952B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K11/00—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves
- F16K11/02—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit
- F16K11/06—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements
- F16K11/065—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements with linearly sliding closure members
- F16K11/07—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with all movable sealing faces moving as one unit comprising only sliding valves, i.e. sliding closure elements with linearly sliding closure members with cylindrical slides
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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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
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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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
- E02F3/382—Connections to the frame; Supports for booms or arms
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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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
-
- 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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
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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
-
- 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
-
- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/12—Actuating devices; Operating means; Releasing devices actuated by fluid
- F16K31/122—Actuating devices; Operating means; Releasing devices actuated by fluid the fluid acting on a piston
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a control method and a control system for a bucket rod regeneration valve of an excavator, which are used for acquiring a preset matched regeneration coefficient according to the working condition and the action signal of the excavator, acquiring a preset matched rotating speed influence factor according to the rotating speed, and calculating the final bucket rod electromagnetic valve output current according to the initial bucket rod electromagnetic valve output current, the preset regeneration coefficient and the preset rotating speed influence factor, so that the bucket rod electromagnetic valve is ensured to be adaptive to the working condition of the excavator and the rotating speed of an engine, the bucket rod electromagnetic valve is ensured to be matched with the flow of a pump and the flow demand of a hydraulic cylinder in time, the throttling loss is reduced, and the control performance of the bucket rod is improved.
Description
Technical Field
The invention relates to a control method and a control system for a bucket rod regeneration valve of an excavator, and belongs to the field of excavator control.
Background
In the process of inward contraction of an arm of an excavator, in order to prevent the large arm cavity from being emptied due to the fact that the arm descends at an excessively high speed under the action of gravity, an arm loop is generally required to have an arm regeneration function, namely hydraulic oil in the small arm oil cylinder cavity is supplied to the large cavity of an oil cylinder through an oil passage in a main valve, and therefore a throttle valve is required to be arranged on an oil return passage of the small arm cavity to increase the pressure of the small cavity. Although the existing bucket rod regeneration function can play a role in preventing empty suction in the bucket rod, the bucket rod electromagnetic valve cannot adapt to the working condition of the excavator and the rotating speed of an engine.
Disclosure of Invention
The invention provides a control method and a control system for a bucket rod regeneration valve of an excavator, and solves the problem that a bucket rod electromagnetic valve cannot adapt to the working condition of the excavator and the rotating speed of an engine.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a control method for a bucket rod regeneration valve of an excavator comprises the following steps,
acquiring position information of an operating handle, and calculating initial bucket rod electromagnetic valve output current adaptive to the opening degree;
collecting the pressure of a pump, and judging the working condition of the excavator according to the pressure of the pump;
collecting a signal of the inward closing action of the bucket rod and a signal of the composite action, and acquiring a preset regeneration coefficient matched with the signals and the working condition of the excavator; wherein the composite action is the action formed by combining the bucket rod adduction action and the non-bucket rod adduction action;
acquiring the rotating speed of an engine, and acquiring a preset rotating speed influence factor matched with the rotating speed of the engine;
and calculating the final output current of the bucket rod electromagnetic valve according to the initial output current of the bucket rod electromagnetic valve, a preset regeneration coefficient and a preset rotating speed influence factor.
The pressure of the pump is collected, the working condition of the excavator is judged according to the pressure of the pump, the concrete process is,
collecting the pressure of a pump;
and if the pressure signal of the pump is greater than the pressure threshold value, judging that the excavator is in a heavy-load excavating state, otherwise, judging that the excavator is in a non-heavy-load excavating state.
Collecting the signals of the retraction action and the composite action of the bucket rod, and acquiring the preset regeneration coefficient matched with the signals and the working condition of the excavator, wherein the specific process comprises the following steps,
if the excavator is in the heavy-load excavating state, controlling the bucket rod to close the regeneration, and acquiring a preset regeneration coefficient k3 matched with the excavator in the heavy-load excavating state;
if the excavator is in a non-heavy-load excavating state and a signal of the retraction action of the bucket rod is acquired, judging that the bucket rod is in a regeneration state, and acquiring a preset regeneration coefficient k1 matched with the pressure of a large cavity and the pressure of a small cavity of the bucket rod;
and if the excavator is in a non-heavy-load excavating state and a signal of the composite action is acquired, acquiring a preset regeneration coefficient k2 matched with the action coordination of the excavator.
Calculating the final output current of the electromagnetic valve of the bucket rod, wherein the specific formula is as follows,
I=a×k×I0
wherein, I is the final output current of the arm solenoid valve, a is the preset rotation speed influence factor, k is the preset regeneration coefficient, and I0 is the initial output current of the arm solenoid valve.
A control system for a bucket rod regeneration valve of an excavator comprises,
an initial current calculation module: acquiring position information of an operating handle, and calculating initial bucket rod electromagnetic valve output current adaptive to the opening degree;
the working condition judgment module: collecting the pressure of a pump, and judging the working condition of the excavator according to the pressure of the pump;
a regeneration coefficient matching module: collecting a signal of the inward closing action of the bucket rod and a signal of the composite action, and acquiring a preset regeneration coefficient matched with the signals and the working condition of the excavator; wherein, the composite action is the action formed by combining the bucket rod retraction action and the non-bucket rod retraction action;
the rotating speed influence factor matching module: acquiring the rotating speed of an engine, and acquiring a preset rotating speed influence factor matched with the rotating speed of the engine;
a final current calculation module: and calculating the final output current of the bucket rod electromagnetic valve according to the initial output current of the bucket rod electromagnetic valve, the preset regeneration coefficient and the preset rotating speed influence factor.
The working condition judging module comprises a working condition judging module,
a pressure acquisition module: collecting the pressure of a pump;
a judgment module: and if the pressure signal of the pump is greater than the pressure threshold value, judging that the excavator is in a heavy-load excavating state, otherwise, judging that the excavator is in a non-heavy-load excavating state.
The regeneration coefficient matching module comprises a regeneration coefficient matching module,
a first matching module: if the excavator is in a heavy-load excavation state, controlling the bucket rod to be regenerated and closed, and obtaining a preset regeneration coefficient k3 matched with the excavator in the heavy-load excavation state;
a second matching module: if the excavator is in a non-heavy-load excavating state and a signal of the inward contraction action of the bucket rod is acquired, judging that the bucket rod is in a regeneration state, and acquiring a preset regeneration coefficient k1 matched with the pressure of a large cavity and the pressure of a small cavity of the bucket rod;
a third matching module: and if the excavator is in a non-heavy-load excavation state and the signals of the composite actions are acquired, acquiring a preset regeneration coefficient k2 matched with the action harmony of the excavator.
The final current calculation module calculates the final output current of the bucket rod electromagnetic valve according to the formula,
I=a×k×I0
and I is the final output current of the electromagnetic valve of the bucket rod, a is a preset rotating speed influence factor, k is a preset regeneration coefficient, and I0 is the initial output current of the electromagnetic valve of the bucket rod.
A computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform an excavator stick regeneration valve control method.
A computing device comprising one or more processors, one or more memories, and one or more programs stored in the one or more memories and configured to be executed by the one or more processors, the one or more programs including instructions for performing an excavator arm regeneration valve control method.
The invention achieves the following beneficial effects: according to the method, the matched preset regeneration coefficient is obtained according to the working condition and the action signal of the excavator, the matched preset rotating speed influence factor is obtained according to the rotating speed, and the final output current of the bucket rod electromagnetic valve is calculated according to the initial output current of the bucket rod electromagnetic valve, the preset regeneration coefficient and the preset rotating speed influence factor, so that the bucket rod electromagnetic valve is ensured to be adaptive to the working condition of the excavator and the rotating speed of an engine, the bucket rod electromagnetic valve can be ensured to be matched with the flow of a pump and the flow demand of a hydraulic cylinder in time, the throttling loss is reduced, and the control performance of the bucket rod is improved.
Drawings
FIG. 1 is a schematic diagram of a bucket rod solenoid valve;
FIG. 2 is a flow chart of the method of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1, which is a schematic diagram of a bucket rod electromagnetic valve of an existing excavator, in the diagram, a pump 1 and a pump 2 are responsible for supplying oil to a bucket rod oil cylinder, the bucket rod electromagnetic valve 1 is a 3-position valve, and the bucket rod electromagnetic valve 2 is a 4-position valve; when the outward swinging operation of the bucket rod is required, valve cores of a bucket rod electromagnetic valve 1 and a bucket rod electromagnetic valve 2 move to the end B, at the moment, the pump 1 and the pump 2 supply oil to the small cavity of the bucket rod through the bucket rod electromagnetic valve 1 and the bucket rod electromagnetic valve 2 respectively, hydraulic oil in the large cavity of the bucket rod flows back to an oil tank through the bucket rod electromagnetic valve 1 and the bucket rod electromagnetic valve 2, and the outward swinging action of the bucket rod is realized; when the bucket rod retraction action is required: the bucket rod electromagnetic valve 1 is positioned at the end A of the electromagnetic valve, at the moment, the pump 1 supplies oil to the large oil cylinder cavity through the bucket rod electromagnetic valve 1, and the small oil cylinder cavity is converged into the bucket rod electromagnetic valve 2 after passing through the electromagnetic valve 1; when the bucket cavity electromagnetic valve is positioned at the position A1, the pump 2 supplies oil to the large oil cylinder cavity through the bucket rod electromagnetic valve 2, and when the small oil cylinder cavity flows back to the oil tank, a certain back pressure can be generated due to the action of the throttle valve, so that hydraulic oil flowing out of the small oil cylinder cavity is supplied to the large oil cylinder cavity through a regeneration loop, and the hydraulic oil in the small oil cylinder cavity is completely regenerated to the large oil cylinder cavity; when the bucket rod electromagnetic valve is at the A2 position, the oil supply path of the pump is unchanged, but at the moment, because the resistance of a throttle valve is not arranged between the small cavity of the oil cylinder and the oil tank, the hydraulic oil in the small cavity of the oil cylinder directly flows back to the oil tank after passing through the bucket rod electromagnetic valve 2, and no regeneration effect exists at the moment; when the arm electromagnetic valve is positioned between A1 and A2, hydraulic oil in the small oil cylinder cavity directly flows back to the oil tank after passing through the arm electromagnetic valve 2, and the other part of hydraulic oil is supplied to the large oil cylinder cavity through a regeneration loop. By controlling the current of the arm solenoid valve 2, the position of the spool of the arm solenoid valve 2 can be controlled, and the degree of retraction and regeneration in the arm can be controlled.
As shown in fig. 2, a control method for a bucket rod regeneration valve of an excavator comprises the following steps:
step 1, acquiring position information of an operating handle, and calculating initial bucket rod electromagnetic valve output current adaptive to the opening degree.
And 2, collecting the pressure of the pump, and judging the working condition of the excavator according to the pressure of the pump.
The specific process is as follows:
21 Pressure of the pump is collected;
22 If the pressure signal of the pump is greater than the pressure threshold value P0, judging that the excavator is in a heavy-load excavating state, and otherwise, judging that the excavator is in a non-heavy-load excavating state; where P0 is determined from the debug.
Step 3, collecting signals of the inward-retracting action and the composite action of the bucket rod, and acquiring a preset regeneration coefficient matched with the signals and the working condition of the excavator; the compound operation is an operation in which the arm retracting operation and the non-arm retracting operation are combined, such as three-compound operation of retracting the ground and getting on the vehicle.
The specific process is as follows:
31 If the excavator is in a heavy-load excavation state, reducing throttling loss, controlling the bucket rod to be regenerated and closed (taking fig. 1 as an example, specifically, controlling current to enable the bucket rod electromagnetic valve 2 to be in the position A2, at the moment, hydraulic oil in the small cavity of the oil cylinder directly flows back to the oil tank, the hydraulic oil is not regenerated to the large cavity of the oil cylinder, and the regeneration action is closed), and obtaining a preset regeneration coefficient k3 matched with the excavator in the heavy-load excavation state;
32 If the excavator is in a non-heavy-load excavating state and a signal of the inward-drawing action of the bucket rod is acquired, judging that the bucket rod is in a regeneration state, and acquiring a preset regeneration coefficient k1 matched with the pressure of a large cavity and the pressure of a small cavity of the bucket rod;
33 If the excavator is in a non-heavy-load excavation state and a signal of a composite action is acquired, acquiring a preset regeneration coefficient k2 matched with the action harmony of the excavator; wherein k1, k2 and k3 are determined according to debugging.
And 4, acquiring the rotating speed of the engine, and acquiring a preset rotating speed influence factor matched with the rotating speed of the engine.
When the excavator is in different gears, the engine speed can change, and the pump output flow can change accordingly. In order to match the flow of the pump and the bucket rod electromagnetic valve and prevent the inward suction or the throttling waste, the opening degree of the bucket rod electromagnetic valve is adjusted by setting influence factors of different rotating speeds.
And 5, calculating the final output current of the bucket rod electromagnetic valve according to the initial output current of the bucket rod electromagnetic valve, a preset regeneration coefficient and a preset rotating speed influence factor.
The concrete formula is as follows:
I=a×k×I0
and I is the final output current of the electromagnetic valve of the bucket rod, a is a preset rotating speed influence factor, k is a preset regeneration coefficient, and I0 is the initial output current of the electromagnetic valve of the bucket rod.
According to the method, the matched preset regeneration coefficient is obtained according to the working condition and the action signal of the excavator, the matched preset rotating speed influence factor is obtained according to the rotating speed, and the final output current of the bucket rod electromagnetic valve is calculated according to the initial output current of the bucket rod electromagnetic valve, the preset regeneration coefficient and the preset rotating speed influence factor, so that the bucket rod electromagnetic valve is ensured to be adaptive to the working condition of the excavator and the rotating speed of an engine, the bucket rod electromagnetic valve is ensured to be matched with the flow of a pump and the flow demand of a hydraulic cylinder in time, the throttling loss is reduced, and the control performance of the bucket rod is improved.
An excavator stick regeneration valve control system comprising:
an initial current calculation module: and acquiring the position information of the operating handle, and calculating the initial output current of the bucket rod electromagnetic valve, which is adaptive to the opening degree.
The working condition judgment module: and collecting the pressure of the pump, and judging the working condition of the excavator according to the pressure of the pump.
The working condition judgment module comprises:
a pressure acquisition module: collecting the pressure of a pump;
a judging module: and if the pressure signal of the pump is greater than the pressure threshold value, judging that the excavator is in a heavy-load excavating state, otherwise, judging that the excavator is in a non-heavy-load excavating state.
A regeneration coefficient matching module: collecting signals of the inward-retracting action and the composite action of the bucket rod, and acquiring a preset regeneration coefficient matched with the signals and the working condition of the excavator; the compound operation is an operation in which the arm retracting operation and the non-arm retracting operation are combined.
The regeneration coefficient matching module comprises:
a first matching module: if the excavator is in the heavy-load excavating state, controlling the bucket rod to close the regeneration, and acquiring a preset regeneration coefficient k3 matched with the excavator in the heavy-load excavating state;
a second matching module: if the excavator is in a non-heavy-load excavating state and a signal of the inward contraction action of the bucket rod is acquired, judging that the bucket rod is in a regeneration state, and acquiring a preset regeneration coefficient k1 matched with the pressure of a large cavity and the pressure of a small cavity of the bucket rod;
a third matching module: and if the excavator is in a non-heavy-load excavating state and a signal of the composite action is acquired, acquiring a preset regeneration coefficient k2 matched with the action coordination of the excavator.
The rotating speed influence factor matching module: and acquiring the rotating speed of the engine, and acquiring a preset rotating speed influence factor matched with the rotating speed of the engine.
A final current calculation module: and calculating the final output current of the bucket rod electromagnetic valve according to the initial output current of the bucket rod electromagnetic valve, a preset regeneration coefficient and a preset rotating speed influence factor.
The final current calculation module calculates the final output current of the bucket rod electromagnetic valve according to the formula:
I=a×k×I0
and I is the final output current of the electromagnetic valve of the bucket rod, a is a preset rotating speed influence factor, k is a preset regeneration coefficient, and I0 is the initial output current of the electromagnetic valve of the bucket rod.
A computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform an excavator stick regeneration valve control method.
A computing device comprising one or more processors, one or more memories, and one or more programs stored in the one or more memories and configured to be executed by the one or more processors, the one or more programs including instructions for performing an excavator arm regeneration valve control method.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The present invention is not limited to the above embodiments, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the scope of the claims of the present invention which are filed as the application.
Claims (10)
1. A control method for a bucket rod regeneration valve of an excavator is characterized by comprising the following steps: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
acquiring position information of an operating handle, and calculating initial bucket rod electromagnetic valve output current adaptive to the opening degree;
collecting the pressure of a pump, and judging the working condition of the excavator according to the pressure of the pump;
collecting a signal of the inward closing action of the bucket rod and a signal of the composite action, and acquiring a preset regeneration coefficient matched with the signals and the working condition of the excavator; wherein, the composite action is the action formed by combining the bucket rod retraction action and the non-bucket rod retraction action;
acquiring the rotating speed of an engine, and acquiring a preset rotating speed influence factor matched with the rotating speed of the engine;
and calculating the final output current of the bucket rod electromagnetic valve according to the initial output current of the bucket rod electromagnetic valve, the preset regeneration coefficient and the preset rotating speed influence factor.
2. The control method of the excavator arm regeneration valve of claim 1, wherein: the pressure of the pump is collected, the working condition of the excavator is judged according to the pressure of the pump, the concrete process is that,
collecting the pressure of a pump;
and if the pressure signal of the pump is greater than the pressure threshold value, judging that the excavator is in a heavy-load excavating state, otherwise, judging that the excavator is in a non-heavy-load excavating state.
3. The control method of the excavator arm regeneration valve of claim 2, wherein: collecting the signals of the retraction action and the composite action of the bucket rod, and acquiring the preset regeneration coefficient matched with the signals and the working condition of the excavator, wherein the specific process comprises the following steps,
if the excavator is in the heavy-load excavating state, controlling the bucket rod to close the regeneration, and acquiring a preset regeneration coefficient k3 matched with the excavator in the heavy-load excavating state;
if the excavator is in a non-heavy-load excavating state and a signal of the retraction action of the bucket rod is acquired, judging that the bucket rod is in a regeneration state, and acquiring a preset regeneration coefficient k1 matched with the pressure of a large cavity and the pressure of a small cavity of the bucket rod;
and if the excavator is in a non-heavy-load excavating state and a signal of the composite action is acquired, acquiring a preset regeneration coefficient k2 matched with the action coordination of the excavator.
4. The excavator arm regeneration valve control method of claim 1, wherein: calculating the final output current of the electromagnetic valve of the bucket rod by the specific formula,
I=a×k×I0
and I is the final output current of the electromagnetic valve of the bucket rod, a is a preset rotating speed influence factor, k is a preset regeneration coefficient, and I0 is the initial output current of the electromagnetic valve of the bucket rod.
5. The utility model provides an excavator bucket rod regeneration valve control system which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
an initial current calculation module: acquiring position information of an operating handle, and calculating initial bucket rod electromagnetic valve output current adaptive to the opening degree;
the working condition judgment module: collecting the pressure of a pump, and judging the working condition of the excavator according to the pressure of the pump;
a regeneration coefficient matching module: collecting a signal of the inward closing action of the bucket rod and a signal of the composite action, and acquiring a preset regeneration coefficient matched with the signals and the working condition of the excavator; wherein, the composite action is the action formed by combining the bucket rod retraction action and the non-bucket rod retraction action;
the rotating speed influence factor matching module: acquiring the rotating speed of an engine, and acquiring a preset rotating speed influence factor matched with the rotating speed of the engine;
a final current calculation module: and calculating the final output current of the bucket rod electromagnetic valve according to the initial output current of the bucket rod electromagnetic valve, the preset regeneration coefficient and the preset rotating speed influence factor.
6. The excavator arm regeneration valve control system of claim 5, wherein: the working condition judging module comprises a working condition judging module,
a pressure acquisition module: collecting the pressure of a pump;
a judging module: and if the pressure signal of the pump is greater than the pressure threshold value, judging that the excavator is in a heavy-load excavating state, otherwise, judging that the excavator is in a non-heavy-load excavating state.
7. The excavator arm regeneration valve control system of claim 6, wherein: the regeneration coefficient matching module comprises a regeneration coefficient matching module,
a first matching module: if the excavator is in a heavy-load excavation state, controlling the bucket rod to be regenerated and closed, and obtaining a preset regeneration coefficient k3 matched with the excavator in the heavy-load excavation state;
a second matching module: if the excavator is in a non-heavy-load excavating state and a signal of the retraction action of the bucket rod is acquired, judging that the bucket rod is in a regeneration state, and acquiring a preset regeneration coefficient k1 matched with the pressure of a large cavity and the pressure of a small cavity of the bucket rod;
a third matching module: and if the excavator is in a non-heavy-load excavating state and a signal of the composite action is acquired, acquiring a preset regeneration coefficient k2 matched with the action coordination of the excavator.
8. The excavator stick regeneration valve control system of claim 5, wherein: the final current calculation module calculates the final output current of the bucket rod electromagnetic valve according to the formula,
I=a×k×I0
wherein, I is the final output current of the arm solenoid valve, a is the preset rotation speed influence factor, k is the preset regeneration coefficient, and I0 is the initial output current of the arm solenoid valve.
9. A computer readable storage medium storing one or more programs, characterized in that: the one or more programs include instructions that, when executed by a computing device, cause the computing device to perform any of the methods of claims 1-4.
10. A computing device, characterized by: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
one or more processors, one or more memories, and one or more programs stored in the one or more memories and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods of claims 1-4.
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| CN114809174B (en) * | 2022-04-12 | 2023-07-04 | 三一重机有限公司 | Hydraulic system control method and device and excavator |
| CN115030245B (en) * | 2022-05-23 | 2024-02-06 | 中联重科土方机械有限公司 | Positive flow excavator, control method, control device and controller thereof |
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