CN113513515B - Control method, controller, utilization system and storage medium for potential energy recycling - Google Patents

Control method, controller, utilization system and storage medium for potential energy recycling Download PDF

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CN113513515B
CN113513515B CN202110720900.3A CN202110720900A CN113513515B CN 113513515 B CN113513515 B CN 113513515B CN 202110720900 A CN202110720900 A CN 202110720900A CN 113513515 B CN113513515 B CN 113513515B
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working
target
pump
bidirectional variable
variable pump
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CN113513515A (en
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袁朋
谭震
周成博
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Sany Marine Heavy Industry Co Ltd
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Sany Marine Heavy Industry Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14—Energy-recuperation means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/20—Hydro energy

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  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The application provides a control method, a controller, a potential energy recycling system and a computer readable storage medium for solving the problem of low potential energy recycling rate in the prior art, wherein the control method comprises the steps of obtaining a first target rotating speed of a bidirectional variable pump; acquiring a working instruction of a working oil cylinder, and acquiring a target output speed of the working oil cylinder according to the working instruction; when potential energy of hydraulic oil in the working oil cylinder needs to be released to execute a working instruction, calculating target negative displacement of the bidirectional variable pump according to the first target rotating speed of the bidirectional variable pump and the target output speed of the working oil cylinder; generating a target negative displacement command according to the target negative displacement; and generating first control information according to the first target rotating speed of the bidirectional variable pump, wherein the first control information is used for controlling the power mechanism to drive the bidirectional variable pump to rotate at the first target rotating speed, so that the bidirectional variable pump drives the working pump to rotate, and the bidirectional variable pump is connected with the working pump in series.

Description

Control method, controller, utilization system and storage medium for potential energy recycling
Technical Field
The application relates to the field of engineering machinery, in particular to a control method, a controller, a utilization system and a storage medium for potential energy recycling.
Background
Many devices with potential energy recovery function (such as a stacker and an excavator) use a hydraulic system to drive a working mechanism of the device to perform various operations, and use the hydraulic system to recover potential energy of the working mechanism and convert the potential energy into other energy (such as converting the potential energy into electric energy through a storage battery and converting the electric energy into potential energy through an energy accumulator) for storage.
However, the existing potential energy recovery system needs to store all recovered potential energy into a storage battery for discharging, and has the disadvantages of more links, high energy loss and low energy utilization rate.
Disclosure of Invention
In view of the above, the application provides a control method, a controller, a utilization system and a storage medium for potential energy recycling, which solve the technical problem that the potential energy recycling system has low utilization rate of the recycled potential energy in the prior art.
According to one aspect of the present application, there is provided a control method for potential energy recycling, wherein a rotation shaft of a bidirectional variable pump is connected in series with a rotation shaft of a working pump, the control method comprising: acquiring a first target rotating speed of a bidirectional variable pump; acquiring a working instruction of a working oil cylinder, and acquiring a target output speed of the working oil cylinder according to the working instruction; when potential energy of hydraulic oil in the working oil cylinder needs to be released to execute the working instruction, calculating target negative displacement of the bidirectional variable pump according to the first target rotating speed of the bidirectional variable pump and the target output speed of the working oil cylinder; generating a target negative displacement command according to the target negative displacement, wherein the target negative displacement command is used for switching the bidirectional variable pump to a motor working mode and outputting displacement in the target negative displacement; and generating first control information according to a first target rotating speed of the bidirectional variable pump, wherein the first control information is used for controlling a power mechanism to drive the bidirectional variable pump to rotate at the first target rotating speed, so that the bidirectional variable pump drives the working pump to rotate.
In one possible implementation, the obtaining the first target rotational speed of the bidirectional variable displacement pump includes: acquiring the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump; determining a first required rotating speed of the bidirectional variable pump according to the current rotating speed of the power mechanism and the target output speed of the working oil cylinder; acquiring a second required rotation speed of the working pump; and determining a target driving rotational speed of the power mechanism according to the first required rotational speed of the bidirectional variable pump and the second required rotational speed of the working pump.
In one possible implementation manner, the determining the first required rotation speed of the bidirectional variable pump according to the current rotation speed of the power mechanism and the target output speed of the working cylinder includes: when the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump meet the requirement of the target output speed, taking the current rotating speed as the first required rotating speed; and calculating the first required rotating speed according to the target output speed and the rated negative displacement when the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable displacement pump do not meet the requirement of the target output speed.
In one possible implementation manner, the rotating shaft of the power mechanism, the rotating shaft of the bidirectional variable pump, and the rotating shaft of the working pump are sequentially connected in series and have the same rotation speed, and determining the target driving rotation speed of the power mechanism according to the first required rotation speed of the bidirectional variable pump and the second required rotation speed of the working pump includes: acquiring a larger value of the first required rotating speed and the second required rotating speed as a target driving rotating speed of the power mechanism; and determining the first target rotational speed of the bidirectional variable pump and the second target rotational speed of the working pump according to the target driving rotational speed of the power mechanism, wherein the target driving rotational speed, the first target rotational speed and the second target rotational speed are equal in numerical value.
In one possible implementation manner, the obtaining the second required rotation speed of the working pump includes: and acquiring the minimum required rotating speed of the working pump, and taking the minimum required rotating speed as the second required rotating speed of the working pump.
In one possible implementation manner, the control method further includes: determining a second target displacement of the working pump according to a second target rotational speed of the working pump when the working pump is configured as a variable pump; and generating second control information according to the second target displacement, wherein the second control information is used for controlling the working pump to output displacement at the second target displacement.
In one possible implementation, the bi-directional variable pump includes a swash plate; the generating a target negative displacement command according to the target negative displacement, the target negative displacement command being used for switching the bidirectional variable pump to a motor working mode and outputting displacement with the target negative displacement, includes: calculating a target inclination angle of the swash plate according to the target negative displacement of the bidirectional variable pump; acquiring an actual inclination angle of the swash plate measured in real time by an angle sensor; and generating third control information according to the target inclination angle and the actual inclination angle measured by the angle sensor in real time, wherein the third control information is used for controlling a valve core of the proportional valve to move to a working position corresponding to the target negative displacement so as to change the inclination angle of the swash plate until the displacement of the bidirectional variable pump is the target negative displacement.
In one possible implementation manner, the control method further includes: when the working instruction is required to be executed by increasing the hydraulic oil in the working oil cylinder, calculating the target positive displacement of the bidirectional variable pump according to the first target rotating speed of the bidirectional variable pump and the target output speed of the working oil cylinder; generating a target positive displacement command according to the target positive displacement, wherein the target positive displacement command is used for controlling the inclination angle of a swash plate of the bidirectional variable pump so as to enable the bidirectional variable pump to be switched to a pump working mode and output displacement in the target positive displacement; and when the target output speed in the working instruction is zero, generating a zero-displacement instruction, wherein the zero-displacement instruction is used for controlling the inclination angle of the swash plate of the bidirectional variable pump so as to switch the bidirectional variable pump to a zero-displacement working condition.
As a second aspect of the present application, the present application provides a controller applied to potential energy recycling, wherein a rotation shaft of a bidirectional variable pump is connected in series with a rotation shaft of a working pump, the controller comprising: the acquisition module is used for acquiring a first target rotating speed of the bidirectional variable pump; the method comprises the steps of acquiring a working instruction of a working oil cylinder, and acquiring a target output speed of the working oil cylinder according to the working instruction; the analysis and calculation module is used for calculating the target negative displacement of the bidirectional variable pump according to the first target rotating speed of the bidirectional variable pump and the target output speed of the working oil cylinder when the potential energy of the hydraulic oil in the working oil cylinder needs to be released to execute the working instruction; the control module is used for generating a target negative displacement command according to the target negative displacement, and the target negative displacement command is used for switching the bidirectional variable pump to a motor working mode and outputting displacement at the target negative displacement; the control device is used for generating first control information according to a first target rotating speed of the bidirectional variable pump, and the first control information is used for controlling the power mechanism to drive the bidirectional variable pump to rotate at the first target rotating speed, so that the bidirectional variable pump drives the working pump to rotate.
As a third aspect of the present application, there is provided a potential energy recycling system for directly applying energy recovered from a first work mechanism to a second work mechanism, the potential energy recycling system comprising: a power mechanism; the first working mechanism comprises a working oil cylinder and a bidirectional variable pump;
the second working mechanism comprises a working pump; a displacement control unit; a controller as described above; the rotating shaft of the bidirectional variable pump is connected with the rotating shaft of the working pump in series.
In one possible implementation, the working pump includes a pilot pump for maintaining the bi-directional variable pump at a pilot pressure.
In one possible implementation, the working pump includes a first working pump connected to the steering system and/or the accessory system and a second working pump connected to the brake system.
As a fourth aspect of the present application, there is provided a computer-readable storage medium storing a computer program for executing the above-described control method.
According to the control method for potential energy recycling, when the bidirectional variable pump is in a negative displacement working condition and hydraulic oil in the working oil cylinder flows through the bidirectional variable pump under the action of gravity, the hydraulic oil does work on the bidirectional variable pump to drive the rotating shaft of the bidirectional variable pump to rotate, so that potential energy of the hydraulic oil is converted into mechanical energy for driving the rotating shaft of the bidirectional variable pump to rotate; because the rotating shaft of the bidirectional variable pump is connected with the rotating shaft of the working pump in series, the mechanical energy of the bidirectional variable pump is transmitted to the working pump, so that the rotating shaft of the working pump rotates. In the process, potential energy of hydraulic oil is converted into mechanical energy of the bidirectional variable pump and then directly works on the working pump, so that energy conversion and storage links in the prior art are reduced, energy loss is reduced, and energy utilization rate is improved.
Drawings
FIG. 1 is a schematic diagram of a potential energy recycling system according to the present disclosure;
FIG. 2 is a block diagram of the controller shown in FIG. 1;
FIG. 3 is a schematic flow chart of a control method provided in the present application;
FIG. 4 is a schematic flow chart of the control method provided in the present application;
FIG. 5 is a schematic flow chart of a control method provided in the present application;
fig. 6 is a schematic structural diagram of an electronic device provided in the present application.
Detailed Description
In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. All directional indications (such as up, down, left, right, front, back, top, bottom … …) in the embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture (as shown in the drawings), and if the particular gesture changes, the directional indication changes accordingly. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Furthermore, references herein to "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
According to one aspect of the present application, fig. 3 is a schematic flow chart of a control method for potential energy recycling provided in one possible implementation of the present application, where the control method uses a hydraulic system to recycle potential energy of hydraulic oil in the working cylinder 11 of the first working mechanism, and directly converts the potential energy into mechanical energy acting on the working pump of the second working mechanism.
Referring to fig. 1, the control method in this embodiment includes the following steps:
s301: acquiring a first target rotating speed of the bidirectional variable pump 3;
s302: acquiring a working instruction of the working oil cylinder 11, and acquiring a target output speed of the working oil cylinder 11 according to the working instruction;
specifically, the working cylinder 11 is configured as a hydraulic cylinder, which is a hydraulic execution unit that converts hydraulic energy of hydraulic oil into mechanical energy and performs linear reciprocating motion (or swinging motion); in the present embodiment, the working cylinder 11 is an execution unit of the first working mechanism;
specifically, the work order is a control signal generated by the operator through the opening degree of the operation handle 7 to convey the specific work content of the work cylinder 11; the target output speed is the speed output by an operator when the operator expects the working oil cylinder to work; alternatively, the working command may be to start and accelerate the working cylinder 11 to the target output speed, or to slow and brake the working cylinder 11 to rest\standby; alternatively, the target output speed may be zero, positive or negative; specifically, when the working cylinder 11 is a lift cylinder: the target output speed of the working cylinder 11 at rest/standby is zero, the target output speed of the working cylinder 11 at lifting is positive, and the target output speed at lowering is negative.
S303: when the potential energy of the hydraulic oil in the working oil cylinder 11 needs to be released to execute a working instruction, calculating the target negative displacement of the bidirectional variable pump 3 according to the first target rotating speed of the bidirectional variable pump 3 and the target output speed of the working oil cylinder 11;
specifically, the bidirectional variable pump 3 is a power unit of the first working mechanism, the bidirectional variable pump 3 is provided with a first oil port and a second oil port, the working oil cylinder 11 is provided with an oil inlet and an oil outlet, the first oil port of the bidirectional variable pump 3 is communicated with the oil tank 24, and the second oil port of the bidirectional variable pump 3 is communicated with the oil inlet and the oil outlet of the working oil cylinder 11;
the bidirectional variable pump 3 in the implementation mode has two working modes and three working conditions, wherein the two working modes are a pump working mode and a motor working mode respectively, and the three working conditions are a positive displacement working condition, a negative displacement working condition and a zero displacement working condition respectively; the positive displacement working condition of the bidirectional variable pump 3 corresponds to a pump working mode of the bidirectional variable pump 3, and the negative displacement working condition corresponds to a motor working mode of the bidirectional variable pump 3;
specifically, when the bidirectional variable pump 3 is in the negative displacement working condition\motor working mode, the hydraulic oil of the working cylinder 11 flows through the bidirectional variable pump 3 and flows back to the oil tank 24; when the bidirectional variable pump 3 is in the positive displacement working condition\pump working mode, hydraulic oil flows from the oil tank 24 to the working oil cylinder 11 through the bidirectional variable pump 3; when the bidirectional variable pump 3 is in a zero displacement working condition, the working oil cylinder 11 is in a standby/static state;
In the present embodiment, the rotation direction of the rotation shaft of the bidirectional variable displacement pump 3 is the same in the pump operation mode and the motor operation mode.
S304: generating a target negative displacement command according to the target negative displacement, wherein the target negative displacement command is used for switching the bidirectional variable pump 3 to a motor working mode and outputting displacement in a target negative displacement mode;
specifically, when the hydraulic oil of the working cylinder 11 flows through the bidirectional variable displacement pump 3 in the motor operation mode, the potential energy of the hydraulic oil is converted into mechanical energy that drives the bidirectional variable displacement pump 3 to rotate.
S305: generating first control information according to a first target rotating speed of the bidirectional variable pump 3, wherein the first control information is used for controlling the power mechanism to drive the bidirectional variable pump 3 to rotate at the first target rotating speed, so that the bidirectional variable pump 3 drives the working pump to rotate;
specifically, when the bidirectional variable pump 3 rotates at the first target rotational speed and outputs the displacement at the target negative displacement, the operating speed of the operating cylinder 11 is the target output speed;
alternatively, the power mechanism may be configured only as one, in which case the power mechanism mechanically transmits with the bidirectional variable displacement pump 3. Specifically, since the power mechanism drives the bidirectional variable pump 3 to rotate, and the rotating shaft of the bidirectional variable pump 3 is connected in series with the rotating shaft of the working pump, the power mechanism can drive the working pump to rotate by driving the bidirectional variable pump 3 to rotate. Alternatively, the power mechanism may be configured to drive the bidirectional variable pump 3 and the working pump, respectively, in which case the power source of the working pump is derived not only from the bidirectional variable pump 3 but also from the power mechanism that exclusively drives the working pump.
In the implementation mode, when the bidirectional variable pump 3 is in a negative displacement working condition and hydraulic oil in the working oil cylinder 11 flows through the bidirectional variable pump 3 under the action of gravity, the hydraulic oil works on the bidirectional variable pump 3 to drive the rotating shaft of the bidirectional variable pump 3 to rotate, so that potential energy of the hydraulic oil is converted into mechanical energy for driving the rotating shaft of the bidirectional variable pump 3 to rotate; because the rotating shaft of the bidirectional variable pump 3 is connected with the rotating shaft of the working pump in series, the mechanical energy of the bidirectional variable pump 3 is transmitted to the working pump, so that the rotating shaft of the working pump rotates. In the process, the potential energy of the hydraulic oil is converted into the mechanical energy of the bidirectional variable pump 3 and then directly works on the working pump, so that the energy conversion and storage links in the prior art are reduced, the energy loss is reduced, and the energy utilization rate is improved.
In one possible implementation, as shown in fig. 3, step S301 (obtaining the first target rotation speed of the bidirectional variable displacement pump 3) includes:
s3011: acquiring the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump 3;
specifically, the current rotational speed of the power mechanism may be acquired in real time by a speed sensor.
S3012: determining a first required rotating speed of the bidirectional variable pump 3 according to the current rotating speed of the power mechanism and the target output speed of the working oil cylinder 11;
S3013: acquiring a second required rotation speed of the working pump;
specifically, the working pump is a power unit of the second working mechanism and is used for providing power for the second working mechanism;
alternatively, the working pump may be a pilot pump 12 for maintaining the pilot pressure at the second port of the bidirectional variable pump 3, or may be a power unit for driving the steering system 18 and/or the accessory system 20, or may be a power unit for driving the brake system 22;
specifically, the working pumps include a pilot pump 12, a first working pump 17, and a second working pump 21; wherein, two hydraulic ports of the pilot pump 12 are respectively communicated with the oil tank 24 and a second hydraulic port of the bidirectional variable pump 3, the first working pump 17 is connected with the steering system 18 and/or the accessory system 20, and the second working pump 21 is connected with the brake system 22.
S3014: determining a target driving rotation speed of the power mechanism according to the first required rotation speed of the bidirectional variable pump 3 and the second required rotation speed of the working pump;
alternatively, the power mechanism comprises an energy accumulator and a prime motor, wherein the prime motor can be the motor 2 or the internal combustion engine, and the energy accumulator can be the storage battery 1 or an energy storage oil tank for storing potential energy of hydraulic oil.
In one possible implementation, as shown in fig. 3, step S3012 (determining the first required rotational speed of the bidirectional variable displacement pump 3 according to the current rotational speed of the power mechanism and the target output speed of the working cylinder 11) includes:
S30121: when the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump 3 meet the requirement of the target output speed, taking the current rotating speed as a first required rotating speed;
specifically, the current rotation speed of the power mechanism is used as a rotation speed calculation value of the bidirectional variable pump 3, the rated negative displacement is used as a displacement calculation value of the bidirectional variable pump 3, the output speed of the working cylinder 11 is calculated, and when the calculated value of the output speed is greater than or equal to the target output speed, the current rotation speed of the power mechanism and the rated negative displacement of the bidirectional variable pump 3 are considered to meet the requirement of the target output speed.
S30122: when the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump 3 do not meet the requirement of the target output speed, calculating a first required rotating speed according to the target output speed and the rated negative displacement;
specifically, the current rotation speed of the power mechanism is taken as a rotation speed calculation value of the bidirectional variable pump 3, the rated negative displacement is taken as a displacement calculation value of the bidirectional variable pump 3, the output speed of the working cylinder 11 is calculated, and when the calculated value of the output speed is smaller than the target output speed, the current rotation speed of the power mechanism and the rated negative displacement of the bidirectional variable pump 3 are considered to not meet the requirement of the target output speed;
Specifically, the target output speed is taken as an output speed calculation value of the working cylinder 11, the flow required by the working cylinder 11 is calculated according to the size and shape of the working cylinder 11, then the rated negative displacement is taken as a displacement calculation value of the bidirectional variable pump 3, and the first required rotating speed is calculated according to a specific relation.
In steps S30121 and S30122 of the present implementation manner, the first required rotational speed and the target negative displacement of the bidirectional variable pump 3 are determined by determining whether the current rotational speed of the power mechanism and the rated negative displacement of the bidirectional variable pump 3 meet the requirement of the target output speed, so as to make the first required rotational speed of the bidirectional variable pump 3 as close to or even equal to the current rotational speed of the power mechanism as possible, thereby reducing the possibility of adjusting the rotational speed of the power mechanism or reducing the adjustment amplitude of the rotational speed of the power mechanism, and being beneficial to reducing the energy consumption caused by speed regulation of the power mechanism.
In one possible implementation, as shown in fig. 3, step S3014 (determining the target driving rotational speed of the power mechanism according to the first required rotational speed of the bidirectional variable displacement pump 3 and the second required rotational speed of the working pump) includes:
s30141: acquiring a larger value of the first required rotating speed and the second required rotating speed as a target driving rotating speed of the power mechanism;
Specifically, the target driving rotational speed of the power mechanism takes a larger value of the first required rotational speed and the second required rotational speed in order to satisfy the flow rate requirements of the bidirectional variable pump 3 and the working pump, respectively.
S30142: the first target rotational speed of the bidirectional variable displacement pump 3 and the second target rotational speed of the working pump are determined in accordance with the target driving rotational speed of the power mechanism.
With reference to fig. 1, in this implementation manner, two interfaces of the rotating shaft of the bidirectional variable pump 3 are directly connected with the power mechanism and the working pump through the coupling respectively, that is, the rotating shaft of the power mechanism, the rotating shaft of the bidirectional variable pump 3 and the rotating shaft of the working pump are sequentially connected in series and have the same rotating speed, so that links of energy transmission are reduced, and energy loss is reduced.
In one possible implementation, as shown in fig. 3, step S3013 (to obtain the second required rotation speed of the working pump) includes:
s30131: acquiring the minimum required rotation speed of the working pump, and taking the minimum required rotation speed as the second required rotation speed of the working pump;
specifically, according to the flow requirement of the working pump, the displacement size or the specification of the matched overflow valve 13, the minimum required rotating speed of the working pump is determined; the minimum required rotation speed is used as the second required rotation speed of the working pump, and the larger value of the first required rotation speed and the second required rotation speed is obtained as the target driving rotation speed of the power mechanism, so that the target driving rotation speed is close to or equal to the current rotation speed of the power mechanism as much as possible on the basis of respectively meeting the respective flow demands of the bidirectional variable pump 3 and the working pump, and the energy loss brought to the speed regulation of the power mechanism is reduced.
By executing step S30131 to obtain the second required rotation speed of the working pump, if the working pump is a variable pump, the second target displacement of the working pump can be calculated according to the second required rotation speed, and then the working pump is controlled to output displacement with the second target displacement according to the second target displacement, that is, steps S306 to S307 are executed:
s306: determining a second target displacement of the working pump according to a second target rotational speed of the working pump when the working pump is configured as a variable pump; and
s307: and generating second control information according to the second target displacement, wherein the second control information is used for controlling the working pump to output the displacement at the second target displacement.
In one possible implementation, as shown in fig. 3, step S304 (generating a target negative displacement command from the target negative displacement, the target negative displacement command being used to switch the bidirectional variable displacement pump 3 to the motor operation mode and output the displacement at the target negative displacement) includes:
s3041: calculating a target inclination angle of the swash plate 31 according to the target negative displacement of the bidirectional variable pump 3;
specifically, the bidirectional variable pump 3 includes a swash plate 31 and two variable control cylinders 32, and the two variable control cylinders 32 are respectively connected to opposite ends of the swash plate 31 for controlling the inclination angle of the swash plate 31.
S3042: acquiring an actual inclination angle of the swash plate 31 measured in real time by the angle sensor 4; and
s3043: according to the target inclination angle and the actual inclination angle measured by the angle sensor 4 in real time, third control information is generated, and the third control information is used for controlling the valve core of the proportional valve 5 to move to a working position corresponding to the target negative displacement so as to change the inclination angle of the swash plate 31 until the displacement of the bidirectional variable pump 3 is the target negative displacement.
Specifically, the proportional valve 5 changes the pressure of the two variable control oil cylinders 32 by moving the valve core, so that the swash plate 31 rotates under the combined action of the two variable control oil cylinders 32, thereby realizing the regulation and control of the inclination angle of the swash plate 31, and further controlling the displacement of the bidirectional variable pump 3; the proportional valve 5 also controls the inclination angle of the swash plate 31 to switch the bidirectional variable pump 3 between the pump operation mode and the motor operation mode.
After executing the steps S301 to S307, the motor 2 maintains the target driving rotation speed and drives the bidirectional variable pump 3 to rotate at the first target rotation speed, and the bidirectional variable pump outputs the displacement at the target negative displacement, so that the working cylinder 11 meets the requirement of the target output speed output by the handle 7; in the process that the motor 2 maintains the target driving rotation speed, hydraulic oil of the working oil cylinder 11 drives the bidirectional variable pump 3 to do work through the gate valve 9, and negative power generation torque T1 (namely T1< 0) generated by the fact that the hydraulic oil drives the bidirectional variable pump 3 to do work at the moment is defined;
The motor 2 maintains the target driving rotation speed and drives the bidirectional variable pump 3 to rotate at the first target rotation speed, the working pump rotates at the second target rotation speed under the drive of the bidirectional variable pump 3, the rotating shaft of the working pump is connected with the rotating shaft of the bidirectional variable pump 3 in series, the bidirectional variable pump 3 does work on the working pump, and the forward power consumption torque T2 (namely T2> 0) generated by the working pump on the bidirectional variable pump 3 at the moment is defined;
when T1+T2 is more than or equal to 0, the motor 2 is in a motor mode; the full potential energy of the hydraulic oil of the working oil cylinder 11 recovered by the bidirectional variable pump 3 is directly converted into mechanical energy to apply work to the working pump, and insufficient energy is obtained from the storage battery 1 through the motor 2.
When T1+T2 is less than 0, the motor 2 is in a generator mode, partial potential energy of hydraulic oil of the working oil cylinder 11 recovered by the bidirectional variable pump 3 is directly converted into mechanical energy to work the working pump, and redundant energy is stored into the storage battery 1 through the motor 2.
In summary, part or all of the hydraulic oil of the working cylinder 11 drives the bidirectional variable pump 3 to do work is directly converted into mechanical energy for driving the working pump to do work, the potential energy recovered by the part is directly used for doing work without any conversion, the conversion loss of the energy of the part is avoided, and only when T1+T2 is less than 0, the redundant potential energy is converted into electric energy through the motor 2 to be stored in the storage battery 1. Compared with the prior art, the energy recovery efficiency is greatly improved. In one possible implementation, as shown in fig. 4, the control method further includes:
S401: when a working order is required to be executed by increasing the hydraulic oil in the working cylinder, calculating the target positive displacement of the bidirectional variable pump 3 according to the first target rotational speed of the bidirectional variable pump 3 and the target output speed of the working cylinder 11;
s402: generating a target positive displacement command according to the target positive displacement, wherein the target positive displacement command is used for controlling the inclination angle of the swash plate 31 of the bidirectional variable pump 3 so as to enable the bidirectional variable pump 3 to switch to a pump working mode and output displacement at the target positive displacement;
specifically, in combination with the operation of fig. 1, the hydraulic oil in the hydraulic cylinder 11 increases when the hydraulic cylinder 11 starts or accelerates or decelerates or brakes under the positive displacement operation.
S403: when the target output speed in the working instruction is zero, a zero-displacement instruction is generated, wherein the zero-displacement instruction is used for controlling the inclination angle of the swash plate 31 of the bidirectional variable pump 3 so as to enable the bidirectional variable pump 3 to be switched to a zero-displacement working condition;
specifically, in combination with the illustration of fig. 1, under the zero displacement working condition, the working cylinder 11 stands by/is stationary, the power mechanism operates at the target driving speed to drive the pilot pump 12 to supply oil, and the oil flows through the pressure reducing valve 14 and the one-way valve 15 to the pump port of the bidirectional variable pump 3 respectively, so that the pump port has pilot pressure, and the proportional valve 5 is ensured to still execute the displacement command during the system stand by.
During the operation of the working cylinder 11, if the pressure of the pilot pump 12 is higher than the pressure of the pressure reducing valve 14, the oil supplied by the pilot pump 12 returns to the oil tank 24 through the relief valve 13; when the pressure of the bidirectional variable pump 3 is higher than the pressure of the pressure reducing valve 14, the pilot pump 12 supplies oil to the oil return tank 24 through the relief valve 13.
In one possible implementation, as shown in fig. 5, the control method further includes:
s501: acquiring a first hydraulic pressure between a gate valve 9 and a second oil port of the bidirectional variable pump 3, wherein the first hydraulic pressure is measured by a first sensor 8; acquiring a second hydraulic pressure between the gate valve 9 and the working cylinder 11, which is measured by a second sensor 10;
s502: when the pressure difference between the second hydraulic pressure and the first hydraulic pressure is greater than a preset threshold value, fourth control information is generated, and the fourth control information is used for controlling the bidirectional variable pump 3 to output positive displacement so that hydraulic oil flows from the bidirectional variable pump 3 to the working oil cylinder 11, and further the pressure difference between the second hydraulic pressure and the first hydraulic pressure is smaller than or equal to the preset threshold value; and
s503: when the difference between the second hydraulic pressure and the first hydraulic pressure is less than or equal to the threshold value, fifth control information is generated, and the fifth control information is used for controlling the conduction of the gate valve 9 between the working cylinder 11 and the second oil port of the bidirectional variable pump 3.
The steps S501 to S503 function to ensure that the hydraulic oil in the working cylinder 11 flows back down to the oil tank 24 to release potential energy with as little impact as possible.
In the present embodiment, as shown in fig. 1, the gate valve 9 is configured as an on-off solenoid valve, and the gate valve 9 is mounted on the working cylinder 11.
It is easy to understand that the gate valve 9 is operated to be turned on, the power mechanism is operated to be operated at the target driving speed, and the bidirectional variable displacement pump 3 is operated to be output at the target displacement, and three operations are performed simultaneously.
In this implementation manner, as shown in fig. 1, when the bidirectional variable pump 3 is in the motor working mode, the pressure of the bidirectional variable pump 3 is higher than the pressure of the pressure reducing valve 14, so that the negative displacement of the bidirectional variable pump 3 is prevented from being zeroed to suck air at the moment when the gate valve 9 is closed, the pilot pressure of the bidirectional variable pump 3 is ensured in real time, and the service life of the bidirectional variable pump 3 is prolonged.
As a second aspect of the present application, fig. 2 shows a controller 6 for potential energy recycling according to one possible implementation of the present application, including:
an acquisition module 61 for acquiring a first target rotational speed of the bidirectional variable pump 3; the device comprises a control unit, a control unit and a control unit, wherein the control unit is used for acquiring a working instruction of a working oil cylinder 11 and acquiring a target output speed of the working oil cylinder 11 according to the working instruction;
the analysis and calculation module 62 is configured to calculate a target negative displacement of the bidirectional variable pump 3 according to a first target rotational speed of the bidirectional variable pump 3 and a target output speed of the working cylinder 11 when potential energy of hydraulic oil in the working cylinder 11 needs to be released to execute a working instruction; and
The control module 63 is used for generating a target negative displacement command according to the target negative displacement, wherein the target negative displacement command is used for switching the bidirectional variable displacement pump 3 to a motor working mode and outputting displacement at the target negative displacement; the control device is used for generating first control information according to a first target rotating speed of the bidirectional variable pump 3, wherein the first control information is used for controlling the power mechanism to drive the bidirectional variable pump 3 to rotate at the first target rotating speed, so that the bidirectional variable pump 3 drives the working pump to rotate;
wherein the rotating shaft of the bidirectional variable pump 3 is connected with the rotating shaft of the working pump in series.
As a third aspect of the present application, fig. 1 shows a potential energy recycling system provided as one possible implementation of the present application, for directly applying energy recovered from a first working mechanism to a second working mechanism, the potential energy recycling system comprising: a power mechanism; the first working mechanism comprises a working oil cylinder 11; the second working mechanism comprises a bidirectional variable pump 3 and a working pump; a displacement control unit; the controller 6; wherein the rotating shaft of the bidirectional variable pump 3 is connected with the rotating shaft of the working pump in series.
Specifically, the displacement control unit includes a proportional valve 5 and an angle sensor 4, and the controller 6 sends an instruction to the displacement control unit so that the displacement control unit controls the bidirectional variable displacement pump 3 to output at a target displacement according to the instruction.
Alternatively, as shown in fig. 1, the bidirectional variable pump 3 is configured as a positive-negative swing angle type plunger pump, and the working cylinders 11 are two lifting cylinders.
Specifically, as shown in fig. 1, the potential energy recycling system further includes a relief valve 23 connected between the second oil port of the bidirectional variable pump 3 and a variable control cylinder 32, and when the pressure of the second oil port of the bidirectional variable pump 3 exceeds a predetermined value, the relief valve 23 controls the bidirectional variable pump 3 to reduce the displacement to release the pressure;
specifically, a multiway valve 19 is connected between the steering system and the accessory system; the relief valve 16 is connected between the oil tank 24 and the working cylinder 11, and relief is performed when the pressure of the working cylinder 11 exceeds a set value, so as to ensure the safety of the working cylinder 11.
As a fourth aspect of the present application, an electronic device according to an embodiment of the present application is described with reference to fig. 6. Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
As shown in fig. 6, the electronic device 600 includes one or more processors 601 and memory 602.
The processor 601 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or information execution capabilities and may control other components in the electronic device 600 to perform desired functions.
The memory 601 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. Volatile memory can include, for example, random Access Memory (RAM) and/or cache memory (cache) and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program information may be stored on a computer readable storage medium and the processor 601 may execute the program information to implement the control methods or other desired functions of the various embodiments of the present application above.
In one example, the electronic device 600 may further include: input device 603 and output device 604, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).
The input device 603 may include, for example, a keyboard, a mouse, and the like.
The output device 604 can output various information to the outside. The output means 604 may comprise, for example, a display, a communication network, a remote output device to which it is connected, and so forth.
Of course, for simplicity, only some of the components of the electronic device 600 that are relevant to the present application are shown in fig. 6, components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 600 may include any other suitable components depending on the particular application.
In addition to the methods and apparatus described above, embodiments of the present application may also be a computer program product comprising computer program information which, when executed by a processor, causes the processor to perform the steps in the control methods described in the present specification according to the various embodiments of the present application.
The computer program product may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium, on which computer program information is stored, which, when being executed by a processor, causes the processor to perform the steps in the control method according to various embodiments of the present application.
A computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not intended to be limited to the details disclosed herein as such.
The block diagrams of the devices, apparatuses, devices, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean and are used interchangeably with the word" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices, and methods of the present application, the components or steps may be disassembled and/or assembled. These decompositions and/or recombinations should be considered equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description of the preferred embodiments is provided for the purpose of illustration only, and is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims (12)

1. The control method for potential energy recycling is characterized in that a rotating shaft of a bidirectional variable pump is connected with a rotating shaft of a working pump in series, and the control method comprises the following steps:
acquiring a first target rotating speed of a bidirectional variable pump;
acquiring a working instruction of a working oil cylinder, and acquiring a target output speed of the working oil cylinder according to the working instruction;
when potential energy of hydraulic oil in the working oil cylinder needs to be released to execute the working instruction, calculating target negative displacement of the bidirectional variable pump according to the first target rotating speed of the bidirectional variable pump and the target output speed of the working oil cylinder;
generating a target negative displacement command according to the target negative displacement, wherein the target negative displacement command is used for switching the bidirectional variable pump to a motor working mode and outputting displacement in the target negative displacement; and
generating first control information according to a first target rotating speed of the bidirectional variable pump, wherein the first control information is used for controlling a power mechanism to drive the bidirectional variable pump to rotate at the first target rotating speed, so that the bidirectional variable pump drives the working pump to rotate;
The obtaining the first target rotation speed of the bidirectional variable pump comprises the following steps:
acquiring the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump;
determining a first required rotating speed of the bidirectional variable pump according to the current rotating speed of the power mechanism and the target output speed of the working oil cylinder;
acquiring a second required rotation speed of the working pump; and
determining a target driving rotation speed of the power mechanism according to the first required rotation speed of the bidirectional variable pump and the second required rotation speed of the working pump;
wherein the target driving rotational speed is equal to the first target rotational speed value.
2. The control method according to claim 1, wherein determining the first required rotational speed of the bidirectional variable displacement pump based on the current rotational speed of the power mechanism and the target output speed of the working cylinder includes:
when the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump meet the requirement of the target output speed, taking the current rotating speed as the first required rotating speed; and
and when the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump do not meet the requirement of the target output speed, calculating the first required rotating speed according to the target output speed and the rated negative displacement.
3. The control method according to claim 2, wherein the rotation shaft of the power mechanism, the rotation shaft of the bidirectional variable pump, and the rotation shaft of the working pump are sequentially connected in series and have the same rotation speed; determining a target driving rotational speed of the power mechanism according to the first required rotational speed of the bidirectional variable pump and the second required rotational speed of the working pump, including:
acquiring a larger value of the first required rotating speed and the second required rotating speed as a target driving rotating speed of the power mechanism; and
and determining the first target rotating speed of the bidirectional variable pump and the second target rotating speed of the working pump according to the target driving rotating speed of the power mechanism, wherein the target driving rotating speed, the first target rotating speed and the second target rotating speed are equal in numerical value.
4. A control method according to claim 3, wherein obtaining the second required rotational speed of the working pump comprises:
and acquiring the minimum required rotating speed of the working pump, and taking the minimum required rotating speed as the second required rotating speed of the working pump.
5. A control method according to claim 3, characterized in that the control method further comprises:
Determining a second target displacement of the working pump according to a second target rotational speed of the working pump when the working pump is configured as a variable pump; and
and generating second control information according to the second target displacement, wherein the second control information is used for controlling the working pump to output displacement at the second target displacement.
6. The control method according to claim 1, characterized in that the bidirectional variable pump includes a swash plate;
the target negative displacement command is generated according to the target negative displacement, and is used for switching the bidirectional variable pump to a motor working mode and outputting displacement with the target negative displacement, and the target negative displacement command comprises:
calculating a target inclination angle of the swash plate according to the target negative displacement of the bidirectional variable pump;
acquiring an actual inclination angle of the swash plate measured in real time by an angle sensor; and
and generating third control information according to the target inclination angle and the actual inclination angle measured by the angle sensor in real time, wherein the third control information is used for controlling a valve core of the proportional valve to move to a working position corresponding to the target negative displacement so as to change the inclination angle of the swash plate until the displacement of the bidirectional variable pump is the target negative displacement.
7. The control method according to claim 1, characterized in that the control method further comprises:
when the working instruction is required to be executed by increasing the hydraulic oil in the working oil cylinder, calculating the target positive displacement of the bidirectional variable pump according to the first target rotating speed of the bidirectional variable pump and the target output speed of the working oil cylinder;
generating a target positive displacement command according to the target positive displacement, wherein the target positive displacement command is used for controlling the inclination angle of a swash plate of the bidirectional variable pump so as to enable the bidirectional variable pump to be switched to a pump working mode and output displacement in the target positive displacement; and
and when the target output speed in the working instruction is zero, generating a zero-displacement instruction, wherein the zero-displacement instruction is used for controlling the inclination angle of a swash plate of the bidirectional variable pump so as to switch the bidirectional variable pump to a zero-displacement working condition.
8. A controller for potential energy recycling, characterized in that a rotating shaft of a bidirectional variable pump is connected in series with a rotating shaft of a working pump, the controller comprising:
the acquisition module is used for acquiring a first target rotating speed of the bidirectional variable pump; the method comprises the steps of acquiring a working instruction of a working oil cylinder, and acquiring a target output speed of the working oil cylinder according to the working instruction;
The analysis and calculation module is used for calculating the target negative displacement of the bidirectional variable pump according to the first target rotating speed of the bidirectional variable pump and the target output speed of the working oil cylinder when the potential energy of the hydraulic oil in the working oil cylinder needs to be released to execute the working instruction; and
the control module is used for generating a target negative displacement command according to the target negative displacement, and the target negative displacement command is used for switching the bidirectional variable pump to a motor working mode and outputting displacement at the target negative displacement; the control device is used for generating first control information according to a first target rotating speed of the bidirectional variable pump, wherein the first control information is used for controlling a power mechanism to drive the bidirectional variable pump to rotate at the first target rotating speed, so that the bidirectional variable pump drives the working pump to rotate;
the obtaining the first target rotation speed of the bidirectional variable pump comprises the following steps:
acquiring the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump;
determining a first required rotating speed of the bidirectional variable pump according to the current rotating speed of the power mechanism and the target output speed of the working oil cylinder;
acquiring a second required rotation speed of the working pump; and
And determining the target driving rotating speed of the power mechanism according to the first required rotating speed of the bidirectional variable pump and the second required rotating speed of the working pump.
9. A potential energy recycling system for directly applying energy recovered from a first work mechanism to a second work mechanism, the potential energy recycling system comprising:
a power mechanism;
the first working mechanism comprises a working oil cylinder and a bidirectional variable pump;
the second working mechanism comprises a working pump;
a displacement control unit; and
the controller of claim 8;
the rotating shaft of the bidirectional variable pump is connected with the rotating shaft of the working pump in series.
10. The potential energy recycling system according to claim 9, wherein the working pump comprises a pilot pump for maintaining the bi-directional variable pump at a pilot pressure.
11. The potential energy recycling system according to claim 9, wherein the working pump comprises a first working pump and a second working pump, the first working pump being connected to a steering system and or an accessory system, the second working pump being connected to a braking system.
12. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the control method according to any one of the preceding claims 1 to 7.
CN202110720900.3A 2021-06-28 2021-06-28 Control method, controller, utilization system and storage medium for potential energy recycling Active CN113513515B (en)

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