CN113525345A

CN113525345A - Hybrid power engineering machinery limping control method and device and crane

Info

Publication number: CN113525345A
Application number: CN202110877817.7A
Authority: CN
Inventors: 杨小文; 袁丹; 张进
Original assignee: Sany Automobile Hoisting Machinery Co Ltd
Current assignee: Sany Automobile Hoisting Machinery Co Ltd
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2021-10-22
Anticipated expiration: 2041-07-30
Also published as: CN113525345B

Abstract

The application discloses a hybrid power engineering machinery limping control method, a device and a crane, wherein an engine is controlled to drive a generator to generate power, the load is transferred by controlling a driving motor, and the opening degree of an overflow proportional valve is adjusted according to the actual power generation power and the transfer power of the generator, so that the function of safely transferring the load under the condition of battery failure is realized, the stability of the whole system is ensured, and the whole safety performance is effectively improved.

Description

Hybrid power engineering machinery limping control method and device and crane

Technical Field

The application relates to the technical field of engineering machinery, in particular to a limping control method and device for hybrid engineering machinery and a crane.

Background

The hybrid power crane is a crane provided with two power sources of an engine and a storage battery, and can reduce pollutant emission and protect the environment. However, in the hoisting process of the hybrid power crane, if a battery fails, the hybrid power crane cannot supply power, so that the crane is easily in a paralysis state, and the hoisted load also has potential safety hazards.

Disclosure of Invention

In order to solve the technical problems, the limping control method and device for the hybrid engineering machinery and the crane are provided, and the load can be safely transferred under the condition that the battery fails, so that the safety performance is effectively improved.

According to one aspect of the application, a limp control method of a hybrid construction machine is provided, and comprises the following steps:

acquiring fault information of a battery;

controlling an engine to drive a generator to generate power according to the fault information of the battery;

controlling a driving motor to transfer a load; wherein the drive motor is powered by the generator;

acquiring transfer power in the load transfer process; and

adjusting the opening of an overflow proportional valve according to the actual power generation power of the generator and the transfer power; wherein different opening degrees of the overflow proportional valve correspond to different oil pressures in the oil pump.

According to another aspect of the present application, the controlling the engine to drive the generator to generate power according to the fault information of the battery comprises:

and controlling the engine to drive the generator to generate power at a constant preset rotating speed and preset torque according to the fault information of the battery.

According to another aspect of the application, before the controlling the engine to drive the generator to generate power at a constant preset rotation speed and a preset torque according to the fault information of the battery, the limp home control method of the hybrid construction machine further comprises:

acquiring the working power of the driving motor before the battery fails;

calculating to obtain target generating power of the generator according to the working power of the driving motor; wherein the target generated power of the generator is greater than or equal to the working power of the driving motor; and

and calculating the preset rotating speed and the preset torque of the engine according to the target generating power of the generator.

According to another aspect of the application, the obtaining of the transfer power in the load transfer process includes:

acquiring the weight of the load;

acquiring the actual transfer speed of the load; and

and calculating the transfer power in the load transfer process according to the weight of the load and the actual transfer speed.

According to another aspect of the present application, the controlling the driving motor to transfer the load includes:

acquiring the mode of an operating lever; and

if the mode of the operating rod is a single-rod mode and the movement stroke of the operating rod is greater than half of the total stroke, controlling the driving motor to drive the load to transfer; wherein the size of the movement stroke of the operating rod corresponds to the size of the actual transfer speed of the load;

the acquiring the actual transfer speed of the load comprises:

and acquiring the actual transfer speed of the load according to the movement stroke of the operating rod.

According to another aspect of the application, before controlling the driving motor to carry out load shifting, the limp control method of the hybrid construction machine further comprises the following steps:

acquiring the weight of the load, capacitance and inductance values in a circuit system and preset performance parameters of the driving motor; and

calculating to obtain the safe transfer speed of the load according to the weight of the load, the capacitance value and the inductance value in the circuit system and the preset performance parameters of the driving motor;

the controlling the driving motor to transfer the load includes:

and controlling the actual transfer speed of the driving motor to drive the load to transfer to be not greater than the safe transfer speed.

According to another aspect of the present application, the adjusting the opening degree of the overflow proportional valve according to the actual generated power of the generator and the transferred power includes:

calculating the consumed power of the oil pump according to the actual generating power of the generator and the transfer power; and

and adjusting the opening of the overflow proportional valve according to the consumed power of the oil pump.

According to another aspect of the application, after the obtaining the fault information of the battery, the limp control method of the hybrid construction machine further comprises:

a locking mechanical system and a control button; wherein the drive motor transfers the load through the mechanical system; the control button is used for controlling the mechanical system to work;

starting a fault alarm prompt; wherein the fault alarm prompt comprises a light alarm and a sound alarm; and

and disconnecting the relay to disconnect a power supply line between the battery and the driving motor.

According to another aspect of the present application, there is provided a limp control device of a hybrid construction machine, including:

the first acquisition module is used for acquiring the fault information of the battery;

the power generation module is used for controlling an engine to drive a generator to generate power according to the fault information of the battery;

the transfer module is used for controlling the driving motor to transfer the load; wherein the drive motor is powered by the generator;

the second acquisition module is used for acquiring the transfer power in the load transfer process; and

the adjusting module is used for adjusting the opening of the overflow proportional valve according to the output power of the driving motor and the transfer power; wherein different opening degrees of the overflow proportional valve correspond to different oil pressures in the oil pump.

According to another aspect of the present application, there is provided a crane including:

a base;

the hoisting body is rotatably connected to the base and used for hoisting the load to ascend or descend;

the driving motor is arranged on the hoisting body and is used for driving load transfer;

the battery is arranged on the base and used for supplying power to the driving motor;

the generator is arranged on the base and used for supplying power to the driving motor;

the engine is arranged on the base and is in transmission connection with the generator;

the oil pump is arranged on the hoisting body and is in transmission connection with the driving motor;

the overflow proportional valve is arranged on the hoisting body and used for adjusting the oil pressure of the oil pump; and

and the controller is used for executing the limp control method of the hybrid engineering machinery.

According to the limping control method and device for the hybrid engineering machinery and the crane, the engine is controlled to drive the generator to generate power, the driving motor is controlled to transfer load, and the opening degree of the overflow proportional valve is adjusted according to the actual power generation power and the transfer power of the generator, so that the function of safely transferring the load under the condition of battery failure is realized, the stability of the whole system is ensured, and the whole safety performance is effectively improved.

Drawings

The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.

Fig. 1 is a block diagram of a hybrid construction machine according to an exemplary embodiment of the present application.

Fig. 2 is a schematic flow chart of a limp control method of a hybrid construction machine according to an exemplary embodiment of the present disclosure.

Fig. 3 is a flowchart illustrating a limp control method of a hybrid construction machine according to another exemplary embodiment of the present disclosure.

Fig. 4 is a schematic flowchart of a limp control method of a hybrid construction machine according to another exemplary embodiment.

Fig. 5 is a flowchart illustrating obtaining transfer power during a load transfer process according to an exemplary embodiment of the present application.

Fig. 6 is a block diagram of a hybrid construction machine according to another exemplary embodiment of the present application.

Fig. 7 is a schematic flow chart illustrating a process of controlling a driving motor to transfer a load according to an exemplary embodiment of the present application.

Fig. 8 is a flowchart illustrating a limp control method of a hybrid construction machine according to another exemplary embodiment of the present disclosure.

Fig. 9 is a block diagram of a hybrid construction machine according to another exemplary embodiment of the present disclosure.

Fig. 10 is a flowchart illustrating a limp control method of a hybrid construction machine according to another exemplary embodiment of the present disclosure.

Fig. 11 is a schematic flow chart illustrating a process of adjusting an opening of the overflow proportional valve according to an exemplary embodiment of the present application.

Fig. 12 is a flowchart illustrating a limp control method of a hybrid construction machine according to another exemplary embodiment of the present disclosure.

Fig. 13 is a flowchart illustrating a limp control method of a hybrid construction machine according to another exemplary embodiment of the present disclosure.

Fig. 14 is a block diagram of a hybrid construction machine limp home control device according to an exemplary embodiment of the present disclosure.

Fig. 15 is a block diagram of a hybrid construction machine limp home control device according to another exemplary embodiment of the present disclosure.

Fig. 16 is a schematic structural diagram of a crane according to an exemplary embodiment of the present application.

Fig. 17 is a schematic structural diagram of a controller according to an exemplary embodiment of the present application.

Detailed Description

Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.

Fig. 1 is a block diagram of a hybrid construction machine 40 according to an exemplary embodiment of the present disclosure. The hybrid construction machine 40 may be a crane, an excavator, a bulldozer, or the like. As shown in fig. 1, the hybrid construction machine 40 may include a driving motor 401, and when the driving motor 401 is started, kinetic energy may be provided to drive load transfer. Taking a crane as an example, the driving motor 401 can drive the load to realize the operation process of lifting or dropping.

As shown in fig. 1, the hybrid construction machine 40 further includes a battery 402, and the battery 402 can supply power to the driving motor 401, so as to ensure that the driving motor 401 can continuously operate. The battery 402 may be charged or discharged.

As shown in fig. 1, the hybrid construction machine 40 may further include a generator 403, the generator 403 may generate electricity, and the electricity generated by the generator 403 may be directly used to power the driving motor 401, or may be stored in the battery 402. It should be understood that generator 403 is not generally used for generating power in the case where battery 402 can continuously supply power to drive motor 401, and generator 403 in this case can be used as a motor to control the traveling operation of hybrid construction machine 40.

As shown in fig. 1, the hybrid work machine 40 may further include an engine 404, and the engine 404 is drivingly connected to the generator 403. It should be appreciated that when the engine 404 is started, the generator 403 may be driven to generate electricity, and the generator 403 may convert the mechanical energy into electrical energy.

As shown in fig. 1, the hybrid construction machine 40 may further include an oil pump 405, the oil pump 405 is in transmission connection with the driving motor 401, and the driving motor 401 may serve as a power source of the oil pump 405 to control the operation of the hydraulic system.

As shown in fig. 1, the hybrid construction machine 40 may further include an overflow proportional valve 406, and the overflow proportional valve 406 may regulate the oil pressure of the oil pump 405. It should be understood that the larger the opening degree of the relief proportional valve 406, the larger the oil pressure of the oil pump 405, the more the amount of heat generated by the hydraulic oil in the oil passage, and the larger the power consumed by the oil pump 405. Conversely, the smaller the opening degree of the spill proportional valve 406, the smaller the oil pressure of the oil pump 405, the less the amount of heat generated by the hydraulic oil in the oil passage, and the smaller the power consumed by the oil pump 405. Therefore, the oil pressure of the oil pump 405 can be adjusted by adjusting the opening degree of the spill proportional valve 406, and the power consumption of the oil pump 405 can be adjusted.

In practical application, the battery may break down, so that the battery cannot provide electric energy for the driving motor, the hybrid power engineering machine is in a paralysis state, and potential safety hazards exist in the load which is not transferred. Taking a crane as an example, if the battery fails, the load hoisted by the crane is suspended in the air, and potential safety hazards exist. Based on the above, the application provides a limping control method and device for a hybrid engineering machine and a crane, which can safely transfer a load and effectively improve the safety performance under the condition that a battery fails.

Fig. 2 is a schematic flow chart of a limp control method of a hybrid construction machine according to an exemplary embodiment of the present disclosure. As shown in fig. 2, the limp control method of the hybrid construction machine includes:

s210: and acquiring the fault information of the battery.

The failure information of the battery may include failure information of the battery structure itself, and may also include failure information of a cable or a switch electrically connected to the battery. After the battery is detected to have a fault, the BMS (battery management system) sends a signal representing the battery fault to a VCU (vehicle control unit) through a CAN (controller area network), and the VCU CAN control other components to act after receiving the signal so as to ensure that the load CAN be safely transferred.

S220: and controlling the engine to drive the generator to generate power according to the fault information of the battery.

After the fault information of the battery is acquired, the engine drives the generator to generate electricity, the electric energy generated by the generator can supply power for the driving motor, and a power source is provided for the driving motor to transfer loads.

S230: and controlling the driving motor to transfer load.

After the generator provides electric energy for the driving motor, the driving motor can be started again to carry out load transfer operation. By taking the crane as an example, even if the battery fails, the driving motor can still carry out load transfer, thereby avoiding the load from being suspended in the air for a long time, reducing the probability of safety accidents and improving the safety performance.

S240: and acquiring transfer power in the load transfer process.

In order to ensure that the load transfer can be realized by the electric energy generated by the generator, generally, the actual generated power of the generator will not be less than the transfer power required in the load transfer process.

S250: and adjusting the opening degree of the overflow proportional valve according to the actual power generation power and the transfer power of the generator.

When the actual generated power of the generator is larger than the transferred power, the load transfer is realized, and meanwhile, a part of power is remained, and if the remained power is not consumed, the whole system is unstable. Therefore, the residual power can be calculated according to the actual power generation power and the transfer power of the generator, and the opening degree of the overflow proportional valve can be adjusted according to the residual power, so that the oil pressure of the oil pump can be adjusted, the residual power is used for improving the oil pressure, the residual power is consumed in a heat energy mode, and the balance of the whole system is achieved. It should be understood that the corresponding relationship between the opening size of the overflow proportional valve and the remaining power can be known by a preset reference table query.

The application provides a limping control method for a hybrid power engineering machine, which drives a generator to generate power by controlling an engine, adjusts the opening degree of an overflow proportional valve by controlling a driving motor to transfer load and according to the actual power generation power and the transfer power of the generator, realizes the function of safely transferring the load under the condition of battery failure, ensures the stability of the whole system, and effectively improves the whole safety performance of the hybrid power engineering machine.

Fig. 3 is a flowchart illustrating a limp control method of a hybrid construction machine according to another exemplary embodiment of the present disclosure. As shown in fig. 3, step S220 may include:

s221: and controlling the engine to drive the generator to generate power at a constant preset rotating speed and preset torque according to the fault information of the battery.

During the process that the engine works at the constant preset rotating speed and the preset torque, constant power can be output, so that the generating power of the generator is constant, and the output power of the driving motor is constant. Therefore, the residual power can be obtained through calculation, and the opening degree of the overflow proportional valve can be obtained through calculation conveniently. The constant power output of the driving motor is also beneficial to ensuring the stability in the load transfer process.

Fig. 4 is a schematic flowchart of a limp control method of a hybrid construction machine according to another exemplary embodiment. As shown in fig. 4, before step S221, the hybrid construction machine limp home control method may further include:

s260: and acquiring the working power of the driving motor before the battery fails.

In the process of transferring the load, the working power of the driving motor before the battery fails can be understood as the power which can be transferred by the driving motor to drive the load. Obtaining the working power of the driving motor before the battery failure helps to determine the target generating power of the generator.

S270: and calculating to obtain the target generating power of the generator according to the working power of the driving motor.

In order to ensure that the power generated by the generator meets the operating power of the driving motor for transferring the load, the target generator power of the generator will be greater than or equal to the operating power of the driving motor. In consideration of the power loss during transmission and the error in the acquisition of the working power of the driving motor, the target power generation power of the generator is generally greater than the working power of the driving motor to ensure that the load can be safely transferred. Specifically, the specific power value at which the target generated power of the generator exceeds the working power of the driving motor may be set according to actual conditions, and the present application is not particularly limited.

S280: and calculating to obtain the preset rotating speed and the preset torque of the engine according to the target generating power of the generator.

It should be understood that after the target generated power of the generator is determined, the output power of the engine is determined accordingly, and the preset rotation speed and the preset torque of the engine can be further determined according to the output power of the engine. Therefore, the engine is controlled to work at a preset rotating speed and a preset torque, so that constant-power work can be realized, the stability of a system is ensured, and the output power can meet the transfer power required by load transfer.

Fig. 5 is a flowchart illustrating obtaining transfer power during a load transfer process according to an exemplary embodiment of the present application. As shown in fig. 5, step S240 may include:

s241: the weight of the load is obtained.

The weight of the load can be measured by a weight sensor.

S242: the actual transfer speed of the load is obtained.

The actual transfer speed of the load can be directly acquired using an angular velocity sensor, a linear velocity sensor, or the like. Taking a crane as an example, the actual transfer speed of the load is the lifting speed of the load, the lifting speed of the load is related to the movement stroke of the operating rod operated by the driver, and the actual transfer speed of the load can be calculated through the movement stroke of the operation.

S243: and calculating the transfer power in the load transfer process according to the weight of the load and the actual transfer speed.

After the weight of the load and the actual transfer speed are determined, the transfer power required by load transfer can be correspondingly calculated.

Fig. 6 is a block diagram of a hybrid construction machine according to another exemplary embodiment of the present application. As shown in fig. 6, the hybrid construction machine 40 further includes an operating lever 407, the operating lever 407 is generally disposed in a cab, and a driver controls the operating lever 407 to change a load transfer speed. Taking a crane as an example, the driver can control the operation lever 407 to change the lifting speed of the load, and the larger the movement stroke of the operation lever 407 is, the larger the lifting speed of the load is.

Fig. 7 is a schematic flow chart illustrating a process of controlling a driving motor to transfer a load according to an exemplary embodiment of the present application. As shown in fig. 7, step S230 may include:

s231: the mode of the joystick is acquired.

Generally, after receiving the fault information of the battery, the VCU (vehicle control unit) controls the IFM (operation control system) to perform the protection mode, and the IFM entering the protection mode limits the operation of the joystick and controls the mode of the joystick to enter the single-lever mode. The single lever mode may be understood as the control of the speed of transfer of the load by only a single lever, and if the driver operates two or more levers simultaneously in the single lever mode, the system will not perform the corresponding action.

S232: and if the mode of the operating rod is a single-rod mode and the movement stroke of the operating rod is more than half of the total stroke, controlling the driving motor to drive the load to transfer.

And under the condition that the mode of the operating rod is the single-rod mode, if the movement stroke of the operating rod is detected to be more than half of the total stroke, controlling the driving motor to drive the load to transfer. Thus, the situation that the load is unstable in transfer due to the fact that the driver mistakenly operates the operating rod under the condition that the battery fails can be effectively prevented. Therefore, under the condition of battery failure, the condition that the motion stroke of the single operating rod is greater than half of the total stroke is regarded as effective operation, and the overall safety performance of the system is effectively improved.

Fig. 8 is a flowchart illustrating a limp control method of a hybrid construction machine according to another exemplary embodiment of the present disclosure. As shown in fig. 8, step S242 may include:

s2421: and acquiring the actual transfer speed of the load according to the movement stroke of the operating rod.

It will be appreciated that in the case where the movement stroke of the operating lever is greater than half the total stroke, the greater the movement stroke of the operating lever, the greater the actual transfer speed of the load, and the smaller the movement stroke of the operating lever, the lower the actual transfer speed of the load. Therefore, the movement stroke of the operation rod can be used as the calculation basis of the actual transfer speed of the load.

Fig. 9 is a block diagram of a hybrid construction machine according to another exemplary embodiment of the present disclosure. As shown in fig. 9, the hybrid construction machine 40 may further include a circuit system 408, the circuit system 408 is electrically connected to the driving motor 401, the battery 402, the generator 403, the engine 404, the overflow proportional valve 406 and the oil pump 405, and the VCU (vehicle control unit) sends control commands to different components in the hybrid construction machine through the circuit system 408. The battery may also power the various components through circuitry 408. It should be appreciated that in the event of a battery failure, the capacitance and inductance values in circuitry 408 will change accordingly. After the capacitance and inductance values in the circuit system 408 change, the current value and the voltage value correspondingly change, which causes the maximum working power of the driving motor to be affected, so that the transfer speed of the load cannot be too fast, and if the transfer speed of the load is too fast, the system is easily unstable or even damaged.

Fig. 10 is a flowchart illustrating a limp control method of a hybrid construction machine according to another exemplary embodiment of the present disclosure. As shown in fig. 10, before step S230, the limp home control method of the hybrid construction machine may further include:

s290: the weight of the load, the capacitance and inductance values in the circuitry, and the preset performance parameters of the drive motor are obtained.

The weight of the load may be detected by a weight sensor. The capacitance and inductance of the circuit system after the battery failure can be detected through a preset universal meter in the hybrid power machine. Preset performance parameters of the drive motor that are preset can be extracted from the system.

S300: and calculating to obtain the safe transfer speed of the load according to the weight of the load, the capacitance value and the inductance value in the circuit system and the preset performance parameters of the driving motor.

The safe transfer speed of the load may be understood as a maximum transfer speed at which the load transfer can be operated in the case of a battery failure, and generally, an actual transfer speed at which the load transfer is operated by the operation lever is not greater than the safe transfer speed of the load from a safety viewpoint.

Specifically, as shown in fig. 10, step S230 may include:

s233: and controlling the actual transfer speed of the driving motor to drive the load to transfer to be not more than the safe transfer speed.

Therefore, the stability and the safety in the load transfer process can be improved, and the function of safely transferring the load is realized.

Fig. 11 is a schematic flow chart illustrating a process of adjusting an opening of the overflow proportional valve according to an exemplary embodiment of the present application. As shown in fig. 11, step S250 may include:

s251: and calculating the consumed power of the oil pump according to the actual generated power and the transfer power of the generator.

When the actual generated power of the generator is larger than the transferred power, the load transfer is realized, and simultaneously, part of the power is remained, and the remained part of the power is consumed in the form of heat by increasing the oil pressure. Therefore, the remaining part of the power is equal to the consumed power of the oil pump. The generated power of the generator subtracts the transferred power of the load to obtain the consumed power of the oil pump.

S252: the opening degree of the overflow proportional valve is adjusted according to the power consumption of the oil pump.

Since there is a correlation between the opening degree of the overflow proportional valve and the power consumption of the oil pump, specifically, the larger the opening degree of the overflow proportional valve is, the larger the oil pressure is, the larger the power consumption of the oil pump is, therefore, the opening degree corresponding to the overflow proportional valve can be determined according to the calculated power consumption of the oil pump, and then the overflow proportional valve is controlled to adjust to the corresponding opening degree.

Fig. 12 is a flowchart illustrating a limp control method of a hybrid construction machine according to another exemplary embodiment of the present disclosure. As shown in fig. 12, after step S210, the hybrid construction machine limp home control method may further include:

s310: a locking mechanical system and a control button.

After the VCU (vehicle control unit) receives the fault information of the battery, the VCU controls the MCU to enter a protection mode, and the MCU entering the protection mode controls the mechanical system and the control button to be locked. After the mechanical system and the control button are locked, a driver cannot operate the mechanical system through the control button at the moment, and the overall safety performance of the system is improved.

Taking a crane as an example, generally, after a battery fails, a mechanical system of a hoisting body in the crane is locked, so that the hoisting body cannot rotate, and the overall stability of the crane is prevented from being affected by the swinging of a load.

It is worth noting that after the MCU enters the protection mode, the control right of the mechanical system and the control button is handed over to the rear HCU (ABS execution mechanism), and meanwhile, the HCU can also control the engine to work at a constant preset rotating speed and a preset torque, so that the whole control process is more efficient and faster, and the system can make correspondence quickly.

S320: and starting fault alarm prompt.

The alert prompt may include a light alert and a sound alert. Under the condition that light warning is started, the corresponding indicating lamp can emit light to remind a driver that the battery breaks down. The color of the light emitted by the indicator light can be red, yellow, and the like. Under the condition that the sound warning is started, the corresponding loudspeaker can emit buzzing sound and can also play a role in reminding a driver.

S330: and the relay is disconnected to disconnect a power supply line between the battery and the driving motor.

After the battery fails, the battery cannot continuously supply power, so that a power supply line between the battery and the driving motor needs to be cut off to avoid the driving motor from failing. After the mechanical system and the control button are locked, the relay is disconnected, so that the impact generated by the mechanical system in the power-off process can be reduced, and the mechanical system is protected.

Fig. 13 is a flowchart illustrating a limp control method of a hybrid construction machine according to another exemplary embodiment of the present disclosure. As shown in fig. 13, in the case of a hardware failure of the relay, the relay is directly opened, and accordingly, the limp home control method of the hybrid construction machine may not perform the aforementioned step S330. It is noted that there is a protection margin time of 1-2 seconds after the relay is suddenly turned off and before the control action of the locking mechanical system and the control button is executed, and the mechanical system is subjected to a certain impact after the control action of the locking is executed, so that the impact process should be considered in the design of the mechanical system to improve the impact resistance of the mechanical system.

Fig. 14 is a block diagram of a hybrid construction machine limp home control device 20 according to an exemplary embodiment of the present disclosure. As shown in fig. 14, the limp home control device 20 of the hybrid construction machine includes a first obtaining module 501 for obtaining fault information of the battery; the power generation module 502 is used for controlling the engine to drive the generator to generate power according to the fault information of the battery; the transfer module 503 is used for controlling the driving motor to transfer the load; wherein the driving motor is powered by a generator; a second obtaining module 504, configured to obtain a transfer power in a load transfer process; the adjusting module 505 is configured to adjust an opening degree of the overflow proportional valve according to the output power and the transfer power of the driving motor; wherein different opening degrees of the overflow proportional valve correspond to different oil pressures in the oil pump.

The application provides a hybrid engineering machinery limp controlling means 20, it drives the generator electricity generation through controlling the engine, shifts the load and through actual generated power and the transfer power according to the generator through control driving motor, adjusts the aperture of overflow proportional valve, not only realizes the function of safe transfer load under the condition of battery trouble, but also has guaranteed the stability of whole system, has improved hybrid engineering machinery's whole security performance effectively.

As shown in fig. 14, in an embodiment, the aforementioned power generation module 502 may be further configured to control the engine to drive the generator to generate power at a constant preset rotation speed and a preset torque according to the fault information of the battery.

Fig. 15 is a block diagram of a hybrid construction machine limp home control device 20 according to another exemplary embodiment of the present disclosure. As shown in fig. 15, the hybrid construction machine limp home control device 20 may further include a third obtaining module 506 for obtaining the working power of the driving motor before the battery fails; the first calculation module 507 is used for calculating and obtaining target generating power of the generator according to the working power of the driving motor; the target generating power of the generator is greater than or equal to the working power of the driving motor; and a second calculating module 508, configured to calculate a preset rotation speed and a preset torque of the engine according to the target generated power of the generator.

As shown in fig. 15, in an embodiment, the aforementioned second obtaining module 504 may be used for obtaining the weight of the load; can be used to obtain the actual transfer speed of the load; and the method can also be used for calculating the transfer power in the load transfer process according to the weight of the load and the actual transfer speed.

As shown in fig. 15, in an embodiment, the aforementioned transfer module 503 may also be used to obtain the joystick mode; if the operating rod mode is the single-rod mode and the motion stroke of the single operating rod is more than half of the total stroke, controlling the driving motor to drive the load to transfer; wherein the movement stroke of the operating rod corresponds to the actual transfer speed of the load. The aforementioned second obtaining module 504 can also be used for obtaining the actual transfer speed of the load according to the movement stroke of the operating rod.

As shown in fig. 15, in an embodiment, the limp control device 20 of the hybrid construction machine may further include a fourth obtaining module 509 for obtaining the weight of the load, the capacitance and inductance values in the circuit system, and the preset performance parameters of the driving motor; the third calculating module 511 is configured to calculate a safe transfer speed of the load according to the weight of the load, the capacitance and inductance values in the circuit system, and the preset performance parameters of the driving motor. The aforementioned transfer module 503 can also be used to control the actual transfer speed of the load transfer by the driving motor to be not greater than the safe transfer speed.

As shown in fig. 15, in an embodiment, the adjusting module 505 may further be configured to calculate the consumed power of the oil pump according to the generated power and the transferred power of the generator; and also for adjusting the opening of the spill proportional valve in accordance with the power consumption of the oil pump.

As shown in fig. 15, in an embodiment, the hybrid work machine limp control device 20 may further include a locking module 510 for locking the mechanical system and the control button; wherein the drive motor transfers load through the mechanical system; the control button is used for controlling the mechanical system to work; a starting module 512, configured to start a fault alarm prompt; wherein the fault alarm prompt comprises a light alarm and a sound alarm; and a disconnection module 513 configured to disconnect the relay to disconnect a power supply line between the battery and the driving motor.

Fig. 16 is a schematic structural diagram of a crane 60 according to an exemplary embodiment of the present application. As shown in fig. 16, the crane 60 may include a base 601, and the base 601 may serve as a carrier for other components.

As shown in fig. 16, the crane 60 may further include a lifting body 602, the lifting body 602 is rotatably connected to the base 601, and the lifting body 602 may be used to lift or lower a load. The hoisting body 602 may include a revolving body and a hoisting body, the hoisting body is disposed on the revolving body, the revolving body is rotatably connected to the base 601, the revolving body may drive the hoisting body to rotate relative to the base 601, and the hoisting body may hoist the load to rise or fall.

As shown in fig. 16, the crane 60 may further include a driving motor 603, the driving motor 603 is disposed on the hoisting body 602, and after the driving motor 603 is started, the load may be driven to move up and down.

As shown in fig. 16, the crane 60 may further include a battery 604, the battery 604 is disposed on the base 601, and the battery 604 may be used to power the driving motor 603 under normal operation.

As shown in fig. 16, the crane 60 may further include a generator 605, the generator 605 is disposed on the base 601, the generator 605 may generate electricity, and the electricity generated by the generator 605 may be directly used to power the driving motor 603, or may be stored in the battery 604. In the case where the battery 604 can continuously supply power to the drive motor 603, the generator 605 is not generally used for generating power, and in this case, the generator 605 can be used as a motor to control the traveling operation of the crane 60.

As shown in fig. 16, the crane 60 may further include an engine 606, the engine 606 is disposed on the base 601, and the engine 606 is drivingly connected to the generator 605. After the engine 606 is started, the generator 605 can be driven to generate electricity, and the generator 605 converts mechanical energy into electric energy.

As shown in fig. 16, the crane 60 may further include an oil pump 607, the oil pump 607 is disposed on the hoisting body 602, the oil pump 607 is in transmission connection with the driving motor 603, and the driving motor 603 may serve as a power source of the oil pump 607 to control the operation of the hydraulic system.

As shown in fig. 16, the crane 60 may further include an overflow proportional valve 608, the overflow proportional valve 608 is disposed on the base 601, and the overflow proportional valve 608 may regulate the oil pressure of the oil pump 607. The larger the opening degree of the relief proportional valve 608 is, the larger the oil pressure of the oil pump 607 is, the more the amount of heat generated by the hydraulic oil in the oil passage increases, and the larger the power consumed by the oil pump 607 is.

As shown in fig. 16, the crane 60 may further include a controller 609, and the controller 609 may be used to perform the hybrid work machine limp home control method described above.

The application provides a hoist, it drives the generator electricity generation through the control engine, shifts the load and through actual generated power and the transfer power according to the generator through control driving motor, adjusts the aperture of overflow proportional valve, not only realizes the function of safe transfer load under the condition of battery trouble, but also has guaranteed the stability of overall system, has improved the whole security performance of hoist effectively.

Fig. 17 is a schematic structural diagram of a controller according to an exemplary embodiment of the present application. Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 17. The electronic device may be either or both of the first device and the second device, or a stand-alone device separate from them, which stand-alone device may communicate with the first device and the second device to receive the acquired input signals therefrom.

As shown in fig. 17, the controller 609 includes one or more processors 6091 and memory 6092.

The processor 6091 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the controller 609 to perform desired functions.

Memory 6092 may include one or more computer program products that 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), cache memory (or the like). The non-volatile memory may include, for example, Read Only Memory (ROM), a hard disk, flash memory, and the like. One or more computer program instructions may be stored on a computer readable storage medium and executed by the processor 6091 to implement the hybrid work machine limp control methods of the various embodiments of the present application above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.

In one example, the controller 609 may further include: an input 6093 and an output 6094, which may be interconnected by a bus system and/or other form of connection (not shown).

When the electronic device is a stand-alone device, the input 6093 may be a communication network connector for receiving the acquired input signals from the first device and the second device.

The input device 6093 may include, for example, a keyboard, a mouse, and the like.

The output device 6094 can output various information including the specified distance information, direction information, and the like to the outside. Output 6094 may include, for example, a display, speakers, printer, and the like, as well as a communication network and remote output devices connected thereto.

Of course, for simplicity, only some of the components of the controller 609 relevant to the present application are shown in fig. 17, omitting components such as buses, input/output interfaces, and the like. In addition, the controller 609 may include any other suitable components depending on the particular application.

The computer program product may be written with program code for performing the operations of embodiments of the present application 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 and partly on a remote computing device, or entirely on the remote computing device or server.

The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but 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 include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.

Claims

1. A limp home control method of a hybrid construction machine is characterized by comprising the following steps:

acquiring fault information of a battery;

acquiring transfer power in the load transfer process; and

2. The limp home control method of the hybrid construction machine according to claim 1, wherein the controlling an engine to drive a generator to generate power according to the fault information of the battery comprises:

3. The limp home control method of a hybrid construction machine according to claim 2, wherein before the controlling the engine to drive the generator to generate electricity at a constant preset rotation speed and a preset torque according to the fault information of the battery, the limp home control method of a hybrid construction machine further comprises:

acquiring the working power of the driving motor before the battery fails;

4. The limp home control method of a hybrid construction machine according to claim 1, wherein the obtaining of the transfer power during the load transfer includes:

acquiring the weight of the load;

acquiring the actual transfer speed of the load; and

5. The hybrid construction machine limp control method as set forth in claim 4, wherein the controlling the driving motor to shift the load comprises:

acquiring the mode of an operating lever; and

the acquiring the actual transfer speed of the load comprises:

6. The limp home control method of a hybrid construction machine as claimed in claim 1, wherein before controlling the driving motor to drive the load transfer, the limp home control method of a hybrid construction machine further comprises:

the controlling the driving motor to transfer the load includes:

7. The limp home control method of a hybrid construction machine according to claim 1, wherein the adjusting of the opening degree of the spill proportional valve according to the actual generated power of the generator and the transferred power includes:

8. The hybrid work machine limp control method of claim 1, wherein after the obtaining the fault information of the battery, the hybrid work machine limp control method further comprises:

9. A limp home control device for a hybrid construction machine, comprising:

10. A crane, comprising:

a base;

a controller for performing the hybrid construction machine limp home control method of any one of claims 1-8.