CN113738626A - Hydraulic system for working machine, control method, and working machine - Google Patents

Abstract

The invention provides a hydraulic system of a working machine, a control method and the working machine. The hydraulic system control method for a working machine includes: acquiring motor power information; and adjusting the opening value of the opening adjusting valve of the action branch based on the motor power information. According to the control method of the hydraulic system of the working machine, the opening value of the opening regulating valve of the action branch is regulated, so that the hydraulic flow speed can be prevented from being reduced too fast, a protection strategy is provided for preventing the driving motor from being overloaded, and the working efficiency is ensured. In addition, for the operation electric vehicle, an operator can select a power interval of operation according to the function condition of an operation site, normal operation of different energy supply sites is guaranteed, the operation power of the motor and the opening of the valve body are kept in the optimal operation interval, and the energy utilization rate can be improved.

Description

Hydraulic system for working machine, control method, and working machine

Technical Field

The invention relates to the technical field of hydraulic control, in particular to a hydraulic system of a working machine, a control method and the working machine.

Background

The metering pump confluence hydraulic system of the truck crane consists of a multiple gear pump, a control valve group and a load, and the running speed of a main machine is improved through confluence of the multiple gear pump. The rotating speed/torque can be adjusted by taking the motor as a power source, and the system is not suitable for an electric system aiming at the traditional engine system. When the operation load is larger, the torque of the motor is increased and the rotating speed is reduced due to the limitation of the power of the motor, and the flow speed of the hydraulic oil of the main loop is reduced at the moment.

In view of the above, there is a need for a hydraulic control system that overcomes or alleviates the above-mentioned deficiencies.

Disclosure of Invention

The invention provides a hydraulic system of an operating machine, a control method and the operating machine, which are used for solving the defect of reduction of hydraulic flow speed under a heavy-load working condition in the prior art and realizing self-adaptive control of power and valve opening.

The invention provides a hydraulic system control method for a working machine, which comprises the following steps:

acquiring motor power information;

and adjusting the opening value of the opening adjusting valve of the action branch based on the motor power information.

According to the method for controlling a hydraulic system of a working machine according to the present invention, the step of adjusting the opening value of the opening adjustment valve of the operation branch based on the motor power information includes: and reducing the opening value of the opening regulating valve under the condition that the power value of the motor is greater than a first operation threshold value.

According to the method for controlling the hydraulic system of the working machine, when the power value of the motor is greater than the first operation threshold value, the step of reducing the opening degree of the opening degree regulating valve specifically comprises the following steps: the opening degree regulating valve of the main loop comprising a plurality of action branches is reduced.

According to a hydraulic system control method for a working machine according to the present invention, the step of reducing the opening degree of an opening degree adjustment valve of a main circuit including a plurality of operation branches includes: and sequentially reducing the opening degrees of the action branches according to the priority levels, and keeping the opening degree values of the rest action branches unchanged when the opening degree of one action branch is in the change process.

According to the method for controlling a hydraulic system of a working machine according to the present invention, the step of sequentially decreasing the opening degree of the operation branch according to the priority level includes: and preferentially reducing the opening degree of the action branch with the relatively high priority level.

According to the hydraulic system control method of the working machine, the priority level of the action branch is adjustable.

According to the method for controlling a hydraulic system of a working machine according to the present invention, the step of adjusting the opening value of the opening adjustment valve of the operation branch based on the motor power information further includes: and under the condition that the power value of the motor is smaller than a second operation threshold value, increasing the opening value of the opening regulating valve.

According to the hydraulic system control method of the working machine, the motor power information comprises a motor set power value and a motor real-time power value.

The present invention also provides a hydraulic system of a working machine, including:

the information acquisition module is used for acquiring the power information of the motor;

the sending module is used for sending a control instruction based on the motor power information, and the control instruction is used for controlling an opening regulating valve of the action branch;

and the receiving module is used for receiving the control instruction.

The present invention also provides a work machine comprising:

a hydraulic oil pump;

the driving motor is connected to the hydraulic oil pump to provide power for the hydraulic oil pump;

the motor controller is used for acquiring power information of the driving motor;

the hydraulic oil pump is characterized by comprising a plurality of parallel action branches, each action branch is connected to the hydraulic oil pump, and an opening degree adjusting valve is arranged on each action branch;

and the vehicle control unit is electrically connected with the motor controller and the opening regulating valve and is used for acquiring the power information and regulating the opening value of the opening regulating valve based on the power information.

According to the control method of the hydraulic system of the working machine, disclosed by the embodiment of the invention, the opening value of the opening regulating valve of the action branch is regulated, so that the hydraulic flow speed can be prevented from being reduced too fast, a protection strategy is provided for preventing the driving motor from being overloaded, and the working efficiency is ensured. In addition, for the operation electric vehicle, an operator can select a power interval of operation according to the function condition of an operation site, normal operation of different energy supply sites is guaranteed, the operation power of the motor and the opening of the valve body are kept in the optimal operation interval, and the energy utilization rate can be improved.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic illustration of a portion of a hydraulic system of a work machine according to the present disclosure;

FIG. 2 is a schematic illustration of a portion of a hydraulic system of a work machine according to the present disclosure;

FIG. 3 is a schematic diagram of a PID control method;

FIG. 4 is a graph of the efficient operation between the power value of the driving motor and the opening degree of the valve body in FIG. 3;

FIG. 5 is a flow chart of a method of controlling a hydraulic system of a work machine according to the present disclosure;

FIG. 6 is a flow chart of a method of controlling a hydraulic system of a work machine according to the present disclosure;

fig. 7 is a flowchart of a method for controlling a combined operation of a hydraulic system of a working machine according to the present invention;

reference numerals:

1: an external power supply; 2: a motor controller; 3: a drive motor;

4: a hydraulic oil pump; 5: a main circuit electro-proportional valve; 6: an integrated hydraulic valve;

7: branch electric proportional valve 8: an oil pump motor; 9: a human-computer interaction component;

10: a vehicle control unit; 11: an action branch; 12: an information acquisition module;

13: a proportional regulator; 14: a differential regulator; 15: an integral regulator;

16: an actuator proportional valve; a, a first execution action; b, a second execution action;

c, a third execution action; and D, fourth executing action.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

A hydraulic system control method for a work machine according to an embodiment of the first aspect of the present invention will be described below with reference to fig. 1 to 7. The working machine may be a tower crane, a wheel crane, a crawler crane, a winch, a construction hoist, an aerial work machine, or other engineering machines, and the execution end of the working machine may execute different actions through a hydraulic system. In addition, it should be noted that the work machine uses a motor as a power source, and the motor is supplied with power through an external power grid (i.e., an external power source).

Referring to fig. 5, the hydraulic system control method includes:

s10: acquiring motor power information;

s20: and adjusting the opening value of the opening adjusting valve of the action branch based on the motor power information.

When the working machine is in the working state, the larger the working load, the larger the required motor power. In step S10, the work load condition may be determined by monitoring the power of the drive motor. Here, the power information for driving the motor may include a motor set power value and a motor real-time power value. For example, the set power of the motor may be the rated power of the driving motor, or may be the maximum power of the driving motor that can be carried by the external power supply.

It should be noted that "motor power information" may also be understood in a broad sense, that is, it may also be understood as information parameters derived from other parameter information of the work machine, such as motor speed, torque, pedal opening, sensors, and the like.

When the operation load is larger, the torque of the driving motor is increased and the rotating speed is reduced due to the limitation of the rated power of the motor, and at the moment, the flow speed of hydraulic oil of the operation loop is reduced. In order to avoid the situation, according to the control method of the hydraulic system of the working machine, the opening value of the opening regulating valve of the action branch is regulated, the hydraulic flow speed can be prevented from being reduced too fast, a protection strategy is provided for preventing the driving motor from being overloaded, and the working efficiency is ensured. In addition, for the operation electric vehicle, an operator can select a power interval of operation according to the function condition of an operation site, normal operation of different energy supply sites is guaranteed, the operation power of the motor and the opening of the valve body are kept in the optimal operation interval, and the energy utilization rate can be improved.

As shown in fig. 5, in some embodiments, step S20 specifically includes:

s20.1: and reducing the opening value of the opening regulating valve under the condition that the power value of the motor is greater than the first operation threshold value.

It can be understood that when the working load of the working machine is large, the torque of the driving motor increases and the rotating speed decreases due to the power limitation of the motor, and the flow rate of the hydraulic oil in the working circuit decreases. To avoid this, when the motor power P reaches the operation first operation threshold P1, that is, when P > P1, the opening value of the opening degree adjustment valve is reduced to M1, whereby it is possible to prevent the work efficiency from being affected by the reduction in the flow rate of the work circuit. It should be noted that the factors used to determine the first operating threshold P1 may include the rated power of the motor and the load carrying capacity of the external power source. For example, the rated power of the driving motor is P ', the maximum power that the external power source can carry for the normal operation of the driving motor is P ", P1 is the minimum value of P" and P ', for example, when P "< P ', P1 ═ P"; when P "> P ', P1 ═ P'.

In addition, when the motor power P is equal to the first operation threshold P1, the opening value of the opening degree adjustment valve may be decreased or may not be adjusted.

In this embodiment, when motor power is too big, can reduce operation return circuit proportional valve opening, improve the velocity of flow and guarantee operating efficiency, provide the protection strategy of transshipping for driving motor, prevent that the motor from transshipping, simultaneously through the velocity of flow regulation to operation return circuit, also can guarantee that the operation is normally gone on.

As shown in connection with fig. 7, in some embodiments, because the work machine needs to perform multiple identical or different actions, there is one branch of action for each performed action, and the work machine performs the corresponding performed action under the control of the corresponding branch of action. That is, the hydraulic system work circuit of the work machine may include a main circuit including a plurality of parallel-connected action branches, any two of which have different priority levels.

In some embodiments, the priority level of each action leg may be adjusted. Here, it should be noted that the priority level of each action branch may be a factory default level, or may be adjusted according to an operation specification or an operation habit. Thereby, control of the hydraulic system is facilitated.

The main loop is provided with an opening regulating valve for regulating the flow of hydraulic oil of the main loop, and each action branch is also provided with an opening regulating valve for regulating the flow of the hydraulic oil of the action branch. As shown in fig. 7, step S20.1 specifically includes: the opening degree regulating valve of the main loop comprising a plurality of action branches is reduced.

As shown in fig. 7, step S20.1 specifically includes: in the step of reducing the opening degree of an opening degree regulating valve comprising a plurality of action branches under the condition that the power value of the motor is greater than a first operation threshold value, the method specifically comprises the following steps: and sequentially reducing the opening degree of the action branches according to the priority level, and keeping the opening degree values of the rest action branches unchanged when the opening degree of one action branch is in the change process. In addition, the opening degree value of the operation branch with the highest priority level among the plurality of operation branches is first decreased. In this way, the flow rate of the action branch with the highest priority level will be increased, and the work machine can complete the action with the highest priority level first. In addition, when the opening degree of one action branch is in the changing process, the opening degree values of the other action branches are kept unchanged. Therefore, the flow speed of the main loop can be effectively prevented from being reduced, and the working efficiency can be improved.

Further, the step of sequentially decreasing the opening degree of the action branch according to the priority level specifically includes: the opening degree of the action branch having a relatively high priority level is preferentially decreased. For example, after completing the action based on the action branch with the highest priority, the opening value of the action branch with the second priority is decreased. In other words, the opening degree of the action branch with the highest priority level is reduced first, and after the action of the branch with the highest priority level is completed, the opening degree of the action branch with the second priority level is reduced. It should be noted that the operation branches are combined according to the priority levels, and the opening degree value of the opening degree regulating valve for the relevant operation is adjusted according to the priority levels, so that the operation efficiency of the combined operation can be improved, and particularly the fluency of the combined operation of a large load can be improved.

As shown in fig. 5, in some embodiments, step S20 specifically includes:

s20.2: and under the condition that the power value of the motor is smaller than the second operation threshold value, increasing the opening value of the opening regulating valve.

When the power of the motor is reduced to the second operation threshold P2, namely when P is less than P2, the opening of the opening adjusting valve is increased to M2, the flow of hydraulic oil in the operation loop is increased, the operation power of the motor and the opening of the valve body are kept in the optimal operation range, the normal operation of the operation machine is ensured, and the energy utilization rate is increased. In some embodiments, the first operational threshold is greater than the second operational threshold.

It should be noted that different models of motors have different optimal operating power intervals, and different operating strategies of the hydraulic system can be formulated according to the parameters of the motor performance. The opening value of the regulating valve is adjusted by combining the difference between the actual power and the ideal power of the motor, so that the flow of the hydraulic oil of the operation loop is kept in an optimal range, and the energy utilization rate can be improved.

In addition, when the motor power P is equal to the second operation threshold P2, the opening value of the opening degree adjustment valve may be increased or may not be adjusted.

Further, in the work-powered vehicle, the voltage of the external power supply may also be a factor that limits the maximum operating power of the motor. Therefore, an operator can select a power interval of operation according to the function condition of the operation site, and normal operation of different energy supply sites can be guaranteed. That is to say, the hydraulic system control method of the working machine according to the embodiment of the present invention has a strategy for adaptively adjusting the hydraulic system, so that the operation power of the motor and the opening of the valve body can be maintained in the optimal operation interval, and the normal operation of the working machine can be ensured.

In some embodiments, the motor power information may include a motor set power value and a motor real-time power value, and the motor set power may be a power value set according to a model parameter of the motor and a carrying capacity of the external power source, for example, a rated power of the motor, a first operation threshold or a second operation threshold, and the like; the real-time power of the motor can refer to: when the motor is in a working state, the actual working power value of the motor is at any time point.

A hydraulic system of a working machine according to an embodiment of a second aspect of the present invention includes:

the information acquisition module is used for acquiring the power information of the motor;

the sending module is used for sending a control instruction based on the information collected by the information collecting module, and the control instruction is used for controlling an opening regulating valve of the action branch;

and the receiving module is used for receiving the control instruction.

It should be noted that the motor power information includes a set power value of the motor and a real-time power value of the motor. And the information acquisition module sends a corresponding control instruction after receiving the motor power information acquired by the information acquisition module. And after the receiving module receives the control instruction, the opening degree of the opening degree regulating valve of the working branch is dynamically regulated based on the control instruction, so that the opening degree regulating valve is regulated to the corresponding opening degree. Therefore, the hydraulic oil quantity on the action branch can be kept in a better interval so as to meet the action requirement of the working machine.

In addition, different models of motors have different optimal working power intervals, and different hydraulic system operation strategies can be formulated according to the performance parameters of the motors. The opening value of the regulating valve is adjusted by combining the difference between the actual power and the ideal power of the motor, so that the flow of the hydraulic oil of the action branch is kept in the optimal range, and the energy utilization rate can be improved.

Further, in the work-powered vehicle, the voltage of the external power supply may also be a factor that limits the maximum operating power of the motor. Therefore, an operator can select a power interval of operation according to the function condition of the operation site, and normal operation of different energy supply sites can be guaranteed.

According to the hydraulic system of the working machine, the opening value of the opening regulating valve of the action branch is regulated, so that the hydraulic flow speed can be prevented from being reduced too fast, a protection strategy is provided for preventing the motor from being overloaded, and the working efficiency is ensured. In addition, for the operation electric vehicle, an operator can select a power interval of operation according to the function condition of an operation site, normal operation of different energy supply sites is guaranteed, the operation power of the motor and the opening of the valve body are kept in the optimal operation interval, and the energy utilization rate can be improved.

As shown in fig. 1 and 2, a work machine according to a third aspect of the present invention includes: the hydraulic control system comprises a hydraulic oil pump 4, a driving motor 3, a motor controller 2, a vehicle control unit 10 and a plurality of parallel action branches 11.

Specifically, the drive motor 3 is connected to the hydraulic oil pump 4 to power the hydraulic oil pump 4. The motor controller 2 is configured to obtain power information of the driving motor 3. It should be noted that the motor controller 2 not only can be used as a device for detecting the power of the motor, but also can control the motor to start or stop. Each of the action branches 11 is connected to the hydraulic oil pump 4. Here, "connection" may be understood as connection of mechanical structures, communication of flow paths, direct connection, or indirect connection via an intermediate structure. An opening degree adjusting valve is arranged on each action branch 11, and the corresponding opening degree adjusting valve on the action branch 11 can be used for adjusting the flow rate or flow velocity of hydraulic oil on the action branch 11.

Further, the hydraulic system of the working machine may comprise a main circuit comprising a plurality of parallel acting branches 11. The vehicle control unit 10 is electrically connected to the motor controller 2 and the opening degree adjusting valve, and is configured to acquire power information and adjust an opening degree value of the opening degree adjusting valve based on the power information.

According to the working machine provided by the embodiment of the invention, the opening value of the opening regulating valve of the action branch 11 is regulated, so that the hydraulic flow speed can be prevented from being reduced too fast, a protection strategy is provided for preventing the overload of the driving motor 3, and the working efficiency is ensured. In addition, for the operation electric vehicle, an operator can select a power interval of operation according to the function condition of an operation site, normal operation of different energy supply sites is guaranteed, the operation power of the motor and the opening of the valve body are kept in the optimal operation interval, and the energy utilization rate can be improved.

For ease of understanding, a work machine according to an embodiment of the present invention is described in detail below with reference to fig. 1-7. It is to be understood that the following description is illustrative only and is not intended to be in any way limiting.

As shown in fig. 1 and 2, the work machine uses a motor as a power source, and an external power grid (i.e., an external power source 1) can supply power to the motor. The working machine includes: the hydraulic control system comprises a main loop electro-proportional valve 5, an integrated hydraulic valve 6, a branch electro-proportional valve 7, an oil pump motor 8, a man-machine interaction assembly 9, a hydraulic oil pump 4, a driving motor 3, a motor controller 2 and a vehicle control unit 10.

Specifically, the vehicle control unit 10 is electrically connected to both the main circuit electro-proportional valve 5 and the branch electro-proportional valve 7, and the vehicle control unit 10 may control the opening degree of the valve body, so as to adjust the flow rate of the hydraulic oil in the flow path. The human-computer interaction assembly 9 can be in communication connection with the vehicle control unit 10, so that an operator can transmit instructions to the vehicle control unit 10 through the human-computer interaction assembly 9, and the vehicle control unit 10 can control the opening degrees of the main circuit electric proportional valve 5 and the branch electric proportional valve 7 according to the instructions. The vehicle control unit 10 may further be electrically connected to an information acquisition module 12, where the information acquisition module 12 is configured to collect information of the driving motor 3 and other components, and the information acquisition module 12 may transmit the collected information to the vehicle control unit 10.

Referring to fig. 1, an external power source 1 is electrically connected to a motor controller 2 to supply power to the motor controller 2, and the motor controller 2 is in communication connection with a vehicle control unit 10, so that the vehicle control unit 10 can not only send a control instruction to the motor controller 2, but also feed back the working state information of a driving motor 3 to the vehicle control unit 10 by the motor controller 2. As shown in fig. 1, the motor controller 2, the driving motor 3, and the hydraulic oil pump 4 are electrically connected in sequence, so that the electrode controller can be used to control the working state of the driving motor 3, and the driving motor 3 can drive the hydraulic oil pump 4 to work, thereby controlling the flow rate and flow velocity of the hydraulic oil in the flow path.

As shown in fig. 2, the main circuit includes a plurality of action branches 11 connected in parallel, wherein the main circuit electro proportional valve 5 is used to control the hydraulic oil flow or flow rate of the main circuit. The branch electric proportional valves 7 are multiple, and each action branch 11 is correspondingly provided with one branch electric proportional valve 7 for controlling the flow rate of hydraulic oil corresponding to the action branch 11. In addition, an oil pump motor 8 is provided on each of the actuating branches 11 to provide power for the flow of hydraulic oil. Further, a hydraulic oil pump 4 is provided on the main circuit so as to supply oil to the main circuit, and hydraulic oil in the main circuit may flow to each of the action branches 11 through an integrated hydraulic valve 6.

As shown in fig. 2, the main circuit includes three action branches 11, and the three action branches 11 correspond to a first execution action a, a second execution action B, and a third execution action C, respectively. The priority of the action branch 11 where the first execution action a is located is the highest, the priority of the action branch 11 where the second execution action B is located is the next highest, and the priority of the action branch 11 where the third execution action C is located is the lowest. Here, it should be further noted that one of the plurality of action branches 11 may also be an air conditioning branch, the execution action corresponding to the air conditioning branch is a fourth execution action D, and the fourth execution action D may include controlling the air conditioner to start, shut down or idle.

A hydraulic system control method of a working machine according to an embodiment of the present invention is described below:

when the operation machine works normally, the vehicle control unit adjusts the opening degree of the valve body of the corresponding branch according to the load requirements of the air conditioner branch and the three action branches. Here, the opening degree of the valve body may be adjusted by a PID control method. PID control, which may be referred to as proportional-integral-derivative control, is a control deviation formed from a given value and an actual output value, and the deviation is linearly combined with a proportional, integral, and derivative to form a control quantity, thereby controlling an object to be controlled. That is, referring to fig. 3, the difference between the actual power and the optimum power is used to obtain a valve adjustment value through the proportional regulator 13, the integral regulator 15, the derivative regulator 14, and the actuator proportional valve 16, and the power after valve adjustment is applied to the valve opening adjustment, thereby realizing adaptive control of the power and the valve opening. Similarly, the opening degree of each branch valve body can be adjusted according to the method. Here, PID control is a control method well known in the art and will not be described in detail here.

Specifically, referring to fig. 4, fig. 4 is a high efficiency operation curve between the power value of the driving motor and the opening degree of the valve body. According to the curve in fig. 4, the opening degree of the valve body can be regulated and controlled in real time. The opening of the proportional valve is M ═ f (P), and P is the power of the driving motor during operation. The optimal power range for the operation of the drive motor is P2-P1, as shown in FIG. 4.

It is understood that the driving motor has a first operating threshold P1 and a second operating threshold P2, wherein the driving motor is in a preferred operating state when the power of the driving motor is between the second operating threshold P2 and the first operating threshold P1. Specifically, the opening degree of the main circuit electro-proportional valve corresponding to the first operation threshold P1 is M1, and the opening degree of the main circuit electro-proportional valve corresponding to the second operation threshold P2 is M2.

It should also be noted here that the first operating threshold P1 can be understood as the highest load power of the drive motor, which is limited in at least two ways: firstly, the rated power of a driving motor; second, the carrying capacity of the external power source in the working environment of the work machine, for example, the maximum working voltage that the external power source can provide for the driving motor. The first operating threshold P1 is the threshold at the highest value of the optimal power range for the operation of the driving motor, and the second operating threshold P2 can be understood as the lowest threshold of the optimal power range for the operation of the driving motor.

For example, the rated power of the driving motor is P ', the maximum power of the motor that can be carried by the external power supply is P ", the power P1 when the driving motor works is the minimum value of P ″ and P ', and when P" < P ', P1 ═ P "; when P "> P ', P1 ═ P'.

Referring to fig. 6, when the motor power P reaches the first operation threshold P1 and the opening of the main circuit electro-proportional valve is M1, the working machine is under a heavy-load working condition, the opening of the main circuit electro-proportional valve is decreased, and the motor power P is adjusted to be within a range smaller than P1 and larger than P2. Because the opening value of the electric proportional valve of the main loop is reduced, the flow rate of hydraulic oil in the main loop is increased, the operation efficiency is ensured, and meanwhile, a protection strategy is provided for preventing the driving motor from overloading.

Referring to fig. 6, in the case where the motor power P is less than the second operation threshold P2, the opening value of the opening degree adjustment valve is increased. The flow of hydraulic oil in the operation loop is increased, the operation power of the motor and the opening of the specific valve body are kept in the optimal operation range, the normal operation of the operation machine is ensured, and the energy utilization rate is increased.

On one hand, a hydraulic system operation strategy with adjustable power source power can be set through the man-machine interaction assembly according to the optimal working power interval of the driving motor. On the other hand, for the operation electric vehicle, an operator can select a power section of the motor for operation according to the function condition of an operation site (such as the maximum voltage of an external power supply), so that the normal operation of operations in different energy supply sites is ensured. In addition, according to the difference between the ideal power and the actual power under the current opening of the proportional valve of the main loop, a power-valve opening self-adaptive adjustment strategy can be provided, and the real-time power for driving the motor to operate and the opening of the proportional valve are kept in the optimal operation interval, so that the energy utilization rate can be improved.

Further, when a plurality of combinations of actions are required for a work task of the work machine, each action branch has a flow rate requirement of hydraulic oil. Based on the adjustment of the opening of the proportional valve in the main loop, the load on each loop is different under the combined action condition, and the phenomenon of slow action may exist when the load is larger. Therefore, the opening of the proportional valve of each branch circuit is adjusted according to the action priority under the condition that the load borne by each action branch circuit is received by the whole vehicle controller, so that the operation efficiency is improved.

Referring to fig. 7, taking the combination of the first performing action a and the second performing action B as an example, the priority of the first performing action a is higher than that of the second performing action B, and the air conditioning branch is in an open state. The opening degree of the valve body of the action branch in which the first execution action A is located and the opening degree of the valve body of the action branch in which the second execution action B is located are both at default values.

Under the condition that the power of the driving motor meets the current work efficiency requirement, the vehicle control unit adjusts the valve body opening degree of the corresponding action branch to the optimal opening degree M3 according to the load requirements of the first execution action A and the second execution action B. It should be noted here that the optimum opening M3 of different action branches may have different values.

Under the condition that the power of the driving motor does not meet the combined action efficiency, the whole vehicle controller reduces the valve body opening degree of the action branch with higher priority according to the action execution priority, adjusts the valve body opening degree to the optimal opening degree value M4, and simultaneously adjusts the air conditioner branch to enable the air conditioner to be in an idle running state, and preferentially ensures that the action with high priority is completed first. In this process, the other action branches do not stop.

And when the action of the branch with the highest priority is finished, decreasing the opening degree of the valve body with the second priority by turns to adjust the valve body opening degree to the optimal opening degree value M4 until the combined action is finished, and restoring the proportional valve to the default value. When the opening degree of the operation branch is adjusted according to the priority, the optimal opening degree values M4 of different operation branches may be the same or different.

Therefore, according to the priority sequence of the combined actions, the strategy for improving the operation efficiency of the combined actions by adjusting the opening degree of the proportional valve of the related branch is adopted, so that the operation efficiency of the combined actions is ensured, and particularly the fluency of the combined actions with large loads is ensured.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A method of controlling a hydraulic system of a work machine, comprising:

acquiring motor power information;

and adjusting the opening value of the opening adjusting valve of the action branch based on the motor power information.

2. The method according to claim 1, wherein the step of adjusting the opening value of the opening adjustment valve of the operation branch based on the motor power information specifically includes:

and reducing the opening value of the opening regulating valve under the condition that the power value of the motor is greater than a first operation threshold value.

3. The method according to claim 2, wherein the step of decreasing the opening degree of the opening degree regulating valve when the motor power value is greater than the first operation threshold value specifically comprises:

the opening degree regulating valve of the main loop comprising a plurality of action branches is reduced.

4. The method according to claim 3, wherein the step of reducing the opening degree of the opening degree adjustment valve of the main circuit including the plurality of operation branches includes:

and sequentially reducing the opening degrees of the action branches according to the priority levels, and keeping the opening degree values of the rest action branches unchanged when the opening degree of one action branch is in the change process.

5. The method according to claim 4, wherein the step of sequentially decreasing the opening degree of the operation branch according to the priority level includes:

and preferentially reducing the opening degree of the action branch with the relatively high priority level.

6. The method of claim 4, wherein the priority level of the work branch is adjustable.

7. The method according to claim 1, wherein the step of adjusting the opening value of the opening adjustment valve of the operation branch based on the motor power information further includes:

and under the condition that the power value of the motor is smaller than a second operation threshold value, increasing the opening value of the opening regulating valve.

8. The method of claim 1, wherein the motor power information includes a motor set power value and a motor real-time power value.

9. A hydraulic system for a work machine, comprising:

the information acquisition module is used for acquiring the power information of the motor;

the sending module is used for sending a control instruction based on the motor power information, and the control instruction is used for controlling an opening regulating valve of the action branch;

and the receiving module is used for receiving the control instruction.

10. A work machine, comprising:

a hydraulic oil pump;

the driving motor is connected to the hydraulic oil pump to provide power for the hydraulic oil pump;

the motor controller is used for acquiring power information of the driving motor;

the hydraulic oil pump is characterized by comprising a plurality of parallel action branches, each action branch is connected to the hydraulic oil pump, and an opening degree adjusting valve is arranged on each action branch;

and the vehicle control unit is electrically connected with the motor controller and the opening regulating valve and is used for acquiring the power information and regulating the opening value of the opening regulating valve based on the power information.

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