CN113738626B - Hydraulic system for work machine, control method, and work machine - Google Patents

Hydraulic system for work machine, control method, and work machine Download PDF

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Publication number
CN113738626B
CN113738626B CN202110938821.XA CN202110938821A CN113738626B CN 113738626 B CN113738626 B CN 113738626B CN 202110938821 A CN202110938821 A CN 202110938821A CN 113738626 B CN113738626 B CN 113738626B
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China
Prior art keywords
opening
motor
value
power
action
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CN202110938821.XA
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CN113738626A (en
Inventor
李广辉
李永圣
潘辉
周锐
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Sany Automobile Hoisting Machinery Co Ltd
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Sany Automobile Hoisting Machinery Co Ltd
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
    • F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/22—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by means of valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0207—Torque
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0208—Power

Abstract

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

Description

Hydraulic system for work machine, control method, and work machine
Technical Field
The present disclosure relates to hydraulic control, and more particularly, to a hydraulic system for a working machine, a control method for the hydraulic system, and a working machine.
Background
The hydraulic system for converging the quantitative pumps of the truck crane consists of a multi-gear pump, a control valve group and a load, and the running speed of a host is improved through converging of the multi-gear pump. For the motor as a power source, the rotating speed/torque can be adjusted, and the system is not suitable for an electric system aiming at a traditional engine system. When the operation load is large, the motor torque is increased and the rotation speed is reduced due to the limitation of the motor power, and at the moment, the flow rate of the hydraulic oil in the main loop is reduced.
In view of this, there is a need to design a hydraulic control system that overcomes or alleviates the above-mentioned drawbacks.
Disclosure of Invention
The invention provides a hydraulic system of a working machine, a control method and the working machine, which are used for solving the defect of reduced hydraulic flow rate 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 of a working machine, which comprises the following steps:
acquiring motor power information;
and adjusting the opening value of the opening regulating valve of the action branch based on the motor power information.
According to the hydraulic system control method of the working machine provided by the invention, the step of adjusting the opening value of the opening regulating valve of the action branch based on the motor power information specifically comprises the following steps: and reducing the opening value of the opening regulating valve under the condition that the motor power value is larger than the first operation threshold value.
According to the hydraulic system control method of the working machine provided by the invention, the step of reducing the opening of the opening regulating valve under the condition that the power value of the motor is larger than the first operation threshold value specifically comprises the following steps: the opening value of an opening regulating valve of a main circuit comprising a plurality of operation branches is reduced.
According to the hydraulic system control method of the working machine provided by the invention, the step of reducing the opening of the opening regulating valve of the main circuit comprising a plurality of action branches specifically comprises the following steps: and sequentially reducing the opening of the action branches according to the priority level, and keeping the opening values of the rest action branches unchanged when the opening of one action branch is in the changing process.
According to the hydraulic system control method of the working machine provided by the invention, the step of sequentially reducing the opening degree of the action branch according to the priority level comprises the following steps: and preferentially reducing the opening degree of the action branch with 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 hydraulic system control method of the working machine provided by the invention, the step of adjusting the opening value of the opening regulating valve of the action branch based on the motor power information specifically further comprises the following steps: and increasing the opening value of the opening regulating valve under the condition that the motor power value is smaller than the second operation threshold value.
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 work machine, comprising:
the information acquisition module is used for acquiring motor power information;
the sending module is used for sending a control instruction based on the motor power information, and the control instruction is used for controlling the 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 with the hydraulic oil pump to provide power for the hydraulic oil pump;
a motor controller for acquiring power information of the driving motor;
the hydraulic oil pump comprises a plurality of parallel action branches, wherein each action branch is connected with the hydraulic oil pump, and an opening regulating valve is arranged on each action branch;
and the whole vehicle controller 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 hydraulic system control method 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 rate can be prevented from being reduced too fast, a protection strategy is provided for preventing the overload of the driving motor, and the working efficiency is ensured. In addition, for the operation electric vehicle, an operator can select an operation power section according to the operation site function condition, normal operation of different energy supply sites is ensured, the operation power of the motor and the opening of the valve body are kept in an optimal operation section, and the energy utilization rate can be improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a partial construction of a hydraulic system of a work machine provided by the present disclosure;
FIG. 2 is a schematic view of a partial construction of a hydraulic system of a work machine provided by 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 drive motor and the valve opening of 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 flow chart of a method of controlling a combined action of a hydraulic system of a work machine according to the present disclosure;
reference numerals:
1: an external power source; 2: a motor controller; 3: a driving motor;
4: a hydraulic oil pump; 5: a main circuit electric proportional valve; 6: an integrated hydraulic valve;
7: branch circuit electric proportional valve 8: an oil pump motor; 9: a man-machine interaction component;
10: a vehicle controller; 11: an action branch; 12: an information acquisition module;
13: a proportioner; 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
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
A hydraulic system control method of 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 construction machine such as a tower crane, a wheel crane, a crawler crane, a hoist, a construction hoist, or an overhead working machine, and the execution end of the working machine may execute different operations by a hydraulic system. In addition, the work machine uses a motor as a power source, and the motor is supplied with power from 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 regulating valve of the action branch based on the motor power information.
When the work machine is in a work state, the larger the work load, the larger the motor power required. In step S10, the work load condition may be determined by monitoring the power of the drive motor. Here, the power information of the driving 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 the term "motor power information" is also to be understood in a broad sense, i.e. it is also to be understood as information parameters which are determined by deriving from other parameter information of the work machine, such as motor speed, torque, pedal opening, sensors, etc.
When the operation load is large, 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 rate of hydraulic oil of the operation loop is reduced. In order to avoid the situation, according to the hydraulic system control method of the working machine, according to the embodiment of the invention, the opening value of the opening regulating valve of the action branch is regulated, so that the hydraulic flow rate can be prevented from being reduced too fast, a protection strategy is provided for preventing the overload of the driving motor, and the working efficiency is ensured. In addition, for the operation electric vehicle, an operator can select an operation power section according to the operation site function condition, normal operation of different energy supply sites is ensured, the operation power of the motor and the opening of the valve body are kept in an optimal operation section, and the energy utilization rate can be improved.
As shown in conjunction with 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 motor power value is larger than the first operation threshold value.
It will be appreciated that when the work load of the work machine is high, the drive motor torque increases and the speed decreases due to the motor power limit, at which time the work circuit hydraulic oil flow rate decreases. To avoid this, when the motor power P reaches the operation first operation threshold value 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 working efficiency from being affected by the reduction of the working circuit flow rate. Here, the factors for determining the first operation threshold P1 may include the rated power of the motor and the 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 supply can bear for normal operation of the driving motor is P ", P1 takes 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 value P1, the opening value of the opening adjustment valve may be reduced or may not be adjusted.
In the embodiment, when the power of the motor is too high, the opening degree of the proportional valve of the operation loop can be reduced, the flow rate is improved, the operation efficiency is ensured, an overload protection strategy is provided for the driving motor, the motor is prevented from being overloaded, and meanwhile, the normal operation can be ensured through the flow rate adjustment of the operation loop.
In some embodiments, as shown in fig. 7, because the work machine needs to perform multiple identical or different actions, there is one action branch for each execution action, and the work machine performs the corresponding execution action under the control of the corresponding action branch. That is, the hydraulic system work circuit of the work machine may include a main circuit including a plurality of parallel action branches, with any two action branches having different priority levels.
In some embodiments, the priority level of each action leg may be adjusted. Here, 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 facilitating control of the hydraulic system.
The main loop is provided with an opening adjusting valve for adjusting the hydraulic oil flow of the main loop, and each action branch is also provided with an opening adjusting valve for adjusting the hydraulic oil flow of the action branch. Referring to fig. 7, step S20.1 specifically includes: the opening value of an opening regulating valve of a main circuit comprising a plurality of operation branches is reduced.
Referring to fig. 7, step S20.1 specifically includes: the step of reducing the opening of the opening regulating valve including a plurality of operation branches when the motor power value is greater than the first operation threshold value specifically includes: and sequentially reducing the opening of the action branches according to the priority level, and keeping the opening values of the rest action branches unchanged when the opening of one action branch is in the changing process. Among the plurality of operation branches, the opening value of the operation branch having the highest priority is first reduced. Thus, the flow rate of the operation branch having the highest priority will be increased, and the work machine can perform the operation having the highest priority first. In addition, when the opening of one of the action branches is in the process of changing, the opening values of the rest action branches are kept unchanged. Therefore, the flow velocity of the main loop can be effectively prevented from being reduced, and the working efficiency can be improved.
Further, the step of sequentially reducing the opening of the action branch according to the priority level specifically includes: the opening degree of the operation branch having a relatively high priority is preferentially reduced. For example, after the operation is completed based on the operation branch having the highest priority, the operation branch opening value of the priority order is reduced. In other words, the opening of the operation branch having the highest priority is reduced, and after the operation of the branch having the highest priority is completed, the opening of the operation branch having the next priority is reduced. The operation branches are combined according to the priority level, and the opening value of the opening regulating valve of the related operation is regulated according to the priority level, so that the operation efficiency of the combined operation can be improved, and particularly, the smoothness of the combined operation of a large load can be improved.
As shown in conjunction with fig. 5, in some embodiments, step S20 specifically includes:
s20.2: and increasing the opening value of the opening regulating valve under the condition that the motor power value is smaller than the second operation threshold value.
When the motor power is reduced to the second operation threshold value P2, namely when P is smaller than P2, the opening of the opening regulating valve is increased to M2, the hydraulic oil flow of the operation loop is improved, the motor operation power and the opening of the valve body are kept in an optimal operation interval, normal operation of the operation machine is ensured, and the energy utilization rate is improved. In some embodiments, the first operating threshold is greater than the second operating threshold.
It should be noted that motors of different types have different optimal working power intervals, and different hydraulic system operation strategies can be formulated according to parameters of motor performance. The opening value of the regulating valve is regulated by combining the difference between the actual power and the ideal power of the motor, so that the hydraulic oil flow 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 value P2, the opening value of the opening adjustment valve may be increased or may not be adjusted.
Further, in the case of a work electric vehicle, the voltage of the external power supply may be a factor limiting the maximum operating power of the motor. Therefore, an operator can select the power section of the operation according to the function condition of the operation site, and normal operation of the operation of different energy supply sites can be ensured. That is, according to the hydraulic system control method of the working machine provided by the embodiment of the invention, the hydraulic system adjustment strategy is adaptively adjusted, so that the running power of the motor and the opening of the valve body can be kept in the optimal running interval, and the normal running of the working machine is ensured.
In some embodiments, the motor power information may include a motor set power value and a motor real-time power value, where the motor set power may be a power value set according to a motor self model parameter and a carrying capacity of an external power source, for example, a rated power of the motor, a first operation threshold value or a second operation threshold value, and the like; the real-time power of the motor may refer to: when the motor is in an operating state, at any point in time, the actual operating power value of the motor.
A hydraulic system of a work machine according to an embodiment of a second aspect of the present invention includes:
the information acquisition module is used for acquiring motor power information;
the sending module is used for sending a control instruction based on the information acquired by the information acquisition module, wherein the control instruction is used for controlling the opening regulating valve of the action branch;
the receiving module is used for receiving the control instruction.
The motor power information includes a motor set power value and a motor real-time power value. And the information acquisition module sends corresponding control instructions after receiving the motor power information acquired by the information acquisition module. After receiving the control command, the receiving module dynamically adjusts the opening of the opening regulating valve of the branch circuit based on the control command, so that the opening regulating valve is adjusted to the corresponding opening. Therefore, the hydraulic oil quantity on the action branch can be kept in a better section so as to meet the action requirement of the working machine.
In addition, motors of different models have different optimal working power intervals, and different hydraulic system operation strategies can be formulated according to parameters of motor performance. The opening value of the regulating valve is regulated 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 an optimal range, and the energy utilization rate can be improved.
Further, in the case of a work electric vehicle, the voltage of the external power supply may be a factor limiting the maximum operating power of the motor. Therefore, an operator can select the power section of the operation according to the function condition of the operation site, and normal operation of the operation of different energy supply sites can be ensured.
According to 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 rate 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 an operation power section according to the operation site function condition, normal operation of different energy supply sites is ensured, the operation power of the motor and the opening of the valve body are kept in an optimal operation section, and the energy utilization rate can be improved.
As shown in fig. 1 and 2, a work machine according to an embodiment of a third aspect of the present invention includes: the hydraulic oil pump 4, the driving motor 3, the motor controller 2, the whole vehicle controller 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 used to acquire power information of the drive motor 3. The motor controller 2 may be used as a device for detecting the motor power, and may also control the motor to start or stop. Each actuation branch 11 is connected to the hydraulic oil pump 4. Here, "connected" is understood to mean a connection by a mechanical structure, and also understood to mean a communication by a flow path, which may be a direct connection or an indirect connection via an intermediate structure. Each action branch 11 is provided with an opening adjusting valve, and the corresponding opening adjusting valve on the action branch 11 can be used for adjusting the flow or the flow rate of the hydraulic oil on the action branch 11.
Further, the hydraulic system of the work machine may comprise a main circuit comprising a plurality of parallel action branches 11. The vehicle controller 10 is electrically connected to the motor controller 2 and the opening adjusting valve, and is configured to obtain power information, and adjust an opening value of the opening 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 rate 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 an operation power section according to the operation site function condition, normal operation of different energy supply sites is ensured, the operation power of the motor and the opening of the valve body are kept in an optimal operation section, 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 exemplary only and is not intended to limit the invention in any way.
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 work machine includes: the hydraulic control system comprises a main circuit electric proportional valve 5, an integrated hydraulic valve 6, a branch circuit electric 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 whole vehicle controller 10.
Specifically, the vehicle controller 10 is electrically connected with the main circuit electric proportional valve 5 and the branch electric proportional valve 7, and the vehicle controller 10 can control the opening of the valve body, so as to adjust the flow rate or the flow velocity of hydraulic oil in the flow path. The man-machine interaction assembly 9 can be in communication connection with the vehicle controller 10, so that an operator can communicate instructions to the vehicle controller 10 through the man-machine interaction assembly 9, and the vehicle controller 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 controller 10 may be further electrically connected to an information collecting module 12, where the information collecting module 12 is configured to collect information of the driving motor 3, and the information collecting module 12 may transmit the collected information to the vehicle controller 10.
Referring to fig. 1, an external power source 1 is electrically connected with a motor controller 2 to supply power to the motor controller 2, and the motor controller 2 is in communication connection with a whole vehicle controller 10, so that the whole vehicle controller 10 can not only send a control command to the motor controller 2, but also feed back the working state information of a driving motor 3 to the whole vehicle controller 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 working state of the driving motor 3 can be controlled by using the electrode controller, the driving motor 3 can drive the hydraulic oil pump 4 to work, and then the flow rate and the flow velocity of hydraulic oil in a flow path can be controlled.
As shown in fig. 2, the main circuit comprises a plurality of parallel action branches 11, wherein the main circuit electric proportional valve 5 is used for controlling the hydraulic oil flow or velocity 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 or the flow rate of hydraulic oil corresponding to the action branch 11. In addition, each action branch 11 is provided with an oil pump motor 8 for providing power for the flow of hydraulic oil. Further, a hydraulic oil pump 4 is arranged on the main circuit so as to supply the main circuit with hydraulic oil, which can flow to the respective actuating branches 11 via the integrated hydraulic valve 6.
As shown in fig. 2, the main loop includes three action branches 11, and the three action branches 11 correspond to the first execution action a, the second execution action B, and the third execution action C, respectively. The priority of the action branch 11 where the first execution action a is located is highest, the priority of the action branch 11 where the second execution action B is located is next to the priority of the action branch 11 where the third execution action C is located is lowest. Here, it should be further noted that one of the plurality of operation branches 11 may also be an air conditioning branch, and the execution operation corresponding to the air conditioning branch is a fourth execution operation D, where the fourth execution operation D may include controlling the air conditioning to start, close or idle.
The hydraulic system control method of the working machine according to the embodiment of the invention is described below:
when the working machine works normally, the whole vehicle controller adjusts the opening degree of the valve body of the corresponding branch according to the load demands of the air conditioner branch and the three action branches. Here, the opening degree of the valve body may be adjusted according to the PID control method. PID control, which may also be called proportional integral derivative control, forms a control deviation from a given value and an actual output value, and forms a control quantity by linear combination of proportional, integral and derivative of the deviation to control a controlled object. That is, as shown in fig. 3, the valve adjustment value is obtained by the difference between the actual power and the optimum power through the proportional regulator 13, the integral regulator 15, the differential regulator 14, and the actuator proportional valve 16, and the valve-adjusted power is applied to the valve opening adjustment, thereby realizing the 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, the PID control is a control method well known in the art, and will not be described here again.
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. Wherein, the aperture of the proportional valve is M=f (P), and P is the power when the driving motor works. The optimum power range for the drive motor is P2-P1, as shown in FIG. 4.
It will be appreciated that the drive motor has a first operating threshold P1 and a second operating threshold P2, wherein the drive motor is in a preferred operating condition when the power of the drive motor is between the second operating threshold P2 and the first operating threshold P1. Specifically, the opening degree of the main circuit electric proportional valve corresponding to the first operation threshold P1 is M1, and the opening degree of the main circuit electric proportional valve corresponding to the second operation threshold P2 is M2.
Here, it should be further noted that the first operation threshold P1 may be understood as a highest bearing power of the driving motor, where the highest bearing power of the driving motor is limited in at least two aspects: firstly, the rated power of the driving motor; secondly, the load-carrying capacity of an external power source, such as the maximum operating voltage that the external power source can provide for the drive motor, is in the working environment in which the work machine is located. The first operation threshold P1 is a threshold value at the highest value of the optimal power range when the driving motor works, and the second operation threshold P2 can be understood as the lowest threshold value of the optimal power range when the driving motor works.
For example, the rated power of the driving motor is P ', the maximum power of the motor operation that can be borne by the external power supply is P ", the power P1 when the driving motor works takes 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 electric proportional valve is M1, the working machine is in a heavy load working condition, the opening of the main circuit electric proportional valve is reduced, and the motor power P is adjusted within a range smaller than P1 and larger than P2. The opening value of the main loop electric proportional valve is reduced, so that the flow velocity of hydraulic oil in the main loop is increased, the operation efficiency is ensured, and a protection strategy is provided for preventing the overload of the driving motor.
Referring to fig. 6, when the motor power P is smaller than the second operation threshold P2, the opening value of the opening regulating valve is increased. The hydraulic oil flow of the operation loop is improved, the operation power of the motor and the opening of the valve body are kept in the optimal operation interval, the normal operation of the operation machine is ensured, and the energy utilization rate is improved.
On the one hand, the operation strategy of the hydraulic system with the 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 motor power section of the operation according to the operation site function condition (such as the maximum voltage of an external power supply), so that the normal operation of different energy supply sites is ensured. In addition, according to the difference between the ideal power and the actual power of the main loop proportional valve under the current opening degree, a self-adaptive adjustment strategy of the power-valve opening degree can be provided, and the real-time power of the operation of the driving motor and the opening degree of the proportional valve can be kept in an optimal operation interval, so that the energy utilization rate can be improved.
Further, when a plurality of execution actions are required for a work task of the work machine, each action branch has a flow rate requirement of hydraulic oil. After the opening degree of the proportional valve in the main circuit is adjusted, the load applied to each circuit is different under the combined action condition, and the phenomenon of action retardation may exist when the load is large. Therefore, the opening degree of each branch proportional valve is adjusted according to the action priority under the condition that the whole vehicle controller receives the load of each action branch, so that the operation efficiency is improved.
Referring to fig. 7, taking a combined action of the first execution action a and the second execution action B as an example, the priority of the first execution action a is higher than the priority of the second execution action B, and the air conditioning branch is in an open state. The opening degree of the valve body of the action branch where the first execution action A is located and the opening degree of the valve body of the action branch where 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 operation efficiency requirement, the whole vehicle controller adjusts the valve opening of the corresponding action branch to the optimal opening M3 according to the load requirements of the first execution action A and the second execution action B. Here, the optimal opening M3 of the different operation 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 opening of the action branch with higher priority according to the priority of the execution action, adjusts the valve opening to an optimal opening value M4, and simultaneously adjusts the air conditioner branch to ensure that the air conditioner is in an idle running state, and preferentially ensures that the action with high priority finishes the action first. During this process, the other action branches do not stop.
And when the action of the branch with the highest priority is finished, successively reducing the valve opening of the second priority to be adjusted to an optimal opening value M4 until the combined action is finished, and recovering the proportional valve to a default value. When the opening degree of the operation branch is adjusted according to the priority level, the optimal opening degree values M4 of the different operation branches may be the same or different.
Therefore, according to the combined action priority sequence, the strategy of improving the combined action operation efficiency by adjusting the opening of the related branch proportional valve ensures the operation efficiency of the combined action, in particular to the fluency of the combined action with heavy load.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (6)

1. A hydraulic system control method of a work machine, comprising:
the work machine includes:
a hydraulic oil pump;
the driving motor is connected with the hydraulic oil pump to provide power for the hydraulic oil pump;
a motor controller for acquiring power information of the driving motor;
the hydraulic oil pump comprises a plurality of parallel action branches, wherein each action branch is connected with the hydraulic oil pump, and an opening regulating valve is arranged on each action branch;
the whole vehicle controller 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;
the hydraulic system control method of the work machine includes:
acquiring motor power information, wherein the motor power information comprises a motor set power value and a motor real-time power value;
based on the motor power information, adjusting the opening value of an opening regulating valve of an action branch, and reducing the opening value of the opening regulating valve under the condition that the motor power value is larger than a first operation threshold, wherein the first operation threshold is a critical value at the highest value of the optimal power range when the driving motor works; and under the condition that the motor power value is smaller than a second operation threshold value, increasing the opening value of the opening regulating valve, wherein the second operation threshold value is the lowest critical value of the optimal power range when the driving motor works, and the first operation threshold value is larger than the second operation threshold value, so that the motor power is regulated in a range smaller than the first operation threshold value and larger than the second operation threshold value.
2. The hydraulic system control method of the working machine according to claim 1, wherein the step of reducing the opening degree of the opening degree adjustment valve in the case where the motor power value is greater than the first operation threshold value, specifically includes:
the opening value of an opening regulating valve of a main circuit comprising a plurality of operation branches is reduced.
3. The hydraulic system control method of a working machine according to claim 2, wherein the step of reducing the opening degree of the opening degree adjustment valve of the main circuit including the plurality of operation branches, specifically includes:
and sequentially reducing the opening of the action branches according to the priority level, and keeping the opening values of the rest action branches unchanged when the opening of one action branch is in the changing process.
4. The hydraulic system control method of a working machine according to claim 3, wherein the step of sequentially decreasing the opening degree of the operation branch according to the priority level, specifically comprises:
and preferentially reducing the opening degree of the action branch with relatively high priority level.
5. A hydraulic system control method of a working machine according to claim 3, characterized in that the priority level of the action branch is adjustable.
6. A hydraulic system of a working machine to which the hydraulic system control method of a working machine according to any one of claims 1 to 5 is applied, characterized by comprising:
the information acquisition module is used for acquiring motor power information;
the sending module is used for sending a control instruction based on the motor power information, and the control instruction is used for controlling the opening regulating valve of the action branch;
and the receiving module is used for receiving the control instruction.
CN202110938821.XA 2021-08-16 2021-08-16 Hydraulic system for work machine, control method, and work machine Active CN113738626B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6469804A (en) * 1987-09-08 1989-03-15 Kobe Steel Ltd Hydraulic control apparatus
JPH0874807A (en) * 1994-09-09 1996-03-19 Hitachi Constr Mach Co Ltd Oil pressure control device for construction machine
JP2007321463A (en) * 2006-06-01 2007-12-13 Takeuchi Seisakusho:Kk Work vehicle
JP2017180033A (en) * 2016-03-31 2017-10-05 株式会社クボタ Hydraulic system for work machine
CN111102018A (en) * 2019-12-26 2020-05-05 国电龙源节能技术有限公司 Control method and control system for preventing over-rated power of low-pressure turbine
CN111365311A (en) * 2018-12-25 2020-07-03 广州汽车集团股份有限公司 Hydraulic module of electromechanical coupling system and control method thereof

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6469804A (en) * 1987-09-08 1989-03-15 Kobe Steel Ltd Hydraulic control apparatus
JPH0874807A (en) * 1994-09-09 1996-03-19 Hitachi Constr Mach Co Ltd Oil pressure control device for construction machine
JP2007321463A (en) * 2006-06-01 2007-12-13 Takeuchi Seisakusho:Kk Work vehicle
JP2017180033A (en) * 2016-03-31 2017-10-05 株式会社クボタ Hydraulic system for work machine
CN111365311A (en) * 2018-12-25 2020-07-03 广州汽车集团股份有限公司 Hydraulic module of electromechanical coupling system and control method thereof
CN111102018A (en) * 2019-12-26 2020-05-05 国电龙源节能技术有限公司 Control method and control system for preventing over-rated power of low-pressure turbine

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