CN114396399B - Control method and control system for slewing mechanism and engineering equipment - Google Patents

Control method and control system for slewing mechanism and engineering equipment Download PDF

Info

Publication number
CN114396399B
CN114396399B CN202111615146.3A CN202111615146A CN114396399B CN 114396399 B CN114396399 B CN 114396399B CN 202111615146 A CN202111615146 A CN 202111615146A CN 114396399 B CN114396399 B CN 114396399B
Authority
CN
China
Prior art keywords
pressure
pump
hydraulic system
characteristic
target
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202111615146.3A
Other languages
Chinese (zh)
Other versions
CN114396399A (en
Inventor
陈华波
吴元峰
杨汉悦
杨馥霖
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoomlion Earth Moving Machinery Co Ltd
Original Assignee
Zoomlion Earth Moving Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zoomlion Earth Moving Machinery Co Ltd filed Critical Zoomlion Earth Moving Machinery Co Ltd
Priority to CN202111615146.3A priority Critical patent/CN114396399B/en
Publication of CN114396399A publication Critical patent/CN114396399A/en
Application granted granted Critical
Publication of CN114396399B publication Critical patent/CN114396399B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/0416—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor with means or adapted for load sensing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity

Landscapes

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

Abstract

The invention relates to the field of engineering machinery, and discloses a control method and a control system for a slewing mechanism and engineering equipment, wherein the control method for the slewing mechanism is applied to the engineering equipment, the engineering equipment comprises the slewing mechanism and a hydraulic system for driving the slewing mechanism, the hydraulic system comprises a pump, and the control method comprises the following steps: under the condition that the slewing mechanism is in a starting state, acquiring the characteristic pressure of a hydraulic system under the current load condition, wherein the characteristic pressure is the pressure corresponding to the turning point of pressure change in the pressure change period; determining a target pressure of the hydraulic system according to the characteristic pressure; acquiring the actual pressure of a hydraulic system; determining a difference between the target pressure and the actual pressure; the flow rate of the pump is controlled according to the difference value to adjust the actual pressure to the target pressure. The invention can improve the working condition adaptability.

Description

Control method and control system for slewing mechanism and engineering equipment
Technical Field
The invention relates to the field of engineering machinery, in particular to a control method, a control system and engineering equipment for a slewing mechanism.
Background
The swing mechanism of the engineering equipment has the characteristic of large starting inertia, and when the swing mechanism is started, the hydraulic torque required by the swing motor is large, so that the hydraulic pressure often reaches the overflow pressure of a loop, and the waste of hydraulic energy, the rising of the oil temperature of a hydraulic system, overflow noise and the like are caused. Therefore, in a hydraulic system, in order to reduce energy loss, it is often desirable to control the system pressure below the relief pressure of the relief valve so that the system does not or little relief, thereby achieving the energy saving goal. In the prior art, a fixed pressure value smaller than or equal to the overflow pressure is preset as a pressure control value of the hydraulic system, and the pressure of the hydraulic system is controlled to be smaller than or equal to the preset pressure value according to the collected pressure signal. However, the actual application scene of the engineering equipment is complex, and the method for controlling the system pressure by adopting the preset fixed pressure control value in the prior art has the problem of low working condition adaptability.
Disclosure of Invention
The invention aims to provide a control method, a control system, engineering equipment and a storage medium for a slewing mechanism, so as to solve the problem of low working condition adaptability in the prior art.
In order to achieve the above object, a first aspect of the present invention provides a control method for a swing mechanism, applied to an engineering apparatus including a swing mechanism and a hydraulic system driving the swing mechanism, the hydraulic system including a pump, the control method comprising:
Under the condition that the slewing mechanism is in a starting state, acquiring the characteristic pressure of a hydraulic system under the current load condition, wherein the characteristic pressure is the pressure corresponding to the turning point of pressure change in the pressure change period;
determining a target pressure of the hydraulic system according to the characteristic pressure;
acquiring the actual pressure of a hydraulic system;
determining a difference between the target pressure and the actual pressure;
the flow rate of the pump is controlled according to the difference value to adjust the actual pressure to the target pressure.
In an embodiment of the present invention, determining a target pressure of a hydraulic system based on a characteristic pressure includes: any one of the plurality of characteristic pressures is determined to be a target pressure for the hydraulic system.
In an embodiment of the present invention, determining a target pressure of a hydraulic system based on a characteristic pressure includes: and carrying out interpolation operation on the plurality of characteristic pressures to obtain the target pressure of the hydraulic system.
In an embodiment of the invention, the hydraulic system further comprises a relief valve and a swing motor, the characteristic pressure of the hydraulic system comprises a characteristic pressure of the relief valve or the swing motor or the pump, the target pressure of the hydraulic system comprises a target pressure of the relief valve or the swing motor or the pump, and the actual pressure of the hydraulic system comprises an actual pressure of the relief valve or the swing motor or the pump.
In an embodiment of the invention, the hydraulic system further comprises a pump displacement controller for adjusting the displacement of the pump to control the flow rate of the pump; controlling the flow of the pump to adjust the actual pressure to the target pressure based on the difference, comprising: and outputting a displacement control signal to the pump displacement controller according to the difference value to adjust the displacement of the pump by the pump displacement controller, thereby controlling the flow rate of the pump to adjust the actual pressure to the target pressure.
A second aspect of the present invention provides a control system for a swing structure, for use in an engineering apparatus, the control system comprising:
The hydraulic system comprises a pump and is used for driving the slewing mechanism;
A pressure detection device;
A controller configured to:
Under the condition that the slewing mechanism is in a starting state, acquiring the characteristic pressure of a hydraulic system under the current load condition, wherein the characteristic pressure is the pressure corresponding to the turning point of pressure change in the pressure change period;
determining a target pressure of the hydraulic system according to the characteristic pressure;
acquiring the actual pressure of a hydraulic system;
determining a difference between the target pressure and the actual pressure;
the flow rate of the pump is controlled according to the difference value to adjust the actual pressure to the target pressure.
In an embodiment of the invention, the controller is configured to determine a target pressure of the hydraulic system from the characteristic pressure comprises: the controller is configured to: any one of the plurality of characteristic pressures is determined to be a target pressure for the hydraulic system.
In an embodiment of the invention, the controller is configured to determine a target pressure of the hydraulic system from the characteristic pressure comprises: the controller is configured to: and carrying out interpolation operation on the plurality of characteristic pressures to obtain the target pressure of the hydraulic system.
In the embodiment of the invention, the hydraulic system further comprises an overflow valve and a rotary motor, the characteristic pressure of the hydraulic system comprises the characteristic pressure of the overflow valve or the rotary motor or the pump, the target pressure of the hydraulic system comprises the target pressure of the overflow valve or the rotary motor or the pump, and the actual pressure of the hydraulic system comprises the actual pressure of the overflow valve or the rotary motor or the pump; the pressure detection device is electrically connected with the controller and is used for detecting the pressure of the overflow valve or the rotary motor or the pump.
In an embodiment of the invention, the relief valve comprises a first relief valve and a second relief valve; the hydraulic system further comprises a reversing valve, the reversing valve comprises a first port, a second port, a third port and a fourth port, the first port is connected with the oil outlet end of the pump, the second port is respectively connected with the oil inlet end of the first overflow valve and the first port of the rotary motor, the third port is respectively connected with the oil inlet end of the second overflow valve and the second port of the rotary motor, the fourth port is connected with the oil tank for oil return, and the oil outlet end of the first overflow valve and the oil outlet end of the second overflow valve are connected with the oil tank for oil return.
In the embodiment of the invention, the control system further comprises a pump displacement controller, which is electrically connected with the controller and the pump and is used for adjusting the displacement of the pump to control the flow of the pump; the controller being configured to control the flow of the pump to adjust the actual pressure to the target pressure based on the difference value includes: the controller is configured to: and outputting a displacement control signal to the pump displacement controller according to the difference value to adjust the displacement of the pump by the pump displacement controller, thereby controlling the flow rate of the pump to adjust the actual pressure to the target pressure.
In the embodiment of the invention, under the condition that the pressure detection device detects the pressure of the pump, the pressure detection device is connected with the oil outlet end of the pump; under the condition that the pressure detection device detects the pressure of the overflow valve or the rotary motor, the pressure detection device comprises a first pressure detection device and a second pressure detection device, wherein the first pressure detection device is connected with the oil inlet end of the first overflow valve or the first port of the rotary motor, and the second pressure detection device is connected with the oil inlet end of the second overflow valve or the second port of the rotary motor.
In an embodiment of the invention, the swing motor further comprises a third port connected to the tank for returning the leaked oil to the tank.
A third aspect of the present invention provides an engineering apparatus comprising: a slewing mechanism; and a control system for a slewing structure according to the above.
A fourth aspect of the invention provides a machine-readable storage medium having stored thereon instructions that, when executed by a processor, cause the processor to perform a control method for a swing mechanism according to the above.
According to the technical scheme, under the condition that the slewing mechanism is in the starting state, the characteristic pressure of the hydraulic system under the current load condition is obtained, the target pressure of the hydraulic system is determined according to the characteristic pressure, and then the actual pressure of the hydraulic system is obtained, so that the difference value between the target pressure and the actual pressure is determined, and the flow of the pump is controlled according to the difference value to adjust the actual pressure to the target pressure. According to the technical scheme, the characteristic pressure of the hydraulic system of the rotary structure in the starting state and under different load conditions of the engineering equipment is considered, the target pressure of the hydraulic system is determined according to the characteristic pressure under the current load condition, and then the flow of the pump is controlled according to the difference value between the target pressure and the actual pressure so as to adjust the actual pressure to the target pressure, so that the working condition adaptability is improved, the working condition adaptability is more attached to the actual working condition of the engineering equipment, the practical value is higher, and the energy-saving effect is further improved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention. In the drawings:
FIG. 1 schematically illustrates a flow chart of a control method for a swing mechanism in an embodiment of the invention;
FIG. 2 schematically illustrates a flow chart of a control method for a swing mechanism in another embodiment of the invention;
FIG. 3 schematically illustrates a block diagram of a control system for a swing structure in accordance with one embodiment of the invention;
fig. 4 schematically shows a schematic structure of a control system for a swing structure in an embodiment of the present invention.
FIG. 5 schematically illustrates a schematic configuration of a control system for a swing structure in accordance with another embodiment of the present invention;
Fig. 6 schematically shows a graph of the pressure of the relief valve over time in an embodiment of the invention.
Description of the reference numerals
310. Pressure detection device of hydraulic system 320
330. Controller 401/501 pump
402/502 Reversing valve 403/503 swing motor
404/504 Overflow valve 405/505 pressure detection device
5051 First pressure detection device 5052 second pressure detection device
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
Fig. 1 schematically shows a flow chart of a control method for a swing mechanism in an embodiment of the invention. As shown in fig. 1, in an embodiment of the present invention, a control method for a swing mechanism is provided and applied to engineering equipment, where the engineering equipment includes a swing mechanism and a hydraulic system for driving the swing mechanism, the hydraulic system includes a pump, and the control method is applied to a processor for explanation, and the control method may include:
Step S102, under the condition that the slewing mechanism is in a starting state, acquiring the characteristic pressure of the hydraulic system under the current load condition, wherein the characteristic pressure is the pressure corresponding to the turning point of pressure change in the pressure change period.
It is understood that the characteristic pressure is a pressure corresponding to a turning point of pressure change in the pressure change period, where the turning point of pressure change may include, but is not limited to, a turning point of a speed of pressure change and/or a turning point of a derivative of a speed of pressure change, that is, may be a multiple derivative such as a first derivative, a second derivative, etc. of pressure change over time, the characteristic pressure may be understood as an inflection point where pressure is suddenly changed, and the number of the characteristic pressures may be plural. It will be appreciated that, when the swing phase is in the active state, various abrupt changes in pressure will occur during this period, i.e. a characteristic pressure will occur. The number of pressure change cycles may be one or more during the start-up of the swing mechanism. The load conditions of the engineering equipment under different working conditions are not necessarily the same, i.e. the load size can be changed.
Specifically, under the condition that the slewing mechanism is in a starting state, that is to say, when the slewing mechanism is in a slewing starting stage, the processor can acquire the characteristic pressure of the hydraulic system under the current load condition, and the characteristic pressure can be detected by various pressure detection devices, and the processor can acquire the pressure data detected by the pressure detection devices so as to determine the characteristic pressure. It will be appreciated that when the swing mechanism is in the activated state, the characteristic pressure of the hydraulic system will change if the load of the work equipment changes. Thus, the specific value of the characteristic pressure is related to two conditions, namely the turning gear being in the activated state and the current load situation of the engineering equipment, and once at least one of the two conditions changes, the value of the characteristic pressure also changes, and the processor needs to re-acquire the characteristic pressure of the hydraulic system.
Step S104, determining the target pressure of the hydraulic system according to the characteristic pressure.
It can be appreciated that the target pressure is a pressure expected value of the hydraulic system determined based on a characteristic pressure of the hydraulic system under the current load condition, and the determination of the target pressure considers the situation of the current load condition and is more consistent with the current actual working condition of the engineering equipment.
Specifically, in one embodiment, determining a target pressure of the hydraulic system based on the characteristic pressure includes: any one of the plurality of characteristic pressures is determined to be a target pressure for the hydraulic system.
It will be appreciated that the number of characteristic pressures is typically a plurality and that the gap between the plurality of characteristic pressures is typically not large, and that the processor may determine any of the plurality of characteristic pressures to be the target pressure for the hydraulic system.
In another embodiment, determining a target pressure for the hydraulic system based on the characteristic pressure includes: and carrying out interpolation operation on the plurality of characteristic pressures to obtain the target pressure of the hydraulic system.
Specifically, the processor may perform interpolation operation on the plurality of feature pressures, thereby obtaining a result of the interpolation operation, and take the result of the interpolation operation as the target pressure of the hydraulic system. Further, the interpolation operation may include a linear interpolation operation, and the processor may perform a linear interpolation operation on the plurality of feature pressures, thereby obtaining an average value, and taking the average value as the target pressure of the hydraulic system.
Step S106, obtaining the actual pressure of the hydraulic system.
In particular, the processor may actively acquire or passively receive the actual pressure of the hydraulic system detected by the corresponding pressure detection means.
Step S108, determining a difference between the target pressure and the actual pressure.
Specifically, after obtaining the target pressure under the current load condition, the processor may subtract the target pressure from the actual pressure, so as to obtain a difference value between the target pressure and the target pressure, that is, determine a difference value between the actual pressure and the target pressure of the hydraulic system under the current load condition.
Step S110, controlling the flow rate of the pump according to the difference value to adjust the actual pressure to the target pressure.
Specifically, the processor may control the flow rate of the pump in accordance with the difference between the target pressure and the actual pressure to adjust the actual pressure of the hydraulic system to the target pressure, and when the flow rate of the pump increases, the actual pressure of the hydraulic system increases, and when the flow rate of the pump decreases, the actual pressure of the hydraulic system decreases. That is, when the target pressure is greater than the actual pressure, the flow rate of the pump may be increased to increase the actual pressure, and when the target pressure is less than the actual pressure, the flow rate of the pump may be decreased to decrease the actual pressure, and specific control algorithms may refer to PID algorithms or the like.
According to the control method for the slewing mechanism, under the condition that the slewing mechanism is in the starting state, the characteristic pressure of the hydraulic system under the current load condition is obtained, the target pressure of the hydraulic system is determined according to the characteristic pressure, the actual pressure of the hydraulic system is obtained, the difference value between the target pressure and the actual pressure is determined, and the flow of the pump is controlled according to the difference value so as to adjust the actual pressure to the target pressure. According to the technical scheme, the characteristic pressure of the hydraulic system of the rotary structure in the starting state and under different load conditions of the engineering equipment is considered, the target pressure of the hydraulic system is determined according to the characteristic pressure under the current load condition, and then the flow of the pump is controlled according to the difference value between the target pressure and the actual pressure so as to adjust the actual pressure to the target pressure, so that the working condition adaptability is improved, the working condition adaptability is more attached to the actual working condition of the engineering equipment, the practical value is higher, and the energy-saving effect is further improved.
In one embodiment, the hydraulic system further comprises a relief valve and a swing motor, the characteristic pressure of the hydraulic system comprises a characteristic pressure of the relief valve or the swing motor or the pump, the target pressure of the hydraulic system comprises a target pressure of the relief valve or the swing motor or the pump, and the actual pressure of the hydraulic system comprises an actual pressure of the relief valve or the swing motor or the pump.
It will be appreciated that the hydraulic system may comprise, in addition to the pump, a relief valve and a swing motor, the difference in pressure between the various structural components being small, typically of a fixed magnitude, due to the relatively simple construction of the hydraulic system driving the swing mechanism.
Specifically, the characteristic pressure of the hydraulic system may take the characteristic pressure of the relief valve, the characteristic pressure of the swing motor, or the characteristic pressure of the pump. When the characteristic pressure of the hydraulic system takes the characteristic pressure of the relief valve, the target pressure of the hydraulic system may be the target pressure of the relief valve, and the actual pressure of the hydraulic system may be the actual pressure of the relief valve. When the characteristic pressure of the hydraulic system takes the characteristic pressure of the swing motor, the target pressure of the hydraulic system may be the target pressure of the swing motor, and the actual pressure of the hydraulic system may be the actual pressure of the swing motor. When the characteristic pressure of the hydraulic system takes the characteristic pressure of the pump, the target pressure of the hydraulic system may be the target pressure of the pump, and the actual pressure of the hydraulic system may be the actual pressure of the pump.
In one embodiment, the hydraulic system further includes a pump displacement controller for adjusting the displacement of the pump to control the flow rate of the pump; controlling the flow of the pump to adjust the actual pressure to the target pressure based on the difference, comprising: and outputting a displacement control signal to the pump displacement controller according to the difference value to adjust the displacement of the pump by the pump displacement controller, thereby controlling the flow rate of the pump to adjust the actual pressure to the target pressure.
It will be appreciated that the hydraulic system may also include a pump displacement controller for adjusting the displacement of the pump to control the flow rate of the pump, and that the product of the pump displacement and the rotational speed of the pump is the pump flow rate, and that as the pump displacement increases or decreases, the pump flow rate increases or decreases accordingly. The displacement control signal is an electrical signal, and a specific value of the electrical signal has a conversion relation with the difference value.
Specifically, the processor may determine a displacement control signal according to a difference between the target pressure and the actual pressure, thereby outputting the displacement control signal to the pump displacement controller, and the pump displacement controller adjusts the displacement of the pump according to the displacement control signal after receiving the displacement control signal, thereby adjusting the flow of the pump, so that the actual pressure of the hydraulic system is adjusted to the target pressure. Further, a control error within a preset range may be allowed between the actual pressure and the target pressure.
In the embodiment of the present invention, the processor may control the pump displacement by outputting a control signal to the pump displacement controller so as to achieve the purpose of controlling the pump flow, and it is understood that there are various ways of controlling the pump flow, and the embodiment of the present invention only provides one implementation of the foregoing.
In a specific embodiment, as shown in fig. 2, a control method for a swing mechanism is provided, and the method is applied to a controller or a processor for illustration, and the control method specifically may include the following steps:
step S201, collecting the characteristic pressure of the working condition overflow valve of the current wheel.
Specifically, the controller or the processor can collect the characteristic pressure of the working condition relief valve of the present wheel in the swing starting stage, namely when the swing mechanism is in a starting state.
Step S202, calculating and determining virtual control pressure of the working condition of the current wheel.
It will be appreciated that the virtual control pressure is the target pressure.
Step S203, calculating a difference between the actual pressure of the swing motor and the virtual control pressure.
Step S204, judging whether the turning start stage is finished.
Specifically, if the controller or the processor determines that the swing start phase has ended, the process proceeds to step S208, otherwise the process proceeds to step S205. The specific judging method can determine whether the swing start phase is finished or not by acquiring the pressure of the hydraulic system detected by the pressure detecting device.
Step S205, judging whether the working condition of the current round is finished.
Specifically, if the controller or the processor determines that the working condition of the present wheel has ended, for example, there is no turning action or a standby or shutdown condition for a long time, the process proceeds to step S208, otherwise, the process proceeds to step S206. The specific judging method can be obtained by acquiring the information such as the pressure of the hydraulic system or the speed of engineering equipment detected by the pressure detection device.
And step S206, outputting a control signal to the pump displacement controller according to the difference value, so that the pump displacement controller regulates the flow of the main pump according to the control signal.
Step S207, the actual pressure of the rotary motor is acquired and determined to change.
Specifically, if the actual pressure of the swing motor changes, the process returns to step S203, where a difference between the actual pressure of the swing motor and the virtual control pressure is calculated, and the above-mentioned steps are continuously and cyclically performed until the actual pressure of the swing motor is adjusted to the virtual control pressure (i.e., the target pressure).
Step S208, the calculation is stopped.
Specifically, if the swing starting phase is finished or the working condition of the present wheel is finished, the processor or the controller stops calculating, that is, stops executing the above step flow.
The technical scheme provided by the embodiment of the invention combines the actual working condition and the pressure characteristic value of the overflow valve to determine the virtual control pressure and the judging parameters of the beginning and ending of the rotation starting stage. Compared with the prior art, the energy-saving device is more fit with the actual working condition, has more practical value and better energy-saving effect. Meanwhile, the problem of variation of characteristic values caused by differences among overflow valve individuals is also solved.
Fig. 3 schematically shows a block diagram of a control system for a slewing structure in an embodiment of the invention. As shown in fig. 3, in an embodiment of the present invention, there is provided a control system 300 for a swing structure, which is applied to engineering equipment, the control system 300 may include: a hydraulic system 310, a pressure detection device 320, and a controller 330, wherein:
A hydraulic system 310, including a pump, the hydraulic system 310 being used to drive a swing mechanism.
Pressure detection device 320, pressure detection device 320 may be used to detect the pressure of hydraulic oil in hydraulic system 310, and pressure detection device 320 may include, but is not limited to, a detection device such as a pressure sensor.
A controller 330 configured to: under the condition that the slewing mechanism is in a starting state, acquiring the characteristic pressure of the hydraulic system 310 under the current load condition, wherein the characteristic pressure is the pressure corresponding to the turning point of pressure change in the pressure change period; determining a target pressure for hydraulic system 310 based on the characteristic pressure; acquiring an actual pressure of the hydraulic system 310; determining a difference between the target pressure and the actual pressure; the flow rate of the pump is controlled according to the difference value to adjust the actual pressure to the target pressure.
The control system 300 for a swing mechanism described above determines the difference between the target pressure and the actual pressure by acquiring the characteristic pressure of the hydraulic system 310 under the current load condition and determining the target pressure of the hydraulic system 310 according to the characteristic pressure, and then determining the difference between the target pressure and the actual pressure, and controls the flow of the pump according to the difference to adjust the actual pressure to the target pressure when the swing mechanism is in the start state. According to the technical scheme, the characteristic pressure of the hydraulic system 310 of the rotary structure in the starting state and under different load conditions of engineering equipment is considered, the target pressure of the hydraulic system 310 is determined according to the characteristic pressure under the current load condition, and then the flow of the pump is controlled according to the difference value between the target pressure and the actual pressure so as to adjust the actual pressure to the target pressure, so that the working condition adaptability is improved, the hydraulic system is more suitable for the actual working condition of the engineering equipment, the practical value is higher, and the energy-saving effect is further improved.
In one embodiment, the controller 330 is configured to determine a target pressure of the hydraulic system based on the characteristic pressure includes: the controller 330 is configured to: any one of the plurality of characteristic pressures is determined to be a target pressure for the hydraulic system.
In one embodiment, the controller 330 is configured to determine a target pressure of the hydraulic system based on the characteristic pressure includes: the controller 330 is configured to: and carrying out interpolation operation on the plurality of characteristic pressures to obtain the target pressure of the hydraulic system.
In one embodiment, the hydraulic system 310 further includes a relief valve and a swing motor, the characteristic pressure of the hydraulic system 310 includes a characteristic pressure of the relief valve or the swing motor or the pump, the target pressure of the hydraulic system 310 includes a target pressure of the relief valve or the swing motor or the pump, and the actual pressure of the hydraulic system 310 includes an actual pressure of the relief valve or the swing motor or the pump; the pressure detecting device 320 is electrically connected to the controller 330 for detecting the pressure of the relief valve or the swing motor or the pump.
It will be appreciated that the hydraulic system 310 may include, in addition to a pump, a relief valve and a swing motor, with the magnitude of the pressure difference between the various structural components typically being of a fixed magnitude due to the relatively simple construction of the hydraulic system 310 that drives the swing mechanism.
Specifically, the characteristic pressure of hydraulic system 310 may take the characteristic pressure of the relief valve, the characteristic pressure of the swing motor, or the characteristic pressure of the pump. When the characteristic pressure of the hydraulic system 310 takes the characteristic pressure of the relief valve, the target pressure of the hydraulic system 310 may be the target pressure of the relief valve, and the actual pressure of the hydraulic system 310 may be the actual pressure of the relief valve. When the characteristic pressure of the hydraulic system 310 retrieves the characteristic pressure of the swing motor, the target pressure of the hydraulic system 310 may be the target pressure of the swing motor, and the actual pressure of the hydraulic system 310 may be the actual pressure of the swing motor. When the characteristic pressure of the hydraulic system 310 takes the characteristic pressure of the pump, the target pressure of the hydraulic system 310 may be the target pressure of the pump, and the actual pressure of the hydraulic system 310 may be the actual pressure of the pump.
Fig. 4 schematically shows a schematic structure of a control system for a swing structure in an embodiment of the present invention. As shown in fig. 4, in an embodiment of the present invention, relief valve 404 includes a first relief valve and a second relief valve; the hydraulic system further comprises a reversing valve 402, the reversing valve 402 comprises a first port, a second port, a third port and a fourth port, the first port is connected with the oil outlet end of the pump 401, the second port is respectively connected with the oil inlet end of the first overflow valve and the first port of the rotary motor 403, the third port is respectively connected with the oil inlet end of the second overflow valve and the second port of the rotary motor 403, the fourth port is connected with the oil tank for oil return, and the oil outlet end of the first overflow valve and the oil outlet end of the second overflow valve are connected with the oil tank for oil return.
It will be appreciated that the first relief valve is the relief valve located to the left in fig. 4 and may be active when the swing mechanism is turned to the left and the pressure of the hydraulic system is high. The second relief valve is the relief valve located to the right in fig. 4, and can be used when the swing mechanism is turned to the right and the pressure of the hydraulic system is high. The oil outlet end of the first overflow valve and the oil outlet end of the second overflow valve are connected with the oil tank for returning oil, that is to say, the first overflow valve and the second overflow valve can share an oil outlet loop for returning overflowed hydraulic oil to the oil tank.
Specifically, when the swing mechanism rotates leftward, a pair of parallel arrows on the left side of the reversing valve 402 move to the middle position of the reversing valve 402, the pump 401 pumps the oil in the oil tank to the swing motor 403 to realize the swing action, and when the pressure of the hydraulic oil in the hydraulic system is large, the first relief valve (i.e., the relief valve on the left side in fig. 4) acts to spill the surplus hydraulic oil to the oil tank. Likewise, when the swing mechanism is turned to the right, the pair of intersecting arrows on the right in the direction valve 402 move to the middle position of the direction valve 402, the pump 401 pumps the oil in the oil tank to the swing motor 403 to realize the swing action, and when the pressure of the hydraulic oil in the hydraulic system is large, the second relief valve (i.e., the relief valve on the right in fig. 4) acts to spill the surplus hydraulic oil to the oil tank.
In one embodiment, continuing with FIG. 4, the control system may further comprise a pump displacement controller, electrically connected to the controller, pump 401, for regulating the displacement of pump 401 to control the flow rate of pump 401; the controller is configured to control the flow of the pump 401 according to the difference to adjust the actual pressure to the target pressure including: the controller is configured to: a displacement control signal is output to the pump displacement controller according to the difference to adjust the displacement of the pump 401 by the pump displacement controller, thereby controlling the flow rate of the pump 401 to adjust the actual pressure to the target pressure.
It will be appreciated that the hydraulic system may also include a pump displacement controller for adjusting the displacement of the pump 401 to control the flow rate of the pump 401, and that the product of the displacement of the pump 401 and the rotational speed of the pump 401 is the flow rate of the pump 401, and that when the displacement of the pump 401 increases or decreases, the flow rate of the pump 401 increases or decreases accordingly. The displacement control signal is an electrical signal, and a specific value of the electrical signal has a conversion relation with the difference value.
Specifically, the controller may determine a displacement control signal according to a difference between the target pressure and the actual pressure, thereby outputting the displacement control signal to the pump displacement controller, and the pump displacement controller adjusts the displacement of the pump 401 according to the displacement control signal after receiving the displacement control signal, thereby adjusting the flow rate of the pump 401, so that the actual pressure of the hydraulic system is adjusted to the target pressure. Further, a control error within a preset range may be allowed between the actual pressure and the target pressure.
In one embodiment, with continued reference to fig. 4, in the event that the pressure detection device 405 detects the pressure of the pump 401, the pressure detection device 405 is connected to the oil outlet end of the pump 401.
It is understood that the pressure detection device 405 is connected to the oil outlet end of the pump 401, so that the pressure detection device 405 can detect the pressure of the hydraulic oil in the pump 401.
Compared with the prior art, the hydraulic system is simple and reliable in composition, no additional hydraulic element is added, the arrangement of the sensors is more flexible, only one sensor is arranged at the outlet of the main pump, and the cost is lower and more reliable.
Fig. 5 schematically shows a schematic structure of a control system for a swing structure in another embodiment of the present invention. In the embodiment of the present invention, as shown in fig. 5, in the case where the pressure detecting means detects the pressure of the overflow valve 504 or the swing motor 503, the pressure detecting means includes a first pressure detecting means 5051 and a second pressure detecting means 5052, the first pressure detecting means 5051 is connected to the oil inlet end of the first overflow valve or the first port of the swing motor 503, and the second pressure detecting means 5052 is connected to the oil inlet end of the second overflow valve or the second port of the swing motor 503.
It will be appreciated that the first port of swing motor 503 is the port to the left of swing motor 503 in fig. 5, and the second port of swing motor 503 is the port to the right of swing motor 503 in fig. 5. The oil inlet end of the first overflow valve is the port on the left side of the first overflow valve shown in fig. 5. The oil inlet end of the second overflow valve is the port on the right side of the second overflow valve shown in fig. 5. The oil outlet end of the first relief valve and the oil outlet end of the second relief valve may be commonly connected to the oil tank.
Specifically, as shown in fig. 5, one end of the first pressure detecting device 5051 is connected to the controller, and the other end is connected to the oil inlet end of the first relief valve or the first port of the swing motor 503, and may be used to detect the pressure of the first relief valve or the swing motor 503. One end of the second pressure sensing device 5052 is connected to the controller and the other end is connected to the oil inlet end of the second relief valve or to the second port of the swing motor 503, which may be used to sense the pressure of the second relief valve or swing motor 503.
In one embodiment, with continued reference to FIG. 5, swing motor 503 may further include a third port connected to the tank for returning leaked oil to the tank, and may specifically refer to the dashed line loop of FIG. 5 or FIG. 4 where swing motor 503 (403) flows directly to the tank, which may return leaked oil during rotation of swing motor 503 (403) to the tank.
Fig. 6 schematically shows a graph of the pressure of the relief valve over time in an embodiment of the invention. As shown in fig. 6, due to the large inertia characteristic of the swing mechanism at the time of start, the pressure of the hydraulic system rises rapidly at the time of start of the swing mechanism, the relief valve reaches the relief state, and as the rotational acceleration decreases, the start phase ends, the relief valve closes, and the relief state ends. Based on the above-described movement conditions and the pressure characteristics (P-t curve) of the relief valve, as shown in fig. 6, the characteristic pressure values occur due to the structure and principle of the relief valve: pa, pb, pm, pc. The method comprises the following steps:
1. The overflow valve structure at the stage 0-t 1 presents the 1 st rigidity (namely the slope of the line segment at the stage 0-t 1 shown in fig. 6), the rigidity is the degree of the pressure change along with the time, the overflow valve presents an opening 1 and starts to overflow, and the pressure reaches the Pa value at the moment t 1.
2. The overflow valve structure at the stage t 1-t 2 has the rigidity 2 (namely the slope of a line segment at the stage t 1-t 2 shown in fig. 6), the overflow valve has an opening 2, the overflow is continued, the pressure reaches Pm at the time t2, and the overflow flow is continued until the time t3 (the overflow flow is stable).
3. The pressure drops in the t 3-t 4 stage, the relief valve structure exhibits stiffness 3 (i.e., the slope of the line segment in the t 3-t 4 stage shown in fig. 6), and the pressure drops to Pb at time t 4.
4. In the stages t4 to t5, the relief valve exhibits the 4 th stiffness (i.e., the slope of the line segment in the stages t4 to t5 shown in fig. 6), the pressure drops to Pc, and the relief valve is closed and does not overflow.
With these characteristic values of the overflow valve, the above-mentioned control of the swing mechanism start-up phase (see the control method for the swing mechanism in the above-mentioned embodiment) can be performed, and in particular, see fig. 1 and 2. The target pressure (i.e., virtual control pressure) may be determined with reference to Pa, and the actual pressure of the hydraulic system may be obtained from the pressure at the outlet of the main pump or from the pressure of the swing motor. The start and end of the swing start phase may be determined with reference to the pressure trend around Pa, pb or Pc.
Furthermore, the amount of stiffness exhibited by the relief valve structure may be different. The pressure rise phase may exhibit 1 or several rigidities, and the fall phase may also exhibit 1 or several rigidities. The number of overflow threshold values may be plural.
The embodiment of the invention provides engineering equipment, which comprises: a slewing mechanism; and a control system for a swing structure according to the above embodiment.
Embodiments of the present invention provide a machine-readable storage medium having stored thereon instructions that, when executed by a processor, cause the processor to perform a control method for a swing mechanism according to the above-described embodiments.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the simple modifications belong to the protection scope of the present invention.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations of the invention are not described in detail in order to avoid unnecessary repetition.
Moreover, any combination of the various embodiments of the invention can be made without departing from the spirit of the invention, which should also be considered as disclosed herein.

Claims (11)

1. A control method for a swing mechanism applied to an engineering apparatus including a swing mechanism and a hydraulic system driving the swing mechanism, the hydraulic system including a pump, characterized by comprising:
under the condition that the slewing mechanism is in a starting state, acquiring the characteristic pressure of the hydraulic system under the current load condition, wherein the characteristic pressure is the pressure corresponding to the turning point of pressure change in the pressure change period, and the turning point of pressure change comprises the turning point of the speed of pressure change and/or the turning point of the derivative of the speed of pressure change;
Determining a target pressure of the hydraulic system according to the characteristic pressure;
acquiring the actual pressure of the hydraulic system;
Determining a difference between the target pressure and the actual pressure;
Controlling the flow rate of the pump according to the difference value to adjust the actual pressure to the target pressure;
wherein said determining a target pressure of said hydraulic system from said characteristic pressure comprises:
determining any one of a plurality of the characteristic pressures as a target pressure of the hydraulic system; or alternatively
And carrying out interpolation operation on the plurality of characteristic pressures to obtain the target pressure of the hydraulic system.
2. The control method according to claim 1, wherein the hydraulic system further includes a relief valve and a swing motor, the characteristic pressure of the hydraulic system includes a characteristic pressure of the relief valve or the swing motor or the pump, the target pressure of the hydraulic system includes a target pressure of the relief valve or the swing motor or the pump, and the actual pressure of the hydraulic system includes an actual pressure of the relief valve or the swing motor or the pump.
3. The control method of claim 2, wherein the hydraulic system further comprises a pump displacement controller for adjusting the displacement of the pump to control the flow rate of the pump; the controlling the flow rate of the pump according to the difference to adjust the actual pressure to the target pressure includes:
and outputting a displacement control signal to the pump displacement controller according to the difference value to adjust the displacement of the pump through the pump displacement controller, so as to control the flow rate of the pump to adjust the actual pressure to the target pressure.
4. A control system for a rotating structure, applied to engineering equipment, characterized in that the control system comprises:
A hydraulic system comprising a pump for driving the swing mechanism;
A pressure detection device;
A controller configured to:
under the condition that the slewing mechanism is in a starting state, acquiring the characteristic pressure of the hydraulic system under the current load condition, wherein the characteristic pressure is the pressure corresponding to the turning point of pressure change in the pressure change period, and the turning point of pressure change comprises the turning point of the speed of pressure change and/or the turning point of the derivative of the speed of pressure change;
Determining a target pressure of the hydraulic system according to the characteristic pressure;
acquiring the actual pressure of the hydraulic system;
Determining a difference between the target pressure and the actual pressure;
Controlling the flow rate of the pump according to the difference value to adjust the actual pressure to the target pressure;
wherein the controller is configured to determine a target pressure of the hydraulic system from the characteristic pressure, comprising the controller configured to:
determining any one of a plurality of the characteristic pressures as a target pressure of the hydraulic system; or alternatively
And carrying out interpolation operation on the plurality of characteristic pressures to obtain the target pressure of the hydraulic system.
5. The control system of claim 4, wherein the hydraulic system further comprises a relief valve and a swing motor, the characteristic pressure of the hydraulic system comprises a characteristic pressure of the relief valve or the swing motor or the pump, the target pressure of the hydraulic system comprises a target pressure of the relief valve or the swing motor or the pump, and the actual pressure of the hydraulic system comprises an actual pressure of the relief valve or the swing motor or the pump;
The pressure detection device is electrically connected with the controller and is used for detecting the pressure of the overflow valve or the rotary motor or the pump.
6. The control system of claim 5, wherein the relief valve comprises a first relief valve and a second relief valve; the hydraulic system further comprises a reversing valve, the reversing valve comprises a first port, a second port, a third port and a fourth port, the first port is connected with an oil outlet end of the pump, the second port is respectively connected with an oil inlet end of the first overflow valve and a first port of the rotary motor, the third port is respectively connected with an oil inlet end of the second overflow valve and a second port of the rotary motor, the fourth port is connected with an oil tank for oil return, and an oil outlet end of the first overflow valve and an oil outlet end of the second overflow valve are connected with the oil tank for oil return.
7. The control system of claim 6, further comprising a pump displacement controller electrically connected to the controller, the pump for regulating the displacement of the pump to control the flow rate of the pump; the controller being configured to control the flow of the pump to adjust the actual pressure to the target pressure in accordance with the difference value includes: the controller is configured to:
and outputting a displacement control signal to the pump displacement controller according to the difference value to adjust the displacement of the pump through the pump displacement controller, so as to control the flow rate of the pump to adjust the actual pressure to the target pressure.
8. The control system according to claim 7, wherein the pressure detecting device is connected to an oil outlet end of the pump in the case where the pressure detecting device detects the pressure of the pump;
Under the condition that the pressure detection device detects the pressure of the overflow valve or the rotary motor, the pressure detection device comprises a first pressure detection device and a second pressure detection device, the first pressure detection device is connected with the oil inlet end of the first overflow valve or the first port of the rotary motor, and the second pressure detection device is connected with the oil inlet end of the second overflow valve or the second port of the rotary motor.
9. The control system of claim 8, wherein the swing motor further comprises a third port connected to the tank for returning leaked oil to the tank.
10. An engineering apparatus, comprising:
A slewing mechanism; and
A control system for a slewing structure as claimed in any one of claims 4 to 9.
11. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to perform the control method for a swing mechanism according to any of claims 1 to 3.
CN202111615146.3A 2021-12-27 2021-12-27 Control method and control system for slewing mechanism and engineering equipment Active CN114396399B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111615146.3A CN114396399B (en) 2021-12-27 2021-12-27 Control method and control system for slewing mechanism and engineering equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111615146.3A CN114396399B (en) 2021-12-27 2021-12-27 Control method and control system for slewing mechanism and engineering equipment

Publications (2)

Publication Number Publication Date
CN114396399A CN114396399A (en) 2022-04-26
CN114396399B true CN114396399B (en) 2024-05-14

Family

ID=81227104

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111615146.3A Active CN114396399B (en) 2021-12-27 2021-12-27 Control method and control system for slewing mechanism and engineering equipment

Country Status (1)

Country Link
CN (1) CN114396399B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115838120B (en) * 2023-02-23 2023-05-12 三一汽车起重机械有限公司 Self-adaptive control method and device for crane slewing system and crane

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010127361A (en) * 2008-11-27 2010-06-10 Nachi Fujikoshi Corp Hydraulic drive device
CN101920722A (en) * 2010-07-16 2010-12-22 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 Parallel-connected torque control system and method for hydraulic hybrid power vehicles
CN102561444A (en) * 2011-11-24 2012-07-11 柳工常州挖掘机有限公司 Energy recovery excavator slewing system and control method thereof
CN104074225A (en) * 2014-07-08 2014-10-01 湖南机电职业技术学院 Hydraulic excavator power adaptive control system and method
CN113757225A (en) * 2020-06-03 2021-12-07 广州汽车集团股份有限公司 Pressure control method and device for energy accumulator

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5123917B2 (en) * 2009-10-19 2013-01-23 日信工業株式会社 Brake hydraulic pressure control device for vehicles

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010127361A (en) * 2008-11-27 2010-06-10 Nachi Fujikoshi Corp Hydraulic drive device
CN101920722A (en) * 2010-07-16 2010-12-22 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 Parallel-connected torque control system and method for hydraulic hybrid power vehicles
CN102561444A (en) * 2011-11-24 2012-07-11 柳工常州挖掘机有限公司 Energy recovery excavator slewing system and control method thereof
CN104074225A (en) * 2014-07-08 2014-10-01 湖南机电职业技术学院 Hydraulic excavator power adaptive control system and method
CN113757225A (en) * 2020-06-03 2021-12-07 广州汽车集团股份有限公司 Pressure control method and device for energy accumulator

Also Published As

Publication number Publication date
CN114396399A (en) 2022-04-26

Similar Documents

Publication Publication Date Title
KR100688853B1 (en) Fan revolution speed control method
JP5202727B2 (en) Cooling fan driving device and fan rotation speed control method
US20110208363A1 (en) Method of controlling an electro-hydraulic actuator system having multiple actuators
KR101875241B1 (en) Hybrid construction machine
US8997950B2 (en) Vibration control device for railroad vehicle
JP4425253B2 (en) Hydraulic unit and motor speed control method in hydraulic unit
US20140346119A1 (en) Method for operating an oil filter system
TWI224175B (en) Pump unit
CN114396399B (en) Control method and control system for slewing mechanism and engineering equipment
US20050254959A1 (en) Fan revolution speed control method
EP2439344B1 (en) Device for controlling swing of construction equipment
EP2282402B1 (en) Electric pump device
US10465677B2 (en) Control method for compressor system
JP6126625B2 (en) Work machine
EP3249111A1 (en) Method for controlling flow rate of hydraulic pump of construction machine
JP4947655B2 (en) Engine accelerator value control method and apparatus
CN112483426B (en) Control method, oil pump and control system
JPH09273183A (en) Revolution number controller of engine for hydraulic construction machine
JP2021071169A (en) Hydraulic pressure drive system, hydraulic actuator unit having the same, and controller
JP2008051292A (en) Hydraulic system
JP5378777B2 (en) Construction machine noise control device
EP3199813B1 (en) Load/unload control method for compressor system
JP2009007975A (en) Inverter drive control method for hydraulic pump
US20240084828A1 (en) Method for Controlling a Hydraulic Drive and Hydraulic Drive
US20220182000A1 (en) Motor control device, motor drive system, hydraulic pressure generator, motor control method, and storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant