CN114576128B

CN114576128B - Control method, processor and control device for pumping equipment and pumping equipment

Info

Publication number: CN114576128B
Application number: CN202210122366.0A
Authority: CN
Inventors: 唐宁东; 谭语; 罗青竹
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2022-02-09
Filing date: 2022-02-09
Publication date: 2023-03-31
Anticipated expiration: 2042-02-09
Also published as: CN114576128A

Abstract

The embodiment of the invention provides a control method, a processor, a control device and pumping equipment for the pumping equipment, and belongs to the field of engineering machinery. The control method for the pumping equipment comprises the following steps: obtaining motor current of a motor and pumping pressure of a pumping main oil pump; determining a rate of change of motor current; determining a power control coefficient according to the change rate of the motor current under the condition that the change rate exceeds a preset threshold; determining the displacement current of a displacement valve of a main pumping oil pump according to the power control coefficient and the pumping pressure; and controlling the opening degree of the discharge valve according to the displacement current to adjust the displacement of the pumping main oil pump so as to adjust the power of the pumping main oil pump to preset power. By adopting the scheme of the invention, the problem of overlarge impact on a power grid caused by sudden change of current can be solved.

Description

Control method, processor and control device for pumping equipment and pumping equipment

Technical Field

The invention relates to the field of engineering machinery, in particular to a control method, a processor, a control device and pumping equipment for the pumping equipment.

Background

In the construction machinery industry, a diesel engine or a motor is generally adopted as a power source of a common pumping device. In the process of pumping work of pumping equipment with a motor, load pressure is often suddenly changed due to analysis and unevenness of materials, pressure in a hydraulic system is also suddenly reduced and then increased due to sudden change of directions in the reversing process of a main cylinder, and the current is possibly suddenly changed due to the phenomena. Due to the characteristics of the alternating current power grid, when the current changes rapidly, the power grid can be impacted to a certain extent, so that the fluctuation of the power supply environment of the power grid is caused, and the conditions of damage to electric equipment and the like can be caused in severe cases. The method generally adopted in the prior art is to monitor the rotating speed of a diesel engine pump or the current of the engine pump so as to calculate the current output power, then compare the current output power with the rated power and form closed-loop control according to the comparison result. However, the prior art cannot solve the problem of overlarge impact on the power grid caused by sudden change of current.

Disclosure of Invention

An object of an embodiment of the present invention is to provide a control method, a processor, a control device, a pumping device, and a storage medium for a pumping device, so as to solve the problem in the prior art that an impact on a power grid is too large due to sudden change of current.

In order to achieve the above object, a first aspect of embodiments of the present invention provides a control method for a pumping apparatus including a motor and a pumping main oil pump, the motor being connected to the pumping main oil pump to supply power to the pumping main oil pump, the control method including:

obtaining motor current of a motor and pumping pressure of a pumping main oil pump;

determining a rate of change of motor current;

determining a power control coefficient according to the change rate of the motor current under the condition that the change rate exceeds a preset threshold;

determining the displacement current of a displacement valve of a pumping main oil pump according to the power control coefficient and the pumping pressure;

and controlling the opening degree of the discharge valve according to the displacement current to adjust the displacement of the pumping main oil pump so as to adjust the power of the pumping main oil pump to preset power.

In an embodiment of the present invention, determining a power control coefficient according to a rate of change of a motor current includes: determining a current compensation coefficient according to the change rate of the motor current; and determining a product value of the current compensation coefficient and a preset active adjustment coefficient to obtain a power control coefficient, wherein the active adjustment coefficient is related to the pumping equipment.

In an embodiment of the present invention, determining a current compensation factor according to a rate of change of a motor current includes: determining a passive compensation coefficient according to the change rate of the motor current and a preset parameter interval; and determining a product value of the passive compensation coefficient and a preset active compensation coefficient to obtain a current compensation coefficient, wherein the active compensation coefficient is related to the motor.

In the embodiment of the invention, the determining of the passive compensation coefficient according to the change rate of the motor current and the preset parameter interval comprises the following steps: determining a parameter corresponding to the change rate of the motor current according to the change rate of the motor current based on a corresponding relation between the pre-stored change rate of the motor current and a parameter in a preset parameter interval; and determining the product of the change rate of the motor current and the parameter to obtain a passive compensation coefficient.

In an embodiment of the present invention, determining a displacement current of a displacement valve pumping a main oil pump according to a power control coefficient and a pumping pressure includes: determining the minimum pressure of a pumping main oil pump under the preset power according to the preset power, the preset rotating speed of a motor and the maximum displacement of the pumping main oil pump; and determining the displacement current of the displacement valve of the pumping main oil pump according to the minimum pressure, the actual minimum opening of the displacement valve, the maximum displacement current corresponding to the maximum opening of the displacement valve, the minimum displacement current corresponding to the actual minimum opening of the displacement valve, the power control coefficient and the pumping pressure.

In an embodiment of the present invention, determining the displacement current of the displacement valve of the pumping main oil pump according to the minimum pressure, the actual minimum opening of the displacement valve, the maximum displacement current corresponding to the maximum opening of the displacement valve, the minimum displacement current corresponding to the actual minimum opening of the displacement valve, the power control coefficient, and the pumping pressure includes: determining a first parameter according to the actual minimum opening of the displacement valve, the maximum displacement current corresponding to the maximum opening of the displacement valve and the minimum displacement current corresponding to the actual minimum opening of the displacement valve; and determining the displacement current of the displacement valve of the pumping main oil pump according to the first parameter, the minimum pressure, the actual minimum opening of the displacement valve, the minimum displacement current corresponding to the actual minimum opening of the displacement valve, the power control coefficient and the pumping pressure.

In an embodiment of the invention, determining the first parameter based on the actual minimum opening of the displacement valve, the maximum displacement current corresponding to the maximum opening of the displacement valve, and the minimum displacement current corresponding to the actual minimum opening of the displacement valve comprises determining the first parameter according to equation (1):

wherein the content of the first and second substances,

is a first parameter, I _max Maximum discharge current, I, corresponding to the maximum opening of the discharge valve _min Is the minimum displacement current corresponding to the actual minimum opening of the displacement valve, and a is the actual minimum opening of the displacement valve.

In an embodiment of the present invention, determining the displacement current of the displacement valve of the pumping main oil pump according to the first parameter, the minimum pressure, the actual minimum opening of the displacement valve, the minimum displacement current corresponding to the actual minimum opening of the displacement valve, the power control coefficient, and the pumping pressure comprises determining the displacement current according to formula (2):

wherein, I is the displacement current,

is a first parameter, F _min Is the minimum pressure, K is the power control coefficient, F _{Master and slave} For the pumping pressure, a is the actual minimum opening of the discharge valve, I _min The minimum displacement current corresponding to the actual minimum opening of the displacement valve.

In the embodiment of the present invention, determining the minimum pressure of the pumping main oil pump under the preset power according to the preset power, the preset rotation speed of the motor, and the maximum displacement of the pumping main oil pump includes: determining a first product value of a preset rotating speed of a motor and the maximum displacement of a pumping main oil pump; and determining the quotient of the preset power and the first product value so as to determine the minimum pressure of the pumping main oil pump under the preset power.

In an embodiment of the present invention, the determination of the actual minimum opening degree of the discharge valve includes: the actual minimum opening of the discharge valve is determined based on a preset minimum control pressure of the discharge valve, a maximum control pressure of the discharge valve, and a theoretical minimum control pressure of the discharge valve.

In an embodiment of the present invention, determining the actual minimum opening of the discharge valve based on a preset minimum control pressure of the discharge valve, a preset maximum control pressure of the discharge valve, and a preset theoretical minimum control pressure of the discharge valve includes: determining a first difference between the minimum control pressure and a theoretical minimum control pressure; determining a second difference between the maximum control pressure and the theoretical minimum control pressure; and determining the ratio of the first difference value to the second difference value to obtain the actual minimum opening.

In an embodiment of the invention, the pumping device further comprises a pumping master cylinder; before determining the change rate of the motor current, the method further comprises the following steps: it is determined that the piston in the pumping master cylinder reaches a preset position.

In an embodiment of the present invention, the pumping apparatus further comprises a proximity sensor disposed on the pumping master cylinder; determining that the piston within the pumping master cylinder reaches the preset position comprises: and acquiring a trigger signal which is detected by a proximity sensor and indicates that a piston in the pumping main cylinder reaches a preset position.

In the embodiment of the present invention, the range of the preset parameter interval includes 0.3 to 0.8.

In the embodiment of the present invention, the value range of the active compensation factor includes 0.8 to 1.2.

In the embodiment of the present invention, the value range of the active adjustment coefficient includes 0 to 50.

A second aspect of embodiments of the present invention provides a processor configured to perform a control method for a pumping apparatus according to the above.

A third aspect of embodiments of the present invention provides a control device for a pumping apparatus, including: current detection means for detecting a motor current of the motor; the pressure detection device is used for detecting the pumping pressure of the pumping main oil pump; and a processor according to the above.

A fourth aspect of an embodiment of the present invention provides a pumping apparatus, including: pumping a main oil pump; the motor is connected with the pumping main oil pump to provide power for the pumping main oil pump; and a control device for a pumping apparatus according to the above.

In an embodiment of the invention, the pumping apparatus further comprises: a pumping master cylinder; and the proximity sensor is arranged on the pumping main cylinder and used for detecting the position of the piston in the pumping main cylinder.

In an embodiment of the invention, the pumping device further comprises: the switching valve group is respectively and electrically connected with the processor and the pumping main cylinder and is used for controlling the reversing of the pumping main cylinder; the processor is also configured to receive a trigger signal which is detected by the proximity sensor and indicates that the piston in the pumping main cylinder reaches a preset position, so that the on-off of the switch valve group is controlled according to the trigger signal.

In an embodiment of the invention, the pumping apparatus further comprises: a human-computer interaction device and/or a remote monitoring platform.

A fifth aspect of embodiments of the present invention provides a machine-readable storage medium having stored thereon instructions which, when executed by a processor, cause the processor to carry out a control method for a pumping apparatus according to the above.

According to the technical scheme, the motor current of the motor and the pumping pressure of the pumping main oil pump are obtained, the change rate of the motor current is determined, the power control coefficient is determined according to the change rate of the motor current under the condition that the change rate exceeds the preset threshold value, the displacement current of the displacement valve of the pumping main oil pump is further determined according to the power control coefficient and the pumping pressure, and therefore the opening degree of the displacement valve is controlled according to the displacement current to adjust the displacement of the pumping main oil pump, and the power of the pumping main oil pump is adjusted to the preset power. According to the technical scheme, the power control coefficient is obtained according to the current mutation degree, the displacement current is determined according to the power control coefficient and the pumping pressure, so that the constant power is controlled, the output power of the pumping system (or the hydraulic system) is adjusted to the preset power, the impact influence of the current mutation mutual inductance on the power grid is reduced, the problem of overlarge impact on the power grid caused by the current mutation is solved, and the effects of protecting the power grid, the motor and prolonging the service life of the motor are achieved.

Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:

FIG. 1 schematically illustrates a flow diagram of a control method for a pumping apparatus in one embodiment of the invention;

fig. 2 is a block diagram schematically showing the construction of a control device for a pumping apparatus according to an embodiment of the present invention;

FIG. 3 schematically illustrates a block diagram of the components of a concrete pumping hydraulic system in one embodiment of the present invention;

FIG. 4 is a schematic diagram showing the relationship between the opening degree of the main pump and the control pressure in one embodiment of the invention;

FIG. 5 is a schematic representation of control pressure versus displacement in an embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating displacement current versus real time pressure in an embodiment of the present invention;

FIG. 7 is a schematic diagram illustrating displacement current versus real time pressure after adjusting a power control coefficient in accordance with an embodiment of the present invention;

FIG. 8 schematically illustrates a schematic of a constant power region in an embodiment of the invention;

FIG. 9 is a diagram schematically illustrating a debugging process of an active adjustment factor according to an embodiment of the present invention;

FIG. 10 schematically illustrates a logic block diagram of a control method for a pumping apparatus in a particular embodiment of the invention;

fig. 11 is a schematic diagram illustrating a motor current trend with pressure before the technical solution of the present invention is adopted in an embodiment of the present invention;

fig. 12 is a schematic diagram illustrating a trend of a motor current with pressure after the technical solution of the present invention is adopted in an embodiment of the present invention.

Description of the reference numerals

1. Current inductor 2 signal conversion and calculation module

3. Controller 4 motor

5. Pumping pressure sensor of pumping main oil pump 6

7. Pumping flow valve 8 switch valve group

9. Pumping master cylinder 10 proximity sensor

11. Man-machine interface 12 remote monitoring platform

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.

Fig. 1 schematically shows a flow diagram of a control method for a pumping apparatus in an embodiment of the invention. As shown in fig. 1, in an embodiment of the present invention, there is provided a control method for a pumping apparatus, the pumping apparatus including a motor and a pumping main oil pump, the motor being connected to the pumping main oil pump to supply power to the pumping main oil pump, and the control method is described by taking an example in which the control method is applied to a processor, and the control method may include the following steps:

and step S102, obtaining motor current of the motor and pumping pressure of the pumping main oil pump.

It is understood that the pumping apparatus includes a hydraulic system, and the load pressure of the hydraulic system can be obtained by detecting the pumping pressure of the pumping main oil pump, and the pumping pressure of the pumping main oil pump can be detected by a corresponding pressure detecting device (e.g., a pressure sensor). Further, the load pressure of the hydraulic system may be equivalent to the pumping pressure of the pumping main oil pump. The motor current of the motor can be detected by a corresponding current detection device (such as a current sensor).

Specifically, the processor may acquire a motor current of the motor detected by the current detection means and a pumping pressure of the pumping main oil pump detected by the voltage detection means.

Step S104, determining the change rate of the motor current.

It will be appreciated that the rate of change of the motor current, i.e. the degree of change of the motor current per unit time, is known.

Specifically, the processor may determine the rate of change of the motor current after acquiring the motor current, for example, the rate of change of the motor current may be obtained by performing a differential calculation on the motor current.

And step S106, determining a power control coefficient according to the change rate of the motor current under the condition that the change rate exceeds a preset threshold value.

It will be appreciated that the preset threshold is a preset threshold for the rate of change of motor current. The power control coefficient is a coefficient for controlling the power level of the hydraulic system (or pumping system).

Specifically, the processor may compare the rate of change of the motor current to a preset threshold, and when the rate of change exceeds the preset threshold, the processor may determine the power control coefficient according to the rate of change of the motor current.

In one embodiment, determining the power control coefficient from the rate of change of the motor current comprises: determining a current compensation coefficient according to the change rate of the motor current; and determining a product value of the current compensation coefficient and a preset active adjustment coefficient to obtain a power control coefficient, wherein the active adjustment coefficient is related to the pumping equipment.

It will be appreciated that the coefficient (e.g. K) is actively adjusted ₁ ) The characteristic of the pumping equipment is related, the value of the characteristic is based on the corresponding relation between the displacement current and the pumping pressure of the pumping equipment in the debugging process, and the relation between the displacement current I and the pumping pressure F can be converted into the relation between the pumping time t and the pumping pressure F in the debugging process of the pumping equipment due to the fact that the displacement current is related to the pumping time, and the specific value of the active adjustment coefficient can be obtained according to the debugging experiment process of the pumping equipment. Current compensation factor (e.g. K) ₂ ) Inversely correlated with the degree of current jump.

In particular, the processor may determine a current compensation factor (e.g., K) based on a rate of change of the motor current ₂ ) For example, the change rate of the motor current can be obtained by differentiating the motor current, and the corresponding current compensation coefficient (e.g., K) can be determined according to the magnitude of the change rate ₂ ) Thereby calculating a current compensation coefficient (e.g., K) ₂ ) With preset active adjustment coefficients (e.g. K) ₁ ) The value of the product of (a) and (b),the product value is the power control coefficient (e.g., K).

And step S108, determining the displacement current of a displacement valve of the pumping main oil pump according to the power control coefficient and the pumping pressure.

It can be understood that the pumping main oil pump comprises a discharge valve, the discharge current is a current related to the discharge of the discharge valve, the magnitude of the discharge current determines the opening degree of the pumping main oil pump, and the magnitude of the discharge current and the opening degree of the pumping main oil pump are in a positive correlation relationship, that is, the larger the discharge current is, the larger the opening degree of the pumping main oil pump is.

Specifically, the processor may determine a displacement current of a displacement valve that pumps the main oil pump based on a power control coefficient (e.g., K) and a pumping pressure.

And step S110, controlling the opening of the discharge valve according to the displacement current to adjust the displacement of the pumping main oil pump so as to adjust the power of the pumping main oil pump to preset power.

It can be understood that the displacement current is in a positive correlation with the opening of the displacement valve, and the opening of the displacement valve is in a positive correlation with the displacement of the pumping main oil pump, that is, the larger the displacement current is, the larger the opening of the displacement valve is, and the larger the displacement of the pumping main oil pump is. The power (i.e., output power) of the pumping main oil pump is related to the power (i.e., output power) of the hydraulic system (or pumping system), and the power of the hydraulic system (or pumping system) can be equal to the power of the pumping main oil pump. The preset power is a preset target output power of the hydraulic system (or the pumping system), and it is understood that the preset power may be a certain constant power value, or may be a certain power interval, that is, the preset power interval includes an output power lower control limit and an output power upper control limit.

Specifically, the processor may control the opening degree of the discharge valve according to the displacement current, for example, the opening degree may be determined based on a corresponding algorithm or formula, so as to adjust the displacement of the main pumping oil pump, thereby achieving the purpose of adjusting the power of the main pumping oil pump to a preset power.

In one embodiment, the power control coefficient (e.g., K) and the active adjustment coefficient (e.g., K) ₁ ) Current compensation factor (e.g. K) ₂ ) All in a positively correlated relationship, i.e. the active adjustment factor (e.g. K) ₁ ) And current compensation systemNumber (e.g. K) ₂ ) When the power control coefficient (for example, K) increases, the output power of the entire pumping system increases. But when the current jump is too large, the current compensation factor (e.g. K) ₂ ) Decrease due to active adjustment of coefficient (e.g. K) ₁ ) And if the output current is a fixed value, the power control coefficient (such as K) is synchronously reduced, and the output displacement current and the output power are reduced, so that the aim of controlling the current mutation degree is fulfilled.

According to the control method for the pumping equipment, the motor current of the motor and the pumping pressure of the pumping main oil pump are obtained, the change rate of the motor current is determined, the power control coefficient is determined according to the change rate of the motor current under the condition that the change rate exceeds the preset threshold value, the displacement current of the displacement valve of the pumping main oil pump is further determined according to the power control coefficient and the pumping pressure, and therefore the opening degree of the displacement valve is controlled according to the displacement current to adjust the displacement of the pumping main oil pump, and the power of the pumping main oil pump is adjusted to the preset power. According to the technical scheme, the power control coefficient is obtained according to the current mutation degree, the displacement current is determined according to the power control coefficient and the pumping pressure, so that the constant power is controlled, the output power of the pumping system (or the hydraulic system) is adjusted to the preset power, the impact influence of the current mutation mutual inductance effect on the power grid is reduced, the problem of overlarge impact on the power grid caused by the current mutation is solved, and the effects of protecting the power grid, the motor and prolonging the service life of the motor are achieved.

In one embodiment, the value range of the active adjustment factor includes 0 to 50.

In one embodiment, determining the current compensation factor based on the rate of change of the motor current comprises: determining a passive compensation coefficient according to the change rate of the motor current and a preset parameter interval; and determining a product value of the passive compensation coefficient and a preset active compensation coefficient to obtain a current compensation coefficient, wherein the active compensation coefficient is related to the motor.

It can be understood that the preset parameter interval is a parameter range determined in advance, and may be determined according to an experiment. Passive compensation factor (e.g. K) _β ) I.e. the coefficient of current jump, as a function of the rate of change of the motor currentThe determined coefficients. Active compensation factor (e.g. K) _α ) The motor is related to the characteristics of the motor and can be set artificially, and specific numerical values can be obtained according to motor experiments.

Specifically, the processor may determine a passive compensation factor (e.g., K) based on a rate of change of the motor current and a predetermined parameter interval _β ) To determine a passive compensation factor (e.g., K) _β ) And a preset active compensation factor (e.g. K) _α ) The product value of (a) is the current compensation factor (e.g., K) ₂ )。

In embodiments of the invention, the current compensation factor (e.g., K) ₂ ) Can be compensated by an active compensation factor (e.g. K) _α ) With passive compensation factor (e.g. K) _β ) Composition, active compensation factor (e.g. K) _α ) And active adjustment factor (e.g. K) ₁ ) Can be set artificially, passively compensating for coefficients (e.g. K) _β ) The trend of the current curve can be determined according to the differential term (dI/dt) of the current curve and a preset parameter interval.

In one embodiment, the value range of the active compensation factor includes 0.8 to 1.2.

In one embodiment, determining the passive compensation factor according to the change rate of the motor current and the preset parameter interval comprises: determining a parameter corresponding to the change rate of the motor current according to the change rate of the motor current based on a corresponding relation between the pre-stored change rate of the motor current and a parameter in a preset parameter interval; and determining the product of the change rate of the motor current and the parameter to obtain a passive compensation coefficient.

It is understood that there may be a one-to-one relationship between the change rate of the motor current and the parameter in the preset parameter interval, and the specific form of the relationship may include, but is not limited to, a table and the like.

Specifically, the processor may determine a parameter corresponding to the change rate of the motor current according to the change rate of the motor current based on a pre-stored correspondence between the change rate of the motor current and a parameter in a preset parameter interval, so as to determine a product of the change rate of the motor current and the parameter, where the product is a passive compensation coefficient (e.g., K _β )。

In one embodiment, the predetermined parameter interval has a value range of 0.3 to 0.8.

In one embodiment, determining a displacement current of a displacement valve pumping a main oil pump based on a power control coefficient and a pumping pressure comprises: determining the minimum pressure of a pumping main oil pump under the preset power according to the preset power, the preset rotating speed of a motor and the maximum displacement of the pumping main oil pump; and determining the displacement current of the displacement valve of the pumping main oil pump according to the minimum pressure, the actual minimum opening of the displacement valve, the maximum displacement current corresponding to the maximum opening of the displacement valve, the minimum displacement current corresponding to the actual minimum opening of the displacement valve, the power control coefficient and the pumping pressure.

It will be appreciated that the rotational speed of the motor is typically a constant rotational speed, i.e. a preset rotational speed of the motor. The maximum displacement of the main pumping oil pump is a predetermined fixed value, depending on the characteristics of the main pumping oil pump. The minimum pressure of the main pumping oil pump under the preset power is the minimum pressure of the main pumping oil pump when the power of the main pumping oil pump is the preset power. Since the displacement valve may have a dead zone, the minimum control pressure of the displacement valve is not necessarily the theoretical minimum control pressure (e.g., 6 bar), but is usually a value (e.g., 8 bar) greater than the theoretical minimum control pressure, and the opening of the displacement valve corresponds to the actual minimum opening of the displacement valve (in this case, the actual minimum opening is not zero and is a percentage greater than zero). In one embodiment, if the displacement valve does not have a dead zone, the minimum control pressure of the displacement valve is the theoretical minimum control pressure, and the actual minimum opening is zero. The maximum opening of the discharge valve is typically 100%. The maximum displacement current corresponding to the maximum opening of the displacement valve may be a preset fixed value or a value set manually. The minimum displacement current corresponding to the actual minimum opening of the displacement valve may be obtained in advance through debugging or testing.

Specifically, the processor may determine a minimum pressure of the pumping main oil pump under the preset power according to the preset power, a preset rotation speed of the motor, and a maximum displacement of the pumping main oil pump, and further determine a displacement current of the pumping main oil pump according to the minimum pressure, an actual minimum opening of the displacement valve, a maximum displacement current corresponding to the maximum opening of the displacement valve, a minimum displacement current corresponding to the actual minimum opening of the displacement valve, a power control coefficient, and the pumping pressure.

In one embodiment, determining the displacement current of the displacement valve of the pumping main oil pump based on the minimum pressure, the actual minimum opening of the displacement valve, the maximum displacement current corresponding to the maximum opening of the displacement valve, the minimum displacement current corresponding to the actual minimum opening of the displacement valve, the power control coefficient, and the pumping pressure comprises: determining a first parameter according to the actual minimum opening of the displacement valve, the maximum displacement current corresponding to the maximum opening of the displacement valve and the minimum displacement current corresponding to the actual minimum opening of the displacement valve; and determining the displacement current of the displacement valve of the pumping main oil pump according to the first parameter, the minimum pressure, the actual minimum opening of the displacement valve, the minimum displacement current corresponding to the actual minimum opening of the displacement valve, the power control coefficient and the pumping pressure.

It is understood that the first parameter is a parameter related to a maximum displacement current corresponding to a maximum opening of the displacement valve, a minimum displacement current corresponding to an actual minimum opening of the displacement valve, and an actual minimum opening of the displacement valve.

Specifically, the processor may determine a first parameter according to an actual minimum opening of the displacement valve, a maximum displacement current corresponding to the maximum opening of the displacement valve, and a minimum displacement current corresponding to the actual minimum opening of the displacement valve, and then determine a displacement current of the displacement valve of the pumping main oil pump according to the first parameter, a minimum pressure, the actual minimum opening of the displacement valve, a minimum displacement current corresponding to the actual minimum opening of the displacement valve, a power control coefficient, and a pumping pressure.

In one embodiment, determining the first parameter based on the actual minimum opening of the displacement valve, the maximum displacement current corresponding to the maximum opening of the displacement valve, and the minimum displacement current corresponding to the actual minimum opening of the displacement valve may include determining the first parameter according to the following equation (1):

wherein the content of the first and second substances,

In one embodiment, determining the displacement current of the displacement valve of the pumping main oil pump according to the first parameter, the minimum pressure, the actual minimum opening of the displacement valve, the minimum displacement current corresponding to the actual minimum opening of the displacement valve, the power control coefficient, and the pumping pressure may include determining the displacement current according to the following formula (2):

wherein, I is the displacement current,

as a first parameter, F _min Is the minimum pressure, K is the power control coefficient, F _{Master and slave} For the pumping pressure, a is the actual minimum opening of the discharge valve, I _min The minimum displacement current corresponding to the actual minimum opening of the displacement valve. />

In one embodiment, determining the minimum pressure of the pumping main oil pump at the preset power according to the preset power, the preset rotating speed of the motor and the maximum displacement of the pumping main oil pump comprises: determining a first product value of a preset rotating speed of a motor and the maximum displacement of a pumping main oil pump; and determining the quotient of the preset power and the first product value so as to determine the minimum pressure of the pumping main oil pump under the preset power.

Specifically, the minimum pressure of the pumping main oil pump at the preset power may be determined with reference to the following equation (3):

P＝V _max ×n _{master and slave} ×F _min Formula (3)

Wherein P is a predetermined power, V _max For pumping the maximum displacement of the main oil pump, n _{Master and slave} For a predetermined rotational speed of the motor, F _min The minimum pressure of the main oil pump at the preset power is pumped.

In one embodiment, the determination of the actual minimum opening of the discharge valve comprises: the actual minimum opening of the discharge valve is determined based on a preset minimum control pressure of the discharge valve, a maximum control pressure of the discharge valve, and a theoretical minimum control pressure of the discharge valve.

In one embodiment, determining the actual minimum opening degree of the discharge valve based on a preset minimum control pressure of the discharge valve, a maximum control pressure of the discharge valve, and a theoretical minimum control pressure of the discharge valve includes: determining a first difference between the minimum control pressure and a theoretical minimum control pressure; determining a second difference between the maximum control pressure and the theoretical minimum control pressure; and determining the ratio of the first difference value to the second difference value to obtain the actual minimum opening.

Specifically, the actual minimum opening degree may be determined with reference to the following equation (4):

wherein a is the actual minimum opening, F _cmin To minimum control pressure, F _cmax For maximum control pressure, F _{Theory of things} The theoretical minimum control pressure.

In one embodiment, the pumping apparatus further comprises a pumping master cylinder; before determining the change rate of the motor current, the method further comprises the following steps: and determining that the piston in the pumping main cylinder reaches a preset position.

Specifically, when the processor determines that the piston in the master pumping cylinder reaches a predetermined position, at which point the master pumping cylinder begins to enter the commutation process, the processor may determine the rate of change of the motor current.

In one embodiment, the pumping apparatus further comprises a proximity sensor disposed on the pumping master cylinder; determining that the piston within the pumping master cylinder reaches the preset position comprises: and acquiring a trigger signal which is detected by a proximity sensor and indicates that a piston in the pumping main cylinder reaches a preset position.

Specifically, when the piston in the pumping master cylinder reaches the preset position, the proximity sensor can trigger the switching value signal and transmit the switching value signal to the processor, so that the processor acquires the trigger signal which is detected by the proximity sensor and indicates that the piston in the pumping master cylinder reaches the preset position.

An embodiment of the present invention provides a processor configured to execute the control method for a pumping apparatus according to the above embodiment.

Fig. 2 schematically shows a block diagram of a control device for a pumping apparatus in an embodiment of the present invention. As shown in fig. 2, in an embodiment of the present invention, there is provided a control apparatus 200 for a pumping device, including: a current detecting device 210 for detecting a motor current of the motor; a pressure detection device 220 for detecting a pumping pressure of the pumping main oil pump; and a processor 230, the processor 230 configured to: obtaining motor current of a motor and pumping pressure of a pumping main oil pump; determining a rate of change of motor current; determining a power control coefficient according to the change rate of the motor current under the condition that the change rate exceeds a preset threshold; determining the displacement current of a displacement valve of a pumping main oil pump according to the power control coefficient and the pumping pressure; and controlling the opening degree of the discharge valve according to the displacement current to adjust the displacement of the pumping main oil pump so as to adjust the power of the pumping main oil pump to preset power.

In the control device for the pumping equipment, the processor 230 obtains the motor current of the motor through the current detection device 210, obtains the pumping pressure of the pumping main oil pump through the pressure detection device 220, and determines the change rate of the motor current, determines the power control coefficient according to the change rate of the motor current when the change rate exceeds a preset threshold, and further determines the displacement current of the displacement valve of the pumping main oil pump according to the power control coefficient and the pumping pressure, so that the opening of the displacement valve is controlled according to the displacement current to adjust the displacement of the pumping main oil pump, and the power of the pumping main oil pump is adjusted to the preset power. In the above control device, the processor 230 obtains a power control coefficient according to the current mutation degree, and determines the displacement current according to the power control coefficient and the pumping pressure to control the constant power, so as to not only adjust the output power of the pumping system (or the hydraulic system) to a preset power, but also reduce the impact influence of the mutual inductance action of the current mutation on the power grid, solve the problem of too large impact on the power grid caused by the current mutation, and achieve the effects of protecting the power grid, the motor and prolonging the service life of the motor.

In one embodiment, the processor 230 configured to determine the power control coefficient from the rate of change of the motor current comprises: the processor 230 is configured to: determining a current compensation coefficient according to the change rate of the motor current; and determining a product value of the current compensation coefficient and a preset active adjustment coefficient to obtain a power control coefficient, wherein the active adjustment coefficient is related to the pumping equipment.

In one embodiment, the processor 230 configured to determine the current compensation factor based on the rate of change of the motor current comprises: the processor 230 is configured to: determining a passive compensation coefficient according to the change rate of the motor current and a preset parameter interval; and determining a product value of the passive compensation coefficient and a preset active compensation coefficient to obtain a current compensation coefficient, wherein the active compensation coefficient is related to the motor.

In one embodiment, the processor 230 configured to determine the passive compensation factor according to the change rate of the motor current and the preset parameter interval comprises: the processor 230 is configured to: determining a parameter corresponding to the change rate of the motor current according to the change rate of the motor current based on a corresponding relation between the pre-stored change rate of the motor current and a parameter in a preset parameter interval; and determining the product of the change rate of the motor current and the parameter to obtain a passive compensation coefficient.

In one embodiment, the processor 230 configured to determine the displacement current of the displacement valve of the pumping main oil pump based on the power control coefficient and the pumping pressure comprises: the processor 230 is configured to: determining the minimum pressure of a pumping main oil pump under the preset power according to the preset power, the preset rotating speed of a motor and the maximum displacement of the pumping main oil pump; and determining the displacement current of the displacement valve of the pumping main oil pump according to the minimum pressure, the actual minimum opening of the displacement valve, the maximum displacement current corresponding to the maximum opening of the displacement valve, the minimum displacement current corresponding to the actual minimum opening of the displacement valve, the power control coefficient and the pumping pressure.

In one embodiment, the processor 230 is configured to determine the displacement current of the displacement valve of the pumping main oil pump according to the minimum pressure, the actual minimum opening of the displacement valve, the maximum displacement current corresponding to the maximum opening of the displacement valve, the minimum displacement current corresponding to the actual minimum opening of the displacement valve, the power control coefficient, and the pumping pressure, and comprises: the processor 230 is configured to: determining a first parameter according to the actual minimum opening of the displacement valve, the maximum displacement current corresponding to the maximum opening of the displacement valve and the minimum displacement current corresponding to the actual minimum opening of the displacement valve; and determining the displacement current of the displacement valve of the pumping main oil pump according to the first parameter, the minimum pressure, the actual minimum opening of the displacement valve, the minimum displacement current corresponding to the actual minimum opening of the displacement valve, the power control coefficient and the pumping pressure.

In one embodiment, the processor 230 is configured to determine the first parameter based on an actual minimum opening of the displacement valve, a maximum displacement current corresponding to the maximum opening of the displacement valve, and a minimum displacement current corresponding to the actual minimum opening of the displacement valve, including determining the first parameter based on equation (1):

wherein, the first and the second end of the pipe are connected with each other,

In one embodiment, the processor 230 is configured to determine the displacement current of the displacement valve of the pumping main oil pump based on the first parameter, the minimum pressure, the actual minimum opening of the displacement valve, the minimum displacement current corresponding to the actual minimum opening of the displacement valve, the power control coefficient, and the pumping pressure, including determining the displacement current according to equation (2):

wherein, I is the displacement current,

In one embodiment, the processor 230 is configured to determine the minimum pressure of the pumping main oil pump at the preset power according to the preset power, the preset rotation speed of the motor and the maximum displacement of the pumping main oil pump, including: the processor 230 is configured to: determining a first product value of a preset rotating speed of a motor and the maximum displacement of a pumping main oil pump; and determining the quotient of the preset power and the first product value so as to determine the minimum pressure of the pumping main oil pump under the preset power.

In one embodiment, the determination of the actual minimum opening of the discharge valve comprises: the processor 230 is configured to: the actual minimum opening of the discharge valve is determined based on a preset minimum control pressure of the discharge valve, a maximum control pressure of the discharge valve, and a theoretical minimum control pressure of the discharge valve.

In one embodiment, the processor 230 is configured to determine the actual minimum opening of the discharge valve according to a preset minimum control pressure of the discharge valve, a maximum control pressure of the discharge valve, and a theoretical minimum control pressure of the discharge valve, including: the processor 230 is configured to: determining a first difference between the minimum control pressure and a theoretical minimum control pressure; determining a second difference between the maximum control pressure and the theoretical minimum control pressure; and determining the ratio of the first difference value to the second difference value to obtain the actual minimum opening.

In one embodiment, the pumping apparatus further comprises a pumping master cylinder; the processor 230 is configured to further include prior to determining the rate of change of the motor current: the processor 230 is configured to: it is determined that the piston in the pumping master cylinder reaches a preset position.

In one embodiment, the pumping apparatus further comprises a proximity sensor disposed on the pumping master cylinder; the processor 230 is configured to determine that the piston in the pumping master cylinder reaches the preset position includes: the processor 230 is configured to: and acquiring a trigger signal which is detected by a proximity sensor and indicates that a piston in the pumping main cylinder reaches a preset position.

An embodiment of the present invention provides a pumping apparatus, including: pumping a main oil pump; the motor is connected with the pumping main oil pump to provide power for the pumping main oil pump; and a control device for a pumping apparatus according to the above embodiment.

In one embodiment, the pumping apparatus further comprises: a pumping master cylinder; and the proximity sensor is arranged on the pumping main cylinder and used for detecting the position of the piston in the pumping main cylinder.

In one embodiment, the pumping apparatus further comprises: the switching valve group is respectively and electrically connected with the processor and the pumping main cylinder and is used for controlling the reversing of the pumping main cylinder; the processor is also configured to receive a trigger signal which is detected by the proximity sensor and indicates that the piston in the pumping main cylinder reaches a preset position, so that the on-off of the switch valve group is controlled according to the trigger signal.

In one embodiment, the pumping apparatus further comprises: a human-computer interaction device and/or a remote monitoring platform.

In a specific embodiment, an embodiment of the present invention provides a concrete pumping hydraulic system, including: the system comprises a current inductor 1, a signal conversion and calculation module 2, a controller 3, a motor 4, a pumping main oil pump 5, a pressure sensor 6, a pumping flow valve 7, a switch valve group 8, a pumping main cylinder 9, a proximity sensor 10, a human-computer interaction interface 11 and a remote monitoring platform 12. A block diagram of the concrete pumping hydraulic system provided by the embodiment of the invention can be shown in fig. 3.

It can be understood that the current sensor 1 is a current magnitude acquisition element, converts the detected electromagnetic intensity generated by the current in the wire connected with the motor 4 into weak current analog quantity, converts the weak current analog quantity into the weak current analog quantity, and then carries out filtering and numerical value reduction processing through the signal conversion and calculation module 2, wherein the reduced numerical value is the actual current magnitude, and the numerical value is sent to the controller 3 and then used as the negative feedback basis of overload protection.

Meanwhile, in the concrete pumping hydraulic system provided by the embodiment of the invention, the motor 4 is connected with the pumping main oil pump 5, namely, power is transmitted to the pumping main oil pump 5 by the motor 4, and the pumping logic is realized by controlling the pumping flow valve 7 and the switch valve group 8 by the controller 3. The controller 3 outputs signals to control the pumping flow valve 7 to enable the output flow of the pumping main oil pump 5 to change along with requirements, and the on-off valve group 8 is controlled by the controller 3 according to the triggering of the proximity sensor 10. The proximity sensor 10 is installed on the pumping master cylinder 9, and when the piston in the pumping master cylinder 9 moves to a designated position, the proximity sensor 10 triggers the transmission of a switching amount signal to the controller 3.

In one embodiment, the current monitoring may be performed by using a current transformer and an independent signal conversion and calculation module, or may be directly transmitted to the controller and converted by the controller.

In a specific embodiment, the present invention provides a control method for pumping equipment, which mainly adds a link of adjusting displacement control and power control by obtaining a real-time working current in links of commutation logic, displacement control and power control in an original concrete pumping logic.

In the existing pumping logic, a controller (or a processor) firstly outputs to a switch valve group, when a pumping main cylinder reaches a designated position, a proximity switch signal is triggered and transmitted to the controller to controlThe controller judges that the master cylinder is in place at the moment, and carries out reversing in the next step, and once the reversing is completed, the system can be regarded as completing pumping work once. In the continuous pumping process under the ideal state, except for the moment of reversing, the load can be kept stable, and the pumping pressure change is small. However, in the actual propelling process, due to segregation and unevenness of materials, the load pressure often changes suddenly, including in the reversing process, due to sudden change of direction, the pressure in the hydraulic system also drops rapidly and rises again, so that in the actual pumping process, if the opening degree of the main pump is not changed, when the load changes, the power changes suddenly at the same time. In order to maintain the output power of the main pump in a dynamically stable process, the flow of the main pump is controlled, and the flow is the product of the rotating speed and the displacement, therefore, the power of the pumping system is usually controlled by controlling the rotating speed and the displacement, as shown in formula 5, wherein P is P _{Master and slave} Is the power of the main pump, V _{Master and slave} Is the main pump displacement, n _{Oil pump} Is the rotational speed, F _{Master and slave} Is the pumping pressure.

P _{Master and slave} ＝V _{Master and slave} ×n _{Oil pump} ×F _{Master and slave} Formula (5)

Because the motor in the motor power pumping system provided by the invention has constant rotating speed, the control of constant power can only be realized by the change of displacement, namely displacement current is controlled. If a main pump is determined and its maximum displacement is V, without considering power loss _max The real-time main pump power is equal to the calibrated constant power, which is

P _{Master and slave} ＝P _{Constant temperature} Formula (6)

Then there is

V _max ×n _{Master and slave} ×F _{Get up and regulate} ＝V _{Master and slave} ×n _{Master and slave} ×F _{Master and slave} Formula (7)

Wherein, F _{Get up and regulate} To enter a minimum pressure of constant power, n _{Master and slave} I.e. the rotational speed n _{Oil pump} . The main pump displacement V is linearly related to the pumping pressure F without considering the power loss, so that the formula (7) can obtain

When the main pump is determined, the angle of swash plate rotation and control pressure F _c I.e., the main pump displacement opening a. Taking a single 180 (i.e. maximum displacement) main pump as an example, assuming that the control pressure needs 18bar when the maximum opening value is 100%, and the control pressure needs 6bar when the minimum opening value is 0%, the relationship between the opening of the main pump and the control pressure can be as shown in fig. 4.

In practice, the minimum control pressure F generally applied takes into account the possibility of dead zones in the valve _cmin Not of theoretical value (e.g. 6), but the minimum displacement current I is set artificially during the commissioning process according to the actual situation _min To control, the maximum control pressure F _max By the maximum displacement current I _max The actual minimum opening a, a is obtained by setting the obtained opening range of the displacement valve

Wherein, F _cmin To minimum control pressure, F _cmax At the maximum control pressure, a is the actual minimum opening.

After the value a is obtained, according to the relation curve between the control pressure (displacement proportional valve control current) and the displacement shown in fig. 5, the relation among the displacement current I, the displacement of the main pump and the opening degree can be obtained as

Substituting the formula (8) into the formula (10) to obtain the current required output displacement current I

Wherein, F _{Get up and regulate} 、I _max 、I _min As known, after the system enters the electric control constant power, the discharge capacity of the main pump outputs a control current according to the pumping pressure F _{Master and slave} A unique solution is calculated and is independent of the main pump displacement maximum.

In equation (11), the actual minimum opening and the actual maximum opening correspond to the displacement current I _min And I _max Are all constant values, and therefore the composition of these variables is set (I) _max -I _min ) /(1-a) is set to a constant value

The law of the displacement current I in equation (11) becomes

From the equation (12), the real-time controlled displacement current I and the real-time pressure F _Main Negative correlation, displacement current I and real time pressure F _{Master and slave} Is shown in fig. 6. The curve shown in fig. 6 represents the displacement current I and the real-time pressure F _{Master and slave} The power is constant without being influenced by other parameters. In actual operation, the power source needs to be made to output different powers. Under the condition of constant rotating speed, the curve relationship between the displacement current and the real-time pressure needs to be changed to output different powers, so in the control scheme of the embodiment of the invention, a power control coefficient K is introduced into the original relation (12) as a control variable of the curve, as shown in the following formula:

after the control variable is introduced, the displacement current I and the real-time pressure F _{Master and slave} The relationship of (c) can be varied by adjusting K as shown in fig. 7. The adjustment of K can make the system output different powers, but in practical application occasions, the power output has use requirements, namely the power output required by the system in the application occasionsOut of range, referred to as the constant power region, as shown in fig. 8.

The power control coefficient K is defined by a parameter K ₁ And K ₂ Composition, K ₁ Called the active adjustment coefficient, and K ₂ It is inversely related to the degree of current jump and may be referred to as a current compensation coefficient. Wherein K ₁ Can be set through a human-computer interaction interface or a remote monitoring platform, K ₁ The value of (a) is generally 0-50, the value is based on the corresponding relation of the displacement current I-pumping pressure F of the product in the debugging process, and the displacement current is directly related to the pumping times, so that the relation of the displacement current I-pumping pressure F is converted into the relation of the pumping times t-pumping pressure F in the debugging process. FIG. 9 shows a K ₁ The process of debugging of values is illustrated.

As shown in FIG. 9, K is three different values for 1 and 2, 3 and 4, 5 and 6 ₁ In value, the pumping system operates to exhibit different operating characteristics. When K is ₁ At too high a temperature of F ₁ And F ₃ Is t ₁ And t ₂ Indicates when the pressure is F ₁ Time, number of pumping times t ₁ Meet the required power output range, but when the pressure is F ₃ Time, pumping times t ₂ Then out of the required range, at which time K ₁ The values do not meet the requirements. In a similar manner, at K ₁ When the value is too low, t ₅ And t ₆ Nor is it satisfied. To K ₁ After the values are adjusted, a suitable output curve is obtained, as shown by points 3 and 4, both of which are within the power output range.

Power control systems K and K ₁ 、K ₂ Are all positively correlated, i.e. K ₁ And K ₂ When the current is increased, K is increased, the whole output power of the pumping system is improved, but when the current sudden change is overlarge, K is increased ₂ Decrease due to K ₁ And if the current is fixed, K is synchronously reduced, and the output displacement current and power are reduced, namely the purpose of controlling the current mutation degree is achieved. Furthermore, K ₂ The coefficient being set by a settable parameter K _α With a passive compensation factor (i.e. current jump factor) K _β Composition of, K _α And K ₁ Similarly, the method can also be set by people, and is called as active supplement in the inventionCoefficient of compensation K _α But a passive compensation factor K _β The current curve is determined by the trend of the current curve, namely the differential term dI/dt of the current curve and a fixed coefficient obtained by experiments. The fixed coefficient (i.e. the preset parameter interval) is generally 0.3-0.8, i.e.

Active compensation coefficient K _α Typically set at 1, and may range from 0.8 to 1.2.

In summary, the final calculation formula of the K value is shown in equation (11).

According to the control method for the pumping equipment provided by the embodiment of the invention, after the power control coefficient K is introduced, the power output control of the pumping system can be realized by actively adjusting the coefficient K ₁ And current compensation coefficient K ₂ Realization of wherein K ₁ Is the coefficient with the largest weight, the highest degree of adjustment, K ₂ The weight is relatively small. The power control coefficient K is within the active adjustment coefficient K ₁ And an active compensation coefficient K _α After determination, the power control is dependent on the passive compensation factor K _β . Passive compensation factor K _β Is a parameter which is changed in real time according to the current mutation degree and is inversely related to the current mutation degree, and when the current mutation degree exceeds a set threshold value, K _β A change occurs. Theoretically, the change of the coefficient dynamically changes along with the change of the current, but the passive compensation coefficient K is required due to the control requirement of a constant power area _β The variation of (c) is limited by calculating the corresponding passive compensation coefficient K at the maximum and minimum required output power _βmax And K _βmin 。

In the embodiment of the invention, all the parameters can be uploaded to the human-computer interaction interface and the cloud platform. After obtaining a sufficient working data sample size, K ₁ And K _α All can be countedFurther optimization is carried out. A logic block diagram of a control method for a pumping apparatus according to an embodiment of the present invention may be referred to in fig. 10. Specifically, when the master cylinder is in place, the proximity switch signal is triggered, the processor or the controller monitors and obtains the pumping pressure and the motor current in real time, and performs real-time constant power calculation to obtain the displacement current, a specific constant power calculation process can be shown as a flow chart in a left broken line frame, which is also recorded in the above method embodiment and not described in excess, the displacement current is output after the displacement current is calculated, so as to control the action of the master cylinder, and specifically, the opening degree of the displacement valve can be controlled according to the displacement current to adjust the displacement of the pumping master cylinder, so that the power of the pumping master cylinder is adjusted to the preset power. After the technical scheme of the embodiment of the invention is adopted for control, the current curve change in the pumping process and the current curve change under the condition of not adopting the scheme for control can be obtained by monitoring through a monitoring module in the system, and the comparison can be shown in fig. 11 and fig. 12.

In summary, compared with the prior art, the technical scheme provided by the embodiment of the invention quantifies the current change trend into the current mutation coefficient K _β And is combined with K _β The constant power control is involved, so that the output of the pumping system can be in the required constant power output area, and the current impact is reduced. In addition, compared with the prior art, the technical scheme uploads all parameters of the pumping system to the human-computer interaction interface and the remote control platform, different adaptive parameters can be designed according to different working conditions of detected products, and remote optimization of the system is achieved.

The scheme is mainly applied to motor power concrete pumping equipment commonly used in the construction machinery industry, and is different from diesel engine power pumping equipment in that a motor power product has sudden change of current in the pumping process and causes impact on a power grid. In addition, the motor power pumping equipment adopting the technical scheme can adjust the discharge capacity according to the load drastic change degree in the working process, and finally has the effects of protecting a power grid and a motor and prolonging the service life of the motor.

An embodiment of the present invention provides a machine-readable storage medium having stored thereon instructions, which when executed by a processor, cause the processor to execute the control method for a pumping apparatus according to the above-described embodiment.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, 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 technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.

In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A control method for a pumping apparatus, characterized in that the pumping apparatus includes a motor and a pumping main oil pump, the motor being connected to the pumping main oil pump to power the pumping main oil pump, the control method comprising:

obtaining motor current of the motor and pumping pressure of the pumping main oil pump;

determining a rate of change of the motor current;

determining a displacement current of a displacement valve of the pumping main oil pump according to the power control coefficient and the pumping pressure;

controlling the opening degree of the discharge valve according to the displacement current to adjust the displacement of the pumping main oil pump so as to adjust the power of the pumping main oil pump to preset power;

wherein said determining a power control coefficient based on a rate of change of said motor current comprises:

determining a current compensation coefficient according to the change rate of the motor current;

determining a product value of the current compensation coefficient and a preset active adjustment coefficient to obtain the power control coefficient, wherein the active adjustment coefficient is related to the pumping device.

2. The control method of claim 1, wherein determining a current compensation factor as a function of the rate of change of the motor current comprises:

determining a passive compensation coefficient according to the change rate of the motor current and a preset parameter interval;

and determining a product value of the passive compensation coefficient and a preset active compensation coefficient to obtain the current compensation coefficient, wherein the active compensation coefficient is related to the motor.

3. The control method according to claim 2, wherein the determining a passive compensation factor according to the change rate of the motor current and a preset parameter interval comprises:

determining a parameter corresponding to the change rate of the motor current according to the change rate of the motor current based on a corresponding relation between the change rate of the motor current stored in advance and a parameter in a preset parameter interval;

and determining the product of the change rate of the motor current and the parameter to obtain the passive compensation coefficient.

4. The control method of claim 1, wherein said determining a displacement current of a displacement valve of said pumping main oil pump based on said power control coefficient and said pumping pressure comprises:

determining the minimum pressure of the pumping main oil pump under the preset power according to the preset power, the preset rotating speed of the motor and the maximum displacement of the pumping main oil pump;

and determining the displacement current of the displacement valve of the pumping main oil pump according to the minimum pressure, the actual minimum opening of the displacement valve, the maximum displacement current corresponding to the maximum opening of the displacement valve, the minimum displacement current corresponding to the actual minimum opening of the displacement valve, the power control coefficient and the pumping pressure.

5. The control method according to claim 4, wherein the determining a displacement current of a displacement valve of the pumping main oil pump based on the minimum pressure, an actual minimum opening degree of the displacement valve, a maximum displacement current corresponding to the maximum opening degree of the displacement valve, a minimum displacement current corresponding to the actual minimum opening degree of the displacement valve, the power control coefficient, and the pumping pressure comprises:

determining a first parameter according to the actual minimum opening of the displacement valve, the maximum displacement current corresponding to the maximum opening of the displacement valve and the minimum displacement current corresponding to the actual minimum opening of the displacement valve;

and determining the displacement current of the displacement valve of the pumping main oil pump according to the first parameter, the minimum pressure, the actual minimum opening of the displacement valve, the minimum displacement current corresponding to the actual minimum opening of the displacement valve, the power control coefficient and the pumping pressure.

6. The control method of claim 5, wherein determining a first parameter as a function of the actual minimum opening of the displacement valve, the maximum displacement current corresponding to the maximum opening of the displacement valve, and the minimum displacement current corresponding to the actual minimum opening of the displacement valve comprises determining the first parameter as a function of equation (1):

wherein the content of the first and second substances,

as the first parameter, I _max A maximum displacement current, I, corresponding to a maximum opening of the displacement valve _min And a is the actual minimum opening of the displacement valve.

7. The control method of claim 5, wherein said determining a displacement current of a displacement valve of the pumping main oil pump based on the first parameter, the minimum pressure, an actual minimum opening of the displacement valve, a minimum displacement current corresponding to the actual minimum opening of the displacement valve, the power control coefficient, and the pumping pressure comprises determining the displacement current based on equation (2):

wherein I is the displacement current,

as said first parameter, F _min Is the minimum pressure, K is the power control coefficient, F _{Master and slave} For the pumping pressure, a is the actual minimum opening of the displacement valve, I _min A minimum displacement current corresponding to an actual minimum opening of the displacement valve.

8. The control method according to claim 4, wherein the determining the minimum pressure of the pumping main oil pump at the preset power according to the preset power, a preset rotation speed of the motor, and a maximum displacement of the pumping main oil pump includes:

determining a first product value of a preset rotating speed of the motor and the maximum displacement of the pumping main oil pump;

and determining the quotient of the preset power and the first product value so as to determine the minimum pressure of the pumping main oil pump under the preset power.

9. The control method according to claim 4, wherein the determination of the actual minimum opening degree of the discharge valve includes:

and determining the actual minimum opening of the discharge valve according to the preset minimum control pressure of the discharge valve, the preset maximum control pressure of the discharge valve and the preset theoretical minimum control pressure of the discharge valve.

10. The control method according to claim 9, wherein the determining the actual minimum opening degree of the discharge valve based on a preset minimum control pressure of the discharge valve, a maximum control pressure of the discharge valve, and a theoretical minimum control pressure of the discharge valve includes:

determining a first difference between the minimum control pressure and the theoretical minimum control pressure;

determining a second difference between the maximum control pressure and the theoretical minimum control pressure;

determining a ratio between the first difference and the second difference to obtain the actual minimum opening degree.

11. The control method according to claim 1, wherein the pumping apparatus further comprises a pumping master cylinder; the determining the rate of change of the motor current further comprises:

determining that a piston in the pumping master cylinder reaches a preset position.

12. The control method according to claim 11, wherein the pumping apparatus further comprises a proximity sensor provided on the pumping master cylinder; the determining that the piston in the pumping master cylinder reaches the preset position comprises:

and acquiring a trigger signal which is detected by the proximity sensor and indicates that a piston in the pumping main cylinder reaches a preset position.

13. The control method according to claim 2, wherein the preset parameter interval has a value range of 0.3 to 0.8.

14. The control method of claim 2, wherein the range of values of the active compensation factor comprises 0.8 to 1.2.

15. The control method of claim 1, wherein the active adjustment factor has a value range that includes 0 to 50.

16. A processor configured to perform the control method for a pumping apparatus according to any one of claims 1 to 15.

17. A control device for a pumping apparatus, comprising:

a current detection device for detecting a motor current of the motor;

the pressure detection device is used for detecting the pumping pressure of the pumping main oil pump; and

the processor of claim 16.

18. A pumping apparatus, comprising:

pumping a main oil pump;

the motor is connected with the pumping main oil pump to provide power for the pumping main oil pump; and

control means for a pumping apparatus as claimed in claim 17.

19. The pumping apparatus as recited in claim 18, further comprising:

a pumping master cylinder; and

and the proximity sensor is arranged on the pumping main cylinder and used for detecting the position of the piston in the pumping main cylinder.

20. The pumping apparatus as recited in claim 19, further comprising:

the switching valve group is respectively electrically connected with the processor and the pumping main cylinder and is used for controlling the reversing of the pumping main cylinder;

the processor is also configured to receive a trigger signal which is detected by the proximity sensor and indicates that a piston in the pumping main cylinder reaches a preset position, so that the on-off of the switch valve group is controlled according to the trigger signal.

21. The pumping apparatus as recited in claim 18, further comprising: a human-computer interaction device and/or a remote monitoring platform.

22. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to perform a control method for a pumping apparatus according to any one of claims 1 to 15.