CN115404939A - Control method and device of hydraulic system, hydraulic system and excavator - Google Patents
Control method and device of hydraulic system, hydraulic system and excavator Download PDFInfo
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- CN115404939A CN115404939A CN202211204128.0A CN202211204128A CN115404939A CN 115404939 A CN115404939 A CN 115404939A CN 202211204128 A CN202211204128 A CN 202211204128A CN 115404939 A CN115404939 A CN 115404939A
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- pressure value
- valve
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- oil path
- pilot pressure
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
Abstract
The invention relates to the technical field of operating machinery, and provides a control method and a control device of a hydraulic system, the hydraulic system and an excavator, wherein the hydraulic system comprises: the main valve and the flow-combining valve of the movable arm are respectively used for connecting a first pilot oil way; the main valve of the bucket rod is used for being connected with a second pilot oil path; the first hydraulic pump is respectively connected with a main valve of the movable arm and a confluence valve of the bucket rod and is used for supplying oil to the movable arm and the bucket rod; the second hydraulic pump is respectively connected with a main valve of the bucket rod and a confluence valve of the movable arm and is used for supplying oil to the movable arm and the bucket rod; the proportional solenoid valve is connected with the confluence valve of the bucket rod and used for controlling the opening degree of the confluence valve of the bucket rod by controlling the opening degree of the proportional solenoid valve based on the collected current pilot pressure value of the first pilot oil path and the collected current pilot pressure value of the second pilot oil path when the movable arm and the bucket rod perform target compound actions. Therefore, the problem of how to reduce the coupling of the actions of the excavator in the prior art is solved, and the actions of the movable arm and the action of the bucket rod are effectively decoupled.
Description
Technical Field
The invention relates to the technical field of working machines, in particular to a control method and device of a hydraulic system, the hydraulic system and an excavator.
Background
An excavator is one of widely used work machines, and can perform works such as excavation, loading, leveling, and slope repair. At present, the requirement on the fine operation performance of the excavator is higher and higher. However, since the coupling of motions may produce a linkage effect on motion control, so that the operation may not meet the requirement, in the case of leveling, when the boom is lifted and the arm is required to dig, but the loads of the boom and the arm are different, the hydraulic oil generally preferentially flows to a place with a low load more quickly, so that more hydraulic oil is supplied to the arm, and the hydraulic oil supplied to the boom is insufficient, so that the arm is moved too fast and the boom is not lifted, thereby affecting the leveling effect. Therefore, how to reduce the coupling of excavator actions is an important issue to be solved in the industry.
Disclosure of Invention
The invention provides a control method and device of a hydraulic system, the hydraulic system and an excavator, which are used for solving the problem of reducing the coupling of the actions of the excavator in the prior art and effectively decoupling the action of a movable arm and the action of a bucket rod.
The present invention provides a hydraulic system comprising:
the main valve of the movable arm and the confluence valve are respectively used for connecting a first pilot oil path, and the first pilot oil path is used for controlling the opening of the main valve of the movable arm and the opening of the confluence valve;
the main valve of the bucket rod is used for being connected with a second pilot oil path, and the second pilot oil path is used for controlling the opening of the main valve of the bucket rod;
the first hydraulic pump is respectively connected with a main valve of the movable arm and a confluence valve of the bucket rod and is used for supplying oil to the movable arm and the bucket rod;
the second hydraulic pump is respectively connected with a main valve of the bucket rod and a flow converging valve of the movable arm and is used for supplying oil to the movable arm and the bucket rod;
and the proportional electromagnetic valve is connected with the confluence valve of the bucket rod and used for controlling the opening of the confluence valve of the bucket rod by controlling the opening of the proportional electromagnetic valve based on the collected current pilot pressure value of the first pilot oil path and the collected current pilot pressure value of the second pilot oil path when the movable arm and the bucket rod perform target compound actions.
According to the hydraulic system provided by the invention, the hydraulic system further comprises a controller;
the controller is connected with the proportional solenoid valve and is used for determining a first electric signal of the proportional solenoid valve corresponding to the current pilot pressure value of the second pilot oil path based on the corresponding relation between the pilot pressure value of the second pilot oil path calibrated in advance and the electric signal of the proportional solenoid valve; determining a target limiting coefficient corresponding to the current pilot pressure value of the first pilot oil path based on a corresponding relation between a pilot pressure value of the first pilot oil path calibrated in advance and a limiting coefficient, wherein the target limiting coefficient is used for representing the limiting degree of the action of the arm in the target composite action; determining a second electrical signal of the proportional solenoid valve based on the first electrical signal and the target limiting coefficient; controlling the electric signal of the proportional solenoid valve to be the second electric signal;
and the proportional solenoid valve is specifically used for controlling the opening degree of the proportional solenoid valve based on the second electric signal.
According to the invention, the hydraulic system also comprises a first pressure sensor;
the first pressure sensor is connected with the controller and used for collecting the current pilot pressure value of the first pilot oil way and sending the current pilot pressure value to the controller.
According to the hydraulic system provided by the invention, the proportional solenoid valve is further configured to control the opening degree of the flow-combining valve of the arm by controlling the opening degree thereof based on the current pilot pressure value of the second pilot oil path when the arm performs a single action.
According to the hydraulic system provided by the invention, the controller is further configured to determine a third electrical signal of the proportional solenoid valve corresponding to the current pilot pressure value of the second pilot oil path based on a pre-calibrated corresponding relationship between the pilot pressure value of the second pilot oil path and the electrical signal of the proportional solenoid valve, and control the electrical signal of the proportional solenoid valve to be the third electrical signal;
and the proportional solenoid valve is specifically used for controlling the opening degree of the proportional solenoid valve based on the third electric signal.
According to the hydraulic system provided by the invention, the hydraulic system further comprises a second pressure sensor;
and the second pressure sensor is connected with the controller and is used for acquiring the current pilot pressure value of the second pilot oil path and sending the current pilot pressure value to the controller.
The invention also provides a control method based on the hydraulic system, which comprises the following steps:
determining that the movable arm and the bucket rod perform a target compound action;
and controlling the opening of a converging valve of the bucket rod by controlling the opening of the proportional solenoid valve based on the acquired current pilot pressure value of the first pilot oil path and the acquired current pilot pressure value of the second pilot oil path.
According to a control method of a hydraulic system provided by the present invention, the controlling an opening degree of a confluence valve of an arm by controlling an opening degree of a proportional solenoid valve based on the collected current pilot pressure value of the first pilot oil path and the collected current pilot pressure value of the second pilot oil path includes:
determining a first electric signal of the proportional solenoid valve corresponding to the current pilot pressure value of the second pilot oil path based on a corresponding relation between the pilot pressure value of the second pilot oil path calibrated in advance and the electric signal of the proportional solenoid valve;
determining a target limiting coefficient corresponding to the current pilot pressure value of the first pilot oil path based on a corresponding relation between a pilot pressure value of the first pilot oil path calibrated in advance and a limiting coefficient, wherein the target limiting coefficient is used for representing the limiting degree of the action of the arm in the target composite action;
determining a second electrical signal of the proportional solenoid valve based on the first electrical signal and the target limiting coefficient;
and controlling the opening degree of the proportional solenoid valve based on the second electric signal.
According to the control method of the hydraulic system, the current pilot pressure value of the first pilot oil path is acquired through the first pressure sensor.
According to the control method of the hydraulic system, the current pilot pressure value of the second pilot oil path is acquired through the second pressure sensor.
The control method of the hydraulic system provided by the invention further comprises the following steps:
and determining that the bucket rod performs a single action, and controlling the opening of a confluence valve of the bucket rod by controlling the opening of the proportional solenoid valve based on the current pilot pressure value of the second pilot oil path.
According to a control method of a hydraulic system provided by the present invention, the controlling the opening degree of the confluence valve of the arm by controlling the opening degree of the proportional solenoid valve based on the current pilot pressure value of the second pilot oil path includes:
determining a third electric signal of the proportional solenoid valve corresponding to the current pilot pressure value of the second pilot oil path based on a corresponding relation between the pilot pressure value of the second pilot oil path calibrated in advance and the electric signal of the proportional solenoid valve, and controlling the electric signal of the proportional solenoid valve to be the third electric signal; and controlling the opening degree of the proportional solenoid valve based on the third electric signal.
The present invention also provides a control device based on the hydraulic system as described in any one of the above, including:
the action determining module is used for determining that the movable arm and the bucket rod perform target compound actions;
and the electromagnetic valve control module is used for controlling the opening of the converging valve of the bucket rod by controlling the opening of the proportional electromagnetic valve based on the acquired current pilot pressure value of the first pilot oil path and the current pilot pressure value of the second pilot oil path.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor implements the control method of the hydraulic system as described in any one of the above when executing the program.
The present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of controlling a hydraulic system as described in any one of the above.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method of controlling a hydraulic system as described in any one of the above.
The present invention also provides an excavator comprising a hydraulic system as described in any one of the above, or a control method for executing a hydraulic system as described in any one of the above, or a control device comprising a hydraulic system as described in any one of the above, or an electronic apparatus as described in any one of the above, or a non-transitory computer readable storage medium as described in any one of the above, or a computer program product as described in any one of the above.
The invention provides a hydraulic system, which comprises a first hydraulic pump and a second hydraulic pump, wherein the first hydraulic pump supplies oil to a movable arm and an arm through a confluence valve of a main valve of the movable arm and the arm which are connected, the second hydraulic pump supplies oil to the movable arm and the arm through a main valve of the arm and a confluence valve of the movable arm which are connected, when the movable arm and the arm perform target composite action, a first pilot oil path can control the opening of the main valve and the confluence valve of the movable arm, a second pilot oil path controls the opening of the main valve of the arm, and a proportional solenoid valve can control the opening of the confluence valve of the arm by controlling the opening of the proportional solenoid valve based on the collected current pilot pressure value of the first pilot oil path and the collected current pilot pressure value of the second pilot oil path.
Further, for a target compound action, because the corresponding relation between the pilot pressure value of the first pilot oil path and the limiting coefficient and the corresponding relation between the pilot pressure value of the second pilot oil path and the electric signal of the proportional solenoid valve are calibrated in advance, a target limiting coefficient corresponding to the current pilot pressure value of the first pilot oil path can be obtained, and then a first electric signal of the proportional solenoid valve corresponding to the current pilot pressure value of the second pilot oil path is limited, and a second electric signal is obtained.
Furthermore, when the bucket rod performs single action, the opening of the proportional electromagnetic valve is controlled by means of the current pilot pressure value of the existing second pilot oil path and taking the current pilot pressure value of the second pilot oil path as reference, so that the opening of the converging valve of the bucket rod is controlled, the action control of the bucket rod is accurate, the control program is further simplified, and the scheme is simpler to implement.
Furthermore, the corresponding relation between the pilot pressure value of the second pilot oil path calibrated in advance and the electric signal of the proportional solenoid valve can be utilized, when the bucket rod performs single action, the opening of the proportional solenoid valve can be controlled quickly and accurately, and then the opening of the flow converging valve of the bucket rod is controlled, so that the action of the bucket rod is controlled accurately.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a hydraulic system according to the present invention;
FIG. 2 is a second schematic structural diagram of a hydraulic system according to the present invention;
FIG. 3 is a flow chart illustrating a method of controlling a hydraulic system provided by the present invention;
FIG. 4 is a schematic flow diagram of a control arrangement for a hydraulic system provided in accordance with the present invention;
fig. 5 is a schematic structural diagram of an electronic device provided in the present invention.
Reference numerals:
101: a main valve of the boom; 102: a confluence valve of the movable arm; 103: a first pilot oil passage;
104: a main valve of the bucket rod; 105: a flow converging valve of the bucket rod; 106: a second pilot oil passage;
107: a first hydraulic pump; 108: a second hydraulic pump; 109: a proportional solenoid valve;
110: an engine; 111: an oil tank; 112: a pilot pump;
113: a filter; 114: a controller; 115: a first pressure sensor;
116: a second pressure sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to reduce the coupling of the actions of the excavator, the related art provides a hydraulic system based on two pumps, namely, two hydraulic pumps are provided, wherein one hydraulic pump is connected with a main valve of an arm and mainly supplies oil to the arm, and is also connected with a confluence valve of a boom, and can simultaneously supply a part of oil to the boom, the other hydraulic pump is connected with the main valve of the boom and mainly supplies oil to the boom, and is also connected with the confluence valve of the arm and can simultaneously supply a part of oil to the arm, in addition, a priority valve is also arranged in front of the main valve of the arm, the opening degree of the priority valve is directly related to a pilot oil way corresponding to the boom, the pressure of the pilot oil way corresponding to the boom is large, the opening degree of the priority valve is small, and therefore the oil supply to the arm is reduced, and the priority valve arranged in the scheme causes the relevance between the actions of the arm and the boom to be still large.
Therefore, the invention provides a hydraulic system which can effectively realize action decoupling. The hydraulic system provided by the present invention will be described in detail below. The present embodiment provides a hydraulic system, as shown in fig. 1, including:
a boom main valve 101 and a confluence valve 102, which are respectively connected to a first pilot oil path 103, wherein the first pilot oil path 103 is used for controlling the opening degrees of the boom main valve 101 and the confluence valve 102;
a main valve 104 of the arm and a confluence valve 105, the main valve 104 of the arm being connected to a second pilot oil passage 106, the second pilot oil passage 106 being used to control the opening of the main valve 104 of the arm;
a first hydraulic pump 107 connected to the main valve 101 of the boom and the confluence valve 105 of the arm, respectively, for supplying oil to the boom and the arm;
a second hydraulic pump 108, which is respectively connected to the main valve 104 of the arm and the confluence valve 102 of the boom, and is used for supplying oil to the boom and the arm;
and a proportional solenoid valve 109 connected to the confluence valve 105 of the arm, and configured to control an opening degree of the confluence valve 105 of the arm by controlling an opening degree thereof based on the collected current pilot pressure value of the first pilot oil passage 103 and the collected current pilot pressure value of the second pilot oil passage 106 when the boom and the arm perform the target combined operation.
In practical applications, as shown in fig. 1, the hydraulic system may further include a first pilot oil passage 103, a second pilot oil passage 106, an engine 110, and an oil tank 111.
The engine 110 is connected to the first hydraulic pump 107 and the second hydraulic pump 108, respectively, for providing power. The first hydraulic pump 107 and the second hydraulic pump 108 may be proportional variable pumps.
An oil inlet of the first hydraulic pump 107 is connected with an oil tank 111, and oil outlets of the first hydraulic pump are respectively connected with an oil inlet of a main valve 101 of the movable arm and an oil inlet of a confluence valve 105 of the bucket rod. An oil outlet of the boom main valve 101 is connected to a boom cylinder. An oil outlet of the bucket rod confluence valve 105 is connected with a bucket rod oil cylinder. The first hydraulic pump 107 draws out hydraulic oil from the oil tank 111, and supplies the hydraulic oil to the boom mainly through the boom main valve 101, and may supply the hydraulic oil to the arm through the arm confluence valve 105.
An oil inlet of the second hydraulic pump 108 is connected with an oil tank 111, and oil outlets of the second hydraulic pump are respectively connected with an oil inlet of a main valve 104 of the arm and an oil inlet of a confluence valve 102 of the movable arm. An oil outlet of a main valve 104 of the bucket rod is connected with the bucket rod oil cylinder. An oil outlet of the boom confluence valve 102 is connected with a boom cylinder. The second hydraulic pump 108 pumps out hydraulic oil from the oil tank 111, and supplies the hydraulic oil to the arm mainly through the main valve 104 of the arm, and may supply the hydraulic oil to the boom through the boom confluence valve 102.
First pilot oil path 103 corresponds to a boom-related handle operation. One end of the first pilot oil passage 103 is connected to the control port of the boom main valve 101 and the control port of the boom confluence valve 102, and the other end is connected to the first pilot valve. The first pilot valve is used for adjusting the opening of the first pilot valve according to a handle operation, and further adjusting the pilot pressure of the first pilot oil path 103, and the pilot pressure of the first pilot oil path 103 controls the opening of the main valve 101 of the boom and the opening of the confluence valve 102. As the opening degree of the first pilot valve increases, the pilot pressure of the first pilot oil passage 103 increases, the opening degrees of the main valve 101 and the confluence valve 102 of the boom increase, and the oil is supplied to the boom more.
The second pilot oil passage 106 corresponds to a handle operation related to the arm. One end of the second pilot oil passage 106 is connected to the control port of the main valve 104 of the arm, and the other end is connected to the second pilot valve. The second pilot valve is used to adjust the opening of the second pilot oil passage 106 by a handle operation, and further to adjust the pilot pressure of the second pilot oil passage 106, and the pilot pressure of the second pilot oil passage 106 controls the opening of the main valve 104 of the arm. As the opening degree of the second pilot valve increases, the pilot pressure of the second pilot oil passage 106 increases, the opening degree of the main valve 104 of the arm increases, and the main valve 104 of the arm supplies oil to the arm more.
An oil inlet of the proportional solenoid valve 109 is connected with an oil outlet of a pilot pump 112 (such as a gear pump), an oil outlet is connected with a control oil port of the confluence valve 105 of the bucket rod, and an oil return port is connected with an oil tank. An oil inlet of the pilot pump 112 is connected with the oil tank 111. The oil outlet of the pilot pump 112 is also provided with a filter 113. The pilot pump 112 may be powered by the engine. The pilot pump 112 is used to pump oil from the oil tank 111 and supply the oil to the proportional solenoid valve 109. The proportional solenoid valve 109 adjusts the opening degree of the proportional solenoid valve 109 in accordance with the input electric signal. The pilot pressure supplied from the outlet port of the proportional solenoid valve 109 to the confluence valve 105 of the arm may control the opening degree of the confluence valve 105 of the arm. The larger the opening degree of the proportional solenoid valve 109, the larger the pilot pressure supplied to the arm merge valve 105, the larger the opening degree of the arm merge valve 105, and the more oil is supplied to the arm by the arm merge valve 105.
The hydraulic oil in the first pilot oil passage 103 and the second pilot oil passage 106 may be supplied from a pilot pump 112, and the first pilot valve and the second pilot valve (not shown) may be connected to the pilot pump 112.
The bucket rod and the movable arm are both working devices of the excavator. The excavator is a hydraulic excavator and comprises the hydraulic system. In practical applications, when an excavator performs work such as leveling, square swinging, or loading, the work needs to be completed by the cooperation between the operation of the arm and the operation of the boom. The compound motion may be a motion in which the motion of the arm and the motion of the boom are matched with each other, such as a leveling motion, a swinging motion, or a loading motion. The target composite action is the composite action currently performed.
When the boom and the arm perform the target combined operation, the first hydraulic pump 107 and the second hydraulic pump 108 supply oil at the same time, the main valve 101 of the boom and the confluence valve 102 are both opened by the pilot pressure of the first pilot oil path 103, the first hydraulic pump 107 supplies oil to the boom through the main valve 101 of the boom, the second hydraulic pump 108 supplies oil to the boom through the confluence valve 102 of the boom, the main valve 104 of the arm is opened by the pilot pressure of the second pilot oil path 106, the second hydraulic pump 108 supplies oil to the arm through the main valve 104 of the arm, the confluence valve 105 of the arm is opened by the pilot pressure of the proportional solenoid valve 109, and the first hydraulic pump 107 supplies oil to the arm through the confluence valve 105 of the arm.
The proportional solenoid valve 109 is an electromagnetic proportional pressure reducing valve. According to the structural characteristics of the arm, hydraulic oil can enter the arm by gravity, so that an electrically controlled proportional solenoid valve 109 can be adopted. Because the proportional solenoid valve 109 is electrically controlled, the opening degree of the proportional solenoid valve 109 can be controlled according to actual needs, so that the opening degree of the confluence valve 105 of the bucket rod is controlled, the control is simpler, the operability is higher, the implementation is easy, and the cost is low.
Here, the electrical signal (e.g., current) of the proportional solenoid valve 109 may be determined based on the collected current pilot pressure value of the first pilot oil path 103 and the collected current pilot pressure value of the second pilot oil path 106. The current pilot pressure value of first pilot oil path 103 may reflect the magnitude of the requested boom motion. The current pilot pressure value of second pilot oil passage 106 may reflect the magnitude of the required motion of the arm. In order to coordinate the boom and the arm to complete the target combined motion, the opening of the proportional solenoid valve 109 may be controlled based on the current pilot pressure value of the first pilot oil path 103 and the current pilot pressure value of the second pilot oil path 106 to control the oil supply to the arm and further control the arm motion, if the oil supply to the arm needs to be increased, the opening of the proportional solenoid valve 109 may be increased, if the oil supply to the arm needs to be decreased, the opening of the proportional solenoid valve 109 may be decreased to accurately control the arm motion, and in an extreme case, the proportional solenoid valve 109 may be completely closed to close the confluence valve 105 of the arm, and at this time, the arm is supplied with oil only by the second hydraulic pump 108, and the first hydraulic pump 107 supplies oil only to the boom, so that the boom and the arm motion are effectively decoupled through the sub-pump control of the first and second hydraulic pumps 107 and 108.
The target composite motion is exemplified as the flat motion. When the arm is extended to the farthest end, the movable arm is lowered to the position contacting with the working surface, and the handle is used for excavating the arm and lifting the movable arm, at this time, if the main valve and the confluence valve of the two have the same opening degree, the arm is firstly moved due to gravity and load factors, the movable arm cannot be lifted, and the leveling operation cannot be completed, so that the opening degree of the confluence valve 105 of the arm needs to be controlled according to the lifting degree of the movable arm (namely the movement degree of the movable arm), and the dual-pump independent control is completed.
In the hydraulic system of the embodiment, two hydraulic pumps, that is, a first hydraulic pump 107 and a second hydraulic pump 108 are provided, wherein the first hydraulic pump 107 supplies oil to the boom and the arm through a main valve 101 of the boom and a confluence valve 105 of the arm connected thereto, the second hydraulic pump 108 supplies oil to the boom and the arm through a main valve 104 of the arm and a confluence valve 102 of the boom connected thereto, when the boom and the arm perform a target combined operation, the first pilot oil path 103 may control the opening degrees of the main valve 101 and the confluence valve 102 of the boom, the second pilot oil path 106 controls the opening degree of the main valve 104 of the arm, and the proportional solenoid valve 109 may control the opening degree of the proportional solenoid valve 109 as needed to control the opening degree of the confluence valve 105 of the arm and accurately control the operation of the arm by controlling the opening degree thereof based on the current pilot pressure value of the first pilot oil path 103 and the current pilot pressure value of the second pilot oil path 106 collected, and the proportional solenoid valve 109 is electrically controlled, so that the operation of the arm and the operation of the arm are effectively decoupled.
In the present embodiment, the opening degree of the proportional solenoid valve 109 is controlled by using the current pilot pressure value of the existing first pilot oil passage 103 and the current pilot pressure value of the second pilot oil passage 106 and the current pilot pressure value of the first pilot oil passage 103 and the current pilot pressure value of the second pilot oil passage 106 as reference, so that the opening degree of the confluence valve 105 of the arm is controlled, the control program is simplified, and the scheme is simpler to implement.
In addition, in the solution provided by the above related art, the oil supply distribution is not balanced, if the pilot pressure of the pilot oil path corresponding to the boom is large, the oil supply to the boom is more, and the oil supply to the arm is less, at this time, if the pilot pressure of the pilot oil path corresponding to the arm is also large, the oil supply to the arm cylinder is more, and the oil supply is insufficient in practice, a suction phenomenon occurs, which causes a problem of shaking, and the like.
In order to conveniently and accurately obtain the pilot pressure value of the first pilot oil path 103, the hydraulic system provided by the present embodiment may further include a first pressure sensor 115, as shown in fig. 2. First pressure sensor 115 is connected to first pilot oil passage 103. The first pressure sensor 115 is connected to the controller 114, and is configured to collect a current pilot pressure value of the first pilot oil path 103 and send the current pilot pressure value to the controller 114. In this embodiment, the current pilot pressure value of the first pilot oil path 103 can be directly acquired in real time through the first pressure sensor 115, which is higher in efficiency.
Similarly, in order to conveniently and accurately obtain the pilot pressure value of the second pilot oil path 106, the hydraulic system provided by this embodiment, as shown in fig. 2, may further include a second pressure sensor 116. Second pressure sensor 116 is connected to second pilot oil passage 106. The second pressure sensor 116 is connected to the controller 114, and is configured to collect a current pilot pressure value of the second pilot oil path 106 and send the current pilot pressure value to the controller 114. In this embodiment, the current pilot pressure value of the second pilot oil path 106 can be directly acquired in real time through the second pressure sensor 116, so that the efficiency is higher.
It will be appreciated that the stick may also be single acting, in addition to the above target compound action. The boom is moved to the first position by the boom moving unit. Based on this, in an exemplary embodiment, the proportional solenoid valve 109 is further configured to control the opening degree of the confluence valve 105 of the arm by controlling the opening degree thereof based on the current pilot pressure value of the second pilot oil passage 106 when the arm performs a single operation.
In practical applications, when the arm performs the single operation, the main valve 104 of the arm is opened by the pilot pressure of the second pilot oil passage 106, the second hydraulic pump 108 can supply oil to the arm through the main valve 104 of the arm, the confluence valve 105 of the arm can be opened by the pilot pressure of the proportional solenoid valve 109, and the first hydraulic pump 107 can supply oil to the arm through the confluence valve 105 of the arm. The pilot pressure value of the second pilot oil passage 106 may reflect a required operation of the arm. For this reason, the electrical signal of the proportional solenoid valve 109 may be determined based on the current pilot pressure value of the second pilot oil path 106, so that the opening degree of the confluence valve 105 of the arm may satisfy the demand for oil supply to the arm, and thus the required operation of the arm may be achieved.
In this embodiment, when the arm performs a single operation, the opening degree of the proportional solenoid valve 109 is controlled by using the current pilot pressure value of the existing second pilot oil passage 106 and the current pilot pressure value of the second pilot oil passage 106 as a reference, so as to control the opening degree of the confluence valve 105 of the arm.
In an exemplary embodiment, the hydraulic system provided by the present embodiment, as shown in fig. 2, may further include a controller 114; the controller 114 is connected to the proportional solenoid valve 109, and is configured to determine a first electric signal of the proportional solenoid valve 109 corresponding to a current pilot pressure value of the second pilot oil path 106 based on a correspondence relationship between a pilot pressure value of the second pilot oil path 106 and an electric signal of the proportional solenoid valve 109, which is calibrated in advance; determining a target limiting coefficient corresponding to the current pilot pressure value of the first pilot oil path 103 based on a corresponding relation between a pilot pressure value of the first pilot oil path 103 calibrated in advance and a limiting coefficient, wherein the target limiting coefficient is used for representing the limiting degree of the action of the arm in the target compound action; determining a second electric signal of the proportional solenoid valve 109 based on the first electric signal and the target limiting coefficient; the electric signal for controlling the proportional solenoid valve 109 is the second electric signal;
the proportional solenoid valve 109 is specifically configured to control an opening degree thereof based on the second electric signal.
Because the action of the arm and the action of the boom need to be matched with each other when the target compound action is performed, the action of the arm can be limited according to the action of the boom, and the action of the arm and the action of the boom are prevented from being inconsistent. Alternatively, the limit factor may characterize the degree of limit on the movement of the stick in the target compound movement relative to a single movement of the stick. The target limiting coefficient is the currently required limiting coefficient. The limiting coefficient S may range from 0 to 1. Specifically, the second electrical signal of the proportional solenoid valve 109 may be a product of the first electrical signal of the proportional solenoid valve 109 and 1-S. For example, if the first electric signal of the proportional solenoid valve 109 is P, the second electric signal of the proportional solenoid valve 109 is P (1-S) at the time of the target compound operation.
Specifically, in the calibration process, for the single action of the boom, the pilot pressure value of the second pilot oil path 106 and the electrical signal of the proportional solenoid valve 109 may be acquired by the second pressure sensor 116 and sent to the controller 114, and in addition, an external pressure measuring device is further required, where the external pressure measuring device is used to measure the pilot pressure value provided by the proportional solenoid valve 109 to the confluence valve 105 of the boom, and adjust the electrical signal input to the proportional solenoid valve 109 by the controller 114 to adjust the opening degree of the proportional solenoid valve 109, so that the pilot pressure value provided by the proportional solenoid valve 109 to the confluence valve 105 of the boom is the same as the pilot pressure value of the second pilot oil path 106 acquired by the second pressure sensor 116, and the current pilot pressure value of the second pilot oil path 106 and the electrical signal of the corresponding proportional solenoid valve 109 are recorded, and thus, by acquiring different pilot pressure values of the second pilot oil path 106, the corresponding electrical signal of the proportional solenoid valve 109 is obtained, that the corresponding relationship between the pilot pressure value of the second pilot oil path 106 and the electrical signal of the proportional solenoid valve 109 is obtained. And after the calibration is finished, dismantling the pressure measuring equipment.
The correspondence relationship between the pilot pressure value of the first pilot oil passage 103 and the restriction coefficient is calibrated when the boom and the arm perform the target combined operation. In an embodiment, after the calibration of the correspondence relationship between the pilot pressure value in the second pilot oil passage 106 and the electrical signal in the proportional solenoid valve 109 is completed, the calibration of the correspondence relationship between the pilot pressure value in the first pilot oil passage 103 and the limiting coefficient is performed.
In the calibration process, for the target compound operation performed on the boom and the arm, the pilot pressure value of the first pilot oil path 103 may be acquired by the first pressure sensor 115, the pilot pressure value of the second pilot oil path 106 may be acquired by the second pressure sensor 116, the electric signal of the proportional solenoid valve 109 corresponding to the pilot pressure value of the second pilot oil path 106 may be obtained based on the correspondence relationship between the pilot pressure value of the second pilot oil path 106 and the electric signal of the proportional solenoid valve 109, which is calibrated in advance, the limit coefficient may be adjusted in combination with the pilot pressure value of the first pilot oil path 103, the electric signal input to the proportional solenoid valve 109 at this time may be adjusted, the performance of the target compound operation may be observed until the operation of the arm is coordinated with the operation of the boom, and the correspondence relationship between the pilot pressure value of the first pilot oil path 103 and the limit coefficient at this time may be recorded.
In this embodiment, for the target compound action, since the corresponding relationship between the pilot pressure value of the first pilot oil path 103 and the limiting coefficient and the corresponding relationship between the pilot pressure value of the second pilot oil path 106 and the electrical signal of the proportional solenoid valve 109 are calibrated in advance, the target limiting coefficient corresponding to the current pilot pressure value of the first pilot oil path 103 can be obtained, and further the first electrical signal of the proportional solenoid valve 109 corresponding to the current pilot pressure value of the second pilot oil path 106 is limited, so as to obtain the second electrical signal, and based on this, the opening degree of the proportional solenoid valve 109 is controlled, and further the opening degree of the confluence valve 105 of the arm is controlled, so that the action of the arm in the target compound action is limited by the electrical signal of the proportional solenoid valve 109, and the condition that the arm does not act in time (for example, the arm acts in advance, and the arm cannot lift) is avoided, and the completion of the target compound action is affected, so that the action of the arm is coordinated with the action of the arm, and the action decoupling effect of the action is further improved.
In an exemplary embodiment, the controller 114 is further configured to determine a third electrical signal of the proportional solenoid valve 109 corresponding to the current pilot pressure value of the second pilot oil path 106 based on a pre-calibrated corresponding relationship between the pilot pressure value of the second pilot oil path 106 and the electrical signal of the proportional solenoid valve 109, and control the electrical signal of the proportional solenoid valve 109 to be the third electrical signal; accordingly, the proportional solenoid valve 109 is specifically configured to control the opening degree thereof based on the third electric signal.
In this embodiment, when the arm performs a single operation, the opening degree of the proportional solenoid valve 109 can be quickly and accurately controlled by using the correspondence relationship between the pre-calibrated pilot pressure value of the second pilot oil passage 106 and the electrical signal of the proportional solenoid valve 109, and further, the opening degree of the confluence valve 105 of the arm can be controlled, thereby accurately controlling the operation of the arm.
The electrical signal of the proportional solenoid valve 109 can be controlled by other means, for example, by an additional operating handle, and so on.
In practical applications, the oil supply to the boom and the boom may be adjusted by adjusting the displacement of the first hydraulic pump 107 and the second hydraulic pump 108, so that the boom and the boom are decoupled.
It should be noted that, in this embodiment, a proportional solenoid valve 109 is provided, and a single proportional solenoid valve 109 is used to preferentially realize independent control of the slave cylinder in real time, so that the intelligent degree of the excavator is improved, the problems of loss of hydraulic control caused by a large amount of electric control changes, reduction of fault tolerance and the like due to increase of cost caused by multi-directional adjustment, and in the calibration process, a large amount of debugging is required, and the referenced technology has less sediment and realizes complex problems.
The following describes a control method of the hydraulic system provided by the present invention, and the control method of the hydraulic system described below and the hydraulic system described above may be referred to in correspondence with each other.
The present embodiment provides a control method of a hydraulic system based on the above embodiments, as shown in fig. 3, including:
and 302, controlling the opening of a confluence valve of the arm by controlling the opening of the proportional solenoid valve based on the collected current pilot pressure value of the first pilot oil path and the current pilot pressure value of the second pilot oil path.
The control method of the hydraulic system provided by the present embodiment may be executed by a controller in the hydraulic system.
In an exemplary embodiment, the controlling the opening degree of the confluence valve of the arm by controlling the opening degree of the proportional solenoid valve based on the collected current pilot pressure value of the first pilot oil path and the collected current pilot pressure value of the second pilot oil path includes:
determining a first electric signal of the proportional solenoid valve corresponding to the current pilot pressure value of the second pilot oil path based on a corresponding relation between the pilot pressure value of the second pilot oil path calibrated in advance and the electric signal of the proportional solenoid valve;
determining a target limiting coefficient corresponding to the current pilot pressure value of the first pilot oil path based on a corresponding relation between a pilot pressure value of the first pilot oil path calibrated in advance and a limiting coefficient, wherein the target limiting coefficient is used for representing the limiting degree of the action of the arm in the target composite action;
determining a second electrical signal of the proportional solenoid valve based on the first electrical signal and the target limiting coefficient;
and controlling the opening degree of the proportional solenoid valve based on the second electric signal.
In an exemplary embodiment, further comprising:
and determining that the bucket rod performs single action, and controlling the opening of a flow converging valve of the bucket rod by controlling the opening of the proportional solenoid valve based on the current pilot pressure value of the second pilot oil path.
In an exemplary embodiment, the controlling the opening degree of the confluence valve of the arm by controlling the opening degree of the proportional solenoid valve based on the current pilot pressure value of the second pilot oil passage includes:
and determining a third electric signal of the proportional solenoid valve corresponding to the current pilot pressure value of the second pilot oil path based on a corresponding relation between the pilot pressure value of the second pilot oil path calibrated in advance and the electric signal of the proportional solenoid valve, and controlling the opening of the proportional solenoid valve based on the third electric signal.
In an exemplary embodiment, the control method of a hydraulic system may further include:
and collecting the current pilot pressure value of the first pilot oil way through a first pressure sensor.
In an exemplary embodiment, the control method of the hydraulic system may further include:
and collecting the current pilot pressure value of the second pilot oil way through a second pressure sensor.
The control device of the hydraulic system provided by the present invention is described below, and the control device of the hydraulic system described below and the control method of the hydraulic system described above may be referred to in correspondence with each other.
The present invention also provides a control device based on the hydraulic system provided in the above embodiments, as shown in fig. 4, including:
an action determining module 401, configured to determine that the boom and the arm perform a target compound action;
and the electromagnetic valve control module 402 is configured to control the opening degree of the confluence valve of the arm by controlling the opening degree of the proportional electromagnetic valve based on the acquired current pilot pressure value of the first pilot oil path and the acquired current pilot pressure value of the second pilot oil path.
In the exemplary embodiment, solenoid valve control module 402 is specifically configured to:
determining a first electric signal of the proportional solenoid valve corresponding to the current pilot pressure value of the second pilot oil path based on a corresponding relation between the pilot pressure value of the second pilot oil path calibrated in advance and the electric signal of the proportional solenoid valve;
determining a target limiting coefficient corresponding to the current pilot pressure value of the first pilot oil path based on a pre-calibrated corresponding relation between the pilot pressure value of the first pilot oil path and the limiting coefficient, wherein the target limiting coefficient is used for representing the limiting degree of the action of the arm in the target compound action;
determining a second electrical signal of the proportional solenoid valve based on the first electrical signal and the target limiting coefficient;
and controlling the opening degree of the proportional solenoid valve based on the second electric signal.
In an exemplary embodiment, the action determining module 401 is further configured to determine that the stick performs a single action; the solenoid valve control module 402 is further configured to: and when the arm performs a single action, controlling the opening of the confluence valve of the arm by controlling the opening of the proportional solenoid valve based on the current pilot pressure value of the second pilot oil path.
In the exemplary embodiment, solenoid valve control module 402 is specifically configured to:
and determining a third electric signal of the proportional solenoid valve corresponding to the current pilot pressure value of the second pilot oil path based on the corresponding relation between the pilot pressure value of the second pilot oil path calibrated in advance and the electric signal of the proportional solenoid valve, and controlling the opening of the proportional solenoid valve based on the third electric signal.
In an exemplary embodiment, the control method of the hydraulic system may further include a first acquisition module for: and collecting the current pilot pressure value of the first pilot oil path through a first pressure sensor.
In an exemplary embodiment, the control method of the hydraulic system may further include a second acquisition module for: and collecting the current pilot pressure value of the second pilot oil path through a second pressure sensor.
Fig. 5 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor (processor) 510, a communication Interface (Communications Interface) 520, a memory (memory) 530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a method of controlling a hydraulic system, the method comprising:
determining that the movable arm and the bucket rod perform a target compound action;
and controlling the opening of a confluence valve of the bucket rod by controlling the opening of the proportional solenoid valve based on the acquired current pilot pressure value of the first pilot oil path and the current pilot pressure value of the second pilot oil path.
Furthermore, the logic instructions in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of executing the method for controlling a hydraulic system provided by the above methods, the method comprising:
determining that the movable arm and the bucket rod perform a target compound action;
and controlling the opening of a confluence valve of the bucket rod by controlling the opening of the proportional solenoid valve based on the acquired current pilot pressure value of the first pilot oil path and the current pilot pressure value of the second pilot oil path.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing a method of controlling a hydraulic system provided by the above methods, the method comprising:
determining that the movable arm and the bucket rod perform a target compound action;
and controlling the opening of a confluence valve of the bucket rod by controlling the opening of the proportional solenoid valve based on the acquired current pilot pressure value of the first pilot oil path and the current pilot pressure value of the second pilot oil path.
Based on the same inventive concept, the present invention also provides an excavator, which includes the hydraulic system provided in the above embodiments, or is used to execute the control method of the hydraulic system provided in the above embodiments, or includes the control device of the hydraulic system provided in the above embodiments, or includes the electronic apparatus provided in the above embodiments, or includes the non-transitory computer readable storage medium provided in the above embodiments, or includes the computer program product provided in the above embodiments. The excavator provided by this embodiment and the related embodiments described above may be referred to correspondingly, and have the same effects, which are not described herein again.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (17)
1. A hydraulic system, comprising:
the main valve and the flow-combining valve of the movable arm are respectively used for connecting a first pilot oil path, and the first pilot oil path is used for controlling the opening degrees of the main valve and the flow-combining valve of the movable arm;
the main valve of the bucket rod is used for being connected with a second pilot oil path, and the second pilot oil path is used for controlling the opening of the main valve of the bucket rod;
the first hydraulic pump is respectively connected with a main valve of the movable arm and a confluence valve of the bucket rod and is used for supplying oil to the movable arm and the bucket rod;
the second hydraulic pump is respectively connected with a main valve of the bucket rod and a confluence valve of the movable arm and is used for supplying oil to the movable arm and the bucket rod;
and the proportional electromagnetic valve is connected with the flow converging valve of the bucket rod and used for controlling the opening degree of the flow converging valve of the bucket rod by controlling the opening degree of the proportional electromagnetic valve based on the acquired current pilot pressure value of the first pilot oil path and the acquired current pilot pressure value of the second pilot oil path when the movable arm and the bucket rod perform target compound actions.
2. The hydraulic system of claim 1, further comprising a controller;
the controller is connected with the proportional solenoid valve and is used for determining a first electric signal of the proportional solenoid valve corresponding to the current pilot pressure value of the second pilot oil path based on the corresponding relation between the pilot pressure value of the second pilot oil path calibrated in advance and the electric signal of the proportional solenoid valve; determining a target limiting coefficient corresponding to the current pilot pressure value of the first pilot oil path based on a corresponding relation between a pilot pressure value of the first pilot oil path calibrated in advance and a limiting coefficient, wherein the target limiting coefficient is used for representing the limiting degree of the action of the arm in the target composite action; determining a second electric signal of the proportional solenoid valve based on the first electric signal and the target limiting coefficient; the electric signal for controlling the proportional solenoid valve is the second electric signal;
and the proportional electromagnetic valve is specifically used for controlling the opening degree of the proportional electromagnetic valve based on the second electric signal.
3. The hydraulic system of claim 2, further comprising a first pressure sensor;
the first pressure sensor is connected with the controller and used for collecting the current pilot pressure value of the first pilot oil way and sending the current pilot pressure value to the controller.
4. The hydraulic system of claim 2, further comprising a second pressure sensor;
and the second pressure sensor is connected with the controller and is used for acquiring the current pilot pressure value of the second pilot oil path and sending the current pilot pressure value to the controller.
5. The hydraulic system according to any one of claims 1 to 4, wherein the proportional solenoid valve is further configured to control an opening degree of a confluence valve of the arm by controlling an opening degree thereof based on a current pilot pressure value of the second pilot oil passage when the arm performs a single action.
6. The hydraulic system according to claim 4, wherein the controller is further configured to determine a third electrical signal of the proportional solenoid valve corresponding to the current pilot pressure value of the second pilot oil path based on a pre-calibrated corresponding relationship between the pilot pressure value of the second pilot oil path and the electrical signal of the proportional solenoid valve, and control the electrical signal of the proportional solenoid valve to be the third electrical signal;
and the proportional electromagnetic valve is specifically used for controlling the opening degree of the proportional electromagnetic valve based on the third electric signal.
7. A control method based on the hydraulic system according to any one of claims 1 to 6, characterized by comprising:
determining that the movable arm and the bucket rod perform target compound actions;
and controlling the opening of a confluence valve of the bucket rod by controlling the opening of the proportional solenoid valve based on the acquired current pilot pressure value of the first pilot oil path and the current pilot pressure value of the second pilot oil path.
8. The hydraulic system control method according to claim 7, wherein the controlling the opening degree of the confluence valve of the arm by controlling the opening degree of the proportional solenoid valve based on the collected current pilot pressure value of the first pilot oil passage and the current pilot pressure value of the second pilot oil passage includes:
determining a first electric signal of the proportional solenoid valve corresponding to the current pilot pressure value of the second pilot oil path based on a corresponding relation between the pilot pressure value of the second pilot oil path calibrated in advance and the electric signal of the proportional solenoid valve;
determining a target limiting coefficient corresponding to the current pilot pressure value of the first pilot oil path based on a corresponding relation between a pilot pressure value of the first pilot oil path calibrated in advance and a limiting coefficient, wherein the target limiting coefficient is used for representing the limiting degree of the action of the arm in the target composite action;
determining a second electrical signal of the proportional solenoid valve based on the first electrical signal and the target limiting coefficient;
and controlling the opening degree of the proportional solenoid valve based on the second electric signal.
9. The hydraulic system control method according to claim 8, characterized by further comprising collecting a current pilot pressure value of the first pilot oil passage by the first pressure sensor.
10. The hydraulic system control method according to claim 8, further comprising acquiring a current pilot pressure value of the second pilot oil passage by the second pressure sensor.
11. The hydraulic system control method according to any one of claims 7 to 10, characterized by further comprising:
and determining that the bucket rod performs single action, and controlling the opening of a flow converging valve of the bucket rod by controlling the opening of the proportional solenoid valve based on the current pilot pressure value of the second pilot oil path.
12. The hydraulic system control method according to claim 11, wherein the controlling the opening degree of the confluence valve of the arm by controlling the opening degree of the proportional solenoid valve based on the current pilot pressure value of the second pilot oil passage includes:
determining a third electric signal of the proportional solenoid valve corresponding to the current pilot pressure value of the second pilot oil path based on a corresponding relation between the pilot pressure value of the second pilot oil path calibrated in advance and the electric signal of the proportional solenoid valve, and controlling the electric signal of the proportional solenoid valve to be the third electric signal; and controlling the opening degree of the proportional solenoid valve based on the third electric signal.
13. A control apparatus based on the hydraulic system according to any one of claims 1 to 6, characterized by comprising:
the action determining module is used for determining that the movable arm and the bucket rod perform target compound actions;
and the electromagnetic valve control module is used for controlling the opening of the converging valve of the bucket rod by controlling the opening of the proportional electromagnetic valve based on the acquired current pilot pressure value of the first pilot oil path and the current pilot pressure value of the second pilot oil path.
14. An electronic device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, characterized in that said processor, when executing said program, implements a method of controlling a hydraulic system according to any one of claims 7 to 12.
15. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements a method of controlling a hydraulic system according to any one of claims 7 to 12.
16. A computer program product comprising a computer program, characterized in that the computer program realizes the control method of a hydraulic system according to any one of claims 7 to 12 when being executed by a processor.
17. Excavator comprising a hydraulic system according to any of claims 1 to 6, or a control device for performing a control method of a hydraulic system according to any of claims 7 to 12, or a control device of a hydraulic system according to claim 13, or an electronic apparatus according to claim 14, or a non-transitory computer-readable storage medium according to claim 15, or a computer program product according to claim 16.
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