CN116517919A - Automatic calibration method and device for hydraulic system and engineering machinery - Google Patents
Automatic calibration method and device for hydraulic system and engineering machinery Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The application discloses an automatic calibration method and device of a hydraulic system and engineering machinery, wherein a target proportional valve of the hydraulic system to be calibrated is controlled to be opened based on each control point of a control curve, and a target current value of the target proportional valve and a corresponding main pump pressure value are obtained; calculating a relative pressure difference between adjacent main pump pressure values; when the relative pressure difference value meets a series of standards, calculating a relative current difference value between adjacent target current values; calibrating a control curve of the hydraulic system to be calibrated according to the relative current difference value and the standard current difference value; in the calibration process, on the premise that the relative pressure difference value meets a series of standards determined by the standard pressure difference value, calculating the relative current difference value between adjacent target current values, and analyzing the relative current difference value and the standard current difference value to calibrate a control curve of the hydraulic system so as to realize that the output effect of the engineering machinery is close to the expected standard, thereby improving the consistency and reliability of the engineering machinery.
Description
Technical Field
The application relates to the technical field of calibration of hydraulic systems, in particular to an automatic calibration method and device of a hydraulic system and engineering machinery.
Background
Important constituent elements of the hydraulic system of a working machine are a hydraulic pump, a hydraulic motor and a valve, whereas the relation between the displacement of the hydraulic pump, the hydraulic motor and the control current is not fixed. Errors can be generated in the production, manufacture and assembly of the main valve and the hydraulic pump in the hydraulic loop and the assembly of the main valve and the hydraulic pump, the hydraulic pipeline and the actuating mechanism, and the errors are superimposed to cause obvious performance differences of engineering machinery with the same configuration, and particularly, a great deal of manpower and time are still required to be consumed to find the cause of the problem in the process of popularization from a model machine to a vector machine.
Aiming at the problems, the existing solution is mainly to use the main pressure of the hydraulic pump as a judgment basis to carry out single-point calibration on the engineering machinery, the single-point calibration is easily influenced by the temperature of hydraulic oil, the ambient temperature and the atmospheric pressure, and the calibration data size is small, and the calibration precision and the calibration accuracy are low.
Disclosure of Invention
The invention provides an automatic calibration method and device of a hydraulic system and engineering machinery, which are used for solving the defects that single-point calibration is easily influenced by hydraulic oil temperature, ambient temperature and atmospheric pressure, and the calibration data volume is small and the calibration precision and accuracy are low in the prior art.
According to one aspect of the present application, there is provided an automatic calibration method for a hydraulic system, including: based on each control point of a control curve, controlling a target proportional valve of a hydraulic system to be calibrated to be opened and obtaining a target current value and a corresponding main pump pressure value of the target proportional valve; calculating a relative pressure difference between adjacent ones of the main pump pressure values; calculating a relative current difference between adjacent ones of the target current values when the relative pressure difference meets a series of criteria; wherein the series of criteria is derived based on a standard pressure difference; and calibrating the control curve of the hydraulic system to be calibrated according to the relative current difference value and the standard current difference value.
In an embodiment, said calibrating said control curve of said hydraulic system to be calibrated based on said relative current difference and standard current difference comprises: calculating the difference between the relative current difference and the standard current difference to obtain an absolute current difference; and calibrating the control curve of the hydraulic system to be calibrated according to the absolute current difference value.
In one embodiment, after said calculating the relative current difference between adjacent said target current values, the method of automatic calibration of the hydraulic system further comprises: calculating to obtain the slope of the hydraulic system to be calibrated according to the relative pressure difference value and the relative current difference value; the slope of the hydraulic system to be calibrated represents the proportion of the relative pressure difference value and the relative current difference value; and determining the running state of the hydraulic system to be calibrated according to the slope of the hydraulic system to be calibrated.
In an embodiment, the calculating the slope of the hydraulic system to be calibrated according to the relative pressure difference value and the relative current difference value includes: according to the relative pressure difference value and the relative current difference value, calculating to obtain the relative slope of the hydraulic system to be calibrated; calculating to obtain an absolute slope difference value of the hydraulic system to be calibrated according to the relative slope and the standard slope; the determining the running state of the hydraulic system to be calibrated according to the slope of the hydraulic system to be calibrated comprises: and determining the running state of the hydraulic system to be calibrated according to the absolute slope difference value.
In an embodiment, the determining the operation state of the hydraulic system to be calibrated according to the absolute slope difference value includes: and when the absolute slope difference exceeds a preset slope range, predicting that the hydraulic system to be calibrated is abnormal in operation and sending out a pre-alarm signal.
In an embodiment, the determining the operation state of the hydraulic system to be calibrated according to the absolute slope difference value includes: calculating the difference between the absolute slope difference value of the current calibration and the absolute slope difference value of the last calibration to obtain the change quantity of the absolute slope difference value; and when the absolute slope difference variation exceeds a preset variation range, predicting that the hydraulic system to be calibrated is abnormal in operation and sending out a pre-alarm signal.
In an embodiment, after controlling the target proportional valve of the hydraulic system to be calibrated to be opened and obtaining the target current value of the target proportional valve and the corresponding main pump pressure value at each control point based on the control curve, the automatic calibration method of the hydraulic system further includes: when the target current value exceeds a preset current range, adjusting the target current value; and if the relative pressure difference still does not meet the series of standards after the target current value is adjusted, determining that the hydraulic system to be calibrated fails.
In an embodiment, after the determining that the hydraulic system to be calibrated has failed, the automatic calibration method of the hydraulic system further includes: controlling the current change of the target proportional valve according to a preset wave function, and collecting a corresponding main pump pressure value; and determining that repair is complete when the relative pressure difference between adjacent ones of the main pump pressure values meets the series of criteria.
According to another aspect of the present application, there is provided an automatic calibration device for a hydraulic system, comprising: the data acquisition module is used for controlling a target proportional valve of a hydraulic system to be calibrated to be opened based on each control point of the control curve and acquiring a target current value of the target proportional valve and a corresponding main pump pressure value; the pressure difference calculation module is used for calculating the relative pressure difference between the adjacent main pump pressure values; a current difference calculation module for calculating a relative current difference between adjacent ones of the target current values when the relative pressure difference meets a series of criteria; wherein the series of criteria is derived based on a standard pressure difference; and the curve calibration module is used for calibrating the control curve of the hydraulic system to be calibrated according to the relative current difference value and the standard current difference value.
According to another aspect of the present application, there is provided a construction machine including: a hydraulic system; and an automatic calibration device of the hydraulic system.
According to the automatic calibration method and device for the hydraulic system and the engineering machinery, the target proportional valve of the hydraulic system to be calibrated is controlled to be opened and the target current value of the target proportional valve and the corresponding main pump pressure value are obtained based on each control point of the control curve; calculating a relative pressure difference between adjacent main pump pressure values; when the relative pressure difference value meets a series of standards, calculating a relative current difference value between adjacent target current values; calibrating a control curve of the hydraulic system to be calibrated according to the relative current difference value and the standard current difference value; in the calibration process, the relative pressure difference between adjacent main pump pressure values corresponding to discrete points of the control curve is calculated, the relative current difference between adjacent target current values is calculated on the premise that the relative pressure difference meets a series of standards determined by the standard pressure difference, and the relative current difference and the standard current difference are analyzed to calibrate the control curve of the hydraulic system, so that the output effect of the engineering machine is close to the expected standard, and the consistency and reliability of the engineering machine are improved.
Drawings
The foregoing and other objects, features and advantages of the present application will become more apparent from the following more particular description of embodiments of the present application, as illustrated in the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.
Fig. 1 is a system diagram to which the present application is applied.
Fig. 2 is a flow chart of an automatic calibration method of a hydraulic system according to an exemplary embodiment of the present application.
Fig. 3 is a flowchart of a method for automatic calibration of a hydraulic system according to another exemplary embodiment of the present application.
Fig. 4 is a flowchart of a method for automatic calibration of a hydraulic system according to another exemplary embodiment of the present application.
Fig. 5 is a flowchart of a method for determining an operation state of a hydraulic system to be calibrated according to an exemplary embodiment of the present application.
Fig. 6 is a flowchart of a method for automatic calibration of a hydraulic system according to another exemplary embodiment of the present application.
Fig. 7 is a flowchart of a method for automatic calibration of a hydraulic system according to another exemplary embodiment of the present application.
Fig. 8 is a schematic flow chart of an automatic maintenance method for a hydraulic system to be calibrated according to an exemplary embodiment of the present application.
Fig. 9 is a flowchart of a method for automatic calibration of a hydraulic system according to another exemplary embodiment of the present application.
Fig. 10 is a schematic structural diagram of an automatic calibration device of a hydraulic system according to an exemplary embodiment of the present application.
Fig. 11 is a schematic structural view of an automatic calibration device of a hydraulic system according to another exemplary embodiment of the present application.
Fig. 12 is a block diagram of an electronic device according to an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application and not all of the embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein.
Along with the continuous development of electric control technology and intelligent technology, electric, intelligent and digital engineering machinery is also rapidly developed, for example, the control mode of a main valve of most machines such as an excavator, a loader and the like is changed from hydraulic control into electric control, and the electric signal of a handle is converted into pilot oil port pressure and further converted into valve core opening area (opening degree) so as to realize the control of flow and pressure, and the distribution and control of flow are realized through the mutual matching of a plurality of valves, so that the expected action is completed. Meanwhile, the automation and intelligent development of engineering machinery also provides conditions and foundation for the automatic calibration of the engineering machinery.
In the following, the structure of the hydraulic system to which the present application is applied will be described by taking an excavator as an example, and referring to the accompanying drawings, it should be understood that the present application only takes the excavator as an example, and the construction machine described in the present application is a construction machine including the hydraulic system, not limiting the construction machine to include only the excavator.
FIG. 1 is a system diagram to which the present application is applied, as shown in FIG. 1, a hydraulic system of an excavator includes: the hydraulic system comprises an oil tank 1, a pilot pump 2, a main pump 3, an unloading valve 4, a bucket valve 5, a bucket cylinder 6 and a controller 7; the unloading valve 4 and the bucket valve 5 may be valves such as electromagnetic proportional valves. The operator inputs a control signal via the handle, which is converted into a pilot oil pressure signal and transmitted to the pilot pump, which provides a pilot pressure to control the output flow and pressure of the main pump. The current signal is output to the bucket valve 5, the main pump proportional valve (not shown in the figure) and the unloading valve 4 through the controller 7, so that the currents of the main pump proportional valve and the unloading valve 4 are controlled at a certain set value, the current of the bucket valve 5 is changed, meanwhile, the current of the bucket valve 5 is continuously changed for a plurality of times through the sensor to collect the main pump pressure value P of the main pump 3 and the current value I of the bucket valve 5, the corresponding main pump pressure value and the current value of the bucket valve 5 are collected, a plurality of discrete points of a control curve are obtained, and the discrete points are calibrated to obtain a calibrated control curve.
Fig. 2 is a flow chart of an automatic calibration method of a hydraulic system according to an exemplary embodiment of the present application. The automatic calibration method of the hydraulic system is applied to the controller of the hydraulic system, as shown in fig. 2, and comprises the following steps:
step 210: and on the basis of each control point of the control curve, controlling a target proportional valve of the hydraulic system to be calibrated to be opened and acquiring a target current value and a corresponding main pump pressure value of the target proportional valve.
The control curve may be obtained according to the engineering machine corresponding to the hydraulic system to be calibrated, specifically, by changing the current of the target proportional valve (such as the bucket valve and the like) and collecting the corresponding main pump pressure value and the target current value, so as to obtain a plurality of discrete control points (specifically, the pilot valve pressure value and the target proportional valve current value), and fitting based on the plurality of discrete control points to obtain the control curve. According to the method and the device, the current of the hydraulic system to be calibrated is controlled according to each control point of the control curve, so that the target proportional valve and the main pump respectively reach the target current value and the corresponding main pump pressure value. Specifically, the current of the target proportional valve can be changed according to actual operation requirements.
Step 220: a relative pressure differential between adjacent main pump pressure values is calculated.
And calculating the relative pressure difference between the adjacent main pump pressure values to acquire the variation of the main pump pressure value corresponding to the adjacent target current value. Specifically, the relative pressure difference DeltaP between the ith discrete point and the (i-1) th discrete point of the hydraulic system to be calibrated i ＝P i -P i-1 Wherein P is i For the main pump pressure value corresponding to the ith discrete point of the hydraulic system to be calibrated, P i-1 For the main pump pressure value corresponding to the i-1 th discrete point of the hydraulic system to be calibrated, i is more than or equal to 0 and less than or equal to n, n is the number of discrete control points in the control curve, and P is more than or equal to 0 i ≤P max ，P max Is the maximum value of the main pump pressure.
Step 230: when the relative pressure difference satisfies a series of criteria, a relative current difference between adjacent target current values is calculated.
Wherein the series of standards are based on standard pressure difference, the standard pressure difference deltaP 0i Is the difference between the pressure value of the main pump between the ith discrete point and the (i-1) th discrete point in the control curve of the standard prototype device, namely delta P 0i ＝P 0i -P 0(i-1) Wherein P is 0i The main pump pressure value corresponding to the ith discrete point of the standard prototype device, P 0(i-1) The main pump pressure value corresponding to the i-1 th discrete point of the standard prototype device. Specifically, the relative pressure difference value of the hydraulic system to be calibrated meets a series of standards, and the difference value of all the relative pressure difference values of the hydraulic system to be calibrated is the same as the standard pressure difference value or is smaller than a preset value. The relative current difference between adjacent target current values (i.e. at different set differential pressures
ΔP i Relative current value below) Δi i ＝I i -I i-1 Wherein I i For the target current value corresponding to the ith discrete point of the hydraulic system to be calibrated, I i-1 Corresponding to the (i-1) discrete point of the hydraulic system to be calibratedIs equal to or less than 0 and is equal to or less than I i ≤I max ，I max Is the maximum current value of the target proportional valve. It should be understood that, according to the actual requirement, one or more key discrete points may be selected to calculate the corresponding relative current difference, and the control curve may be calibrated according to the calculated relative current difference. Preferably, the present application may select continuous discrete points to calculate the corresponding relative current difference, and calibrate the control curve with the calculated relative current difference, so as to improve the control accuracy of the control curve as much as possible.
Step 240: and calibrating a control curve of the hydraulic system to be calibrated according to the relative current difference value and the standard current difference value.
After the relative current difference value of the hydraulic system to be calibrated and the standard current difference value of the standard prototype device are obtained through calculation, the control curve of the hydraulic system to be calibrated is calibrated based on the standard current difference value of the standard prototype device, so that the interference of environmental factors (such as temperature and pressure) on calibration is eliminated, and the accuracy and consistency of calibration are improved. Wherein the standard current difference DeltaI 0i ＝I 0i -I 0(i-1) Wherein I 0i The current value of the target proportional valve corresponding to the ith discrete point of the standard prototype equipment is I 0(i-1) The current value of the target proportional valve corresponding to the i-1 th discrete point of the standard prototype device.
In one embodiment, the specific implementation of step 240 may be: and calculating a difference value between the relative current difference value and the standard current difference value to obtain an absolute current difference value, and calibrating a control curve of the hydraulic system to be calibrated according to the absolute current difference value. Wherein the absolute current difference DeltaI of the I-1 th discrete point S(i-1) ＝ΔI (i-1) -ΔI 0(i-1) Absolute current difference Δi of the I-th discrete point Si ＝I i -I 0i -(ΔI S(i-1) +ΔI S(i-2) +......+ΔI S1 )。
According to the automatic calibration method of the hydraulic system, the target proportional valve of the hydraulic system to be calibrated is controlled to be opened and the target current value of the target proportional valve and the corresponding main pump pressure value are obtained based on each control point of the control curve; calculating a relative pressure difference between adjacent main pump pressure values; when the relative pressure difference value meets a series of standards, calculating a relative current difference value between adjacent target current values; calibrating a control curve of the hydraulic system to be calibrated according to the relative current difference value and the standard current difference value; in the calibration process, the relative pressure difference between adjacent main pump pressure values corresponding to discrete points of the control curve is calculated, the relative current difference between adjacent target current values is calculated on the premise that the relative pressure difference meets a series of standards determined by the standard pressure difference, and the relative current difference and the standard current difference are analyzed to calibrate the control curve of the hydraulic system, so that the output effect of the engineering machine is close to the expected standard, and the consistency and reliability of the engineering machine are improved.
Fig. 3 is a flowchart of a method for automatic calibration of a hydraulic system according to another exemplary embodiment of the present application. As shown in fig. 3, after step 230, the automatic calibration method of the hydraulic system may further include:
step 250: and calculating to obtain the slope of the hydraulic system to be calibrated according to the relative pressure difference value and the relative current difference value.
The slope of the hydraulic system to be calibrated represents the proportion of the relative pressure difference value and the relative current difference value.
Step 260: and determining the running state of the hydraulic system to be calibrated according to the slope of the hydraulic system to be calibrated.
According to the method and the device, the slope of the hydraulic system to be calibrated is calculated to pre-judge the change trend of the relative pressure difference value and the relative current difference value of the hydraulic system to be calibrated, so that the running state or future trend of the hydraulic system to be calibrated can be pre-known.
Fig. 4 is a flowchart of a method for automatic calibration of a hydraulic system according to another exemplary embodiment of the present application. As shown in fig. 4, the step 250 may include:
step 251: and calculating to obtain the relative slope of the hydraulic system to be calibrated according to the relative pressure difference value and the relative current difference value.
Specifically, the hydraulic system to be calibratedRelative slope ΔK of system i ＝ΔP i /ΔI i 。
Step 252: and calculating to obtain the absolute slope difference value of the hydraulic system to be calibrated according to the relative slope and the standard slope.
Specifically, the standard slope ΔK 0i ＝ΔP 0i /ΔI 0i Absolute slope difference delta K of hydraulic system to be calibrated Si ＝ΔK i -ΔK 0i 。
Correspondingly, step 260 may include:
step 261: and determining the running state of the hydraulic system to be calibrated according to the absolute slope difference value.
The operation state of the hydraulic system to be calibrated is determined by comparing the relative slope of the hydraulic system to be calibrated with the standard slope of the standard prototype device, so that the change trend of the relative pressure difference value and the relative current difference value of the hydraulic system to be calibrated can be utilized to pre-judge whether the hydraulic system to be calibrated has faults or hidden dangers.
In one embodiment, the specific implementation of step 261 may be: and when the absolute slope difference exceeds a preset slope range, predicting that the hydraulic system to be calibrated is abnormal in operation and sending out a pre-alarm signal.
For example, if the difference between the relative slope of the hydraulic system to be calibrated and the standard slope of the standard prototype device is large, it is indicated that the operation state of the hydraulic system to be calibrated has a fault or hidden trouble.
In one embodiment, the specific implementation of step 261 may be: and calculating the difference between the absolute slope difference value of the current calibration and the absolute slope difference value of the last calibration to obtain the change quantity of the absolute slope difference value, and when the change quantity of the absolute slope difference value exceeds a preset change range, predicting the abnormal operation of the hydraulic system to be calibrated and sending out a pre-alarm signal. According to the method and the device, the change amount of the absolute slope difference is obtained by calculating the difference between the absolute slope difference of the current calibration and the absolute slope difference of the last calibration, so that the change trend of the absolute slope difference of the hydraulic system to be calibrated is known, and when the change amount of the absolute slope difference exceeds the preset change range, the change trend of the absolute slope difference is indicated to be changed towards the abnormal direction, and at the moment, the abnormal operation of the hydraulic system to be calibrated can be predicted and a pre-alarm signal can be sent out. Specifically, as shown in fig. 5, the operation state determining method includes the following steps:
step 510: and calculating the absolute slope difference variation of the calibration.
Specifically, the absolute slope difference variation delta K of the ith node of the hydraulic system to be calibrated at the nth integral calibration (the present calibration) TSi The calculation mode of (2) is as follows:
ΔK TSi ＝ΔK NSi -ΔK (N-1)Si ＝ΔK Ni -ΔK (N-1)i ；
wherein ΔK NSi For the absolute slope difference of this calibration, ΔK （N-1)Si For the absolute slope difference of the last calibration, ΔK Ni For the relative slope of this calibration, ΔK (N-1)i For the relative slope of the last calibration, N is more than or equal to 2, i is more than or equal to 0 and less than or equal to N.
Step 520: whether the absolute slope difference variation of the current calibration is within the preset variation range is determined, if yes, step 530 is performed, otherwise step 540 is performed.
Step 530: and determining that the operation state is normal.
If the absolute slope difference change rate of the calibration is within a preset change range (error range), namely that the relative slope change of the hydraulic system to be calibrated is smaller, the corresponding hydraulic system to be calibrated is stable in performance, and the hydraulic system to be calibrated can be judged to be prone to a normal state.
Step 540: and determining abnormal running state and prompting a system fault pre-alarm.
If the absolute slope difference change rate of the calibration exceeds a preset change range (error range), the relative slope change of the hydraulic system to be calibrated is larger, the performance of the corresponding hydraulic system to be calibrated is unstable, and the hydraulic system to be calibrated can be judged to be prone to an abnormal state.
Fig. 6 is a flowchart of a method for automatic calibration of a hydraulic system according to another exemplary embodiment of the present application. As shown in fig. 6, after step 210, the automatic calibration method of the hydraulic system may further include:
step 270: and when the target current value exceeds a preset current range, adjusting the target current value.
When the target current value exceeds the preset current range, the hydraulic system to be calibrated is indicated to be abnormal, however, the abnormality of the hydraulic system may be caused by excessive error (not reduced or eliminated) or may be a fault problem (reduced or eliminated) of the system itself. At this time, in order to further determine the cause of the abnormality, the present application starts the abnormality cause determination process after the first abnormality alert, adjusts the target current, and specifically may modify the target current value by setting a function.
Step 280: if the relative pressure difference still does not meet a series of standards after the target current value is adjusted, determining that the hydraulic system to be calibrated fails.
If the relative pressure difference value of the corresponding main pump pressure value still does not meet a series of standards after the target current value is adjusted, the problem of the hydraulic system to be calibrated is indicated, namely the abnormality cause of the hydraulic system to be calibrated can be determined as the system fault, and an alarm prompt of the system fault can be sent out at the moment. If the relative pressure difference value of the corresponding main pump pressure value meets a series of standards after the target current value is adjusted, the hydraulic system to be calibrated is free of problems, and the abnormal cause of the hydraulic system to be calibrated can be determined to be overlarge error, and an alarm prompt of overlarge error can be sent out at the moment.
Fig. 7 is a flowchart of a method for automatic calibration of a hydraulic system according to another exemplary embodiment of the present application. As shown in fig. 7, after step 280, the automatic calibration method of the hydraulic system may further include:
step 290: and overhauling the hydraulic system to be calibrated.
In one embodiment, the implementation of step 290 may be: and controlling the current change of the target proportional valve according to a preset wave function, collecting the corresponding main pump pressure value, and determining that the repair is completed when the relative pressure difference between the corresponding main pump pressure values meets a series of standards. When detecting the fault alarm signal of the hydraulic system to be calibrated, the maintenance flow can be started after the calibration is finished, the target current is changed in a wave function mode, the relative pressure difference value between the main pump pressure values of two adjacent discrete points is calculated, whether each relative pressure difference value meets the requirement or not is judged, if yes, the repair is prompted to be finished, the calibration can be continuously finished, and if not, the maintenance is prompted to be not finished. Specifically, as shown in fig. 8, the maintenance method includes the following steps:
step 810: and judging whether an overhaul signal exists, if so, turning to step 820, otherwise, turning to step 830.
Specifically, the overhaul signal can be a hydraulic system fault alarm signal or a manually input overhaul signal.
Step 820: the current of the target proportional valve is changed according to a set wave function.
The current (target current) of the target proportional valve is changed according to the set wave function, the main pump pressure value corresponding to the main pump is synchronously collected, and then the relative pressure difference value between the main pump pressure values of adjacent discrete points is obtained.
Step 830: prompting that maintenance is not needed.
Step 840: whether the relative pressure difference meets the requirement is determined, if yes, step 850 is executed, otherwise step 860 is executed.
Specifically, it is determined whether the relative pressure difference between the main pump pressure values of adjacent two discrete points satisfies a series of requirements (e.g., requirements for a series of criteria).
Step 850: and prompting the repair to be completed.
Step 860: indicating failure to repair.
Fig. 9 is a flowchart of a method for automatic calibration of a hydraulic system according to another exemplary embodiment of the present application. As shown in fig. 9, the automatic calibration method of the hydraulic system may include the steps of:
step 901: the target current value and the main pump pressure value are collected.
Specifically, an independent oil way is arranged for the prototype equipment, the target current of the target proportional valve and the current of other auxiliary valves are controlled, and the main pump pressure value of the main pump is synchronously collected.
Step 902: and judging whether the target current value is out of range, if so, turning to step 903, otherwise, turning to step 904.
Step 903: and alarming the system abnormality.
This step is similar to step 270 described above and will not be described again here.
Step 904: and judging whether the relative pressure difference between the adjacent main pump pressure values reaches a series of standards, if so, turning to step 905, otherwise, turning to step 901.
This step is similar to step 280 described above and will not be described again here.
Step 905: an absolute slope difference is calculated.
This step is similar to step 250 described above and will not be described again here.
Step 906: whether the absolute slope difference exceeds the preset slope range is determined, if yes, step 907 is proceeded, otherwise step 908 is proceeded.
Step 907: the system pre-alarms.
This step is similar to step 260 described above and will not be described again here.
Step 908: the number of calibration times is added with 1.
Step 909: and judging whether the calibration times exceeds the preset times, if so, turning to step 910, otherwise, turning to step 901.
Step 910: and calibrating the control curve point by point.
Fig. 10 is a schematic structural diagram of an automatic calibration device of a hydraulic system according to an exemplary embodiment of the present application. As shown in fig. 10, the automatic calibration device 90 of the hydraulic system includes: the data acquisition module 91 is configured to control, based on each control point of the control curve, the opening of a target proportional valve of the hydraulic system to be calibrated and acquire a target current value of the target proportional valve and a corresponding main pump pressure value; a pressure difference calculation module 92 for calculating a relative pressure difference between adjacent main pump pressure values; a current difference calculation module 93 for calculating a relative current difference between adjacent target current values when the relative pressure difference satisfies a series of criteria; wherein the series of criteria is based on a standard pressure difference; and a curve calibration module 94 for calibrating a control curve of the hydraulic system to be calibrated according to the relative current difference and the standard current difference.
According to the automatic calibration device for the hydraulic system, the data acquisition module 91 controls the target proportional valve of the hydraulic system to be calibrated to be opened and acquires the target current value of the target proportional valve and the corresponding main pump pressure value based on each control point of the control curve; the pressure difference calculation module 92 calculates a relative pressure difference between adjacent main pump pressure values; when the relative pressure difference satisfies the series of criteria, the current difference calculation module 93 calculates a relative current difference between adjacent target current values; and a curve calibration module 94 calibrates a control curve of the hydraulic system to be calibrated according to the relative current difference and the standard current difference; in the calibration process, the relative pressure difference between adjacent main pump pressure values corresponding to discrete points of the control curve is calculated, the relative current difference between adjacent target current values is calculated on the premise that the relative pressure difference meets a series of standards determined by the standard pressure difference, and the relative current difference and the standard current difference are analyzed to calibrate the control curve of the hydraulic system, so that the output effect of the engineering machine is close to the expected standard, and the consistency and reliability of the engineering machine are improved.
In one embodiment, the curve calibration module 94 may be further configured to: and calculating a difference value between the relative current difference value and the standard current difference value to obtain an absolute current difference value, and calibrating a control curve of the hydraulic system to be calibrated according to the absolute current difference value.
Fig. 11 is a schematic structural view of an automatic calibration device of a hydraulic system according to another exemplary embodiment of the present application. As shown in fig. 11, the automatic calibration device 90 of the hydraulic system may further include: the slope calculation module 95 is configured to calculate a slope of the hydraulic system to be calibrated according to the relative pressure difference value and the relative current difference value, where the slope of the hydraulic system to be calibrated represents a ratio of the relative pressure difference value to the relative current difference value; the state determining module 96 is configured to determine an operation state of the hydraulic system to be calibrated according to a slope of the hydraulic system to be calibrated.
In one embodiment, as shown in fig. 11, the slope calculating module 95 may include: a first calculating unit 951, configured to calculate a relative slope of the hydraulic system to be calibrated according to the relative pressure difference value and the relative current difference value; the second calculating unit 952 is configured to calculate an absolute slope difference value of the hydraulic system to be calibrated according to the relative slope and the standard slope; correspondingly, the status determination module 96 may be further configured to: and determining the running state of the hydraulic system to be calibrated according to the absolute slope difference value.
In one embodiment, the status determination module 96 may be further configured to: and when the absolute slope difference exceeds a preset slope range, predicting that the hydraulic system to be calibrated is abnormal in operation and sending out a pre-alarm signal.
In one embodiment, the status determination module 96 may be further configured to: and calculating the difference between the absolute slope difference value of the current calibration and the absolute slope difference value of the last calibration to obtain the change quantity of the absolute slope difference value, and when the change quantity of the absolute slope difference value exceeds a preset change range, predicting the abnormal operation of the hydraulic system to be calibrated and sending out a pre-alarm signal.
In one embodiment, as shown in fig. 11, the automatic calibration device 90 of the hydraulic system may further include: a current adjustment module 97 for adjusting the target current value when the target current value exceeds a preset current range; the fault determining module 98 is configured to determine that the hydraulic system to be calibrated has a fault if the relative pressure difference between the adjacent main pump pressure values still does not meet the series of criteria after the target current value is adjusted.
In one embodiment, as shown in fig. 11, the automatic calibration device 90 of the hydraulic system may further include: and the system overhaul module 99 is used for overhauling the hydraulic system to be calibrated.
In an embodiment, the system maintenance module 99 may be further configured to: and controlling the current change of the target proportional valve according to a preset wave function, collecting the corresponding main pump pressure value, and determining that the repair is completed when the relative pressure difference between the corresponding main pump pressure values meets a series of standards.
The application also provides a construction machine, comprising: a hydraulic system; and an automatic calibration device of the hydraulic system.
According to the engineering machinery, the target proportional valve of the hydraulic system to be calibrated is controlled to be opened and the target current value of the target proportional valve and the corresponding main pump pressure value are obtained through each control point based on the control curve; calculating a relative pressure difference between adjacent main pump pressure values; when the relative pressure difference value meets a series of standards, calculating a relative current difference value between adjacent target current values; calibrating a control curve of the hydraulic system to be calibrated according to the relative current difference value and the standard current difference value; in the calibration process, the relative pressure difference between adjacent main pump pressure values corresponding to discrete points of the control curve is calculated, the relative current difference between adjacent target current values is calculated on the premise that the relative pressure difference meets a series of standards determined by the standard pressure difference, and the relative current difference and the standard current difference are analyzed to calibrate the control curve of the hydraulic system, so that the output effect of the engineering machine is close to the expected standard, and the consistency and reliability of the engineering machine are improved.
Next, an electronic device according to an embodiment of the present application is described with reference to fig. 12. The electronic device may be either or both of the first device and the second device, or a stand-alone device independent thereof, which may communicate with the first device and the second device to receive the acquired input signals therefrom.
Fig. 12 illustrates a block diagram of an electronic device according to an embodiment of the present application.
As shown in fig. 12, the electronic device 10 includes one or more processors 11 and a memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that can be executed by the processor 11 to implement the methods of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, and the like may also be stored in the computer-readable storage medium.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).
When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information to the outside, including the determined distance information, direction information, and the like. The output means 14 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.
Of course, only some of the components of the electronic device 10 that are relevant to the present application are shown in fig. 12 for simplicity, components such as buses, input/output interfaces, etc. are omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
The computer program product may write program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
Claims (10)
1. An automatic calibration method for a hydraulic system, comprising:
based on each control point of a control curve, controlling a target proportional valve of a hydraulic system to be calibrated to be opened and obtaining a target current value and a corresponding main pump pressure value of the target proportional valve;
calculating a relative pressure difference between adjacent ones of the main pump pressure values;
calculating a relative current difference between adjacent ones of the target current values when the relative pressure difference meets a series of criteria; wherein the series of criteria is derived based on a standard pressure difference; and
and calibrating the control curve of the hydraulic system to be calibrated according to the relative current difference value and the standard current difference value.
2. The method for automatic calibration of a hydraulic system according to claim 1, wherein said calibrating said control curve of said hydraulic system to be calibrated based on said relative current difference and a standard current difference comprises:
calculating the difference between the relative current difference and the standard current difference to obtain an absolute current difference; and
and calibrating the control curve of the hydraulic system to be calibrated according to the absolute current difference value.
3. The automatic calibration method of a hydraulic system according to claim 1, characterized in that after said calculating the relative current difference between the adjacent target current values, the automatic calibration method of a hydraulic system further comprises:
calculating to obtain the slope of the hydraulic system to be calibrated according to the relative pressure difference value and the relative current difference value; the slope of the hydraulic system to be calibrated represents the proportion of the relative pressure difference value and the relative current difference value; and
and determining the running state of the hydraulic system to be calibrated according to the slope of the hydraulic system to be calibrated.
4. The method for automatic calibration of a hydraulic system according to claim 3, wherein calculating the slope of the hydraulic system to be calibrated according to the relative pressure difference and the relative current difference comprises:
according to the relative pressure difference value and the relative current difference value, calculating to obtain the relative slope of the hydraulic system to be calibrated; and
calculating to obtain an absolute slope difference value of the hydraulic system to be calibrated according to the relative slope and the standard slope;
the determining the running state of the hydraulic system to be calibrated according to the slope of the hydraulic system to be calibrated comprises:
and determining the running state of the hydraulic system to be calibrated according to the absolute slope difference value.
5. The method of automatic calibration of a hydraulic system according to claim 4, wherein determining the operating state of the hydraulic system to be calibrated based on the absolute slope difference value comprises:
and when the absolute slope difference exceeds a preset slope range, predicting that the hydraulic system to be calibrated is abnormal in operation and sending out a pre-alarm signal.
6. The method of automatic calibration of a hydraulic system according to claim 4, wherein determining the operating state of the hydraulic system to be calibrated based on the absolute slope difference value comprises:
calculating the difference between the absolute slope difference value of the current calibration and the absolute slope difference value of the last calibration to obtain the change quantity of the absolute slope difference value; and
and when the absolute slope difference variation exceeds a preset variation range, predicting that the hydraulic system to be calibrated is abnormal in operation and sending out a pre-alarm signal.
7. The automatic calibration method of a hydraulic system according to claim 1, wherein after controlling the opening of a target proportional valve of the hydraulic system to be calibrated and obtaining a target current value of the target proportional valve and a corresponding main pump pressure value at each control point based on the control curve, the automatic calibration method of the hydraulic system further comprises:
when the target current value exceeds a preset current range, adjusting the target current value;
and if the relative pressure difference still does not meet the series of standards after the target current value is adjusted, determining that the hydraulic system to be calibrated fails.
8. The method for automatic calibration of a hydraulic system according to claim 7, wherein after said determining that the hydraulic system to be calibrated has failed, the method for automatic calibration of a hydraulic system further comprises:
controlling the current change of the target proportional valve according to a preset wave function, and collecting a corresponding main pump pressure value;
and determining that repair is complete when the relative pressure difference between adjacent ones of the main pump pressure values meets the series of criteria.
9. An automatic calibration device for a hydraulic system, comprising:
the data acquisition module is used for controlling a target proportional valve of a hydraulic system to be calibrated to be opened based on each control point of the control curve and acquiring a target current value of the target proportional valve and a corresponding main pump pressure value;
the pressure difference calculation module is used for calculating the relative pressure difference between the adjacent main pump pressure values;
a current difference calculation module for calculating a relative current difference between adjacent ones of the target current values when the relative pressure difference meets a series of criteria; wherein the series of criteria is derived based on a standard pressure difference; and
and the curve calibration module is used for calibrating the control curve of the hydraulic system to be calibrated according to the relative current difference value and the standard current difference value.
10. A construction machine, comprising:
a hydraulic system; and
an automatic calibration device for a hydraulic system according to claim 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310487111.9A CN116517919A (en) | 2023-04-28 | 2023-04-28 | Automatic calibration method and device for hydraulic system and engineering machinery |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310487111.9A CN116517919A (en) | 2023-04-28 | 2023-04-28 | Automatic calibration method and device for hydraulic system and engineering machinery |
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| CN202310487111.9A Pending CN116517919A (en) | 2023-04-28 | 2023-04-28 | Automatic calibration method and device for hydraulic system and engineering machinery |
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