WO2022222390A1 - 挖掘机辅助管路的控制方法、装置、作业机械及电子设备 - Google Patents

挖掘机辅助管路的控制方法、装置、作业机械及电子设备 Download PDF

Info

Publication number
WO2022222390A1
WO2022222390A1 PCT/CN2021/123253 CN2021123253W WO2022222390A1 WO 2022222390 A1 WO2022222390 A1 WO 2022222390A1 CN 2021123253 W CN2021123253 W CN 2021123253W WO 2022222390 A1 WO2022222390 A1 WO 2022222390A1
Authority
WO
WIPO (PCT)
Prior art keywords
auxiliary pipeline
output
flow
output flow
input
Prior art date
Application number
PCT/CN2021/123253
Other languages
English (en)
French (fr)
Inventor
许浩
戴泽瀚
Original Assignee
上海三一重机股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海三一重机股份有限公司 filed Critical 上海三一重机股份有限公司
Publication of WO2022222390A1 publication Critical patent/WO2022222390A1/zh
Priority to US18/449,889 priority Critical patent/US20230384768A1/en

Links

Images

Classifications

    • 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
    • E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
    • 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
    • E02F3/3604—Devices to connect tools to arms, booms or the like
    • E02F3/3609—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat
    • E02F3/3654—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat with energy coupler, e.g. coupler for hydraulic or electric lines, to provide energy to drive(s) mounted on the tool
    • 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
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/966—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements of hammer-type tools
    • 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
    • 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
    • E02F9/2275—Hoses and supports therefor and protection therefor
    • 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
    • E02F9/26—Indicating devices
    • E02F9/267—Diagnosing or detecting failure of vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37371—Flow
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces

Definitions

  • the present application relates to the technical field of excavators, and in particular, to a control method, device, working machine and electronic equipment for auxiliary pipelines of excavators.
  • Excavators need to be equipped with auxiliary pipelines to use auxiliary devices such as breakers and hydraulic shears. There are various auxiliary devices and different power requirements, so the required pressure/flow is also different. At present, the excavator does not detect the actual flow of the auxiliary pipeline. Although the positive flow control system of some excavators can estimate the auxiliary pipeline flow through the current of the main pump proportional valve, due to the existence of the auxiliary pipeline overflow valve and other factors, the estimated auxiliary pipeline flow The pipeline flow is also extremely inaccurate. Since the pressure sensor is far away from the auxiliary device actuator, the pressure flow distortion of the auxiliary pipeline is large. This makes the excavator unable to output the specified pressure and flow on demand, and even damages the main pump or other hydraulic components of the excavator. Therefore, we need a set of devices to accurately control the input and output of auxiliary pipeline flow, so as to reduce the risk of the above situation.
  • the present application provides a control method, device, operation machine and electronic equipment for auxiliary pipelines of excavators, which are used to solve the defect of large distortion of pressure and flow of auxiliary pipelines in the prior art, and realize the input and output of auxiliary pipeline flow. accurate control.
  • the present application provides a method for controlling an auxiliary pipeline of an excavator, which includes:
  • the output flow of the auxiliary pipeline is controlled to be adjusted to be within the target flow range.
  • the output flow rate of the auxiliary pipeline is obtained based on the input and output pressure difference, including:
  • the multiple sets of input and output pressure difference experimental data and the multiple sets of output flow experimental data are fitted to obtain the relationship model between the input and output pressure difference and the output flow.
  • the relationship model between the input and output pressure difference and the output flow rate satisfies:
  • Q o is the output flow of the auxiliary pipeline
  • ⁇ P is the input and output pressure difference of the auxiliary pipeline
  • K is the correlation coefficient between the input and output pressure difference and the output flow.
  • the output flow of the auxiliary pipeline is controlled to be adjusted to the target flow range, including:
  • reducing or increasing the output flow of the main pump includes:
  • the opening degree of the main pump proportional valve is controlled to reduce or increase the output flow of the main pump.
  • the present application also provides a control device for an auxiliary pipeline of an excavator, which includes:
  • the pressure difference acquisition module is used to obtain the input and output pressure difference of the auxiliary pipeline of the excavator;
  • an output flow calculation module configured to obtain the output flow of the auxiliary pipeline based on the input and output pressure difference
  • the output flow control module is configured to control the output flow of the auxiliary pipeline to adjust to the target flow range when it is determined that the output flow of the auxiliary pipeline is outside the target flow range.
  • the output flow calculation module is used to input the input and output pressure difference into the relationship model between the input and output pressure difference and the output flow of the auxiliary pipeline to obtain the the output flow of the auxiliary pipeline;
  • control device for the auxiliary pipeline of the excavator further comprising:
  • a pressure difference and flow data acquisition module used for acquiring multiple sets of input and output pressure difference experimental data and multiple sets of output flow experimental data of the auxiliary pipeline;
  • a pressure difference and flow relationship model acquisition module used for fitting the multiple sets of input and output pressure difference experimental data and the multiple sets of output flow experimental data based on an interpolation method to obtain the input and output pressure difference and output flow relationship Model.
  • the present application also provides a work machine, which includes the above-mentioned control device for an auxiliary pipeline of an excavator.
  • the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, when the processor executes the program, the excavator assistance described above is implemented The steps of the control method of the pipeline.
  • the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of any of the above-mentioned control methods for auxiliary pipelines of excavators.
  • the control method, device, working machine and electronic equipment for the auxiliary pipeline of an excavator provided by this application can obtain the auxiliary pipeline by inputting the input and output pressure difference of the auxiliary pipeline into the relationship model between the input and output pressure difference and the output flow rate of the auxiliary pipeline.
  • the output flow of the auxiliary pipeline obtained in the technical solution provided by this application is more in line with the actual situation, and then directly based on the auxiliary pipeline flow.
  • Adjusting the relationship between the output flow of the pipeline and the target flow range can avoid distortion of the pressure flow in the auxiliary pipeline, ensure that the output flow of the auxiliary pipeline is stable within the target flow range, and accurately control the input of the auxiliary pipeline With the output, the damage of the main pump or other hydraulic components of the excavator caused by the distortion of the pressure flow of the auxiliary pipeline is reduced.
  • FIG. 1 is a schematic flowchart of a control method for an excavator auxiliary pipeline provided by the present application
  • Fig. 2 is the principle block diagram of the control device of the auxiliary pipeline of the excavator provided by the present application;
  • FIG. 3 is a schematic structural diagram of an electronic device provided by the present application.
  • the present application provides a control method for an excavator auxiliary pipeline.
  • the control method for an excavator auxiliary pipeline includes:
  • Step 110 Obtain the input and output pressure difference of the auxiliary pipeline of the excavator.
  • the excavator can control auxiliary devices such as breakers and hydraulic shears through auxiliary pipelines.
  • two pressure sensors may be provided on the excavator auxiliary line.
  • the first pressure sensor is arranged at the rear end of the main pump proportional valve (ie: electromagnetic proportional relief valve) (ie: the output end of the main pump proportional valve), and the output end of the main pump passes through the main pump in turn
  • the proportional valve, the first transition block, and the first flange are communicated with the auxiliary pipeline.
  • the first transition block can be made of metal materials such as stainless steel or galvanized steel, and the shape of the first transition block can be a cuboid.
  • the first transition block is provided with an installation hole, and the first pressure sensor is arranged in the installation hole. Since the size of the pressure sensor is larger than the thickness of the flange (the flange thickness is generally 10mm, and the length of the pressure sensor is 12mm), the pressure sensor cannot be Mounted on the flange, therefore, a transition block can be provided here.
  • the first pressure sensor is used to monitor the pressure at the front end of the auxiliary pipeline.
  • the output end of the main pump is connected to the input end of the auxiliary pipeline through the main pump proportional valve.
  • the output flow of the main pump can be adjusted through the main pump proportional valve, that is, It is to adjust the input flow rate of the auxiliary pipeline.
  • the second pressure sensor is arranged at the end of the auxiliary pipeline, and the output end of the auxiliary pipeline is communicated with auxiliary devices such as the breaker or hydraulic shear through the second flange and the second transition block in turn.
  • the second transition block can be stainless steel or galvanized. Steel and other metal materials, and the shape of the second transition block can be a rectangular parallelepiped.
  • a mounting hole is provided in the second transition block, and the second pressure sensor can be provided in the mounting hole.
  • the second pressure sensor is used to monitor the pressure at the end of the auxiliary pipeline. After acquiring the pressure data collected by the two pressure sensors, the input and output pressure difference of the auxiliary pipeline of the excavator can be calculated.
  • the pressure sensor may be a diffusion silicon pressure transmitter, or a semiconductor piezoresistive pressure sensor, or an electrostatic capacitance type pressure sensor.
  • Step 120 Obtain the output flow of the auxiliary pipeline based on the input and output pressure difference.
  • the output flow of the auxiliary pipeline is obtained, including:
  • This step may be performed before inputting the input-output pressure difference of the auxiliary line into the model of the relationship between the input-output pressure difference and the output flow rate of the auxiliary line.
  • the input-output pressure difference and output flow relationship model satisfies:
  • Q o is the output flow of the auxiliary pipeline
  • ⁇ P is the input and output pressure difference of the auxiliary pipeline, that is, the input flow of the auxiliary pipeline minus the output flow of the auxiliary pipeline
  • K is the correlation coefficient between the input and output pressure difference and the output flow .
  • Step 130 when it is determined that the output flow of the auxiliary pipeline is outside the target flow range, control the output flow of the auxiliary pipeline to be adjusted to be within the target flow range.
  • the output flow of the auxiliary pipeline calculated here is directly calculated according to the auxiliary management input and output pressure difference, which is more in line with reality. It can be adjusted directly based on the relationship between the output flow of the auxiliary pipeline and the target flow range, which can avoid the distortion of the pressure flow in the auxiliary pipeline, and ensure that the output flow of the auxiliary pipeline is stable within the target flow range, accurate and accurate. Control the input and output of the auxiliary pipeline to reduce the damage of the main pump or other hydraulic components of the excavator caused by the distortion of the pressure flow of the auxiliary pipeline.
  • controlling the output flow of the auxiliary pipeline to adjust to be within the target flow range includes:
  • the input end of the auxiliary pipeline is connected to the output of the main pump. end connection.
  • the output flow of the main pump is reduced, and when it is determined that the output flow of the auxiliary pipeline is less than the target flow range, the output flow of the main pump is increased. Since the input end of the auxiliary pipeline is connected with the output end of the main pump, after the output flow of the main pump is reduced, the input flow and output flow of the auxiliary pipeline will also decrease. Traffic and outgoing traffic will also increase.
  • reducing or increasing the output flow of the main pump includes:
  • the output flow value of the main pump is obtained based on the difference between the output flow of the auxiliary pipeline and the target flow range.
  • the opening of the proportional valve of the main pump is controlled to reduce or increase the output flow of the main pump.
  • the main pump proportional valve here is an electromagnetic proportional relief valve, through which the output flow of the main pump is controlled.
  • the comparison result information is fed back to the controller of the excavator, and the controller can increase the current of the electromagnetic proportional relief valve that controls the output flow of the main pump, thereby improving the The main pump outputs flow, thereby increasing the real-time output flow of the auxiliary pipeline.
  • the comparison result information is fed back to the controller of the excavator, and the controller can reduce the current of the electromagnetic proportional relief valve that controls the output flow of the main pump, thereby reducing the main pump flow.
  • the pump output flow thereby reducing the real-time output flow of the auxiliary line.
  • the output flow of the auxiliary pipeline is finally guaranteed to be controlled within the target flow range.
  • control method for the auxiliary pipeline of the excavator further includes:
  • the multi-group current values of the main pump proportional valve and the multi-group main pump output flow values corresponding to the multi-group current values are fitted to obtain the relationship model between the main pump proportional valve current value and the main pump output flow.
  • the relationship model between the current value of the main pump proportional valve and the output flow of the main pump obtained by the above method can accurately reflect the relationship between the current value of the main pump proportional valve and the output flow of the main pump.
  • the current value is also more accurate.
  • control device for the auxiliary pipeline of the excavator provided by the present application.
  • the control device for the auxiliary pipeline of the excavator described below and the control method for the auxiliary pipeline of the excavator described above can be referred to each other correspondingly.
  • the control device 200 of the auxiliary pipeline of the excavator includes: a pressure difference acquisition module 210 , an output flow calculation module 220 , and an output flow control module 230 .
  • the pressure difference obtaining module 210 is used to obtain the input and output pressure difference of the auxiliary pipeline of the excavator.
  • the output flow calculation module 220 is used to obtain the output flow of the auxiliary pipeline based on the input and output pressure difference.
  • the output flow calculation module 220 is configured to input the input and output pressure difference into the relationship model between the input and output pressure difference of the auxiliary pipeline and the output flow, so as to obtain the output flow of the auxiliary pipeline.
  • control device 200 for the auxiliary pipeline of the excavator further includes: a pressure difference and flow data acquisition module, and a pressure difference and flow relationship model acquisition module.
  • the pressure difference and flow data acquisition module is used to obtain multiple sets of input and output pressure difference experimental data and multiple sets of output flow experimental data of the auxiliary pipeline.
  • the pressure difference and flow relationship model acquisition module is used to fit multiple sets of input and output pressure difference experimental data and multiple sets of output flow experimental data based on the interpolation method to obtain a relationship model between input and output pressure difference and output flow.
  • Q o is the output flow of the auxiliary pipeline
  • ⁇ P is the input and output pressure difference of the auxiliary pipeline, that is, the input flow of the auxiliary pipeline minus the output flow of the auxiliary pipeline
  • K is the correlation coefficient between the input and output pressure difference and the output flow .
  • the output flow control module 230 is configured to control the output flow of the auxiliary pipeline to adjust to be within the target flow range when it is determined that the output flow of the auxiliary pipeline is outside the target flow range.
  • the output flow of the auxiliary pipeline calculated by the output flow calculation module 220 is directly based on the auxiliary management input and output pressure difference.
  • the calculation is more in line with the actual situation, and then the output flow control module 230 directly adjusts it based on the relationship between the output flow of the auxiliary pipeline and the target flow range, which can avoid the distortion of the pressure flow in the auxiliary pipeline, and also ensure the auxiliary pipeline.
  • the output flow of the road is stabilized within the target flow range, the input and output of the auxiliary pipeline are accurately controlled, and the damage to the main pump or other hydraulic components of the excavator caused by the distortion of the pressure flow of the auxiliary pipeline is reduced.
  • control device 200 for the auxiliary pipeline of the excavator further includes two pressure sensors disposed on the auxiliary pipeline of the excavator.
  • the first pressure sensor is arranged at the rear end of the main pump proportional valve (ie: electromagnetic proportional relief valve) (ie: the output end of the main pump proportional valve) to monitor the pressure at the front end of the auxiliary pipeline , the output end of the main pump is connected with the input end of the auxiliary pipeline through the main pump proportional valve, and the output flow of the main pump can be adjusted through the main pump proportional valve, that is, the input flow of the auxiliary pipeline can be adjusted.
  • the main pump proportional valve ie: electromagnetic proportional relief valve
  • the output end of the main pump is connected with the input end of the auxiliary pipeline through the main pump proportional valve, and the output flow of the main pump can be adjusted through the main pump proportional valve, that is, the input flow of the auxiliary pipeline can be adjusted.
  • the second pressure sensor is arranged at the end of the auxiliary line to monitor the pressure at the end of the auxiliary line.
  • the pressure difference acquiring module 210 can calculate the input and output pressure difference of the auxiliary pipeline of the excavator.
  • the pressure sensor may be a diffusion silicon pressure transmitter, or a semiconductor piezoresistive pressure sensor, or an electrostatic capacitance type pressure sensor.
  • the output flow control module 230 reduces or increases the output flow of the main pump when it is determined that the output flow of the auxiliary pipeline is outside the target flow range, so as to control the output flow of the auxiliary pipeline to adjust to the target flow range ;
  • the input end of the auxiliary pipeline is communicated with the output end of the main pump.
  • the output flow control module 230 reduces the output flow of the main pump when it is determined that the output flow of the auxiliary pipeline is greater than the target flow range, and increases the main pump when it is determined that the output flow of the auxiliary pipeline is less than the target flow range. output flow. Since the input end of the auxiliary pipeline is connected with the output end of the main pump, after the output flow of the main pump is reduced, the input flow and output flow of the auxiliary pipeline will also decrease. Traffic and outgoing traffic will also increase.
  • the output flow control module 230 includes: a flow difference calculation unit, a main pump proportional valve current value calculation unit, and a main pump output control unit.
  • the flow difference calculation unit is used to obtain the output flow value of the main pump based on the difference between the output flow of the auxiliary pipeline and the target flow range when it is determined that the output flow of the auxiliary pipeline is outside the target flow range.
  • the main pump proportional valve current value calculation unit is used to input the main pump output flow value into the relationship model between the main pump proportional valve current value and the main pump output flow, and obtain the main pump proportional valve current value.
  • the main pump output control unit is used to control the opening degree of the main pump proportional valve based on the current value of the main pump proportional valve, so as to reduce or increase the output flow of the main pump.
  • control device 200 for the auxiliary pipeline of the excavator further includes: a current and flow data acquisition module, and a current and flow relationship model acquisition module.
  • the current and flow data acquisition module is used to acquire multiple sets of current values of the proportional valve of the main pump and multiple sets of output flow values of the main pump corresponding to the multiple sets of current values.
  • the current-flow relationship model acquisition module is used to fit multiple sets of current values of the proportional valve of the main pump and multiple sets of output flow values of the main pump corresponding to the multiple sets of current values based on the interpolation method to obtain the current value of the proportional valve of the main pump and the The main pump output flow relationship model.
  • the relationship model between the current value of the main pump proportional valve and the output flow of the main pump obtained by the above method can accurately reflect the relationship between the current value of the main pump proportional valve and the output flow of the main pump.
  • the current value is also more accurate.
  • the work machine includes the above-mentioned control device for the auxiliary pipeline of the excavator, and the work machine may be an excavator or other work machines.
  • the electronic device provided by the present application is described below, and the electronic device described below and the control method for the auxiliary pipeline of the excavator described above can be referred to each other correspondingly.
  • FIG. 3 illustrates a schematic diagram of the physical structure of an electronic device.
  • the electronic device may include: a processor (processor) 310, a communication interface (Communications Interface) 320, a memory (memory) 330 and a communication bus 340,
  • the processor 310 , the communication interface 320 , and the memory 330 communicate with each other through the communication bus 340 .
  • the processor 310 can call the logic instructions in the memory 330 to execute the control method of the auxiliary pipeline of the excavator.
  • the method includes: acquiring the input and output pressure difference of the auxiliary pipeline of the excavator; inputting the input and output pressure difference to the auxiliary pipeline Input and output pressure difference and output flow relationship model to obtain the output flow of the auxiliary pipeline; when it is determined that the output flow of the auxiliary pipeline is outside the target flow range, control the output flow of the auxiliary pipeline to adjust to the target flow range.
  • the above-mentioned logic instructions in the memory 330 may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as an independent product.
  • the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution, and the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .
  • the present application also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer
  • the computer can execute the control method for the auxiliary pipeline of the excavator provided by the above methods, the method includes: acquiring the input and output pressure difference of the auxiliary pipeline of the excavator; inputting the input and output pressure difference to the input and output of the auxiliary pipeline The relationship model between the pressure difference and the output flow is used to obtain the output flow of the auxiliary pipeline; when it is determined that the output flow of the auxiliary pipeline is outside the target flow range, the output flow of the auxiliary pipeline is controlled to be adjusted within the target flow range.
  • the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, is implemented to execute the above-mentioned control methods for auxiliary pipelines of excavators,
  • the method includes: acquiring the input and output pressure difference of the auxiliary pipeline of the excavator; inputting the input and output pressure difference into the relationship model between the input and output pressure difference and the output flow of the auxiliary pipeline to obtain the output flow of the auxiliary pipeline; after determining the auxiliary pipeline When the output flow rate of the controller is outside the target flow rate range, the output flow rate of the control auxiliary pipeline is adjusted to be within the target flow rate range.
  • the device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.
  • each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware.
  • the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computational Mathematics (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

本申请提供一种挖掘机辅助管路的控制方法、装置、作业机械及电子设备，挖掘机辅助管路的控制方法包括：获取挖掘机辅助管路的输入输出压力差；基于所述输入输出压力差，得到所述辅助管路的输出流量；在确定所述辅助管路的输出流量位于目标流量范围外的情况下，控制所述辅助管路的输出流量调整至所述目标流量范围内。本申请提供的挖掘机辅助管路的控制方法用以解决现有技术中辅助管路的压力流量失真较大的缺陷，实现辅助管路流量的输入与输出的准确控制。

Description

挖掘机辅助管路的控制方法、装置、作业机械及电子设备
相关申请的交叉引用
本申请要求于2021年04月22日提交的申请号为202110437588.7，发明名称为“挖掘机辅助管路的控制方法、装置、作业机械及电子设备”的中国专利申请的优先权，其通过引用方式全部并入本文。
技术领域
本申请涉及挖掘机技术领域，尤其涉及一种挖掘机辅助管路的控制方法、装置、作业机械及电子设备。
背景技术
挖掘机需要搭载辅助管路来使用破碎锤、液压剪等辅助装置，辅助装置各样、功率要求也不同，因此其需要的压力/流量也不同。目前挖掘机不检测辅助管路的实际流量，部分挖掘机正流量控制系统虽可通过主泵比例阀电流推测辅助管路流量，但由于辅助管路溢流阀等因素的存在，故而推测的辅助管路流量也极其不准确，由于压力传感器远离辅助装置执行机构，所以辅助管路的压力流量失真较大。这使得挖掘机无法按需输出指定的压力与流量，甚至损坏挖掘机的主泵或其他液压元件。因此，我们需要一套装置准确控制辅助管路流量的输入与输出，从而降低以上情况发生的风险。
发明内容
本申请提供一种挖掘机辅助管路的控制方法、装置、作业机械及电子设备，用以解决现有技术中辅助管路的压力流量失真较大的缺陷，实现辅助管路流量的输入与输出的准确控制。
本申请提供一种挖掘机辅助管路的控制方法，其包括：
获取挖掘机辅助管路的输入输出压力差；
基于所述输入输出压力差，得到所述辅助管路的输出流量；
在确定所述辅助管路的输出流量位于目标流量范围外的情况下，控制所述辅助管路的输出流量调整至所述目标流量范围内。
根据本申请提供的挖掘机辅助管路的控制方法，所述基于所述输入输出压力差，得到所述辅助管路的输出流量，包括：
将所述输入输出压力差输入至所述辅助管路的输入输出压力差与输出流量关系模型，得到所述辅助管路的输出流量；
所述输入输出压力差与输出流量关系模型通过如下方法得到：
获取所述辅助管路的多组输入输出压力差实验数据以及多组输出流量实验数据；
基于插值法，将所述多组输入输出压力差实验数据、所述多组输出流量实验数据进行拟合，得到所述输入输出压力差与输出流量关系模型。
根据本申请提供的挖掘机辅助管路的控制方法，所述输入输出压力差与输出流量关系模型满足：
Figure PCTCN2021123253-appb-000001
Q o为所述辅助管路的输出流量，ΔP为所述辅助管路的输入输出压力差，K为输入输出压力差与输出流量的相关系数。
根据本申请提供的挖掘机辅助管路的控制方法，所述在确定所述辅助管路的输出流量位于目标流量范围外的情况下，控制所述辅助管路的输出流量调整至所述目标流量范围内，包括：
在确定所述辅助管路的输出流量位于所述目标流量范围外的情况下，降低或者提升主泵输出流量，以控制所述辅助管路的输出流量调整至所述目标流量范围内；其中，所述辅助管路的输入端与主泵输出端连通。
根据本申请提供的挖掘机辅助管路的控制方法，所述在确定所述辅助管路的输出流量位于所述目标流量范围外的情况下，降低或者提升主泵输出流量，包括：
在确定所述辅助管路的输出流量位于目标流量范围外的情况下，基于所述辅助管路的输出流量与所述目标流量范围之间的差值，得到主泵输出流量值；
将所述主泵输出流量值输入至主泵比例阀电流值与主泵输出流量关系模型，得到主泵比例阀电流值；
基于所述主泵比例阀电流值控制主泵比例阀的开度，降低或者提升主泵输出流量。
本申请还提供一种挖掘机辅助管路的控制装置，其包括：
压力差获取模块，用于获取挖掘机辅助管路的输入输出压力差；
输出流量计算模块，用于基于所述输入输出压力差，得到所述辅助管路的输出流量；
输出流量控制模块，用于在确定所述辅助管路的输出流量位于目标流量范围外的情况下，控制所述辅助管路的输出流量调整至所述目标流量范围内。
根据本申请提供的挖掘机辅助管路的控制装置，所述输出流量计算模块，用于将所述输入输出压力差输入至所述辅助管路的输入输出压力差与输出流量关系模型，得到所述辅助管路的输出流量；
所述挖掘机辅助管路的控制装置，还包括：
压力差与流量数据获取模块，用于获取所述辅助管路的多组输入输出压力差实验数据以及多组输出流量实验数据；
压力差与流量关系模型获取模块，用于基于插值法，将所述多组输入输出压力差实验数据、所述多组输出流量实验数据进行拟合，得到所述输入输出压力差与输出流量关系模型。
本申请还提供一种作业机械，其包括上述的挖掘机辅助管路的控制装置。
本申请还提供一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如上述任一种所述挖掘机辅助管路的控制方法的步骤。
本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现如上述任一种所述挖掘机辅助管路的控制方法的步骤。
本申请提供的挖掘机辅助管路的控制方法、装置、作业机械及电子设备，通过将辅助管路的输入输出压力差输入至辅助管路的输入输出压力差与输出流量关系模型，得到辅助管路的输出流量，相对于现有技术中的通过主泵比例阀电流值推测辅助管路流量，本申请提供的技术方案中所得到的辅助管路的输出流量更符合实际情况，再直接基于辅助管路的输出流量与目标流量范围之间的关系进行调整，可以避免辅助管路中的压力流量失真，还能保证辅助管路的输出流量稳定在目标流量范围内，准确控制辅助管路的输入与输出，降低由于辅助管路的压力流量失真所导致的挖掘机的主泵或其他液压元件的损坏。
附图说明
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请提供的挖掘机辅助管路的控制方法的流程示意图；
图2是本申请提供的挖掘机辅助管路的控制装置的原理框图；
图3是本申请提供的电子设备的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
下面结合图1-图3描述本申请的挖掘机辅助管路的控制方法、装置、作业机械及电子设备。
本申请提供一种挖掘机辅助管路的控制方法，如图1所示，挖掘机辅助管路的控制方法包括：
步骤110、获取挖掘机辅助管路的输入输出压力差。
挖掘机可以通过辅助管路控制破碎锤、液压剪等辅助装置。
在一些实施例中，可以在挖掘机辅助管路上设置两个压力传感器。
在上述的实施例中，第一个压力传感器设置在主泵比例阀(即：电磁比例溢流阀)后端(即：主泵比例阀的输出端)，主泵的输出端依次通过主泵比例阀、第一过渡块、第一法兰与辅助管路连通，第一过渡块可以是不锈钢或者镀锌钢等金属材质，且第一过渡块的形状可以为长方体。
第一过渡块上设置有安装孔，第一压力传感器设置于该安装孔中，由于压力传感器的尺寸大于法兰的厚度(法兰厚度一般为10mm，压力传感器的长度为12mm)，压力传感器无法安装在法兰上，因此，这里可以设置一个过渡块。
第一个压力传感器用于监测辅助管路前端的压力，主泵的输出端通过主泵比例阀与辅助管路的输入端连通，通过主泵比例阀可以调整主泵的输出流量大小，也即是调整辅助管路的输入流量大小。
第二个压力传感器设置于辅助管路末端，辅助管路的输出端依次通过第二法兰、第二过渡块与破碎锤或者液压剪等辅助装置连通，第二过渡块可以是不锈钢或者镀锌钢等金属材质，且第二过渡块的形状可以为长方体。在第二过渡块中设置有安装孔，第二压力传感器可以设置在该安装孔中。
第二个压力传感器用于监测辅助管路末端的压力，在获取了两个压力传感器采集的压力数据后，可以计算得到挖掘机辅助管路的输入输出压力差。
在上述的实施例中，压力传感器可以是扩散硅压力变送器，或者是半导体压电阻型压力传感器，也可以是静电容量型压力传感器。
步骤120、基于输入输出压力差，得到辅助管路的输出流量。
基于输入输出压力差，得到辅助管路的输出流量，具体包括：
将辅助管路的输入输出压力差输入至辅助管路的输入输出压力差与输出流量关系模型，得到辅助管路的输出流量。
输入输出压力差与输出流量关系模型，通过如下方法得到：
获取辅助管路的多组输入输出压力差实验数据以及多组输出流量实验数据；
基于插值法，将多组输入输出压力差实验数据、多组输出流量实验数据进行拟合，得到输入输出压力差与输出流量关系模型。
该步骤可以在将辅助管路的输入输出压力差输入至辅助管路的输入输出压力差与输出流量关系模型之前执行。
在一些实施例中，输入输出压力差与输出流量关系模型满足：
Figure PCTCN2021123253-appb-000002
Q o为辅助管路的输出流量，ΔP为辅助管路的输入输出压力差，即为辅助管路的输入流量减去辅助管路的输出流量，K为输入输出压力差与输出流量的相关系数。
辅助管路的输入输出压力差，与该辅助管路的输出流量之间具有对应关系，该对应关系与辅助管路中的流体，以及辅助管路的形状和管口大小相对应。
步骤130、在确定辅助管路的输出流量位于目标流量范围外的情况下， 控制辅助管路的输出流量调整至目标流量范围内。
需要说明的是，相对于现有技术中的通过主泵比例阀电流值推测辅助管路流量，这里计算得到的辅助管路的输出流量是根据辅助管理输入输出压力差直接计算得到，更符合实际情况，再直接基于辅助管路的输出流量与目标流量范围之间的关系进行调整，可以避免辅助管路中的压力流量失真，还能保证辅助管路的输出流量稳定在目标流量范围内，准确控制辅助管路的输入与输出，降低由于辅助管路的压力流量失真所导致的挖掘机的主泵或其他液压元件的损坏。
在一些实施例中，在确定辅助管路的输出流量位于目标流量范围外的情况下，控制辅助管路的输出流量调整至目标流量范围内，包括：
在确定辅助管路的输出流量位于目标流量范围外的情况下，降低或者提升主泵输出流量，以控制辅助管路的输出流量调整至目标流量范围内；辅助管路的输入端与主泵输出端连通。
可以理解地，在确定辅助管路的输出流量大于目标流量范围的情况下，降低主泵输出流量，在确定辅助管路的输出流量小于目标流量范围的情况下，提升主泵输出流量。由于辅助管路的输入端与主泵输出端连通，在降低了主泵输出流量后，辅助管路的输入流量及输出流量也会降低，在提升了主泵输出流量后，辅助管路的输入流量及输出流量也会提升。
在一些实施例中，在确定辅助管路的输出流量位于目标流量范围外的情况下，降低或者提升主泵输出流量，包括：
在确定辅助管路的输出流量位于目标流量范围外的情况下，基于辅助管路的输出流量与目标流量范围之间的差值，得到主泵输出流量值。
将主泵输出流量值输入至主泵比例阀电流值与主泵输出流量关系模型，得到主泵比例阀电流值。
基于主泵比例阀电流值控制主泵比例阀的开度，降低或者提升主泵输出流量。
这里的主泵比例阀是电磁比例溢流阀，通过该电磁比例溢流阀控制主泵的输出流量。
将主泵输出流量值输入至主泵比例阀电流值与主泵输出流量关系模型，所得到的主泵比例阀电流值更加精确，可以提升主泵比例阀的控制效率，节 省主泵比例阀的调控时间，以便更高效的将辅助管路的输出流量调整至目标流量范围内。
在辅助管路的输出流量Q o＜Q min的情况下，将该比较结果信息反馈至挖掘机的控制器，控制器可以增大控制主泵输出流量的电磁比例溢流阀的电流，进而提高主泵输出流量，从而增加辅助管路的实时输出流量。
在辅助管路的输出流量Q o＞Q max的情况下，将该比较结果信息反馈至挖掘机的控制器，控制器可以降低控制主泵输出流量的电磁比例溢流阀的电流，进而降低主泵输出流量，从而降低辅助管路的实时输出流量。
通过上述动态调节的方式，最终保证将辅助管路的输出流量控制在目标流量范围内。
在一些实施例中，挖掘机辅助管路的控制方法，还包括：
获取主泵比例阀的多组电流值，以及与该多组电流值对应的多组主泵输出流量值；
基于插值法，将主泵比例阀的多组电流值以及与多组电流值对应的多组主泵输出流量值进行拟合，得到主泵比例阀电流值与主泵输出流量关系模型。
通过上述方法所得到的主泵比例阀电流值与主泵输出流量关系模型，能够准确的反应主泵比例阀电流值与主泵输出流量之间的关系，通过该模型所得到的主泵比例阀电流值也更加准确。
下面对本申请提供的挖掘机辅助管路的控制装置进行描述，下文描述的挖掘机辅助管路的控制装置与上文描述的挖掘机辅助管路的控制方法可相互对应参照。
如图2所示，该挖掘机辅助管路的控制装置200包括：压力差获取模块210、输出流量计算模块220、输出流量控制模块230。
压力差获取模块210用于获取挖掘机辅助管路的输入输出压力差。
输出流量计算模块220用于基于输入输出压力差，得到辅助管路的输出流量。
在一些实施例中，输出流量计算模块220用于将输入输出压力差输入至辅助管路的输入输出压力差与输出流量关系模型，得到辅助管路的输出流量。
辅助管路的输入输出压力差，与该辅助管路的输出流量之间具有对应关系，该对应关系与辅助管路中的流体，以及辅助管路的形状和管口大小相对 应。
在一些实施例中，挖掘机辅助管路的控制装置200还包括：压力差与流量数据获取模块、压力差与流量关系模型获取模块。
压力差与流量数据获取模块用于获取辅助管路的多组输入输出压力差实验数据以及多组输出流量实验数据。
压力差与流量关系模型获取模块用于基于插值法，将多组输入输出压力差实验数据、多组输出流量实验数据进行拟合，得到输入输出压力差与输出流量关系模型。
输入输出压力差与输出流量关系模型满足：
Figure PCTCN2021123253-appb-000003
Q o为辅助管路的输出流量，ΔP为辅助管路的输入输出压力差，即为辅助管路的输入流量减去辅助管路的输出流量，K为输入输出压力差与输出流量的相关系数。
输出流量控制模块230，用于在确定辅助管路的输出流量位于目标流量范围外的情况下，控制辅助管路的输出流量调整至目标流量范围内。
需要说明的是，相对于现有技术中的通过主泵比例阀电流值推测辅助管路流量，这里输出流量计算模块220所计算得到的辅助管路的输出流量是根据辅助管理输入输出压力差直接计算得到，更符合实际情况，再由输出流量控制模块230直接基于辅助管路的输出流量与目标流量范围之间的关系进行调整，可以避免辅助管路中的压力流量失真，还能保证辅助管路的输出流量稳定在目标流量范围内，准确控制辅助管路的输入与输出，降低由于辅助管路的压力流量失真所导致的挖掘机的主泵或其他液压元件的损坏。
在一些实施例中，挖掘机辅助管路的控制装置200还包括设置于挖掘机辅助管路上的两个压力传感器。
在上述的实施例中，第一个压力传感器设置在主泵比例阀(即：电磁比例溢流阀)后端(即：主泵比例阀的输出端)，用于监测辅助管路前端的压力，主泵的输出端通过主泵比例阀与辅助管路的输入端连通，通过主泵比例阀可以调整主泵的输出流量大小，也即是调整辅助管路的输入流量大小。
第二个压力传感器设置于辅助管路末端，用于监测辅助管路末端的压力。压力差获取模块210在获取了两个压力传感器采集的压力数据后，可以计算得到挖掘机辅助管路的输入输出压力差。
在上述的实施例中，压力传感器可以是扩散硅压力变送器，或者是半导体压电阻型压力传感器，也可以是静电容量型压力传感器。
在一些实施例中，输出流量控制模块230在确定辅助管路的输出流量位于目标流量范围外的情况下，降低或者提升主泵输出流量，以控制辅助管路的输出流量调整至目标流量范围内；辅助管路的输入端与主泵输出端连通。
可以理解地，输出流量控制模块230在确定辅助管路的输出流量大于目标流量范围的情况下，降低主泵输出流量，在确定辅助管路的输出流量小于目标流量范围的情况下，提升主泵输出流量。由于辅助管路的输入端与主泵输出端连通，在降低了主泵输出流量后，辅助管路的输入流量及输出流量也会降低，在提升了主泵输出流量后，辅助管路的输入流量及输出流量也会提升。
输出流量控制模块230包括：流量差值计算单元、主泵比例阀电流值计算单元、主泵输出控制单元。
流量差值计算单元用于在确定辅助管路的输出流量位于目标流量范围外的情况下，基于辅助管路的输出流量与目标流量范围之间的差值，得到主泵输出流量值。
主泵比例阀电流值计算单元用于将主泵输出流量值输入至主泵比例阀电流值与主泵输出流量关系模型，得到主泵比例阀电流值。
主泵输出控制单元用于基于主泵比例阀电流值控制主泵比例阀的开度，降低或者提升主泵输出流量。
在一些实施例中，挖掘机辅助管路的控制装置200还包括：电流与流量数据获取模块、电流与流量关系模型获取模块。
电流与流量数据获取模块用于获取主泵比例阀的多组电流值，以及与该多组电流值对应的多组主泵输出流量值。
电流与流量关系模型获取模块用于基于插值法，将主泵比例阀的多组电流值以及与多组电流值对应的多组主泵输出流量值进行拟合，得到主泵比例阀电流值与主泵输出流量关系模型。
通过上述方法所得到的主泵比例阀电流值与主泵输出流量关系模型，能够准确的反应主泵比例阀电流值与主泵输出流量之间的关系，通过该模型所得到的主泵比例阀电流值也更加准确。
下面对本申请提供的作业机械进行描述，下文描述的作业机械与上文描述的挖掘机辅助管路的控制装置可相互对应参照。
该作业机械包含有上述的挖掘机辅助管路的控制装置，该作业机械可以是挖掘机，或者其他作业机械。
在本申请提供的作业机械中，由于具备如上所述的挖掘机辅助管路的控制装置，因此同样具备如上所述挖掘机辅助管路的控制装置的各种优势。
下面对本申请提供的电子设备进行描述，下文描述的电子设备与上文描述的挖掘机辅助管路的控制方法可相互对应参照。
图3示例了一种电子设备的实体结构示意图，如图3所示，该电子设备可以包括：处理器(processor)310、通信接口(Communications Interface)320、存储器(memory)330和通信总线340，其中，处理器310，通信接口320，存储器330通过通信总线340完成相互间的通信。处理器310可以调用存储器330中的逻辑指令，以执行挖掘机辅助管路的控制方法，该方法包括：获取挖掘机辅助管路的输入输出压力差；将输入输出压力差输入至辅助管路的输入输出压力差与输出流量关系模型，得到辅助管路的输出流量；在确定辅助管路的输出流量位于目标流量范围外的情况下，控制辅助管路的输出流量调整至目标流量范围内。
此外，上述的存储器330中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
另一方面，本申请还提供一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，计算机能够执行上述各方法所提供的挖掘机辅助管路的控制方法，该方法包括：获取挖掘机辅助管路的输 入输出压力差；将输入输出压力差输入至辅助管路的输入输出压力差与输出流量关系模型，得到辅助管路的输出流量；在确定辅助管路的输出流量位于目标流量范围外的情况下，控制辅助管路的输出流量调整至目标流量范围内。
又一方面，本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各提供的挖掘机辅助管路的控制方法，该方法包括：获取挖掘机辅助管路的输入输出压力差；将输入输出压力差输入至辅助管路的输入输出压力差与输出流量关系模型，得到辅助管路的输出流量；在确定辅助管路的输出流量位于目标流量范围外的情况下，控制辅助管路的输出流量调整至目标流量范围内。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (10)

  1. 一种挖掘机辅助管路的控制方法，包括：
    获取挖掘机辅助管路的输入输出压力差；
    基于所述输入输出压力差，得到所述辅助管路的输出流量；
    在确定所述辅助管路的输出流量位于目标流量范围外的情况下，控制所述辅助管路的输出流量调整至所述目标流量范围内。
  2. 根据权利要求1所述的挖掘机辅助管路的控制方法，其中，所述基于所述输入输出压力差，得到所述辅助管路的输出流量，包括：
    将所述输入输出压力差输入至所述辅助管路的输入输出压力差与输出流量关系模型，得到所述辅助管路的输出流量；
    所述输入输出压力差与输出流量关系模型通过如下方法得到：
    获取所述辅助管路的多组输入输出压力差实验数据以及多组输出流量实验数据；
    基于插值法，将所述多组输入输出压力差实验数据、所述多组输出流量实验数据进行拟合，得到所述输入输出压力差与输出流量关系模型。
  3. 根据权利要求2所述的挖掘机辅助管路的控制方法，其中，所述输入输出压力差与输出流量关系模型满足：
    Figure PCTCN2021123253-appb-100001
    Q o为所述辅助管路的输出流量，ΔP为所述辅助管路的输入输出压力差，K为输入输出压力差与输出流量的相关系数。
  4. 根据权利要求1～3任一项所述的挖掘机辅助管路的控制方法，其中，所述在确定所述辅助管路的输出流量位于目标流量范围外的情况下，控制所述辅助管路的输出流量调整至所述目标流量范围内，包括：
    在确定所述辅助管路的输出流量位于所述目标流量范围外的情况下，降低或者提升主泵输出流量，以控制所述辅助管路的输出流量调整至所述目标流量范围内；其中，所述辅助管路的输入端与主泵输出端连通。
  5. 根据权利要求4所述的挖掘机辅助管路的控制方法，其中，所述在确定所述辅助管路的输出流量位于所述目标流量范围外的情况下，降低或者提升主泵输出流量，包括：
    在确定所述辅助管路的输出流量位于目标流量范围外的情况下，基于所述辅助管路的输出流量与所述目标流量范围之间的差值，得到主泵输出流量 值；
    将所述主泵输出流量值输入至主泵比例阀电流值与主泵输出流量关系模型，得到主泵比例阀电流值；
    基于所述主泵比例阀电流值控制主泵比例阀的开度，降低或者提升主泵输出流量。
  6. 一种挖掘机辅助管路的控制装置，包括：
    压力差获取模块，用于获取挖掘机辅助管路的输入输出压力差；
    输出流量计算模块，用于基于所述输入输出压力差，得到所述辅助管路的输出流量；
    输出流量控制模块，用于在确定所述辅助管路的输出流量位于目标流量范围外的情况下，控制所述辅助管路的输出流量调整至所述目标流量范围内。
  7. 根据权利要求6所述的挖掘机辅助管路的控制装置，其中，所述输出流量计算模块，用于将所述输入输出压力差输入至所述辅助管路的输入输出压力差与输出流量关系模型，得到所述辅助管路的输出流量；
    所述挖掘机辅助管路的控制装置，还包括：
    压力差与流量数据获取模块，用于获取所述辅助管路的多组输入输出压力差实验数据以及多组输出流量实验数据；
    压力差与流量关系模型获取模块，用于基于插值法，将所述多组输入输出压力差实验数据、所述多组输出流量实验数据进行拟合，得到所述输入输出压力差与输出流量关系模型。
  8. 一种作业机械，包括权利要求6或7所述的挖掘机辅助管路的控制装置。
  9. 一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述程序时实现如权利要求1至5任一项所述挖掘机辅助管路的控制方法的步骤。
  10. 一种非暂态计算机可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时实现如权利要求1至5任一项所述挖掘机辅助管路的控制方法的步骤。
PCT/CN2021/123253 2021-04-22 2021-10-12 挖掘机辅助管路的控制方法、装置、作业机械及电子设备 WO2022222390A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US18/449,889 US20230384768A1 (en) 2021-04-22 2023-08-15 Control method, and control device for auxiliary pipeline of excavator, working machine and electronic apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110437588.7 2021-04-22
CN202110437588.7A CN113158344B (zh) 2021-04-22 2021-04-22 挖掘机辅助管路的控制方法、装置、作业机械及电子设备

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/449,889 Continuation US20230384768A1 (en) 2021-04-22 2023-08-15 Control method, and control device for auxiliary pipeline of excavator, working machine and electronic apparatus

Publications (1)

Publication Number Publication Date
WO2022222390A1 true WO2022222390A1 (zh) 2022-10-27

Family

ID=76869559

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/123253 WO2022222390A1 (zh) 2021-04-22 2021-10-12 挖掘机辅助管路的控制方法、装置、作业机械及电子设备

Country Status (3)

Country Link
US (1) US20230384768A1 (zh)
CN (1) CN113158344B (zh)
WO (1) WO2022222390A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113158344B (zh) * 2021-04-22 2024-02-23 上海三一重机股份有限公司 挖掘机辅助管路的控制方法、装置、作业机械及电子设备

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1035868A (zh) * 1988-01-27 1989-09-27 日立建机株式会社 负载传感液压驱动线路的控制系统
US20140046552A1 (en) * 2011-05-25 2014-02-13 Hitachi Construction Machinery Co., Ltd. Electric drive unit for construction machine
CN105026773A (zh) * 2013-01-28 2015-11-04 卡特彼勒Sarl 发动机辅助装置及作业机械
CN109778937A (zh) * 2018-12-14 2019-05-21 徐州徐工挖掘机械有限公司 一种基于破碎工况的自寻优控制装置及方法
CN110409544A (zh) * 2019-06-28 2019-11-05 三一重机有限公司 一种挖掘机辅助功能控制系统及挖掘机
CN113158344A (zh) * 2021-04-22 2021-07-23 上海三一重机股份有限公司 挖掘机辅助管路的控制方法、装置、作业机械及电子设备

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1035868A (zh) * 1988-01-27 1989-09-27 日立建机株式会社 负载传感液压驱动线路的控制系统
US20140046552A1 (en) * 2011-05-25 2014-02-13 Hitachi Construction Machinery Co., Ltd. Electric drive unit for construction machine
CN105026773A (zh) * 2013-01-28 2015-11-04 卡特彼勒Sarl 发动机辅助装置及作业机械
CN109778937A (zh) * 2018-12-14 2019-05-21 徐州徐工挖掘机械有限公司 一种基于破碎工况的自寻优控制装置及方法
CN110409544A (zh) * 2019-06-28 2019-11-05 三一重机有限公司 一种挖掘机辅助功能控制系统及挖掘机
CN113158344A (zh) * 2021-04-22 2021-07-23 上海三一重机股份有限公司 挖掘机辅助管路的控制方法、装置、作业机械及电子设备

Also Published As

Publication number Publication date
US20230384768A1 (en) 2023-11-30
CN113158344B (zh) 2024-02-23
CN113158344A (zh) 2021-07-23

Similar Documents

Publication Publication Date Title
WO2022222390A1 (zh) 挖掘机辅助管路的控制方法、装置、作业机械及电子设备
CN105916079B (zh) 一种扬声器非线性补偿方法及装置
US9127684B2 (en) Method and device performing model based anti-surge dead time compensation
US20130263583A1 (en) Method of controlling the flow rate of a variable capacity hydraulic pump for a construction apparatus
CN110984267A (zh) 挖掘机的压力控制方法、装置、控制器及可读存储介质
CN114688004B (zh) 流量分配方法、装置及作业机械
WO2024087508A1 (zh) 液压系统控制方法、装置及石油机械
CN111306849B (zh) 一种提高稳定性的膨胀阀控制方法、装置及空调设备
CN114312843B (zh) 用于确定信息的方法和装置
CN117846797A (zh) 一种氢气发动机爆震抑制系统的控制方法、装置及设备
JPWO2016067438A1 (ja) 系統安定化制御装置及び方法
WO2018188542A1 (zh) 计数方法、计数器及存储介质
CN116366560A (zh) 流量转发控制方法、装置、设备和介质
KR102278353B1 (ko) 서보 시스템의 자동 공진 검출 및 억제 장치 및 그 방법
WO2024001185A1 (zh) 风扇控制方法、装置及作业机械
CN114753940A (zh) 发动机转速控制方法、电子设备、工程机械及存储介质
WO2023273791A1 (zh) 挖掘机控制方法和装置、电子设备及存储介质
JP6773530B2 (ja) 末端圧力制御装置および末端圧力制御方法
CN115750540A (zh) 液压系统控制方法、装置及作业机械
JP2019007157A (ja) 作業機械
CN102606551B (zh) 远距离多组比例泵液压同步控制方法
CN102569114A (zh) 一种金属导线尺寸监测方法
CN110032171B (zh) 一种基于截止频率控制回路设计方法
JP6585997B2 (ja) 蒸気システム
KR20150084392A (ko) 배관과 부속물 사이의 예상응력 산출장치

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21937612

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21937612

Country of ref document: EP

Kind code of ref document: A1