WO2023179270A1 - Fault-tolerant processing method and apparatus for working machine, and working machine - Google Patents

Abstract

The present application relates to the technical field of working machine control. Provided are a fault-tolerant processing method and apparatus for a working machine, and a working machine. The method comprises: acquiring a pressure signal, which is transmitted by a pressure sensor of a working machine; upon determining that the pressure signal is abnormal, determining a fault sensor corresponding to the abnormal pressure signal; determining a fault-tolerant strategy corresponding to the fault sensor; and obtaining a target output current on the basis of the fault-tolerant strategy, and sending the target output current to a main pump of the working machine, so as to control the working machine to continue operating. The present application is used for solving the defect in the prior art of a working machine being unable to complete a working condition operation in a timely manner due to the ceasing of the operation when a pressure sensor of the working machine malfunctions, such that operations can be continued even when the pressure sensor of the working machine malfunctions.

Description

Fault-tolerant processing method and device for working machinery and working machinery

Cross-references to related applications

This application claims the priority of the Chinese patent application with application number 202210281243.1 submitted on March 21, 2022, and the invention title is "Fault-tolerant processing method, device and working machine for working machinery", which is fully incorporated herein by reference.

Technical field

The present application relates to the technical field of operating machinery control, and in particular to a fault-tolerant processing method, device and operating machinery for operating machinery.

Background technique

When the operating machinery is operating under working conditions, the operating machinery is controlled by monitoring the pressure signals transmitted by the pressure sensor installed on the pilot oil line and the pressure sensor installed on the main pump. The working environment of the working machinery is relatively harsh, causing the pressure sensor to malfunction, resulting in abnormal pressure signals received. When any of the received pressure signals is abnormal, the working machinery will stop working and perform inspections of the working machinery, resulting in failure to complete the working conditions in time and delaying the construction period.

Contents of the invention

This application provides a fault-tolerant processing method, device and operating machinery for working machinery to solve the problem in the prior art that when the pressure sensor of the working machinery fails, the operation is stopped, resulting in the inability to complete the working condition operation in time, and realizes the fault tolerance of the working machinery. When the pressure sensor fails, it can continue to operate.

This application provides a fault-tolerant processing method for operating machinery, including:

Obtain the pressure signal transmitted by the pressure sensor of the working machine;

When it is determined that the pressure signal is abnormal, determine the fault sensor corresponding to the abnormal pressure signal;

Determine a fault tolerance strategy corresponding to the faulty sensor;

Based on the fault-tolerant strategy, a target output current is obtained, and the target output current is sent to the main pump of the working machine to control the continuous operation of the working machine.

According to a fault-tolerant processing method for a working machine provided by this application, the fault sensor includes: a first pressure sensor corresponding to the pilot oil circuit of the working machine;

Determining the fault tolerance strategy corresponding to the fault sensor includes:

When it is determined that the fault sensor is the first pressure sensor, the first pressure value corresponding to the first pressure sensor is set as a preset pressure value;

Obtain the second pressure value of the second pressure sensor corresponding to the main pump of the working machine;

Based on the fault tolerance strategy, the target output current is obtained, including:

Based on the preset pressure value and the second pressure value, the target output current is obtained.

According to a fault-tolerant processing method for working machinery provided by this application, the second pressure value includes: a front pump pressure value and a rear pump pressure value;

Obtaining the target output current based on the preset pressure value and the second pressure value includes:

Based on the preset first curve, determine the limited displacement of the front pump corresponding to the pressure value of the front pump and the limited displacement of the rear pump corresponding to the pressure value of the rear pump;

Based on the preset second curve, determine the front pump demand displacement and the rear pump demand displacement corresponding to the preset pressure value;

The smaller value of the front pump required displacement and the front pump limited displacement is used as the front pump target displacement, and the smaller value of the rear pump required displacement and the rear pump limited displacement is used as Rear pump target displacement;

The target output current is obtained based on the front pump target displacement and the rear pump target displacement.

According to a fault-tolerant processing method for working machinery provided by this application, obtaining the target output current based on the target displacement of the front pump and the target displacement of the rear pump includes:

Obtain the actual torque of the main pump of the working machine at the current moment;

Based on the actual torque and the preset torque, a first corrected displacement is obtained;

The value obtained by subtracting the first corrected displacement from the target displacement of the front pump is used as the new target displacement of the front pump, and the value obtained by subtracting the first corrected displacement from the target displacement of the rear pump is value as the new stated rear pump target displacement;

The target output current is obtained based on the new front pump target displacement and the new rear pump target displacement.

According to a fault-tolerant processing method for working machinery provided by this application, the fault sensor includes Including: a second pressure sensor corresponding to the main pump of the working machine;

Determining the fault tolerance strategy corresponding to the fault sensor includes:

When it is determined that the fault sensor is the second pressure sensor, obtain the rotation speed and fuel injection amount of the engine of the working machine;

Obtain the first pressure value of the first pressure sensor corresponding to the pilot oil circuit of the working machine;

Based on the fault tolerance strategy, the target output current is obtained, including:

The target output current is obtained based on the first pressure value, the rotation speed and the fuel injection amount.

According to a fault-tolerant processing method for working machinery provided by this application, obtaining the target output current based on the first pressure value, the rotation speed and the fuel injection amount includes:

Based on the rotation speed and the fuel injection amount, determine the front pump limited displacement and the rear pump limited displacement;

Based on the preset second curve, determine the front pump demand displacement and the rear pump demand displacement corresponding to the first pressure value;

The smaller value of the front pump required displacement and the front pump limited displacement is used as the front pump target displacement, and the smaller value of the rear pump required displacement and the rear pump limited displacement is used as Rear pump target displacement;

The target output current is obtained based on the front pump target displacement and the rear pump target displacement.

According to a fault-tolerant processing method for working machinery provided by this application, determining the front pump limit displacement and the rear pump limit displacement based on the rotation speed and the fuel injection amount includes:

Based on the rotation speed and the fuel injection amount, determine the power of the main pump;

Based on the power of the main pump and the first preset formula, a second pressure value is obtained, and the second pressure value includes: a front pump pressure value and a rear pump pressure value;

Based on the preset first curve, the front pump limit displacement corresponding to the front pump pressure value and the rear pump limit displacement corresponding to the rear pump pressure value are determined.

According to a fault-tolerant processing method for working machinery provided by this application, obtaining the target output current based on the target displacement of the front pump and the target displacement of the rear pump includes:

Input the power of the main pump and the rotation speed into a second preset formula to obtain the target torque output by the second preset formula;

Based on the target torque and the preset torque, a second corrected displacement is obtained;

The value obtained by subtracting the second corrected displacement from the target displacement of the front pump is used as the new front pump Target displacement, the value obtained by subtracting the second corrected displacement from the rear pump target displacement is used as the new rear pump target displacement;

The target output current is obtained based on the new front pump target displacement and the new rear pump target displacement.

This application also provides a fault-tolerant processing device for operating machinery, including:

The acquisition module is used to acquire the pressure signal transmitted by the pressure sensor of the working machine;

A first determination module, configured to determine the fault sensor corresponding to the abnormal pressure signal when it is determined that the pressure signal is abnormal;

a second determination module, used to determine the fault tolerance strategy corresponding to the fault sensor;

A processing module, configured to obtain a target output current based on the fault-tolerant strategy, and send the target output current to the main pump of the working machine to control the continuous operation of the working machine.

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, it implements any of the above-mentioned working machines. Fault tolerance handling methods.

The present application also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the fault-tolerant processing method of any of the above-mentioned work machines can be implemented.

This application also provides a working machine. The working machine includes: a working machine body and a controller. The controller is used to implement the fault-tolerant processing method of any of the above mentioned working machines.

The fault-tolerant processing method, device and working machine of the working machine provided by this application obtain the pressure signal transmitted by the pressure sensor of the working machine; when it is determined that the pressure signal is abnormal, the fault sensor corresponding to the abnormal pressure signal is determined. It can be seen that this application uses the pressure The signal monitors whether the pressure sensor is faulty in real time and determines the faulty sensor; and then determines the fault tolerance strategy corresponding to the faulty sensor. It can be seen that when this application determines that the pressure sensor is faulty, it does not control the working machine to stop the operation, but determines the fault. The fault-tolerant strategy corresponding to the sensor; and based on the fault-tolerant strategy, the target output current is obtained, and the target output current is sent to the main pump of the working machine to control the continuous operation of the working machine. It can be seen that when this application determines that the pressure sensor fails, it is based on The corresponding fault-tolerant strategy obtains the target output current to control the continuous operation of the operating machinery. It solves the problem in the existing technology that when the pressure sensor fails, the operation can only be stopped and the construction period is delayed. It effectively ensures that the working condition operation can be completed in time.

Description of the drawings

In order to more clearly illustrate the technical solutions in this application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are the drawings used in the present application. For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without exerting creative efforts.

Figure 1 is one of the schematic flow diagrams of the fault-tolerant processing method of working machinery provided by this application;

Figure 2 is the second schematic flowchart of the fault-tolerant processing method for working machines provided by this application;

Figure 3 is the third schematic flowchart of the fault-tolerant processing method for working machinery provided by this application;

Figure 4 is a schematic structural diagram of the fault-tolerant processing device of the working machine provided by this application;

Figure 5 is a schematic structural diagram of an electronic device provided by this application.

Detailed ways

In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application. , not all examples. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

The present application will be described below with reference to FIGS. 1 to 5 .

The embodiment of the present application provides a fault-tolerant processing method for a working machine. This method can be applied in a remote server or in a controller of a working machine. The following is an example of applying this method in a controller. However, it should be noted that these are only examples and are not used to limit the scope of protection. The examples that will be described later in this application are not intended to limit the scope of protection, and will not be explained one by one thereafter.

Among them, operating machinery includes: excavators, pump trucks, mixer trucks, cranes, etc.

Below, the method is explained by taking the application of this method to an excavator as an example.

As an important construction and mining equipment, excavators play a very important role in engineering construction and ore mining. Most current excavators use hydraulic pressure as the driving medium, with a single or two pumps driving multiple actuators such as booms, sticks, buckets, and swings at the same time. Their biggest feature is that they are single-power source multi-actuator systems. At present, the hydraulic systems of hydraulic excavators mainly include positive flow, negative flow and load-sensitive systems. Among them, the positive flow hydraulic system has good Its operability and fuel-saving effect occupy a dominant position among Zhongda excavator models.

The electronically controlled positive flow excavator installs a pressure sensor on the pilot oil line to determine the operator's demand for pump displacement at each moment, and determines the real-time load through the pressure sensor installed on the main pump. When the load is high, the pressure on the pump is The limitation of displacement serves to control the constant power output of the pump. It can be seen that positive flow excavators rely more on pressure sensors to control the hydraulic system. Due to the complex working environment of the excavator, the pressure sensor often fails and the equipment cannot work normally, affecting the construction period.

Below, the excavator is a positive flow excavator as an example. The positive flow excavator is also referred to as an excavator in the description of this application. Specifically, this method is applied to the controller of an excavator as an example:

Specifically, the specific implementation of this method is shown in Figure 1:

Step 101: Obtain the pressure signal transmitted by the pressure sensor of the working machine.

The pressure sensor includes a pressure sensor installed on the pilot oil line of the excavator, which is defined as a first pressure sensor, and a pressure sensor installed on the main pump of the excavator, which is defined as a second pressure sensor.

Wherein, the excavator includes a plurality of pilot oil circuits, thus including a plurality of first pressure sensors; the main pump of the excavator includes a front pump and a rear pump, thus including at least two second pressure sensors.

Step 102: When it is determined that the pressure signal is abnormal, determine the fault sensor corresponding to the abnormal pressure signal.

Specifically, after obtaining the pressure signal, determine the pressure value corresponding to the pressure signal, where the pressure value includes a first pressure value and a second pressure value, the first pressure value is the pressure value corresponding to the first pressure sensor, and the second pressure value is the pressure value corresponding to the second pressure sensor.

Specifically, the pressure signal carries a port identifier, and the port identifier can be used to determine which pressure sensor sent the pressure signal. Then, based on the matching relationship between the determined model of the pressure sensor and the predetermined model, pressure signal, and pressure value, the pressure value corresponding to the pressure signal is determined. For example, if the pressure signal is between 0.5V and 4.5V, it corresponds to a pressure of 0bar to 50bar. Specifically, 2.5V corresponds to a pressure of 25bar.

Specifically, after obtaining the pressure value, determine whether the pressure value is within a preset range. If so, determine that the pressure signal is normal, then the corresponding pressure sensor is also normal. Otherwise, determine that the pressure signal is abnormal, then The corresponding pressure sensor is also abnormal and is defined as fault sensing. device.

Of course, in order to avoid erroneous judgments of pressure sensor failure due to sporadic changes in the pressure signal, within a preset time period, if the pressure value continues not to be within the preset range, the pressure signal is determined to be abnormal, corresponding to The pressure sensor is also abnormal.

Step 103: Determine the fault tolerance strategy corresponding to the faulty sensor.

Specifically, when the fault sensor is different, the fault tolerance strategy is also inconsistent. For example, when the fault sensor is the first pressure sensor, the first fault tolerance strategy corresponding to it is determined; when the fault sensor is the second pressure sensor, the corresponding fault tolerance strategy is determined. The second fault-tolerant strategy: when the faulty sensors are the first pressure sensor and the second pressure sensor, determine the corresponding third fault-tolerant strategy.

In a specific embodiment, when the fault sensor is determined to be the first pressure sensor, the first pressure value corresponding to the first pressure sensor is set to the preset pressure value; the second pressure value of the second pressure sensor corresponding to the main pump of the excavator is obtained. Pressure value. Furthermore, the target output current is determined based on the preset pressure value and the second pressure value.

In a specific embodiment, when the fault sensor is determined to be the second pressure sensor, the rotation speed and fuel injection amount of the excavator's engine are obtained; and the first pressure value of the first pressure sensor corresponding to the pilot oil line of the excavator is obtained. Furthermore, the target output current is obtained based on the first pressure value, rotation speed and fuel injection amount.

In a specific embodiment, when it is determined that the fault sensor is the first pressure sensor and the second pressure sensor, the first pressure value corresponding to the first pressure sensor is set to a preset pressure value; and the rotation speed and injection speed of the excavator's engine are obtained. Oil volume. Furthermore, the target output current is obtained based on the preset pressure value, rotation speed and fuel injection amount.

When this application determines that the pressure sensor is faulty, it does not control the excavator to stop operating, but determines a fault-tolerant strategy corresponding to the faulty sensor to ensure that the excavator can still operate stably, so that the excavator can complete the working conditions on time and avoid Eliminate project delays and improve user experience.

Step 104: Based on the fault-tolerant strategy, obtain the target output current and send the target output current to the main pump of the working machine to control the continuous operation of the working machine.

Specifically, the target output current is sent to the solenoid valve driven regulator of the excavator's main pump, and the displacement is adjusted through the solenoid valve driven regulator to control the main pump to output the target displacement to control the mechanical operation of the excavator.

In a specific embodiment, when the fault sensor is the first pressure sensor, the calculation target The specific implementation of the output current is as follows:

Based on the preset first curve, determine the front pump limit displacement corresponding to the front pump pressure value and the rear pump limit displacement corresponding to the rear pump pressure value; based on the preset second curve, determine the front pump corresponding to the preset pressure value The required displacement and the rear pump required displacement; the smaller of the front pump required displacement and the front pump limited displacement is used as the front pump target displacement, and the smaller of the rear pump required displacement and the rear pump limited displacement is used The value is used as the target displacement of the rear pump; based on the target displacement of the front pump and the target displacement of the rear pump, the target output current is obtained.

The second pressure value includes: a front pump pressure value and a rear pump pressure value, where the front pump pressure value is the pressure value detected by the pressure sensor corresponding to the front pump, and the rear pump pressure value is the pressure value detected by the pressure sensor corresponding to the rear pump. Pressure value. Since there are multiple first pressure sensors, when it is determined that one or more first pressure sensors are faulty, the above implementation can be adopted.

Wherein, the first curve includes two curves, one of which is a curve used to represent the corresponding relationship between the front pump pressure value and the front pump limited displacement, and the other curve is used to represent the corresponding relationship between the rear pump pressure value and the rear pump limited displacement. relationship curve. Among them, the limited displacement of the front pump is the maximum displacement of the front pump, and the limited displacement of the rear pump is the maximum displacement of the rear pump.

Wherein, the second curve also includes two curves, one of which is a curve used to represent the corresponding relationship between the first pressure value and the required displacement of the front pump, and the other curve is used to represent the first pressure value and the required displacement of the rear pump. Corresponding curve. Among them, the front pump demand displacement is the displacement required by the front pump to determine the stable operation of the excavator, and the rear pump demand displacement is the displacement required by the rear pump to determine the stable operation of the excavator. Among them, the displacement in this application is the displacement of hydraulic oil.

The preset pressure value is the maximum value among the first pressure values. That is, when the fault sensor is determined to be the first pressure sensor, the front pump required displacement and the rear pump required displacement of the excavator at the current moment are set to the maximum value, and then determined based on the front pump limited displacement and the rear pump limited displacement. target output current.

In a specific embodiment, based on the target displacement of the front pump and the target displacement of the rear pump, the specific implementation method of determining the target output current is as follows:

Obtain the actual torque of the main pump of the working machine at the current moment; obtain the first corrected displacement based on the actual torque and the preset torque; subtract the first corrected displacement from the target displacement of the front pump as the new target displacement of the front pump The value obtained by subtracting the first corrected displacement from the target displacement of the rear pump is used as the new target displacement of the rear pump; based on the new target displacement of the front pump and the new target displacement of the rear pump, the target output current is obtained.

Specifically, the actual torque and the preset torque are input into the PID regulator to obtain the value output by the PID regulator, and this value is used as the first corrected displacement.

Specifically, based on the predetermined correspondence between the front pump target displacement and the rear pump target displacement and the target output current, a new target output current corresponding to the front pump target displacement and the new rear pump target displacement is obtained.

In a specific embodiment, when the fault sensor is the second pressure sensor, the specific implementation method of calculating the output current is as follows:

Based on the rotation speed and fuel injection volume, determine the front pump limit displacement and the rear pump limit displacement; based on the preset second curve, determine the front pump demand displacement and rear pump demand displacement corresponding to the first pressure value; set the front pump The smaller value of the required displacement and the limited displacement of the front pump is used as the target displacement of the front pump, and the smaller value of the required displacement of the rear pump and the limited displacement of the rear pump is used as the target displacement of the rear pump; based on the target displacement of the front pump and the target displacement of the rear pump to obtain the target output current.

Since the second pressure sensor includes a pressure sensor corresponding to the front pump and a pressure sensor corresponding to the rear pump, the fault sensor is a second pressure sensor including: the fault sensor is a pressure sensor corresponding to the front pump, the fault sensor is a pressure sensor corresponding to the rear pump, The fault sensors are the pressure sensor corresponding to the front pump and the pressure sensor corresponding to the rear pump.

In a specific embodiment, when the fault sensor is the second pressure sensor, there are multiple situations. Therefore, it is necessary to determine the front pump limit displacement and the rear pump limit discharge corresponding to the current moment based on the rotation speed and fuel injection volume at the current moment. quantity. Then, based on the rotation speed and fuel injection volume, the specific implementation of determining the front pump limit displacement and the rear pump limit displacement is as follows:

Based on the rotation speed and fuel injection amount, determine the power of the main pump; based on the power of the main pump and the first preset formula, obtain the second pressure value, the second pressure value includes: the front pump pressure value and the rear pump pressure value; based on the preset The first curve of , determines the limited displacement of the front pump corresponding to the pressure value of the front pump and the limited displacement of the rear pump corresponding to the pressure value of the rear pump.

Specifically, the engine power is obtained by looking up the table of rotation speed and fuel injection amount. The power of the main pump is obtained through the engine power and the preset power coefficient. The power of the main pump obtained in this process is the total power of the main pump. Among them, the corresponding relationship between the rotation speed, the fuel injection amount and the engine power is pre-stored in the table.

Among them, the first preset formula is shown in formula (1):
P＝p*Q/60 (1)

Among them, P represents the power of the main pump, p represents the second pressure value, Q represents the flow rate, and Q is the product of the actual displacement of the main pump at the current moment and the rotational speed of the engine at the current moment.

Since the power of the main pump at the current moment is the total power of the main pump, that is, the sum of the power of the front pump and the power of the rear pump. Therefore, p at this time is the total second pressure value, that is, the value of p is the sum of the front pump pressure value corresponding to the pressure sensor corresponding to the front pump and the rear pump pressure value corresponding to the pressure sensor corresponding to the rear pump.

Specifically, when the fault sensor is the pressure sensor corresponding to the front pump and the pressure sensor corresponding to the rear pump, the value obtained by dividing the value of p by 2 is used to represent the front pump pressure value and the rear pump pressure value respectively. Furthermore, based on the first curve, the limited displacement of the front pump corresponding to the pressure value of the front pump and the limited displacement of the rear pump corresponding to the pressure value of the rear pump are determined.

Specifically, when the fault sensor is the pressure sensor corresponding to the front pump, the rear pump pressure value corresponding to the rear pump is determined. At this time, since the pressure sensor corresponding to the rear pump is not faulty, based on the pressure sent by the pressure sensor corresponding to the rear pump signal to obtain the rear pump pressure value. Enter the rear pump pressure value as p into formula (1) to obtain the corresponding power of the rear pump. Further, the total power of the main pump obtained based on the rotation speed and fuel injection amount is divided into the power of the rear pump to obtain the power of the front pump. Then, input the power of the front pump into formula (1) to obtain the front pump pressure value corresponding to the front pump. Finally, based on the first curve, the limited displacement of the front pump corresponding to the pressure value of the front pump and the limited displacement of the rear pump corresponding to the pressure value of the rear pump are determined. Among them, when the fault sensor is the pressure sensor corresponding to the rear pump, the implementation method is the same.

This application uses different fault-tolerant strategies to achieve continuous operation of the excavator when the faulty sensor is the second pressure sensor, ensuring that the working conditions can be completed in a timely manner.

In a specific embodiment, based on the target displacement of the front pump and the target displacement of the rear pump, the specific implementation method of obtaining the target output current is as follows:

Input the power and speed of the main pump into the second preset formula to obtain the target torque output by the second preset formula; based on the target torque and the preset torque, obtain the second corrected displacement; subtract the second corrected displacement from the target displacement of the front pump. The value after correcting the displacement is used as the new target displacement of the front pump, and the value obtained by subtracting the second corrected displacement from the target displacement of the rear pump is used as the new target displacement of the rear pump; based on the new target displacement of the front pump and the new The target displacement of the rear pump is used to obtain the target output current.

Among them, the second preset formula is shown in formula (2):
T＝9550*P/n (2)

Among them, T represents the target torque, P represents the power of the main pump, and n represents the engine speed.

Specifically, the power of the main pump can be obtained through the rotation speed and fuel injection amount, and the rotation speed of the engine corresponding to the current moment is obtained. The power and rotation speed of the main pump are input into formula (2) to obtain the target torque of formula (2). Furthermore, the target torque is regarded as the actual torque, the actual torque and the preset torque are input into the PID regulator, and the value output by the PID regulator is obtained as the second corrected displacement.

In a specific embodiment, when the fault sensor is the second pressure sensor, the new front pump target displacement and the new rear pump target displacement are multiplied by preset coefficients respectively to obtain the new front pump target displacement and the new rear pump target displacement. The target output current of the rear pump is obtained based on the new target displacement of the front pump and the new target displacement of the rear pump multiplied by the preset coefficient.

Among them, the preset coefficient is a constant between 0 and 1. The preset coefficient is obtained through debugging and calibration of the excavator to further maintain the stability of the continuous operation of the excavator.

Below, the implementation method of the fault-tolerant processing method of this application when there is no pressure sensor failure is explained in detail through Figure 2:

Step 201: Collect the pressure signal corresponding to the first pressure sensor and the pressure signal corresponding to the second pressure sensor.

Step 202: Determine the first pressure value and the second pressure value.

Step 203: Obtain the limited displacement of the front pump and the limited displacement of the rear pump corresponding to the second pressure value through the first curve.

Step 204: Obtain the required displacement of the front pump and the required displacement of the rear pump corresponding to the first pressure value through the second curve.

Since the first pressure value includes first pressure values corresponding to multiple first pressure sensors, the largest front pump required displacement is selected from the multiple front pump required displacements as the final front pump required displacement, from Select the largest rear pump demand displacement among multiple rear pump demand displacements as the final rear pump demand displacement.

In addition, there is no strict order of execution of step 203 and step 204. They may be executed at the same time, or step 203 may be executed first or step 204 may be executed now.

Step 205: Select the smaller one from the front pump required displacement and the front pump limited displacement as the front pump target displacement, and select the smaller one from the rear pump required displacement and the rear pump limited displacement as the rear pump target displacement.

Step 206: Input the actual torque and the preset torque at the current moment into the PID controller to obtain the first corrected displacement output by the PID controller.

Step 207, subtract the first corrected displacement from the target displacement of the front pump and the target displacement of the rear pump respectively. Obtain the final target displacement of the front pump and the final target displacement of the rear pump.

That is, the value obtained by subtracting the first corrected displacement from the front pump target displacement is used as the new front pump target displacement, and the value obtained by subtracting the first corrected displacement from the rear pump target displacement is used as the new rear pump target displacement. quantity.

Step 208: Obtain the target output current based on the final target displacement of the front pump and the final target displacement of the rear pump.

Below, the implementation method of the fault-tolerant processing method of this application when a pressure sensor failure occurs is explained in detail through Figure 3:

Step 301: Determine the pressure sensor that is faulty at the current moment.

Step 302: When the fault sensor is determined to be the first pressure sensor, set the first pressure value corresponding to the first pressure sensor to the preset pressure value; obtain the second pressure value of the second pressure sensor corresponding to the main pump of the excavator; Based on the preset pressure value and the second pressure value, the target output current is determined.

Step 303: When it is determined that the fault sensor is the second pressure sensor, obtain the rotation speed and fuel injection volume of the excavator's engine; and obtain the first pressure value of the first pressure sensor corresponding to the pilot oil line of the excavator; based on the first pressure value, rotation speed and fuel injection quantity to obtain the target output current.

Step 304: When it is determined that the fault sensor is the first pressure sensor and the second pressure sensor, set the first pressure value corresponding to the first pressure sensor to the preset pressure value; and obtain the rotation speed and fuel injection amount of the excavator's engine; Based on the preset pressure value, rotation speed and fuel injection amount, the target output current is obtained.

The fault-tolerant processing method of working machinery provided by this application obtains the pressure signal transmitted by the pressure sensor of the working machinery; when it is determined that the pressure signal is abnormal, the fault sensor corresponding to the abnormal pressure signal is determined. It can be seen that this application monitors the pressure sensor in real time through the pressure signal Whether a fault occurs, and determine the fault sensor; and then determine the fault tolerance strategy corresponding to the fault sensor. It can be seen that when this application determines that the pressure sensor is faulty, it does not control the working machine to stop the operation, but determines the fault tolerance strategy corresponding to the fault sensor. ; And based on the fault-tolerant strategy, the target output current is obtained, and the target output current is sent to the main pump of the working machine to control the continuous operation of the working machine. It can be seen that when this application determines that the pressure sensor is faulty, it is based on the corresponding fault-tolerant strategy The target output current is obtained to control the continuous operation of the working machinery, which solves the problem in the existing technology that when the pressure sensor fails, the operation can only be stopped and the construction period is delayed. It effectively ensures that the working condition operation can be completed in time.

The fault-tolerant processing device of the working machine provided by this application will be described below. The fault-tolerant processing device of the working machine and the fault-tolerant processing method of the working machine described above can correspond to each other, and the repeated parts will not be repeated. As shown in Figure 4, the device includes:

The acquisition module 401 is used to acquire the pressure signal transmitted by the pressure sensor of the working machine;

The first determination module 402 is configured to determine the fault sensor corresponding to the abnormal pressure signal when it is determined that the pressure signal is abnormal;

The second determination module 403 is used to determine the fault tolerance strategy corresponding to the fault sensor;

The processing module 404 is used to obtain the target output current based on the fault-tolerant strategy, and send the target output current to the main pump of the working machine to control the continuous operation of the working machine.

In a specific embodiment, the fault sensor includes: a first pressure sensor corresponding to the pilot oil circuit of the working machine; a second determination module 403, specifically configured to determine the fault sensor corresponding to the first pressure sensor when it is determined that the fault sensor is the first pressure sensor. The first pressure value is set to the preset pressure value; the second pressure value of the second pressure sensor corresponding to the main pump of the working machine is obtained; the processing module 404 is specifically used to obtain the target output based on the preset pressure value and the second pressure value. current.

In a specific embodiment, the second pressure value includes: a front pump pressure value and a rear pump pressure value; the processing module 404 is specifically configured to determine the front pump limit displacement and the front pump limit displacement corresponding to the front pump pressure value based on the preset first curve. The rear pump limit displacement corresponding to the rear pump pressure value; based on the preset second curve, determine the front pump demand displacement and the rear pump demand displacement corresponding to the preset pressure value; combine the front pump demand displacement and the front pump limit discharge The smaller value of the required displacement is used as the target displacement of the front pump, and the smaller value of the required displacement of the rear pump and the restricted displacement of the rear pump is used as the target displacement of the rear pump; based on the target displacement of the front pump and the target displacement of the rear pump, Get the target output current.

In a specific embodiment, the processing module 404 is specifically used to obtain the actual torque of the main pump of the working machine at the current moment; obtain the first corrected displacement based on the actual torque and the preset torque; and subtract the first corrected displacement from the target displacement of the front pump. The value after correcting the displacement is used as the new target displacement of the front pump, and the value obtained by subtracting the first corrected displacement from the target displacement of the rear pump is used as the new target displacement of the rear pump; based on the new target displacement of the front pump and the new The target displacement of the rear pump is used to obtain the target output current.

In a specific embodiment, the fault sensor includes: a second pressure sensor corresponding to the main pump of the working machine; a second determination module 403, specifically configured to obtain the rotation speed and speed of the engine of the working machine when the fault sensor is determined to be the second pressure sensor. Fuel injection amount; obtain the first pressure value of the first pressure sensor corresponding to the pilot oil circuit of the working machine; the processing module 404 is specifically configured to obtain the target output current based on the first pressure value, rotation speed and fuel injection amount.

In a specific embodiment, the processing module 404 is specifically configured to determine the front pump limited displacement and the rear pump limited displacement based on the rotational speed and fuel injection volume; based on the preset second curve, determine the front pump corresponding to the first pressure value. The required displacement and the rear pump required displacement; the smaller of the front pump required displacement and the front pump limited displacement is used as the front pump target displacement, and the smaller of the rear pump required displacement and the rear pump limited displacement is used The value is used as the target displacement of the rear pump; based on the target displacement of the front pump and the target displacement of the rear pump, the target output current is obtained.

In a specific embodiment, the processing module 404 is specifically configured to determine the power of the main pump based on the rotation speed and fuel injection volume; based on the power of the main pump and the first preset formula, obtain a second pressure value, and the second pressure value includes: The front pump pressure value and the rear pump pressure value; based on the preset first curve, determine the front pump limit displacement corresponding to the front pump pressure value and the rear pump limit displacement corresponding to the rear pump pressure value.

In a specific embodiment, the processing module 404 is specifically configured to input the power and rotation speed of the main pump into the second preset formula to obtain the target torque output by the second preset formula; based on the target torque and the preset torque, obtain the second correction Displacement; the value obtained by subtracting the second corrected displacement from the front pump target displacement is used as the new front pump target displacement, and the value obtained by subtracting the second corrected displacement from the rear pump target displacement is used as the new rear pump target. Displacement; based on the new front pump target displacement and the new rear pump target displacement, the target output current is obtained.

Figure 5 illustrates a schematic diagram of the physical structure of an electronic device. As shown in Figure 5, the electronic device may include: a processor (processor) 501, a communications interface (Communications Interface) 502, a memory (memory) 503 and a communication bus 504. Among them, the processor 501, the communication interface 502, and the memory 503 complete communication with each other through the communication bus 504. The processor 501 can call the logical instructions in the memory 503 to perform a fault-tolerant processing method of the working machine. The method includes: obtaining the pressure signal transmitted by the pressure sensor of the working machine; when it is determined that the pressure signal is abnormal, determining the abnormal pressure signal corresponding to Fault sensor; determine the fault tolerance strategy corresponding to the fault sensor; based on the fault tolerance strategy, obtain the target output current and send the target output current to the main pump of the working machine to control the continuous operation of the working machine.

In addition, the above-mentioned logical instructions in the memory 503 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including Several instructions are used to make a computer A computer device (which may be a personal computer, a server, or a network device, etc.) executes all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage media include: 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 code. .

On the other hand, the present application also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are read by a computer, When executed, the computer can execute the fault-tolerant processing method of the working machine provided by each of the above methods. The method includes: obtaining the pressure signal transmitted by the pressure sensor of the working machine; when it is determined that the pressure signal is abnormal, determining the fault sensor corresponding to the abnormal pressure signal. ; Determine the fault-tolerance strategy corresponding to the fault sensor; based on the fault-tolerance strategy, obtain the target output current and send the target output current to the main pump of the working machine to control the continuous operation of the working machine.

On the other hand, the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored. The computer program is implemented when executed by a processor to perform the fault-tolerant processing method of the work machine provided above. The method It includes: obtaining the pressure signal transmitted by the pressure sensor of the working machine; when the pressure signal is determined to be abnormal, determining the fault sensor corresponding to the abnormal pressure signal; determining the fault-tolerance strategy corresponding to the fault sensor; based on the fault-tolerance strategy, obtaining the target output current, and The target output current is sent to the main pump of the working machine to control the continuous operation of the working machine.

Embodiments of the present application also provide a working machine, including: a working machine body and a controller, where the controller is used to implement any one or more specific implementations of the above fault-tolerant processing method of the working machine. The operating machinery includes: excavators, cranes, pump trucks, mixer trucks, etc.

The device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in One location, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Persons of ordinary skill in the art can understand and implement the method without any creative effort.

Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions essentially contribute to the existing technology. The contribution part can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes a number of instructions to make a computer device (which can be Personal computer, server, or network device, etc.) performs the methods described in various embodiments or certain parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent substitutions are made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions in the embodiments of the present application.

Claims (10)

1. A fault-tolerant processing method for operating machinery, including:

   Obtain the pressure signal transmitted by the pressure sensor of the working machine;

   When it is determined that the pressure signal is abnormal, determine the fault sensor corresponding to the abnormal pressure signal;

   Determine a fault tolerance strategy corresponding to the faulty sensor;

   Based on the fault-tolerant strategy, a target output current is obtained, and the target output current is sent to the main pump of the working machine to control the continuous operation of the working machine.
2. The fault-tolerant processing method of a working machine according to claim 1, wherein the fault sensor includes: a first pressure sensor corresponding to a pilot oil circuit of the working machine;

   Determining the fault tolerance strategy corresponding to the fault sensor includes:

   When it is determined that the fault sensor is the first pressure sensor, the first pressure value corresponding to the first pressure sensor is set as a preset pressure value;

   Obtain the second pressure value of the second pressure sensor corresponding to the main pump of the working machine;

   Based on the fault tolerance strategy, the target output current is obtained, including:

   Based on the preset pressure value and the second pressure value, the target output current is obtained.
3. The fault-tolerant processing method of a working machine according to claim 2, wherein the second pressure value includes: a front pump pressure value and a rear pump pressure value;

   Obtaining the target output current based on the preset pressure value and the second pressure value includes:

   Based on the preset first curve, determine the limited displacement of the front pump corresponding to the pressure value of the front pump and the limited displacement of the rear pump corresponding to the pressure value of the rear pump;

   Based on the preset second curve, determine the front pump demand displacement and the rear pump demand displacement corresponding to the preset pressure value;

   The smaller value of the front pump required displacement and the front pump limited displacement is used as the front pump target displacement, and the smaller value of the rear pump required displacement and the rear pump limited displacement is used as Rear pump target displacement;

   The target output current is obtained based on the front pump target displacement and the rear pump target displacement.
4. The fault-tolerant processing method of a work machine according to claim 3, wherein the base Based on the target displacement of the front pump and the target displacement of the rear pump, the target output current is obtained, including:

   Obtain the actual torque of the main pump of the working machine at the current moment;

   Based on the actual torque and the preset torque, a first corrected displacement is obtained;

   The value obtained by subtracting the first corrected displacement from the target displacement of the front pump is used as the new target displacement of the front pump, and the value obtained by subtracting the first corrected displacement from the target displacement of the rear pump is value as the new stated rear pump target displacement;

   The target output current is obtained based on the new front pump target displacement and the new rear pump target displacement.
5. The fault-tolerant processing method of a working machine according to claim 1, wherein the fault sensor includes: a second pressure sensor corresponding to the main pump of the working machine;

   Determining the fault tolerance strategy corresponding to the fault sensor includes:

   When it is determined that the fault sensor is the second pressure sensor, obtain the rotation speed and fuel injection amount of the engine of the working machine;

   Obtain the first pressure value of the first pressure sensor corresponding to the pilot oil circuit of the working machine;

   Based on the fault tolerance strategy, the target output current is obtained, including:

   The target output current is obtained based on the first pressure value, the rotation speed and the fuel injection amount.
6. The fault-tolerant processing method of a working machine according to claim 5, wherein obtaining the target output current based on the first pressure value, the rotation speed and the fuel injection amount includes:

   Based on the rotation speed and the fuel injection amount, determine the front pump limited displacement and the rear pump limited displacement;

   Based on the preset second curve, determine the front pump demand displacement and the rear pump demand displacement corresponding to the first pressure value;

   The smaller value of the front pump required displacement and the front pump limited displacement is used as the front pump target displacement, and the smaller value of the rear pump required displacement and the rear pump limited displacement is used as Rear pump target displacement;

   The target output current is obtained based on the front pump target displacement and the rear pump target displacement.
7. The fault-tolerant processing method of a working machine according to claim 6, wherein the base Based on the rotation speed and the fuel injection amount, determine the front pump limit displacement and the rear pump limit displacement, including:

   Based on the rotation speed and the fuel injection amount, determine the power of the main pump;

   Based on the power of the main pump and the first preset formula, a second pressure value is obtained, and the second pressure value includes: a front pump pressure value and a rear pump pressure value;

   Based on the preset first curve, the front pump limit displacement corresponding to the front pump pressure value and the rear pump limit displacement corresponding to the rear pump pressure value are determined.
8. The fault-tolerant processing method of a work machine according to claim 7, wherein said obtaining the target output current based on the target displacement of the front pump and the target displacement of the rear pump includes:

   Input the power of the main pump and the rotation speed into a second preset formula to obtain the target torque output by the second preset formula;

   Based on the target torque and the preset torque, a second corrected displacement is obtained;

   The value obtained by subtracting the second corrected displacement from the target displacement of the front pump is used as the new target displacement of the front pump, and the value obtained by subtracting the second corrected displacement from the target displacement of the rear pump is value as the new stated rear pump target displacement;

   The target output current is obtained based on the new front pump target displacement and the new rear pump target displacement.
9. A fault-tolerant processing device for operating machinery, including:

   The acquisition module is used to acquire the pressure signal transmitted by the pressure sensor of the working machine;

   A first determination module, configured to determine the fault sensor corresponding to the abnormal pressure signal when it is determined that the pressure signal is abnormal;

   a second determination module, used to determine the fault tolerance strategy corresponding to the fault sensor;

   A processing module, configured to obtain a target output current based on the fault-tolerant strategy, and send the target output current to the main pump of the working machine to control the continuous operation of the working machine.
10. A working machine, wherein the working machine includes: a working machine body and a controller, the controller is used to implement the fault-tolerant processing method of the working machine according to any one of claims 1 to 8.