WO2024051089A1 - Hydraulic system fault locating method and apparatus, storage medium, and operation machinery - Google Patents

Abstract

A hydraulic system fault locating method, comprising: determining maximum output power of a power system and maximum output power of a hydraulic system, and according to respective size relationships between the maximum output power of the power system and a preset power threshold, and between the maximum output power of the hydraulic system and the preset power threshold, determining whether to perform a health test on the hydraulic system; when determined to perform a health test on the hydraulic system, determining a hydraulic efficiency index of the hydraulic system, the hydraulic efficiency index comprising a single-action efficiency index and a compound-action efficiency index; when the single-action efficiency index is smaller than a corresponding preset single-action target efficiency index, determining a loop fault corresponding to a single action; when the compound-action efficiency index is less than a corresponding preset compound-action target efficiency index, determining a loop fault corresponding to a compound action. A fault of the hydraulic system can be located more accurately by means of power comparison and the hydraulic efficiency index. In addition, further disclosed are a hydraulic system fault locating apparatus, a storage medium storing a computer program that uses the locating method, and operation machinery which comprises the hydraulic system fault locating apparatus and which performs the hydraulic system fault locating method.

Description

Hydraulic system fault location methods, devices, storage media and operating machinery Technical field

The present application relates to the field of fault detection technology, and in particular to a hydraulic system fault locating method, device, storage medium and operating machinery.

Background of the invention

Various large operating machinery, such as excavators, have diverse working environments and operating conditions. The hydraulic system is the basis for the excavator to operate under various complex working conditions and perform automatic control. Its performance directly affects the operation of the entire machine. efficiency. Therefore, under complex operating conditions, it is of great significance to detect and locate faults in the excavator hydraulic system. The current method used in the industry to detect faults in the hydraulic system of excavators mainly focuses on detecting the pressure of the main pump. By detecting the pressure of the main pump, it is determined whether the hydraulic system of the excavator has failed.

However, the specific fault location of the hydraulic system cannot be accurately located by detecting the main pump pressure.

Contents of the invention

This application provides a hydraulic system fault locating method, device and operating machinery to solve the problem in the existing technology that the fault location of the hydraulic system cannot be accurately located. Through power comparison and hydraulic efficiency indicators, the hydraulic system fault location can be more accurately located. The location of the system failure.

This application provides a method for locating hydraulic system faults, including:

Determine the maximum output power of the power system and the maximum output power of the hydraulic system;

Determine whether to perform a health check on the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system and the preset power threshold respectively;

When it is determined to perform a health check of the hydraulic system, determine the hydraulic efficiency index of the hydraulic system, where the hydraulic efficiency index includes a single action efficiency index and a composite action efficiency index;

When the single action efficiency index is less than the corresponding preset single action target efficiency index, the circuit fault corresponding to the single action is determined;

When the compound action efficiency index is less than the corresponding preset compound action target efficiency index, the circuit fault corresponding to the compound action is determined.

According to a hydraulic system fault locating method provided by this application, determining the maximum output power of the power system includes:

Obtain the engine speed and engine torque in the power system;

Multiply the engine speed and the engine torque to obtain the engine output power;

All the engine output powers per unit time are sorted by size, and a preset proportion of the engine output powers is filtered and averaged as the maximum output power of the power system.

According to a hydraulic system fault locating method provided by this application, determining the maximum output power of the hydraulic system includes:

Obtain the pump speed and pump output torque in the hydraulic system;

Multiply the pump speed and the pump output torque to obtain the pump output power;

determining pump input power based on the pump output power, pump volumetric efficiency, and pump mechanical efficiency;

All the pump input powers per unit time are sorted by size, and a preset proportion of the pump input powers is filtered and averaged as the maximum output power of the hydraulic system.

According to a hydraulic system fault locating method provided by the present application, it is determined whether to perform health maintenance of the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system and the preset power threshold. Testing, including:

If the maximum output power of the power system reaches the preset power threshold, it is determined to perform a health check of the hydraulic system.

According to a hydraulic system fault locating method provided by this application, determining the hydraulic efficiency index of the hydraulic system includes:

Determine the output power at the outlet of the main pump of the hydraulic system;

Determine the actual output power of each actuator of the hydraulic system;

The ratio of the actual output power of each actuator to the output power at the outlet of the main pump is calculated as the hydraulic efficiency index of the hydraulic system.

According to a hydraulic system fault locating method provided by this application, determining the output power at the outlet of the main pump of the hydraulic system includes:

Obtain the flow rate at the main pump outlet of the hydraulic system and the pressure at the main pump outlet;

The output power at the main pump outlet is obtained by multiplying the flow rate at the main pump outlet and the pressure at the main pump outlet.

According to a hydraulic system fault locating method provided by this application, each of the actuators includes: a boom, a bucket, a bucket and a slewing mechanism;

Determining the actual output power of each actuator of the hydraulic system includes:

Determine the actual flow information of the boom, the bucket, the bucket and the slewing mechanism respectively;

Determine the pressure information of the boom, the bucket, the bucket and the slewing mechanism respectively;

The actual flow information of the boom, the stick, the bucket and the slewing mechanism are multiplied by the corresponding pressure information to obtain the actual output power of the corresponding actuators. The actual output power of the mechanism includes the actual output power of the boom, the actual output power of the bucket, the actual output power of the bucket and the actual output power of the slewing mechanism.

According to a hydraulic system fault locating method provided by this application, determining the actual flow information of the boom, the bucket, and the bucket includes:

Detect respectively the corresponding cylinder extensions when the boom, the arm, and the bucket are working;

Based on the extension of the oil cylinder, the bore diameter and the rod diameter of the oil cylinder, the actual flow information of the corresponding boom, arm and bucket is determined respectively.

According to a hydraulic system fault locating method provided by this application, determining the actual flow information of the slewing mechanism includes:

Determine the angular speed of rotation of the slewing mechanism;

Determine the motor speed according to the rotation angular speed;

Actual flow information of the slewing mechanism is determined based on the slewing reduction ratio, the motor displacement and the motor speed.

According to a hydraulic system fault locating method provided by this application, after determining the circuit fault corresponding to the composite action, it also includes:

Perform each single action in said compound action;

Determine the hydraulic efficiency index of each single action in the compound action respectively;

According to the hydraulic efficiency index of each single action, the fault circuit in the compound action is located.

This application also provides a hydraulic system fault locating device, including:

The first determination module is used to determine the maximum output power of the power system and the maximum output power of the hydraulic system;

A comparison module configured to determine whether to perform health testing of the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system and the preset power threshold;

A second determination module, configured to determine the hydraulic efficiency index of the hydraulic system when it is determined to perform a health check of the hydraulic system. The hydraulic efficiency index includes a single action efficiency index and a composite action efficiency index;

A positioning module, configured to determine the circuit fault corresponding to the single action when the single action efficiency index is less than the corresponding preset single action target efficiency index; when the compound action efficiency index is less than the corresponding preset compound action target When the efficiency index is determined, the loop fault corresponding to the composite action is determined.

According to a hydraulic system fault locating device provided by the present application, when the first determination module determines the maximum output power of the power system, it includes:

Obtain the engine speed and engine torque in the power system;

Multiply the engine speed and the engine torque to obtain the engine output power;

All the engine output powers per unit time are sorted by size, and a preset proportion of the engine output powers is filtered and averaged as the maximum output power of the power system.

According to a hydraulic system fault locating device provided by the present application, when the first determination module performs the determination of the maximum output power of the hydraulic system, it includes:

Obtain the pump speed and pump output torque in the hydraulic system;

Multiply the pump speed and the pump output torque to obtain the pump output power;

determining pump input power based on the pump output power, pump volumetric efficiency, and pump mechanical efficiency;

All the pump input powers per unit time are sorted by size, and a preset proportion of the pump input powers is filtered and averaged as the maximum output power of the hydraulic system.

According to a hydraulic system fault locating device provided by the present application, the comparison module executes the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system and the preset power threshold, When determining whether to perform a health test on a hydraulic system, include:

If the maximum output power of the power system reaches the preset power threshold, it is determined to perform a health check of the hydraulic system.

According to a hydraulic system fault locating device provided by the present application, when the second determination module performs the determination of the hydraulic efficiency index of the hydraulic system, it includes:

Determine the output power at the outlet of the main pump of the hydraulic system;

Determine the actual output power of each actuator of the hydraulic system;

The ratio of the actual output power of each actuator to the output power at the outlet of the main pump is calculated as the hydraulic efficiency index of the hydraulic system.

According to a hydraulic system fault locating device provided by the present application, when the second determination module performs the determination of the output power at the outlet of the main pump of the hydraulic system, it includes:

Obtain the flow rate at the main pump outlet of the hydraulic system and the pressure at the main pump outlet;

The output power at the main pump outlet is obtained by multiplying the flow rate at the main pump outlet and the pressure at the main pump outlet.

According to a hydraulic system fault locating device provided by this application, each of the actuators includes: a boom, a bucket, a bucket and a slewing mechanism;

The second determination module performs the determination of the actual output power of each actuator of the hydraulic system, including:

Determine the actual flow information of the boom, the bucket, the bucket and the slewing mechanism respectively;

Determine the pressure information of the boom, the bucket, the bucket and the slewing mechanism respectively;

The actual flow information of the boom, the stick, the bucket and the slewing mechanism are multiplied by the corresponding pressure information to obtain the actual output power of the corresponding actuators. The actual output power of the mechanism includes the actual output power of the boom, the actual output power of the bucket, the actual output power of the bucket and the actual output power of the slewing mechanism.

A hydraulic system fault locating device provided according to this application also includes: a composite action locating module, used for:

Perform each single action in said compound action;

Determine the hydraulic efficiency index of each single action in the compound action respectively;

According to the hydraulic efficiency index of each single action, the fault circuit in the compound action is located.

This application also provides a working machine, which is used to perform the hydraulic system fault locating method as described in any one of the above.

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 realizes any one of the above hydraulic system faults. Positioning method.

This 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, it implements any one of the hydraulic system fault locating methods described above.

The present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements any one of the above hydraulic system fault locating methods.

This application provides a hydraulic system fault locating method, device, storage medium and working machinery. The method determines the maximum output power of the power system and the maximum output power of the hydraulic system; respectively, according to the maximum output power of the power system and the maximum output power of the hydraulic system. The relationship between the output power and the preset power threshold determines whether to perform a health test of the hydraulic system; when it is determined to perform a health test of the hydraulic system, determine the hydraulic efficiency index of the hydraulic system. The hydraulic efficiency index includes a single action efficiency index and a composite action efficiency. Index; when the single action efficiency index is less than the corresponding preset single action target efficiency index, the circuit fault corresponding to the single action is determined; when the compound action efficiency index is less than the corresponding preset compound action target efficiency index, the corresponding compound action is determined For circuit faults, it is determined through power comparison that the hydraulic system needs health testing, and then the specific fault location of the hydraulic system is determined through the hydraulic efficiency index, which can more accurately locate the fault of the hydraulic system, thereby improving the operating efficiency of the working machinery. .

Brief description of the drawings

In order to explain the technical solutions in the present application or the prior art more clearly, the embodiments or the prior art will be described below. A brief introduction is given to the drawings needed in the description. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without exerting creative efforts, they can also Additional drawings can be obtained from these drawings.

Figure 1 is a schematic flow chart of the hydraulic system fault location method provided by this application;

Figure 2 is a schematic structural diagram of the hydraulic system fault locating device provided by this application;

Figure 3 is a schematic structural diagram of an electronic device provided by this application.

Ways to practice the invention

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 hydraulic system fault locating method, device and working machinery of the present application will be described below with reference to Figures 1-3.

Figure 1 is a schematic flow chart of the hydraulic system fault location method provided by this application.

As shown in Figure 1, an embodiment of the present application provides a method for locating a hydraulic system fault. The execution subject may be a vehicle-mounted control system or a separate control terminal. The method mainly includes the following steps:

101. Determine the maximum output power of the power system and the maximum output power of the hydraulic system.

When the equipment of the working machine slows down, there may be two reasons for the failure. One may be a failure in the power system of the working machine, and the other may be a failure in the hydraulic system of the working machine. The power required by the working machine during normal operation is determined by the hydraulic system. The power required by the working machine is determined based on the pilot pressure of the working machine and the size of the load. The mechanical efficiency of the pump and the pump between the power system and the hydraulic system are The conversion relationship of volumetric efficiency matches the corresponding power output of the engine.

The power of the hydraulic system of working machinery comes from the mechanical energy generated by the engine. According to the principle of energy conservation, the maximum power that the hydraulic system can burst is less than the theoretical power provided by the engine. The control of hydraulic working machinery adopts the constant power control method, that is, the maximum power that the engine can output is consistent at a fixed gear. After the conversion of the pump volumetric efficiency and the pump mechanical efficiency, the hydraulic system can provide The maximum power is also within a certain range. Therefore, when the working machinery appears to move slowly, the power at the output end of the engine and hydraulic system can be detected within a certain period of time to achieve the effect of locating the faulty system.

The main purpose of determining the maximum output power of the power system and the maximum output power of the hydraulic system is to determine whether the slow movement of the working machine is caused by the hydraulic system or the power system. For example, the maximum output power of the power system can be determined by directly reading the maximum power-related data from the engine message. And hydraulic The maximum output power of the system is usually calculated based on the output pressure and rotation speed of the hydraulic system actuator.

102. Determine whether to perform a health check on the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system and the preset power threshold.

After determining the maximum output power of the power system and the maximum output power of the hydraulic system, analysis and judgment can be made based on the relationship between the two and the preset power threshold to determine whether a health test of the hydraulic system is required.

Specific methods include: comparing the maximum output power of the power system and the maximum output power of the hydraulic system per unit time with the preset power threshold. If neither the maximum output power of the power system nor the maximum output power of the hydraulic system fails, When the preset power threshold is reached, when the work machine slows down or loses power, first check whether a failure has occurred in the power system. As long as the maximum output power of the power system reaches the preset power threshold, the health of the hydraulic system needs to be checked, including two situations. One is if the maximum output power of the power system reaches the preset power threshold, and the hydraulic system The maximum output power of the power system does not reach the preset power threshold, then the priority is to check whether the hydraulic system is faulty; the other is if the maximum output power of the power system and the maximum output power of the hydraulic system both reach the preset power threshold, it means that the hydraulic system The system needs to perform health testing. At this time, the health status of the specific hydraulic system can be accurately determined through the hydraulic efficiency index of the subsequent hydraulic system.

103. When it is determined to perform health testing of the hydraulic system, determine the hydraulic efficiency index of the hydraulic system. The hydraulic efficiency index includes a single action efficiency index and a composite action efficiency index.

By comparing the maximum output power of the power system and the maximum output power of the hydraulic system with the preset power threshold, it is determined that when the hydraulic system needs to be health tested, it is necessary to determine the hydraulic efficiency index of the hydraulic system. Through the method of hydraulic efficiency index Determine the specific fault circuit of the hydraulic system.

Among them, the hydraulic efficiency index is defined as an indicator to judge the health status of the entire hydraulic circuit from the hydraulic pump to the hydraulic actuator (from the hydraulic pump to the actuator, that is, from the source to the execution end), which is equivalent to an overall health assessment of the excavator hydraulic system. detection. The hydraulic efficiency index can be expressed as the ratio of the actual power of the hydraulic system actuator to the power at the outlet of the main pump of the hydraulic system. Each actuator in the hydraulic system corresponds to its own single-action efficiency index. Since working machinery rarely has single-action in actual work, it often is a compound action. Therefore, the hydraulic efficiency index also includes a compound-action efficiency index. A compound action refers to an action that is a combination of multiple single actions.

The single action efficiency index is used to determine whether the hydraulic circuit corresponding to the single action has failed, while the compound action efficiency index is used to determine whether the hydraulic circuit corresponding to the compound action has failed. Therefore, accurately determining the efficiency index of the hydraulic system can more accurately locate the fault location of the hydraulic system.

104. When the single action efficiency index is less than the corresponding preset single action target efficiency index, the circuit fault corresponding to the single action is determined.

After the single action efficiency index is determined and calculated, the single action efficiency index calculated in real time can be compared with the preset single action target efficiency index. If the single action efficiency index calculated in real time is less than the corresponding preset single action target efficiency Indicator indicating that the current single action has failed, causing the current efficiency to be lower than the output power. If the single action efficiency index calculated in real time is greater than or equal to the corresponding preset single action target efficiency index, it indicates that the current single action is in a normal state.

Among them, the preset single-action target efficiency index can be obtained by pre-calibration, that is, when the hydraulic system is working normally within a preset time period, the average value of the target efficiency corresponding to each single-action actuator is calculated as the single-action target. efficiency value. For example, for the single action of a bucket, you can calculate the average target efficiency of a preset number of single actions of the bucket when the hydraulic system is operating normally within a preset period of time, and use the average value as the single action target efficiency value of the bucket. .

105. When the compound action efficiency index is less than the corresponding preset compound action target efficiency index, the circuit fault corresponding to the compound action is determined.

Similar to judging whether a single-action loop is faulty through the single-action efficiency index, judging whether the loop corresponding to a compound action is faulty is also similar to comparing the compound action efficiency index calculated in real time with the preset compound action target efficiency index. When the compound action calculated in real time is When the efficiency index is less than the corresponding preset compound action target efficiency index, the circuit fault corresponding to the compound action can be determined. When the compound action efficiency index calculated in real time is greater than or equal to the corresponding preset compound action target efficiency index, it can be determined that the circuit corresponding to the compound action is in a normal state.

Among them, the preset compound action target efficiency index can also be obtained by pre-calibration, that is, when the hydraulic system is working normally within the statistical preset time period, the average value of the target efficiency corresponding to different compound actions is calculated as the compound action target efficiency. value. For example, for the rotary compound action, you can calculate the average value of the target efficiency of the preset number of rotary compound actions when the hydraulic system is operating normally within a preset time period, and use the average value as the target efficiency value of the rotary compound action.

This embodiment provides a hydraulic system fault locating method by determining the maximum output power of the power system and the maximum output power of the hydraulic system; respectively based on the maximum output power of the power system, the maximum output power of the hydraulic system and the preset power threshold. The size relationship determines whether to perform a health test of the hydraulic system; when it is determined to perform a health test of the hydraulic system, determine the hydraulic efficiency index of the hydraulic system. The hydraulic efficiency index includes a single action efficiency index and a composite action efficiency index; when the single action efficiency index is less than When the corresponding preset single action target efficiency index is determined, the loop fault corresponding to the single action is determined; when the compound action efficiency index is smaller than the corresponding preset compound action target efficiency index, the loop fault corresponding to the compound action is determined. Through power comparison, After determining that the hydraulic system needs to undergo health testing, the specific fault location of the hydraulic system can be determined through the hydraulic efficiency index, which can more accurately locate the fault of the hydraulic system, thereby improving the operating efficiency of the working machinery.

Further, based on the above embodiment, determining the maximum output power of the power system in this embodiment includes: obtaining the engine speed and engine torque in the power system; multiplying the engine speed and the engine torque to obtain the engine output power; Sort the output power of all engines per unit time, filter the engine output power in a preset proportion and average it as the maximum output power of the power system.

Specifically, in addition to directly reading the message, the maximum output power of the power system can also be calculated. The calculation method is to first obtain the engine speed and engine torque in the power system through the sensor. After reading the engine speed and engine torque through the sensor, the engine speed and engine torque can be multiplied to obtain the engine output power. Then, the maximum output power of the power system can be obtained according to the engine output power. The method of power sorting per unit time can be used to sort the engine output power per unit time and filter the top-ranked engine output with a preset ratio. The power is averaged and taken as the maximum power output of the power system. Therefore, the maximum output power of the power system can be accurately calculated through the engine speed and engine torque.

Further, based on the above embodiment, determining the maximum output power of the hydraulic system in this embodiment includes: obtaining the pump speed and pump output torque in the hydraulic system; multiplying the pump speed and the pump output torque to obtain the pump Output power; determine the pump input power based on the pump output power, pump volumetric efficiency and pump mechanical efficiency; sort all pump input powers per unit time, filter the preset proportion of pump input power and average it as the hydraulic system Maximum output power.

Specifically, the pump speed and pump output torque in the hydraulic system are first obtained. The pump speed and pump output torque can also be obtained by reading messages or collecting them through sensors. Then multiply the obtained pump speed and pump output torque to obtain the pump output power. Then, based on the pump output power, pump volumetric efficiency and pump mechanical efficiency, the pump input power can be obtained. The conversion method is to use the pump The pump input power is obtained by dividing the output power by the corresponding pump volumetric efficiency and pump mechanical efficiency. The power sorting method is also used to determine the maximum output power of the hydraulic system, that is, sorting the input power of all pumps per unit time, and then filtering the preset proportion of pump input power to average it as the maximum output power of the hydraulic system.

Further, based on the above embodiment, determining the hydraulic efficiency index of the hydraulic system in this embodiment includes: determining the output power at the outlet of the main pump of the hydraulic system; determining the actual output power of each actuator of the hydraulic system; respectively Calculate the ratio of the actual output power of each actuator to the output power at the outlet of the main pump as the hydraulic efficiency index of the hydraulic system.

Specifically, the hydraulic efficiency index intuitively reflects the working efficiency of the hydraulic system. The hydraulic efficiency index can directly correspond to the hydraulic efficiency index of the entire hydraulic system, and also has the hydraulic efficiency index corresponding to each individual actuator, and there are many The hydraulic efficiency index corresponding to the composite action composed of a single action. Determination of hydraulic efficiency indicators The method is determined by power comparison, that is, the hydraulic efficiency index is the power ratio, which is the ratio of the actual output power of the actuator to the output power at the outlet of the main pump.

Therefore, the way to determine the hydraulic efficiency index of the hydraulic system requires first determining the output power at the outlet of the main pump, then determining the actual output power of each actuator, and finally calculating the actual output power of each actuator and the output power at the outlet of the main pump. The ratio of the output power is the hydraulic efficiency index of the hydraulic system.

Further, based on the above embodiment, determining the output power at the main pump outlet of the hydraulic system in this embodiment includes: obtaining the flow rate at the main pump outlet of the hydraulic system and the pressure at the main pump outlet; Multiplied by the pressure at the outlet of the main pump, the output power at the outlet of the main pump is obtained.

Specifically, power = flow * pressure, so if you want to determine the output power at the outlet of the main pump of the hydraulic system, you need to first determine the flow at the outlet of the main pump of the hydraulic system, which can be detected by a flow meter or a flow sensor. The flow rate at the pump outlet is obtained by using a pressure sensor to obtain the pressure at the main pump outlet. Then the flow rate at the main pump outlet and the pressure at the main pump outlet can be multiplied to calculate the output power at the main pump outlet.

Further, on the basis of the above embodiment, each actuator in this embodiment includes: boom, stick, bucket and slewing mechanism; determining the actual output power of each actuator of the hydraulic system includes: respectively determining the power of each actuator. The actual flow information of the boom, stick, bucket and slewing mechanism; determine the pressure information of the boom, stick, bucket and slewing mechanism respectively; compare the actual flow information of the boom, stick, bucket and slewing mechanism with The corresponding pressure information is multiplied to obtain the actual output power of each corresponding actuator. The actual output power of each actuator includes the actual output power of the boom, the actual output power of the bucket, the actual output power of the bucket and the actual output power of the slewing mechanism.

Specifically, the actual output power of each actuator of the hydraulic system is determined, that is, the actual output power of the boom, stick, bucket and slewing mechanism of the hydraulic system is determined. First, determine the actual flow information and corresponding pressure information of the boom, stick, bucket and slewing mechanism respectively, and then multiply the actual flow information and pressure information to obtain the actual output power of each corresponding actuator. The pressure information may be obtained by reading from a pressure sensor.

As for the way to determine the actual flow information, different determination methods are used for the boom, stick, bucket and slewing mechanism. The way to determine the actual flow information of the boom, stick and bucket can be to detect the corresponding cylinder extension when the boom, stick and bucket are working; the angle can be measured through the angle sensor installed on the corresponding actuator. The calculation method determines the cylinder extension of the boom, the cylinder extension of the stick and the cylinder extension of the bucket. Then, based on the cylinder extension, cylinder diameter and rod diameter, the actual flow information of the corresponding boom, stick and bucket is determined respectively.

The way to determine the actual flow information of the slewing mechanism is to determine the slewing angular speed of the slewing mechanism; determine the motor speed based on the slewing angular speed; determine the rotation speed of the slewing mechanism based on the slewing reduction ratio, motor displacement and motor speed. Actual traffic information. The determination method of the rotation angular speed can be obtained through the angle sensor, and then the rotation angular speed is converted to the motor speed through the conversion relationship. Finally, the rotation reduction ratio and the motor displacement are used to calculate the motor speed to obtain the final actual speed of the rotation mechanism. traffic information.

Further, based on the above embodiment, in this embodiment, after determining the circuit fault corresponding to the compound action, it also includes: executing each single action in the compound action; separately determining the hydraulic pressure of each single action in the compound action. Efficiency index; locate the fault circuit in the compound action based on the hydraulic efficiency index of each single action.

Specifically, when the efficiency index of the hydraulic system is calculated and a hydraulic system fault is determined based on the hydraulic efficiency index, it is necessary to accurately locate the fault location. If the actuator failure is determined through the single-action efficiency index, the fault in the circuit corresponding to the single-action can be directly located. If the compound action efficiency index corresponding to the compound action is detected to be abnormal, it can only indicate that there is a faulty actuator in the compound action, but it cannot accurately determine which actuator is faulty. Therefore, it is necessary to accurately locate the faulty actuator through hydraulic efficiency indicators.

It can be executed manually, for example, the operator performs a single action in a compound action in a targeted manner, thereby outputting the hydraulic efficiency index corresponding to each single action in the compound action, and determining whether a failure occurs in the single action based on the hydraulic efficiency index of each single action. , thereby accurately locating the faulty circuit. If there is a fault in every single action, priority should be given to checking whether the main circuit of the hydraulic system is faulty to ensure accurate fault location.

This application as a whole locates the health status of the hydraulic system based on power, ensuring the stability of the power source of the hydraulic system; judging the health status of the hydraulic efficiency of the hydraulic system from the hydraulic system pump outlet to the actuator power loss, if the hydraulic system hydraulic efficiency After an abnormality occurs, the specific fault loop is located based on the power at the outlet of the single-action pump and the power of the actuator. Therefore, this application carefully covers the overall health status of the hydraulic system from three levels: the power source of the hydraulic system, the hydraulic efficiency index of the hydraulic system, and the actual fault circuit located based on the hydraulic efficiency index of the hydraulic system. The purpose of real-time health monitoring of the entire hydraulic system.

Based on the same general application concept, this application also protects a hydraulic system fault locating device. The hydraulic system fault locating device provided by this application is described below. The hydraulic system fault locating device described below is the same as the hydraulic system fault locating method described above. can be referenced to each other.

Figure 2 is a schematic structural diagram of the hydraulic system fault locating device provided by this application.

As shown in Figure 2, this embodiment of the present application provides a hydraulic system fault locating device, which includes:

The first determination module 201 is used to determine the maximum output power of the power system and the maximum output power of the hydraulic system;

The comparison module 202 is used to determine whether to perform a health test of the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system and the preset power threshold;

The second determination module 203 is used to determine the hydraulic efficiency of the hydraulic system when it is determined to perform a health check of the hydraulic system. Hydraulic efficiency index includes single action efficiency index and compound action efficiency index;

The positioning module 204 is used to determine the circuit fault corresponding to the single action when the single action efficiency index is less than the corresponding preset single action target efficiency index; when the compound action efficiency index is less than the corresponding preset compound action target efficiency index, then Determine the circuit fault corresponding to the compound action.

This embodiment provides a hydraulic system fault locating device, by determining the maximum output power of the power system and the maximum output power of the hydraulic system; respectively based on the maximum output power of the power system, the maximum output power of the hydraulic system and the preset power threshold. The size relationship determines whether to perform a health test of the hydraulic system; when it is determined to perform a health test of the hydraulic system, determine the hydraulic efficiency index of the hydraulic system. The hydraulic efficiency index includes a single action efficiency index and a composite action efficiency index; when the single action efficiency index is less than When the corresponding preset single-action target efficiency index is determined, the loop fault corresponding to the single action is determined; when the compound action efficiency index is smaller than the corresponding preset compound action target efficiency index, the loop fault corresponding to the compound action is determined. Through power comparison, After determining that the hydraulic system needs to undergo health testing, the specific fault location of the hydraulic system can be determined through the hydraulic efficiency index, which can more accurately locate the fault of the hydraulic system, thereby improving the operating efficiency of the working machinery.

Further, the first determination module 201 in this embodiment is specifically used for:

Obtain the engine speed and engine torque in the power system;

Multiply the engine speed and the engine torque to obtain the engine output power;

All the engine output powers per unit time are sorted by size, and a preset proportion of the engine output powers is filtered and averaged as the maximum output power of the power system.

Further, the first determination module 201 in this embodiment is specifically used for:

Obtain the pump speed and pump output torque in the hydraulic system;

Multiply the pump speed and the pump output torque to obtain the pump output power;

determining pump input power based on the pump output power, pump volumetric efficiency, and pump mechanical efficiency;

All the pump input powers per unit time are sorted by size, and a preset proportion of the pump input powers is filtered and averaged as the maximum output power of the hydraulic system.

Further, the comparison module 202 in this embodiment is specifically used for:

If the maximum output power of the power system reaches the preset power threshold, it is determined to perform a health check of the hydraulic system.

Further, the second determination module 203 in this embodiment is specifically used for:

Determine the output power at the outlet of the main pump of the hydraulic system;

Determine the actual output power of each actuator of the hydraulic system;

Calculate the ratio of the actual output power of each actuator to the output power at the outlet of the main pump, respectively. As an indicator of hydraulic efficiency of the hydraulic system.

Further, the second determination module 203 in this embodiment is specifically used for:

Obtain the flow rate at the main pump outlet of the hydraulic system and the pressure at the main pump outlet;

The output power at the main pump outlet is obtained by multiplying the flow rate at the main pump outlet and the pressure at the main pump outlet.

Further, each of the actuators in this embodiment includes: a boom, a bucket, a bucket and a slewing mechanism;

The second determination module 203 is specifically used for:

Determine the actual flow information of the boom, the bucket, the bucket and the slewing mechanism respectively;

Determine the pressure information of the boom, the bucket, the bucket and the slewing mechanism respectively;

The actual flow information of the boom, the stick, the bucket and the slewing mechanism are multiplied by the corresponding pressure information to obtain the actual output power of the corresponding actuators. The actual output power of the mechanism includes the actual output power of the boom, the actual output power of the bucket, the actual output power of the bucket and the actual output power of the slewing mechanism.

Further, the second determination module 203 in this embodiment is specifically used for:

Detect respectively the corresponding cylinder extensions when the boom, the arm, and the bucket are working;

Based on the extension of the oil cylinder, the bore diameter and the rod diameter of the oil cylinder, the corresponding actual flow information of the boom, the arm and the bucket is determined.

Further, the second determination module 203 in this embodiment is specifically used for:

Determine the angular speed of rotation of the slewing mechanism;

Determine the motor speed according to the rotation angular speed;

Actual flow information of the slewing mechanism is determined based on the slewing reduction ratio, the motor displacement and the motor speed.

Further, this embodiment also includes: a composite action positioning module, used for:

Perform each single action in said compound action;

Determine the hydraulic efficiency index of each single action in the compound action respectively;

According to the hydraulic efficiency index of each single action, the fault circuit in the compound action is located.

Based on the same general application concept, this application also protects a working machine, which is used to perform the hydraulic system fault locating method of any of the above embodiments, or includes the hydraulic system fault locating device of any of the above embodiments, Work machinery includes excavators, etc.

Figure 3 is a schematic structural diagram of an electronic device provided by this application.

As shown in Figure 3, the electronic device may include: a processor (processor) 310, a communication interface (Communications Interface) 320, a memory (memory) 330, and a communication bus 340, where the processor 310, the communication interface 320. The memories 330 complete communication with each other through the communication bus 340. The processor 310 can call logical instructions in the memory 330 to execute a hydraulic system fault locating method. The method includes: determining the maximum output power of the power system and the maximum output power of the hydraulic system; The relationship between the maximum output power and the preset power threshold determines whether to perform a health test of the hydraulic system; when it is determined to perform a health test of the hydraulic system, determine the hydraulic efficiency index of the hydraulic system, and the hydraulic efficiency index includes a single action Efficiency index and compound action efficiency index; when the single action efficiency index is less than the corresponding preset single action target efficiency index, then the circuit fault corresponding to the single action is determined; when the compound action efficiency index is less than the corresponding preset When the compound action target efficiency index is determined, the circuit fault corresponding to the compound action is determined.

In addition, the above-mentioned logical instructions in the memory 330 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 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 various embodiments of this application. The aforementioned storage media include: U disk, mobile hard disk, Read-Only Memory (ROM), Random Access Memory (RAM), 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. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can Execute the hydraulic system fault locating method provided by each of the above methods. The method includes: determining the maximum output power of the power system and the maximum output power of the hydraulic system; respectively, according to the maximum output power of the power system, the maximum output power of the hydraulic system and the preset The relationship between the power threshold and the size determines whether to perform a health test of the hydraulic system; when it is determined to perform a health test of the hydraulic system, determine the hydraulic efficiency index of the hydraulic system. The hydraulic efficiency index includes a single action efficiency index and a composite action efficiency index. ; When the single action efficiency index is less than the corresponding preset single action target efficiency index, then the circuit fault corresponding to the single action is determined; when the compound action efficiency index is less than the corresponding preset compound action target efficiency index, Then the loop fault corresponding to the composite action is determined.

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 the processor to perform the hydraulic system fault locating method provided by each of the above methods. The method Including: determining the maximum output power of the power system and the maximum output power of the hydraulic system; determining whether to perform health testing of the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system and the preset power threshold; When it is determined to perform a health check of the hydraulic system, determine the hydraulic efficiency index of the hydraulic system. The hydraulic efficiency index includes a single action efficiency index and a composite action efficiency index; when the single action When the efficiency index is less than the corresponding preset single action target efficiency index, the circuit fault corresponding to the single action is determined; when the compound action efficiency index is less than the corresponding preset compound action target efficiency index, the compound action is determined Corresponding circuit failure.

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 part of the above technical solution that essentially contributes to the existing technology 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., including a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute 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 (20)

1. A method for locating hydraulic system faults, including:

   Determine the maximum output power of the power system and the maximum output power of the hydraulic system;

   Determine whether to perform a health check on the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system and the preset power threshold respectively;

   When it is determined to perform a health check of the hydraulic system, determine the hydraulic efficiency index of the hydraulic system, where the hydraulic efficiency index includes a single action efficiency index and a composite action efficiency index;

   When the single action efficiency index is less than the corresponding preset single action target efficiency index, the circuit fault corresponding to the single action is determined;

   When the compound action efficiency index is less than the corresponding preset compound action target efficiency index, the circuit fault corresponding to the compound action is determined.
2. The hydraulic system fault locating method according to claim 1, wherein determining the maximum output power of the power system includes:

   Obtain the engine speed and engine torque in the power system;

   Multiply the engine speed and the engine torque to obtain the engine output power;

   All the engine output powers per unit time are sorted by size, and a preset proportion of the engine output powers is filtered and averaged as the maximum output power of the power system.
3. The hydraulic system fault locating method according to claim 1 or 2, wherein determining the maximum output power of the hydraulic system includes:

   Obtain the pump speed and pump output torque in the hydraulic system;

   Multiply the pump speed and the pump output torque to obtain the pump output power;

   determining pump input power based on the pump output power, pump volumetric efficiency, and pump mechanical efficiency;

   All the pump input powers per unit time are sorted by size, and a preset proportion of the pump input powers is filtered and averaged as the maximum output power of the hydraulic system.
4. The hydraulic system fault locating method according to any one of claims 1 to 3, wherein the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system and a preset power threshold is determined, Determine whether to conduct health testing of the hydraulic system, including:

   If the maximum output power of the power system reaches the preset power threshold, it is determined to perform a health check of the hydraulic system.
5. The hydraulic system fault locating method according to any one of claims 1 to 4, wherein the determined The hydraulic efficiency indicators of the hydraulic system include:

   Determine the output power at the outlet of the main pump of the hydraulic system;

   Determine the actual output power of each actuator of the hydraulic system;

   The ratio of the actual output power of each actuator to the output power at the outlet of the main pump is calculated as the hydraulic efficiency index of the hydraulic system.
6. The hydraulic system fault locating method according to claim 5, wherein determining the output power at the outlet of the main pump of the hydraulic system includes:

   Obtain the flow rate at the main pump outlet of the hydraulic system and the pressure at the main pump outlet;

   The output power at the main pump outlet is obtained by multiplying the flow rate at the main pump outlet and the pressure at the main pump outlet.
7. The hydraulic system fault locating method according to claim 5 or 6, wherein each of the actuators includes: a boom, a bucket, a bucket and a slewing mechanism;

   Determining the actual output power of each actuator of the hydraulic system includes:

   Determine the actual flow information of the boom, the bucket, the bucket and the slewing mechanism respectively;

   Determine the pressure information of the boom, the bucket, the bucket and the slewing mechanism respectively;

   The actual flow information of the boom, the stick, the bucket and the slewing mechanism are multiplied by the corresponding pressure information to obtain the actual output power of the corresponding actuators. The actual output power of the mechanism includes the actual output power of the boom, the actual output power of the bucket, the actual output power of the bucket and the actual output power of the slewing mechanism.
8. The hydraulic system fault locating method according to claim 7, wherein said determining the actual flow information of the boom, the stick and the bucket respectively includes:

   Detect respectively the corresponding cylinder extensions when the boom, the arm, and the bucket are working;

   Based on the extension of the oil cylinder, the bore diameter and the rod diameter of the oil cylinder, the actual flow information of the corresponding boom, arm and bucket is determined respectively.
9. The hydraulic system fault locating method according to claim 7 or 8, wherein determining the actual flow information of the rotary mechanism includes:

   Determine the angular speed of rotation of the slewing mechanism;

   Determine the motor speed according to the rotation angular speed;

   Actual flow information of the slewing mechanism is determined based on the slewing reduction ratio, the motor displacement and the motor speed.
10. The hydraulic system fault locating method according to any one of claims 1 to 9, wherein after determining the circuit fault corresponding to the composite action, it further includes:

    Perform each single action in said compound action;

    Determine the hydraulic efficiency index of each single action in the compound action respectively;

    According to the hydraulic efficiency index of each single action, the fault circuit in the compound action is located.
11. A hydraulic system fault locating device, including:

    The first determination module is used to determine the maximum output power of the power system and the maximum output power of the hydraulic system;

    A comparison module configured to determine whether to perform a health test of the hydraulic system based on the relationship between the maximum output power of the power system, the maximum output power of the hydraulic system and the preset power threshold respectively;

    A second determination module, configured to determine the hydraulic efficiency index of the hydraulic system when it is determined to perform a health check of the hydraulic system. The hydraulic efficiency index includes a single action efficiency index and a composite action efficiency index;

    A positioning module, configured to determine the circuit fault corresponding to the single action when the single action efficiency index is less than the corresponding preset single action target efficiency index; when the compound action efficiency index is less than the corresponding preset compound action target When the efficiency index is determined, the loop fault corresponding to the composite action is determined.
12. The hydraulic system fault locating device according to claim 11, wherein when the first determination module determines the maximum output power of the power system, it includes:

    Obtain the engine speed and engine torque in the power system;

    Multiply the engine speed and the engine torque to obtain the engine output power;

    All the engine output powers per unit time are sorted by size, and a preset proportion of the engine output powers is filtered and averaged as the maximum output power of the power system.
13. The hydraulic system fault locating device according to claim 11 or 12, wherein when the first determination module performs the determination of the maximum output power of the hydraulic system, it includes:

    Obtain the pump speed and pump output torque in the hydraulic system;

    Multiply the pump speed and the pump output torque to obtain the pump output power;

    determining pump input power based on the pump output power, pump volumetric efficiency, and pump mechanical efficiency;

    All the pump input powers per unit time are sorted by size, and a preset proportion of the pump input powers is filtered and averaged as the maximum output power of the hydraulic system.
14. The hydraulic system fault locating device according to any one of claims 11 to 13, wherein the comparison module executes the method according to the maximum output power of the power system, the maximum output power of the hydraulic system and the preset power respectively. The relationship between the threshold values when determining whether to perform a health check on the hydraulic system includes:

    If the maximum output power of the power system reaches the preset power threshold, it is determined to perform a health check of the hydraulic system.
15. The hydraulic system fault locating device according to any one of claims 11 to 14, wherein the second When the determination module performs the determination of the hydraulic efficiency index of the hydraulic system, it includes:

    Determine the output power at the outlet of the main pump of the hydraulic system;

    Determine the actual output power of each actuator of the hydraulic system;

    The ratio of the actual output power of each actuator to the output power at the outlet of the main pump is calculated as the hydraulic efficiency index of the hydraulic system.
16. The hydraulic system fault locating device according to claim 15, wherein when the second determination module performs the determination of the output power at the outlet of the main pump of the hydraulic system, it includes:

    Obtain the flow rate at the main pump outlet of the hydraulic system and the pressure at the main pump outlet;

    The output power at the main pump outlet is obtained by multiplying the flow rate at the main pump outlet and the pressure at the main pump outlet.
17. The hydraulic system fault locating device according to claim 15 or 16, wherein each of the actuators includes: a boom, a bucket, a bucket and a slewing mechanism;

    The second determination module performs the determination of the actual output power of each actuator of the hydraulic system, including:

    Determine the actual flow information of the boom, the bucket, the bucket and the slewing mechanism respectively;

    Determine the pressure information of the boom, the bucket, the bucket and the slewing mechanism respectively;

    The actual flow information of the boom, the stick, the bucket and the slewing mechanism are multiplied by the corresponding pressure information to obtain the actual output power of the corresponding actuators. The actual output power of the mechanism includes the actual output power of the boom, the actual output power of the bucket, the actual output power of the bucket and the actual output power of the slewing mechanism.
18. The hydraulic system fault locating device according to any one of claims 11 to 17, further comprising: a composite action locating module, used for:

    Perform each single action in said compound action;

    Determine the hydraulic efficiency index of each single action in the compound action respectively;

    According to the hydraulic efficiency index of each single action, the fault circuit in the compound action is located.
19. A computer-readable storage medium stores a computer program, and the computer program is used to execute the hydraulic system fault locating method described in any one of claims 1 to 10.
20. A working machine, wherein the working machine is used to perform the hydraulic system fault locating method as described in any one of claims 1 to 10, or includes a hydraulic system fault as described in any one of claims 11 to 18 Positioning means.