Brake control method and application thereof in crane work control

Abstract

The invention discloses a brake control method and application thereof in crane working control, according to the scheme, when a hydraulic brake works, hydraulic oil flow in a hydraulic system oil way of the hydraulic brake is monitored, and pressure data in a hydraulic cylinder is monitored, so that the working condition of a hydraulic system of the brake is judged; then, in combination with a pre-constructed braking force estimation model, braking force data and braking state information when the hydraulic brake works are estimated, so that reliable and effective information feedback is provided for working control of the brake; according to the scheme, different braking force estimation logic formulas are called according to the pressure maintaining state or the non-pressure maintaining state pointed by the braking state information, so that the estimation of the braking force is more reliable; according to the scheme, the data value of the collected data is adjusted by regularly correcting the brake and monitoring the working temperature of the hydraulic oil, and more reliable logic support is provided for the brake in different working environments.

Description

Technical Field

[0001] The present invention relates to the fields of brake control method and crane control technology, and in particular to a brake control method and application thereof in crane operation control. Background Art

[0002] As an important component of mechanical drive equipment, brakes are widely used in various industrial machinery and transportation tools, such as cranes, escalators, wind turbines, etc. Hydraulic disc brakes are a common type of brakes. During operation, they control the input state of hydraulic oil to make the brake components move to control the contact between the friction pad and the brake disc, thereby achieving the function of braking or releasing the brake; that is, the hydraulic oil of the hydraulic system of the brake is input in a positive direction to move the piston of the hydraulic cylinder, so that it drives the friction pad of the brake caliper to press the brake disc (wheel), and then the brake friction pad and the brake disc (wheel) work to generate braking force; when the hydraulic oil of the hydraulic system of the brake is input in a reverse direction, the piston of the hydraulic cylinder moves in the reverse direction, which drives the brake caliper to separate the brake friction pad from the brake disc (wheel) to achieve the function of releasing the brake or reducing the braking force.

[0003] In the practical application of hydraulic disc brakes, monitoring and calculating the braking force is crucial to ensure the safe operation of the equipment. In the prior art, the working state of the brake is usually judged by monitoring the working state of the braked object; and because the temperature, viscosity and defects of the oil pipe will affect the output of the oil pressure, this makes the braking force monitoring of the hydraulic disc brake unstable, and there are few documents that disclose the calculation of the braking force based on the hydraulic oil flow of the hydraulic system of the brake; in addition, the braking force monitoring method of the hydraulic disc brake in the prior art usually requires manual intervention, such as regular manual calibration of the hydraulic system, which not only increases the maintenance cost, but also easily leads to inaccurate data due to human factors. Therefore, how to simply, conveniently and reliably estimate the braking force of the brake through the working parameters of the brake's hydraulic system to quickly judge the working state of the brake and output the braking force data is a research topic with very positive and practical significance. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a brake control method which is reliable in implementation, flexible in application and has good result reference, and its application in crane operation control.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0006] A brake control method is used for controlling the operation of a hydraulic brake, comprising:

[0007] S01, collecting component data of the brake and flow data of the hydraulic oil in the hydraulic oil circuit, pressure data in the hydraulic cylinder, and braking force data when the brake is working, and then collecting them to form a brake data set;

[0008] S02. Based on the brake data set, a mathematical relationship model is constructed between the flow data of the hydraulic oil in the hydraulic oil circuit, the pressure data in the hydraulic cylinder and the braking force when the brake is working, and a braking force estimation model is generated;

[0009] S03, responding to the brake working start signal, monitoring the flow data of the hydraulic oil in the brake hydraulic oil circuit and the pressure data in the hydraulic cylinder, and obtaining the oil circuit flow data and the hydraulic pressure data respectively;

[0010] S04, determining brake working state information and braking force data according to the oil flow data and / or the hydraulic pressure data in combination with a braking force estimation model;

[0011] S05. According to the brake working state information and / or braking force data, the brake control command is maintained or updated or the brake abnormality information is output.

[0012] As a possible implementation, further, this solution S01 includes:

[0013] S011. Take a brake, simulate its application scenario and application object, install the brake on the test bench, install a flow sensor in the hydraulic oil circuit of the brake to collect the flow data Q of the hydraulic oil in its hydraulic oil circuit when the brake is working dynamically, and at the same time, install a pressure sensor at the inlet or outlet of the hydraulic cylinder of the brake to collect the pressure P in the hydraulic cylinder in real time, and install a force sensor at the piston position of the hydraulic cylinder to measure the braking force F generated when the brake is working;

[0014] S012, set different working condition targets, make the brake reach the corresponding working condition targets, and then collect the flow data Q of the hydraulic oil in the brake hydraulic oil circuit, the pressure P in the hydraulic cylinder and the generated braking force F in real time when the working condition targets are reached, to form a data set (Q i , P i , F i ), where Q i is the flow data measured by the flow sensor, P i is the pressure in the hydraulic cylinder measured by the pressure sensor, F i is the braking force measured by the force sensor;

[0015] S013, the data group (Q i , P i , F i ) and brake component data are collected to form a brake data set.

[0016] As a possible implementation, further, this solution S02 includes:

[0017] S021. The braking force F output by the hydraulic cylinder of the brake is determined by the pressure P in the hydraulic cylinder and the area A of the piston in the hydraulic cylinder. The mathematical relationship is defined as follows:

[0018] F=P·A

[0019] Among them, F is the braking force output by the hydraulic cylinder of the brake, P is the pressure in the hydraulic cylinder, and A is the area of ​​the piston in the hydraulic cylinder, which is the flow area controlled by the valve;

[0020] Based on the Bernoulli equation and the characteristics of the hydraulic system, the mathematical relationship between the flow rate Q of the hydraulic oil in the brake hydraulic system and the pressure P in the hydraulic cylinder is defined as follows:

[0021]

[0022] Among them, Q is the flow rate of hydraulic oil in the brake hydraulic system, C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, and P is the pressure in the hydraulic cylinder;

[0023] S022, according to the flow Q and system supply pressure P s , the mathematical relationship of the pressure P in the hydraulic cylinder is expressed as follows:

[0024]

[0025] Among them, Q is the flow rate of hydraulic oil in the brake hydraulic system, C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, and P is the pressure in the hydraulic cylinder;

[0026] Combining the mathematical relationship between the braking force F, the pressure P in the hydraulic cylinder and the area A of the piston in the hydraulic cylinder, the mathematical relationship of the braking force F is expressed as follows:

[0027]

[0028] Among them, F is the braking force output by the brake hydraulic cylinder, Q is the flow rate of hydraulic oil in the brake hydraulic system, and C d is the flow coefficient, A vis the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, P is the pressure in the hydraulic cylinder, and A is the area of ​​the piston in the hydraulic cylinder;

[0029] S023, the data group (Q i , P i , F i ) is substituted into the mathematical relationship formula of the braking force F, and curve fitting is performed to determine the flow coefficient C d , valve opening area A v , density of hydraulic oil ρ; system supply pressure P s 1. The area A of the piston in the hydraulic cylinder is determined by consulting the component data of the brake, and then substituted into the mathematical relationship expression formula of the braking force F to obtain the flow data of the hydraulic oil in the hydraulic oil circuit, the pressure data in the hydraulic cylinder and the mathematical relationship model of the braking force;

[0030] When the brake is working, the parameters of the hydraulic oil circuit in the pressure-maintaining and non-pressure-maintaining states are different. When in the pressure-maintaining state, the flow rate Q of the hydraulic oil in the brake hydraulic system approaches zero. At this time, the pressure in the hydraulic cylinder remains relatively constant, and no hydraulic oil flows. At this time, the P measured by the pressure sensor in the hydraulic cylinder is usually equal to the system supply pressure P s That is, in the pressure-maintaining state, the braking force is mainly provided by the system pressure P s and the area A of the piston in the hydraulic cylinder; therefore, the braking force estimation model is defined as follows:

[0031]

[0032] Among them, F is the braking force output by the brake hydraulic cylinder, Q is the flow rate of hydraulic oil in the brake hydraulic system, and C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, P is the pressure in the hydraulic cylinder, and A is the area of ​​the piston in the hydraulic cylinder.

[0033] As a preferred implementation option, preferably, this solution S023 also includes:

[0034] Set the flow threshold Q 阈值 , according to the flow threshold Q 阈值 Performing logic switching on the braking force estimation model, that is, determining whether the hydraulic system of the brake is in a pressure-maintaining state or a non-pressure-maintaining state;

[0035] When the flow rate Q ≥ Q 阈值When the braking force is estimated, the braking force estimation model under the non-pressure-maintaining state, that is, the flow dynamic state, is used to estimate the braking force:

[0036]

[0037] Among them, F is the braking force output by the brake hydraulic cylinder, Q is the flow rate of hydraulic oil in the brake hydraulic system, and C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, P is the pressure in the hydraulic cylinder, and A is the area of ​​the piston in the hydraulic cylinder;

[0038] When the flow rate Q 阈值 When , the braking force estimation model under the pressure-maintaining state, that is, the flow static state, is used to estimate the braking force:

[0039] F=P·A

[0040] Among them, F is the braking force output by the hydraulic cylinder of the brake, A is the area of ​​the piston in the hydraulic cylinder, and P is the pressure in the hydraulic cylinder.

[0041] As a preferred implementation option, preferably, this solution S03 also includes:

[0042] Calibrate or update the brake force estimation model according to preset conditions, including:

[0043] A01. Under no-load or different load conditions, apply known input pressure P and flow through the brake hydraulic system;

[0044] A02, record the flow rate and pressure collected by the flow sensor and pressure sensor, and directly measure the actual brake force F output by the force sensor actual ;Adjust input conditions, including pressure, flow, and load, to obtain multiple sets of data to ensure that the frequency of data acquisition meets the preset threshold to capture the dynamic response of the brake;

[0045] A03. Use the flow rate and pressure collected by the flow sensor and pressure sensor, combined with the braking force estimation model to estimate the braking force and obtain the estimated braking force F. calculated :

[0046]

[0047] Among them, F calculated is the estimated value of the braking force output by the brake hydraulic cylinder, Q is the flow rate of hydraulic oil in the brake hydraulic system, C d is the flow coefficient, A v ​is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, P is the pressure in the hydraulic cylinder, and A is the area of ​​the piston in the hydraulic cylinder;

[0048] A04, data comparison, the estimated braking force F calculated The actual measured braking force F actual Compare to get the error value:

[0049] W 误差 =F actual -F calculated

[0050] A05, according to the error W 误差 Flow coefficient C of the braking force estimation model d , Valve opening area A of the brake hydraulic system v Adjust parameters to make the error of the model result smaller than the preset value;

[0051] A06. Repeat A01 and A02 to re-collect data, and use the new collected data to verify the adjusted braking force estimation model to obtain a calibrated braking force estimation model.

[0052] As a preferred implementation option, preferably, this solution S01 also includes:

[0053] Collect the temperature and viscosity data of the hydraulic oil in the brake hydraulic system, and then compile them into a hydraulic oil data set;

[0054] Among them, in S01, when collecting the component data of the brake and the flow data of the hydraulic oil in the hydraulic oil circuit, the pressure data in the hydraulic cylinder and the braking force data when the brake is working, the working temperature of the hydraulic system of the brake is also controlled to be T0, and then the data are collected to form a brake data set;

[0055] S02 also includes: constructing a mathematical relationship model between temperature and hydraulic oil viscosity based on the hydraulic oil data set to generate a viscosity estimation model;

[0056] The viscosity estimation model is defined as follows:

[0057]

[0058] Where, μ0 is the viscosity of the hydraulic oil at the reference temperature T0, β is the viscosity temperature coefficient, and μ(T) is the viscosity of the hydraulic oil at temperature T;

[0059] Substitute the data in the hydraulic oil data set to determine the viscosity temperature coefficient β;

[0060] S03 also includes:

[0061] In response to the brake's working start signal, the temperature of the hydraulic oil in the brake's hydraulic system is obtained at a preset time frequency, and then the viscosity of the hydraulic oil is estimated according to the viscosity estimation model. The flow data of the hydraulic oil in the brake hydraulic oil circuit and the pressure data in the hydraulic cylinder are then corrected. The correction formula is defined as follows:

[0062]

[0063] Among them, Q measured , P measured are the flow data and pressure data measured by the flow sensor and pressure sensor respectively; Q corrected , P corrected are the corrected flow data and pressure data respectively, μ(T0) is the viscosity of the hydraulic oil at the reference temperature T0, and μ(T) is the viscosity of the hydraulic oil estimated by the viscosity estimation model at the brake operating temperature T.

[0064] As a preferred implementation option, preferably, this solution S04 includes:

[0065] S041. Determine whether the hydraulic system of the brake is in a pressure-maintaining state or a non-pressure-maintaining state according to the oil circuit flow data, and obtain brake working state information;

[0066] S042. Retrieve the corresponding braking force estimation model according to the brake working state information. In the pressure-maintaining state, import the hydraulic pressure data into the model to obtain the braking force data. In the non-pressure-maintaining state, import the oil flow data and the hydraulic pressure data into the model to obtain the braking force data.

[0067] As a preferred implementation option, preferably, this solution S05 includes:

[0068] Obtain the control command information corresponding to the brake's working start signal, parse the braking action corresponding to the control command information, and combine the brake's working status information and / or braking force data to maintain or update the control command or output braking abnormality information.

[0069] Based on the above, the present invention further provides a brake control system, which includes:

[0070] The model data acquisition unit is used to collect the component data of the brake and the flow data of the hydraulic oil in the hydraulic oil circuit, the pressure data in the hydraulic cylinder and the braking force data when the brake is working, and then collect them to form a brake data set;

[0071] A model building unit, for building a mathematical relationship model between the flow data of hydraulic oil in the hydraulic oil circuit, the pressure data in the hydraulic cylinder and the braking force when the brake is working, based on the braking data set, to generate a braking force estimation model;

[0072] The working monitoring unit includes a flow sensor and a pressure sensor, which are respectively used to respond to the working start signal of the brake, monitor the flow data of the hydraulic oil in the brake hydraulic oil circuit and the pressure data in the hydraulic cylinder, and obtain the oil circuit flow data and the hydraulic pressure data respectively;

[0073] A data scheduling unit, used to determine brake working state information and braking force data according to oil circuit flow data and / or hydraulic pressure data in combination with a braking force estimation model;

[0074] The information generating unit is used to maintain or update the control instruction of the brake or output the braking abnormality information according to the brake working state information and / or braking force data.

[0075] Based on the above, the present invention also provides a crane brake operation control method, which includes the brake control method described above.

[0076] By adopting the above technical scheme, the present invention has the following beneficial effects compared with the prior art: when the hydraulic brake is working, the present scheme cleverly monitors the hydraulic oil flow in the hydraulic system oil circuit of the hydraulic brake, combined with the pressure data monitoring in the hydraulic cylinder, to judge the working condition of the hydraulic system of the brake, and then estimates the braking force data and braking state information of the hydraulic brake when working in combination with the pre-built braking force estimation model, thereby providing reliable and effective information feedback for the working control of the brake, and providing accurate and efficient response for the working instructions of the brake; the present scheme also calls different braking force estimation logic formulas according to the pressure holding state or non-pressure holding state pointed to by the braking state information, so that the estimation of the braking force is more reliable; and on this basis, the present scheme adjusts the data value of the collected data by regularly calibrating the brake and monitoring the working temperature of the hydraulic oil, so as to provide more reliable logic support for the brake in different working environments, and the brake control method of the present scheme can be used in the brake control of the crane, providing a reliable mechanism guarantee for the brake control of the crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0078] Figure 1 It is a brief implementation flow chart of the control method of this scheme;

[0079] Figure 2 This is a brief connection diagram of the unit modules of the control system of this scheme. DETAILED DESCRIPTION

[0080] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0081] like Figure 1 As shown, the present embodiment provides a brake control method for controlling the operation of a hydraulic disc brake, which includes:

[0082] S01, collecting component data of the brake and flow data of the hydraulic oil in the hydraulic oil circuit, pressure data in the hydraulic cylinder, and braking force data when the brake is working, and then collecting them to form a brake data set;

[0083] S02. Based on the brake data set, a mathematical relationship model is constructed between the flow data of the hydraulic oil in the hydraulic oil circuit, the pressure data in the hydraulic cylinder and the braking force when the brake is working, and a braking force estimation model is generated;

[0084] S03, responding to the brake working start signal, monitoring the flow data of the hydraulic oil in the brake hydraulic oil circuit and the pressure data in the hydraulic cylinder, and obtaining the oil circuit flow data and the hydraulic pressure data respectively;

[0085] S04, determining brake working state information and braking force data according to the oil flow data and / or the hydraulic pressure data in combination with a braking force estimation model;

[0086] S05. According to the brake working state information and / or braking force data, the brake control command is maintained or updated or the brake abnormality information is output.

[0087] In order to facilitate data reuse and improve the reliability of model construction, as a possible implementation method, further, this solution S01 includes:

[0088] S011. Take a brake, simulate its application scenario and application object, install the brake on the test bench, install a flow sensor in the hydraulic oil circuit of the brake to collect the flow data Q of the hydraulic oil in its hydraulic oil circuit when the brake is working dynamically, and at the same time, install a pressure sensor at the inlet or outlet of the hydraulic cylinder of the brake to collect the pressure P in the hydraulic cylinder in real time, and install a force sensor at the piston position of the hydraulic cylinder to measure the braking force F generated when the brake is working;

[0089] S012, set different working condition targets, make the brake reach the corresponding working condition targets, and then collect the flow data Q of the hydraulic oil in the brake hydraulic oil circuit, the pressure P in the hydraulic cylinder and the generated braking force F in real time when the working condition targets are reached, to form a data set (Q i , P i , F i ), where Q i is the flow data measured by the flow sensor, P i is the pressure in the hydraulic cylinder measured by the pressure sensor, F i is the braking force measured by the force sensor;

[0090] S013, the data group (Q i , P i , F i ) and brake component data are collected to form a brake data set.

[0091] Through the above solution, the data collection of the brake can be made more reliable, the data distortion caused by too many external factors can be reduced, and the reliability of the data as the basis for model construction can be improved.

[0092] In terms of model construction, as a possible implementation method, further, this solution S02 includes:

[0093] S021. The braking force F output by the hydraulic cylinder of the brake is determined by the pressure P in the hydraulic cylinder and the area A of the piston in the hydraulic cylinder. The mathematical relationship is defined as follows:

[0094] F=P·A

[0095] Among them, F is the braking force output by the hydraulic cylinder of the brake, P is the pressure in the hydraulic cylinder, and A is the area of ​​the piston in the hydraulic cylinder, which is the flow area controlled by the valve;

[0096] Based on the Bernoulli equation and the characteristics of the hydraulic system, the mathematical relationship between the flow rate Q of the hydraulic oil in the brake hydraulic system and the pressure P in the hydraulic cylinder is defined as follows:

[0097]

[0098] Among them, Q is the flow rate of hydraulic oil in the brake hydraulic system, C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, and P is the pressure in the hydraulic cylinder;

[0099] S022, according to the flow Q and system supply pressure P s , the mathematical relationship of the pressure P in the hydraulic cylinder is expressed as follows:

[0100]

[0101] Among them, Q is the flow rate of hydraulic oil in the brake hydraulic system, C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, and P is the pressure in the hydraulic cylinder;

[0102] Combining the mathematical relationship between the braking force F, the pressure P in the hydraulic cylinder and the area A of the piston in the hydraulic cylinder, the mathematical relationship of the braking force F is expressed as follows:

[0103]

[0104] Among them, F is the braking force output by the brake hydraulic cylinder, Q is the flow rate of hydraulic oil in the brake hydraulic system, and C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, P is the pressure in the hydraulic cylinder, and A is the area of ​​the piston in the hydraulic cylinder;

[0105] S023, the data group (Q i , P i , F i ) is substituted into the mathematical relationship formula of the braking force F, and curve fitting is performed to determine the flow coefficient C d , valve opening area A v , density of hydraulic oil ρ; system supply pressure P s 1. The area A of the piston in the hydraulic cylinder is determined by consulting the component data of the brake, and then substituted into the mathematical relationship expression formula of the braking force F to obtain the flow data of the hydraulic oil in the hydraulic oil circuit, the pressure data in the hydraulic cylinder and the mathematical relationship model of the braking force;

[0106] When the brake is working, the parameters of the hydraulic oil circuit in the pressure-maintaining and non-pressure-maintaining states are different. When in the pressure-maintaining state, the flow rate Q of the hydraulic oil in the brake hydraulic system approaches zero. At this time, the pressure in the hydraulic cylinder remains relatively constant, and no hydraulic oil flows. At this time, the P measured by the pressure sensor in the hydraulic cylinder is usually equal to the system supply pressure P s That is, in the pressure-maintaining state, the braking force is mainly provided by the system pressure P s and the area A of the piston in the hydraulic cylinder; therefore, the braking force estimation model is defined as follows:

[0107]

[0108] Among them, F is the braking force output by the brake hydraulic cylinder, Q is the flow rate of hydraulic oil in the brake hydraulic system, and C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, P is the pressure in the hydraulic cylinder, and A is the area of ​​the piston in the hydraulic cylinder.

[0109] Since the hydraulic system of the brake has pressure-maintaining and non-pressure-maintaining states, in order to facilitate the application of formula models to it and improve data processing efficiency, as a better implementation option, preferably, this solution S023 also includes:

[0110] Set the flow threshold Q 阈值 , according to the flow threshold Q 阈值 Performing logic switching on the braking force estimation model, that is, determining whether the hydraulic system of the brake is in a pressure-maintaining state or a non-pressure-maintaining state;

[0111] When the flow rate Q ≥ Q 阈值 When the braking force is estimated, the braking force estimation model under the non-pressure-maintaining state, that is, the flow dynamic state, is used to estimate the braking force:

[0112]

[0113] Among them, F is the braking force output by the brake hydraulic cylinder, Q is the flow rate of hydraulic oil in the brake hydraulic system, and C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, P is the pressure in the hydraulic cylinder, and A is the area of ​​the piston in the hydraulic cylinder;

[0114] When the flow rate Q 阈值 When , the braking force estimation model under the pressure-maintaining state, that is, the flow static state, is used to estimate the braking force:​

[0115] F=P·A

[0116] Among them, F is the braking force output by the hydraulic cylinder of the brake, A is the area of ​​the piston in the hydraulic cylinder, and P is the pressure in the hydraulic cylinder.

[0117] As an example, assume that the system supply pressure P of the hydraulic disc brake is s The hydraulic cylinder piston area A is 0.01m 2 , liquid density ρ is 850kg / m 3 , flow coefficient C d is 0.6, the valve opening area A of the brake hydraulic system v 0.002m 2 ; Substitute it into the braking force estimation model, and we can get the following model:

[0118]

[0119] Where, 0.2MN = 200kN;

[0120] (1) If the flow rate is measured under non-pressure-maintaining state, Q = 0.01m 3 / s

[0121] Substitute it into the braking force estimation model and calculate as follows:

[0122]

[0123] That is, flow rate Q = 0.01m 3 / s, the braking force is 199.7kN;

[0124] (2) If the flow rate Q is measured to be 0 in the non-pressure-maintaining state, then:

[0125] F=0.2MN=200kN

[0126] That is, in the pressure-maintaining state, the braking force is 200 kN.

[0127] Since the brake may cause the model estimation result to have a larger error due to some factors (such as the working environment temperature, etc.) during a long period of time, as a better implementation option, preferably, this solution S03 also includes:

[0128] Calibrate or update the brake force estimation model according to preset conditions, including:

[0129] A01. Under no-load or different load conditions, apply known input pressure P and flow through the brake hydraulic system;

[0130] A02, record the flow rate and pressure collected by the flow sensor and pressure sensor, and directly measure the actual brake force F output by the force sensor actual ;Adjust input conditions, including pressure, flow, and load, to obtain multiple sets of data to ensure that the frequency of data acquisition meets the preset threshold to capture the dynamic response of the brake;

[0131] A03. Use the flow rate and pressure collected by the flow sensor and pressure sensor, combined with the braking force estimation model to estimate the braking force and obtain the estimated braking force F. calculated :

[0132]

[0133] Among them, F calculated is the estimated value of the braking force output by the brake hydraulic cylinder, Q is the flow rate of hydraulic oil in the brake hydraulic system, C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, P is the pressure in the hydraulic cylinder, and A is the area of ​​the piston in the hydraulic cylinder;

[0134] A04, data comparison, the estimated braking force F calculated The actual measured braking force F actual Compare to get the error value:

[0135] W 误差 =F actual -F calculated

[0136] A05, according to the error W 误差 Flow coefficient C of the braking force estimation model d , Valve opening area A of the brake hydraulic system v Adjust parameters so that the error of the model results is less than a preset value (e.g. 5%);

[0137] A06. Repeat A01 and A02 to re-collect data, and use the new collected data to verify the adjusted braking force estimation model to obtain a calibrated braking force estimation model.

[0138] This solution can make the braking force estimation model more reliable by calibrating and optimizing the braking force model.

[0139] In addition, for the working environment of the hydraulic oil in the hydraulic system of the brake, when the temperature difference is large, the viscosity of the hydraulic oil will change, which may affect the estimation of the braking force. As a better implementation option, preferably, this solution S01 also includes:

[0140] Collect the temperature and viscosity data of the hydraulic oil in the brake hydraulic system, and then compile them into a hydraulic oil data set;

[0141] Among them, in S01, when collecting the component data of the brake and the flow data of the hydraulic oil in the hydraulic oil circuit, the pressure data in the hydraulic cylinder and the braking force data when the brake is working, the working temperature of the hydraulic system of the brake is also controlled to be T0, and then the data are collected to form a brake data set;

[0142] S02 also includes: constructing a mathematical relationship model between temperature and hydraulic oil viscosity based on the hydraulic oil data set to generate a viscosity estimation model;

[0143] The viscosity estimation model is defined as follows:

[0144]

[0145] Where, μ0 is the viscosity of the hydraulic oil at the reference temperature T0, β is the viscosity temperature coefficient, and μ(T) is the viscosity of the hydraulic oil at temperature T;

[0146] Substitute the data in the hydraulic oil data set to determine the viscosity temperature coefficient β;

[0147] S03 also includes:

[0148] In response to the brake's working start signal, the temperature of the hydraulic oil in the brake's hydraulic system is obtained at a preset time frequency, and then the viscosity of the hydraulic oil is estimated according to the viscosity estimation model. The flow data of the hydraulic oil in the brake hydraulic oil circuit and the pressure data in the hydraulic cylinder are then corrected. The correction formula is defined as follows:

[0149]

[0150] Among them, Q measured , P measured are the flow data and pressure data measured by the flow sensor and pressure sensor respectively; Q corrected , P corrected are the corrected flow data and pressure data respectively, μ(T0) is the viscosity of the hydraulic oil at the reference temperature T0, and μ(T) is the viscosity of the hydraulic oil estimated by the viscosity estimation model at the brake operating temperature T.

[0151] As for the determination of the brake working state information and the braking force data, as a better implementation option, preferably, the scheme S04 includes:

[0152] S041. Determine whether the hydraulic system of the brake is in a pressure-maintaining state or a non-pressure-maintaining state according to the oil circuit flow data, and obtain brake working state information;

[0153] S042. Retrieve the corresponding braking force estimation model according to the brake working state information. In the pressure-maintaining state, import the hydraulic pressure data into the model to obtain the braking force data. In the non-pressure-maintaining state, import the oil flow data and the hydraulic pressure data into the model to obtain the braking force data.

[0154] On the basis of the above, as a better implementation option, preferably, this solution S05 includes:

[0155] Obtain the control command information corresponding to the brake's working start signal, parse the braking action corresponding to the control command information, and combine the brake's working status information and / or braking force data to maintain or update the control command or output braking abnormality information.

[0156] As examples, this may include, but is not limited to, the following situations:

[0157] (1) When the control instruction information corresponding to the brake's working start signal is continuous braking, if the brake working state information points to a non-pressure-maintaining state and the braking force data is in a continuous fluctuation, it can be preliminarily determined that there is a hydraulic oil leak or other component abnormality in the brake's hydraulic system, and the brake abnormality information is output at this time;

[0158] (2) When the control command information corresponding to the brake operation start signal is to release the brake, if the brake operation status information points to the pressure holding state or the braking force data is at a high braking value and there is no decrease in the value, it can be preliminarily determined that there is an abnormality in the hydraulic system of the brake;

[0159] (3) When the control command information corresponding to the brake operation start signal is continuous braking, if the brake operation state information points to the pressure holding state, it can be preliminarily judged that the brake hydraulic system is normal. At this time, the brake control command can be maintained;

[0160] (4) When the control command information corresponding to the brake operation start signal is continuous braking, if the braking force data is in a continuous growth state, it can be preliminarily determined that the brake hydraulic system is normal. At this time, the brake control command can be maintained;

[0161] (5) When the control command information corresponding to the brake's working start signal is to release the brake, if the braking force data remains unchanged or the brake working status information points to the pressure holding state, the brake control command can be updated to allow the brake to re-execute the command in order to eliminate occasional abnormalities.

[0162] Based on the above, the brake control method of the present invention can be applied to the crane brake operation control method.

[0163] In this solution, since temperature, viscosity and defects in the oil pipe will affect the output of the oil pressure, the method of controlling the oil pressure by controlling the flow rate is more accurate; at the same time, this method monitors the size of the brake force by monitoring the changes in the flow rate, and can provide real-time feedback on changes in the brake performance, which can effectively improve the reliability of the brake.

[0164] Combination Figure 2 As shown, based on the above, this embodiment also provides a brake control system, which includes:

[0165] The model data acquisition unit is used to collect the component data of the brake and the flow data of the hydraulic oil in the hydraulic oil circuit, the pressure data in the hydraulic cylinder and the braking force data when the brake is working, and then collect them to form a brake data set;

[0166] A model building unit, for building a mathematical relationship model between the flow data of hydraulic oil in the hydraulic oil circuit, the pressure data in the hydraulic cylinder and the braking force when the brake is working, based on the braking data set, to generate a braking force estimation model;

[0167] The working monitoring unit includes a flow sensor and a pressure sensor, which are respectively used to respond to the working start signal of the brake, monitor the flow data of the hydraulic oil in the brake hydraulic oil circuit and the pressure data in the hydraulic cylinder, and obtain the oil circuit flow data and the hydraulic pressure data respectively;

[0168] A data scheduling unit, used to determine brake working state information and braking force data according to oil circuit flow data and / or hydraulic pressure data in combination with a braking force estimation model;

[0169] The information generating unit is used to maintain or update the control instruction of the brake or output the braking abnormality information according to the brake working state information and / or braking force data.

[0170] In addition, the system of this solution may also include a brake monitoring unit installed on the braking object corresponding to the brake, so as to obtain the state of the corresponding brake object when the brake is working, and interact with the model building unit and the brake monitoring unit data through the information generation unit, and then judge whether there are abnormal braking problems or brake lag based on the data of the two.

[0171] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0172] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0173] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A brake control method for controlling the operation of a hydraulic brake, characterized in that: It includes: S01, collecting component data of the brake and flow data of the hydraulic oil in the hydraulic oil circuit, pressure data in the hydraulic cylinder, and braking force data when the brake is working, and then collecting them to form a brake data set; S02. Based on the brake data set, a mathematical relationship model is constructed between the flow data of the hydraulic oil in the hydraulic oil circuit, the pressure data in the hydraulic cylinder and the braking force when the brake is working, and a braking force estimation model is generated; S03, responding to the brake working start signal, monitoring the flow data of the hydraulic oil in the brake hydraulic oil circuit and the pressure data in the hydraulic cylinder, and obtaining the oil circuit flow data and the hydraulic pressure data respectively; S04, determining brake working state information and braking force data according to the oil flow data and / or the hydraulic pressure data in combination with a braking force estimation model; S05. According to the brake working state information and / or braking force data, the brake control command is maintained or updated or the brake abnormality information is output.

2. The brake control method according to claim 1, characterized in that: S01 includes: S011. Take a brake, simulate its application scenario and application object, install the brake on the test bench, install a flow sensor in the hydraulic oil circuit of the brake to collect the flow data Q of the hydraulic oil in its hydraulic oil circuit when the brake is working dynamically, and at the same time, install a pressure sensor at the inlet or outlet of the hydraulic cylinder of the brake to collect the pressure P in the hydraulic cylinder in real time, and install a force sensor at the piston position of the hydraulic cylinder to measure the braking force F generated when the brake is working; S012, set different working condition targets, make the brake reach the corresponding working condition targets, and then collect the flow data Q of the hydraulic oil in the brake hydraulic oil circuit, the pressure P in the hydraulic cylinder and the generated braking force F in real time when the working condition targets are reached, to form a data set (Q i , P i , F i ), where Q i is the flow data measured by the flow sensor, P i is the pressure in the hydraulic cylinder measured by the pressure sensor, F i is the braking force measured by the force sensor; S013, the data group (Q i , P i , F i ) and brake component data are collected to form a brake data set.

3. The brake control method according to claim 2, characterized in that: S02 includes: S021. The braking force F output by the hydraulic cylinder of the brake is determined by the pressure P in the hydraulic cylinder and the area A of the piston in the hydraulic cylinder. The mathematical relationship is defined as follows: F=P·A Among them, F is the braking force output by the hydraulic cylinder of the brake, P is the pressure in the hydraulic cylinder, and A is the area of ​​the piston in the hydraulic cylinder, which is the flow area controlled by the valve; Based on the Bernoulli equation and the characteristics of the hydraulic system, the mathematical relationship between the flow rate Q of the hydraulic oil in the brake hydraulic system and the pressure P in the hydraulic cylinder is defined as follows: Among them, Q is the flow rate of hydraulic oil in the brake hydraulic system, C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, and P is the pressure in the hydraulic cylinder; S022, according to the flow Q and system supply pressure P s , the mathematical relationship of the pressure P in the hydraulic cylinder is expressed as follows: Among them, Q is the flow rate of hydraulic oil in the brake hydraulic system, C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, and P is the pressure in the hydraulic cylinder; Combining the mathematical relationship between the braking force F, the pressure P in the hydraulic cylinder and the area A of the piston in the hydraulic cylinder, the mathematical relationship of the braking force F is expressed as follows: Among them, F is the braking force output by the brake hydraulic cylinder, Q is the flow rate of hydraulic oil in the brake hydraulic system, and C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, P is the pressure in the hydraulic cylinder, and A is the area of ​​the piston in the hydraulic cylinder; S023, the data group (Q i , P i , F i ) is substituted into the mathematical relationship formula of the braking force F, and curve fitting is performed to determine the flow coefficient C d , valve opening area A v , density of hydraulic oil ρ; system supply pressure P s 1. The area A of the piston in the hydraulic cylinder is determined by consulting the component data of the brake, and then substituted into the mathematical relationship expression formula of the braking force F to obtain the flow data of the hydraulic oil in the hydraulic oil circuit, the pressure data in the hydraulic cylinder and the mathematical relationship model of the braking force; When the brake is working, the parameters of the hydraulic oil circuit in the pressure-maintaining and non-pressure-maintaining states are different. When in the pressure-maintaining state, the flow rate Q of the hydraulic oil in the brake hydraulic system approaches zero. At this time, the pressure in the hydraulic cylinder remains relatively constant, and no hydraulic oil flows. At this time, the P measured by the pressure sensor in the hydraulic cylinder is usually equal to the system supply pressure P s That is, in the pressure-maintaining state, the braking force is mainly provided by the system pressure P s and the area A of the piston in the hydraulic cylinder; therefore, the braking force estimation model is defined as follows: Among them, F is the braking force output by the brake hydraulic cylinder, Q is the flow rate of hydraulic oil in the brake hydraulic system, and C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, P is the pressure in the hydraulic cylinder, and A is the area of ​​the piston in the hydraulic cylinder.

4. The brake control method according to claim 3, characterized in that: S023 also includes: Set the flow threshold Q 阈值 , according to the flow threshold Q 阈值 Performing logic switching on the braking force estimation model, that is, determining whether the hydraulic system of the brake is in a pressure-maintaining state or a non-pressure-maintaining state; When the flow rate Q ≥ Q 阈值 When the braking force is estimated, the braking force estimation model under the non-pressure-maintaining state, that is, the flow dynamic state, is used to estimate the braking force: Among them, F is the braking force output by the brake hydraulic cylinder, Q is the flow rate of hydraulic oil in the brake hydraulic system, and C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, P is the pressure in the hydraulic cylinder, and A is the area of ​​the piston in the hydraulic cylinder; When the flow rate Q<Q 阈值 When , the braking force estimation model under the pressure-maintaining state, that is, the flow static state, is used to estimate the braking force: F=P·A Among them, F is the braking force output by the hydraulic cylinder of the brake, A is the area of ​​the piston in the hydraulic cylinder, and P is the pressure in the hydraulic cylinder.

5. The brake control method according to claim 3 or 4, characterized in that: S03 also includes: Calibrate or update the brake force estimation model according to preset conditions, including: A01. Under no-load or different load conditions, apply known input pressure P and flow through the brake hydraulic system; A02, record the flow rate and pressure collected by the flow sensor and pressure sensor, and directly measure the actual brake force F output by the force sensor actual ;Adjust input conditions, including pressure, flow, and load, to obtain multiple sets of data to ensure that the frequency of data acquisition meets the preset threshold to capture the dynamic response of the brake; A03. Use the flow rate and pressure collected by the flow sensor and pressure sensor, combined with the braking force estimation model to estimate the braking force and obtain the estimated braking force F. calculated : Among them, F calculated is the estimated value of the braking force output by the brake hydraulic cylinder, Q is the flow rate of hydraulic oil in the brake hydraulic system, C d is the flow coefficient, A v is the valve opening area of ​​the brake hydraulic system, P s is the system supply pressure, which is the maximum pressure that the brake hydraulic system can provide, ρ is the density of the hydraulic oil, P is the pressure in the hydraulic cylinder, and A is the area of ​​the piston in the hydraulic cylinder; A04, data comparison, the estimated braking force F calculated The actual measured braking force F actual Compare to get the error value: W 误羞 =F actual -F calculated A05, according to the error W 误差 Flow coefficient C of the braking force estimation model d , Valve opening area A of the brake hydraulic system v Adjust parameters to make the error of the model result smaller than the preset value; A06. Repeat A01 and A02 to re-collect data, and use the new collected data to verify the adjusted braking force estimation model to obtain a calibrated braking force estimation model.

6. The brake control method according to claim 3 or 4, characterized in that: S01 also includes: Collect the temperature and viscosity data of the hydraulic oil in the brake hydraulic system, and then compile them into a hydraulic oil data set; Among them, in S01, when collecting the component data of the brake and the flow data of the hydraulic oil in the hydraulic oil circuit, the pressure data in the hydraulic cylinder and the braking force data when the brake is working, the working temperature of the hydraulic system of the brake is also controlled to be T0, and then the data are collected to form a brake data set; S02 also includes: constructing a mathematical relationship model between temperature and hydraulic oil viscosity based on the hydraulic oil data set to generate a viscosity estimation model; The viscosity estimation model is defined as follows: Where, μ0 is the viscosity of the hydraulic oil at the reference temperature T0, β is the viscosity temperature coefficient, and μ(T) is the viscosity of the hydraulic oil at temperature T; Substitute the data in the hydraulic oil data set to determine the viscosity temperature coefficient β; S03 also includes: In response to the brake's working start signal, the temperature of the hydraulic oil in the brake's hydraulic system is obtained at a preset time frequency, and then the viscosity of the hydraulic oil is estimated according to the viscosity estimation model. The flow data of the hydraulic oil in the brake hydraulic oil circuit and the pressure data in the hydraulic cylinder are then corrected. The correction formula is defined as follows: Among them, Q measured , P measured are the flow data and pressure data measured by the flow sensor and pressure sensor respectively; Q corrected , P corrected are the corrected flow data and pressure data respectively, μ(T0) is the viscosity of the hydraulic oil at the reference temperature T0, and μ(T) is the viscosity of the hydraulic oil estimated by the viscosity estimation model at the brake operating temperature T.

7. The brake control method according to any one of claims 3 to 6, characterized in that: S04 includes: S041. Determine whether the hydraulic system of the brake is in a pressure-maintaining state or a non-pressure-maintaining state according to the oil circuit flow data, and obtain brake working state information; S042. Retrieve the corresponding braking force estimation model according to the brake working state information. In the pressure-maintaining state, import the hydraulic pressure data into the model to obtain the braking force data. In the non-pressure-maintaining state, import the oil flow data and the hydraulic pressure data into the model to obtain the braking force data.

8. The brake control method according to claim 7, characterized in that: S05 includes: Obtain the control command information corresponding to the brake's working start signal, parse the braking action corresponding to the control command information, and combine the brake's working status information and / or braking force data to maintain or update the control command or output braking abnormality information.

9. A brake control system, characterized in that: It includes: The model data acquisition unit is used to collect the component data of the brake and the flow data of the hydraulic oil in the hydraulic oil circuit, the pressure data in the hydraulic cylinder and the braking force data when the brake is working, and then collect them to form a brake data set; A model building unit, for building a mathematical relationship model between the flow data of hydraulic oil in the hydraulic oil circuit, the pressure data in the hydraulic cylinder and the braking force when the brake is working, based on the braking data set, to generate a braking force estimation model; The working monitoring unit includes a flow sensor and a pressure sensor, which are respectively used to respond to the working start signal of the brake, monitor the flow data of the hydraulic oil in the brake hydraulic oil circuit and the pressure data in the hydraulic cylinder, and obtain the oil circuit flow data and the hydraulic pressure data respectively; A data scheduling unit, used to determine brake working state information and braking force data according to oil circuit flow data and / or hydraulic pressure data in combination with a braking force estimation model; The information generating unit is used to maintain or update the control instruction of the brake or output the braking abnormality information according to the brake working state information and / or braking force data.

10. A crane brake operation control method, characterized in that: It comprises the brake control method as claimed in any one of claims 1 to 8.

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