Method and device for setting main hydraulic power of excavator, excavator and storage medium

Abstract

The invention relates to the technical field of power control, and discloses a main hydraulic power setting method and device of an excavator, the excavator and a storage medium. The actual power of an engine cooling system is calculated based on the current engine water temperature or the engine intercooling temperature, the actual air conditioner refrigeration power is determined based on the air conditioner refrigeration state, and then the difference between the maximum engine power and the actual power of a hydraulic cooling system, the actual power of the engine cooling system, the actual air conditioner refrigeration power and the preset engine reserved power is obtained; and finally, the target main hydraulic power is applied to a main pump corresponding to the excavator to operate, so that it is guaranteed that the hydraulic main power is in a better state, and the engine power is brought into play to a greater extent.

Description

Technical Field

[0001] The present invention relates to the technical field of power control, and particularly to a main hydraulic power setting method and device for an excavator, an excavator, and a storage medium. Background Art

[0002] The hydraulic oil cooling system and the engine cooling system of large and extra-large excavators generally adopt a hydraulic drive form, using a variable displacement piston pump to drive a variable displacement motor or a fixed displacement motor to realize the rotation of the fan. The cooling power usually takes the maximum power required by the cooling system. The set main hydraulic power = engine rated power - maximum power of the hydraulic cooling pump - maximum power of the engine cooling pump - air-conditioning refrigeration power.

[0003] For the above-mentioned main hydraulic power setting, the power of the hydraulic oil cooling fan, the power of the engine cooling fan, and the air-conditioning refrigeration power are set as fixed values. However, when the excavator is actually working, the air-conditioning refrigeration function may not be turned on (in this case, the air-conditioning refrigeration power is 0), the power of the hydraulic oil cooling fan does not reach the maximum power when the hydraulic oil temperature is relatively low, and the power of the engine cooling fan does not reach the maximum power when the engine water temperature and the intercooler temperature are relatively low, resulting in that this power setting method does not maximize the engine power. Summary of the Invention

[0004] In view of this, the present invention provides a main hydraulic power setting method and device for an excavator, an excavator, and a storage medium to solve the problem that the power setting method does not maximize the engine power because the power of the hydraulic oil cooling fan, the power of the engine cooling fan, and the air-conditioning refrigeration power are set as fixed values.

[0005] In a first aspect, the present invention provides a main hydraulic power setting method for an excavator. The method includes: calculating the maximum power of the engine, the actual power of the hydraulic cooling system, the actual power of the engine cooling system, and the actual air-conditioning refrigeration power during the operation of the excavator. Among them, the maximum power of the engine is calculated based on a preset engine speed corresponding to the current driving gear of the excavator, the actual power of the hydraulic cooling system is calculated based on the current hydraulic oil temperature, the actual power of the engine cooling system is calculated based on the current engine water temperature or the engine intercooler temperature, and the actual air-conditioning refrigeration power is determined based on the air-conditioning refrigeration state; subtracting the actual power of the hydraulic cooling system, the actual power of the engine cooling system, the actual air-conditioning refrigeration power, and a preset engine reserved power from the maximum power of the engine to obtain a target main hydraulic power, and applying the target main hydraulic power to the corresponding main pump of the excavator for operation.

[0006] The main hydraulic power setting method for an excavator provided by the present invention calculates the maximum engine power by obtaining the preset engine speed corresponding to the current driving gear of the excavator during the operation of the excavator, calculates the actual power of the hydraulic cooling system based on the current hydraulic oil temperature, calculates the actual power of the engine cooling system based on the current engine water temperature or the engine intercooler temperature, determines the actual power of air-conditioning refrigeration based on the air-conditioning refrigeration state, then subtracts the actual power of the hydraulic cooling system, the actual power of the engine cooling system, the actual power of air-conditioning refrigeration, and the preset engine reserve power from the maximum engine power to obtain the target main hydraulic power. Finally, the target main hydraulic power is applied to the corresponding main pump of the excavator for operation. By judging whether the air-conditioning refrigeration function is turned on and monitoring the hydraulic oil temperature, the engine water temperature or the intercooler temperature in real time, the real-time adjustment of the cooling power is realized, so as to ensure that the main hydraulic power is in a better state and the engine power can be exerted to a greater extent.

[0007] In an alternative embodiment, applying the target main hydraulic power to the corresponding main pump of the excavator for operation includes: obtaining the current main pump pressure; calculating the maximum displacement of the main pump based on the current main pump pressure and the target main hydraulic power; determining the main pump control current based on the corresponding relationship between the preset main pump displacement and the main pump current and the maximum displacement of the main pump; and controlling the current flowing to the main pump not to be greater than the main pump control current.

[0008] In an alternative embodiment, after controlling the current flowing to the main pump not to be greater than the main pump control current, the method further includes: obtaining the current engine speed and judging whether the current engine speed is less than the difference between the preset engine speed corresponding to the current driving gear of the excavator and the preset speed margin value; if the current engine speed is less than the difference between the preset engine speed corresponding to the current driving gear of the excavator and the preset value, reducing the target main hydraulic power based on a preset percentage and applying the reduced main hydraulic power to the corresponding main pump of the excavator for operation.

[0009] In an alternative embodiment, based on the calculated maximum engine power, the power value corresponding to its preset percentage is taken as the engine reserve power.

[0010] In an alternative embodiment, the hydraulic cooling system at least includes a hydraulic cooling pump and a hydraulic cooling motor. Calculating the actual power of the hydraulic cooling system based on the current hydraulic oil temperature includes: obtaining the current hydraulic oil temperature, and calculating the required first speed of the hydraulic oil cooling motor based on the corresponding relationship between the preset hydraulic oil temperature and the speed of the hydraulic cooling motor; determining the required first current of the hydraulic cooling pump based on the corresponding relationship between the preset hydraulic cooling pump current and the speed of the hydraulic cooling motor and the required first speed of the hydraulic oil cooling motor; controlling the current flowing to the hydraulic cooling pump to be the required first current of the hydraulic cooling pump, and obtaining the second speed of the hydraulic oil cooling motor and the first pressure of the hydraulic cooling pump; calculating the actual power of the hydraulic cooling system based on the second speed of the hydraulic oil cooling motor and the first pressure of the hydraulic cooling pump.

[0011] In an alternative embodiment, the engine cooling system at least includes an engine cooling motor and an engine cooling pump. Calculating the actual power of the engine cooling system based on the current engine water temperature or the engine intercooler temperature includes: obtaining the current engine water temperature and the engine intercooler temperature; calculating the required third speed of the engine cooling motor corresponding to the engine water temperature and the required fourth speed of the engine cooling motor corresponding to the engine intercooler temperature respectively based on the corresponding relationship between the preset engine water temperature and the speed of the engine cooling motor and the corresponding relationship between the preset engine intercooler temperature and the speed of the engine cooling motor; selecting the highest speed from the required third speed and fourth speed of the engine cooling motor as the required fifth speed of the engine cooling motor; determining the required second current of the engine cooling pump based on the corresponding relationship between the preset engine cooling pump current and the speed of the engine cooling motor and the required fifth speed of the engine cooling motor; controlling the current flowing to the engine cooling pump to be the required second current of the engine cooling pump, and obtaining the sixth speed of the engine cooling motor and the second pressure of the engine cooling pump; calculating the actual power of the engine cooling system based on the sixth speed of the engine cooling motor and the second pressure of the engine cooling pump.

[0012] In an alternative embodiment, determining the actual air-conditioning cooling power based on the air-conditioning cooling state includes: determining whether the air conditioner is in the cooling state; if the air conditioner is in the cooling state, obtaining the air-conditioning cooling power and using it as the actual air-conditioning cooling power; if the air conditioner is not in the cooling state, determining the actual air-conditioning cooling power to be zero.

[0013] Second aspect, the present invention provides a main hydraulic power setting device for an excavator, the device comprising: an actual power calculation module, configured to calculate the maximum power of the engine, the actual power of the hydraulic cooling system, the actual power of the engine cooling system, and the actual power of the air-conditioning refrigeration during the operation of the excavator, wherein the maximum power of the engine is calculated based on a preset engine speed corresponding to the current driving gear of the excavator, the actual power of the hydraulic cooling system is calculated based on the current hydraulic oil temperature, the actual power of the engine cooling system is calculated based on the current engine water temperature or the engine intercooler temperature, and the actual power of the air-conditioning refrigeration is determined based on the air-conditioning refrigeration state; a main hydraulic power determination module, configured to subtract the actual power of the hydraulic cooling system, the actual power of the engine cooling system, the actual power of the air-conditioning refrigeration, and a preset engine reserved power from the maximum power of the engine to obtain a target main hydraulic power, and apply the target main hydraulic power to the corresponding main pump of the excavator for operation.

[0014] Third aspect, the present invention provides an excavator, the excavator comprising a hydraulic oil temperature sensor, an engine water temperature sensor, and an engine intercooler temperature sensor for respectively detecting their corresponding temperatures, and further comprising an engine, a hydraulic cooling system, an engine cooling system, an air conditioner, and a controller, the controller comprising a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to execute the main hydraulic power setting method of the excavator according to the first aspect or any corresponding embodiment thereof.

[0015] Fourth aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored, the computer instructions being used to cause a computer to execute the main hydraulic power setting method of the excavator according to the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 is a flowchart of the main hydraulic power setting method of the excavator according to the embodiment of the present invention;

[0018] Figure 2 is an exemplary diagram of the engine characteristic curve according to the embodiment of the present invention;

[0019] Figure 3It is an exemplary diagram of the main hydraulic power setting method of an excavator according to an embodiment of the present invention;

[0020] Figure 4 It is a schematic flowchart of the main hydraulic power setting method of another excavator according to an embodiment of the present invention;

[0021] Figure 5 It is a curve graph showing the corresponding relationship between the hydraulic oil temperature and the rotational speed of the hydraulic cooling motor according to an embodiment of the present invention;

[0022] Figure 6 It is a curve graph showing the corresponding relationship between the current of the hydraulic cooling pump and the rotational speed of the hydraulic cooling motor according to an embodiment of the present invention;

[0023] Figure 7 It is a curve graph showing the corresponding relationships between the engine water temperature, the engine intercooler temperature and the rotational speed of the engine cooling motor respectively according to an embodiment of the present invention;

[0024] Figure 8 It is a curve graph showing the corresponding relationship between the current of the engine cooling pump and the rotational speed of the engine cooling motor according to an embodiment of the present invention;

[0025] Figure 9 It is an exemplary diagram of the application process of the main hydraulic power according to an embodiment of the present invention;

[0026] Figure 10 It is a curve graph showing the corresponding relationship between the main pump displacement and the main pump current according to an embodiment of the present invention;

[0027] Figure 11 It is a schematic structural diagram of an excavator according to an embodiment of the present invention;

[0028] Figure 12 It is an exemplary diagram of the specific structure of an excavator according to an embodiment of the present invention;

[0029] Figure 13 It is a structural block diagram of the main hydraulic power setting device of an excavator according to an embodiment of the present invention;

[0030] Figure 14 It is a schematic hardware structure diagram of the controller according to an embodiment of the present invention.

[0031] In the figure, there are engine 1, engine water temperature sensor 2, engine intercooler temperature sensor 3, air-conditioning compressor 4, transfer case 5, main pump 6, hydraulic cooling pump 7, engine cooling pump 8, hydraulic cooling pump pressure sensor 9, engine cooling pump pressure sensor 10, main pump pressure sensor 11, engine water radiator 12, engine intercooler radiator 13, engine cooling fan 14, engine cooling motor 15, engine cooling motor speed sensor 16, hydraulic cooling motor 17, hydraulic cooling fan 18, hydraulic cooling motor speed sensor 19, hydraulic oil radiator 20, main control valve 21, hydraulic oil temperature sensor 22, and controller 23. Specific embodiments

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0033] According to an embodiment of the present invention, there is provided an embodiment of a method for setting the main hydraulic power of an excavator. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0034] In this embodiment, a method for setting the main hydraulic power of an excavator is provided, which can be used for the controller in the excavator. Among them, the excavator designed in the embodiment of the present invention further includes a hydraulic oil temperature sensor, an engine water temperature sensor, and an engine intercooler temperature sensor, which can be used to detect their respective temperatures, and then enable the controller to calculate the main hydraulic power that can be maximally exerted based on the parameters such as the temperature of the actual excavator operation collected currently. Figure 1 It is a flowchart of the method for setting the main hydraulic power of an excavator according to an embodiment of the present invention. As Figure 1 shown, the process includes the following steps:

[0035] Step S101, calculate the maximum power of the engine, the actual power of the hydraulic cooling system, the actual power of the engine cooling system, and the actual power of air-conditioning refrigeration during the operation of the excavator.

[0036] Among them, the maximum engine power is calculated based on the preset engine speed corresponding to the current driving gear of the excavator, the actual power of the hydraulic cooling system is calculated based on the current hydraulic oil temperature, the actual power of the engine cooling system is calculated based on the current engine water temperature or the engine intercooler temperature, and the actual power of air-conditioning refrigeration is determined based on the air-conditioning refrigeration state.

[0037] In the embodiment of the present invention, during the startup operation of the excavator, the maximum engine power, the actual power of the hydraulic cooling system, the actual power of the engine cooling system, and the actual power of air-conditioning refrigeration can be calculated in real time or at regular intervals (such as every 10 seconds) based on the actual operation state and environment of the current excavator.

[0038] Among them, the method for calculating the maximum engine power can be to obtain the driving gear of the excavator during current operation, and determine the preset engine speed Ne corresponding to the current driving gear according to the pre-determined correspondence between the driving gear of the excavator and the engine speed. The method for establishing the correspondence between the driving gear of the excavator and the engine speed is not limited, and it can be methods such as referring to the excavator equipment manual or conducting actual gear tests. Then, through the engine characteristic curve as shown in Figure 2 , the maximum torque Te at the preset engine speed Ne can be determined. Subsequently, the maximum engine power P0' at the preset engine speed can be calculated through the formula P0' = Te·Ne / 9550, which is only an example. The method for calculating the actual power P1' of the hydraulic cooling system in the embodiment of the present invention can be to obtain the current hydraulic oil temperature collected by the hydraulic oil temperature sensor, determine the heat dissipation requirement corresponding to the current hydraulic oil temperature based on the pre-established correspondence between the hydraulic oil temperature and the heat dissipation requirement, and then calculate the actual power of the hydraulic cooling system according to the heat dissipation requirement and the efficiency of the cooling system. The method for calculating the actual power P2' of the engine cooling system in the embodiment of the present invention can be to calculate the heat carried away by the coolant based on the engine water temperature or the engine intercooler temperature, and then calculate the actual power of the engine cooling system based on the heat carried away by the coolant and the energy efficiency of the engine cooling system. The embodiment of the present invention can determine the actual power P3' of air-conditioning refrigeration based on the current air-conditioning refrigeration state. For example, when the current air-conditioning is not turned on, the actual power of air-conditioning refrigeration is zero. If the air-conditioning is turned on for refrigeration, the actual power of air-conditioning refrigeration is calculated based on the rated power of the air-conditioning and the difference between the indoor temperature and the set temperature, which is only an example.

[0039] Step S102: Subtract the maximum engine power from the actual power of the hydraulic cooling system, the actual power of the engine cooling system, the actual power of air-conditioning refrigeration, and the preset engine reserved power to obtain the target main hydraulic power, and apply the target main hydraulic power to the corresponding main pump of the excavator for operation.

[0040] When designing the target main hydraulic power in the embodiments of the present invention, the preset engine reserved power P4' is also considered, which can prevent the engine from stalling or shutting down when the load suddenly changes. Therefore, as Figure 3 shown, the difference can be obtained by subtracting the actual power of the hydraulic cooling system, the actual power of the engine cooling system, the actual power of the air-conditioning refrigeration, and the preset engine reserved power from the calculated maximum engine power, so as to obtain the target main hydraulic power P', that is, P' = P0' - P1' - P2' - P3' - P4'. Then, the target main hydraulic power calculated based on the current working environment of the excavator can be applied to the corresponding main pump of the excavator for operation.

[0041] The method for setting the main hydraulic power of the excavator provided in this embodiment obtains the maximum engine power by calculating the preset engine speed corresponding to the current driving gear of the excavator during the operation of the excavator, calculates the actual power of the hydraulic cooling system based on the current hydraulic oil temperature, calculates the actual power of the engine cooling system based on the current engine water temperature or the engine intercooler temperature, determines the actual power of the air-conditioning refrigeration based on the air-conditioning refrigeration state, then subtracts the actual power of the hydraulic cooling system, the actual power of the engine cooling system, the actual power of the air-conditioning refrigeration, and the preset engine reserved power from the maximum engine power to obtain the target main hydraulic power, and finally applies the target main hydraulic power to the corresponding main pump of the excavator for operation. By judging whether the air-conditioning refrigeration function is turned on and monitoring the hydraulic oil temperature, the engine water temperature or the intercooler temperature in real time, the real-time adjustment of the cooling power is realized, so as to ensure that the main hydraulic power is in a better state and the engine power can be exerted to a greater extent.

[0042] In this embodiment, a method for setting the main hydraulic power of an excavator is provided, which can be used in the controller of the excavator. Figure 4 is a flowchart of the method for setting the main hydraulic power of the excavator according to the embodiments of the present invention. As Figure 4 shown, the process includes the following steps:

[0043] Step S401, calculate the maximum engine power, the actual power of the hydraulic cooling system, the actual power of the engine cooling system, and the actual power of the air-conditioning refrigeration during the operation of the excavator.

[0044] Among them, the maximum engine power is calculated based on the preset engine speed corresponding to the current driving gear of the excavator, the actual power of the hydraulic cooling system is calculated based on the current hydraulic oil temperature, the actual power of the engine cooling system is calculated based on the current engine water temperature or the engine intercooler temperature, and the actual power of the air-conditioning refrigeration is determined based on the air-conditioning refrigeration state.

[0045] Specifically, calculating the actual power of the hydraulic cooling system based on the current hydraulic oil temperature includes: obtaining the current hydraulic oil temperature, and calculating the first required speed of the hydraulic oil cooling motor based on the corresponding relationship between the preset hydraulic oil temperature and the speed of the hydraulic cooling motor; determining the first required current of the hydraulic cooling pump based on the corresponding relationship between the preset current of the hydraulic cooling pump and the speed of the hydraulic cooling motor, and the first required speed of the hydraulic oil cooling motor; controlling the current flowing to the hydraulic cooling pump to be the first required current of the hydraulic cooling pump, and obtaining the second speed of the hydraulic oil cooling motor, and obtaining the first pressure of the hydraulic cooling pump; calculating the actual power of the hydraulic cooling system based on the second speed of the hydraulic oil cooling motor and the first pressure of the hydraulic cooling pump.

[0046] Wherein, the hydraulic cooling system at least includes a hydraulic cooling pump and a hydraulic cooling motor.

[0047] In the embodiment of the present invention, during the starting operation of the excavator, the current hydraulic oil temperature To can be collected by a hydraulic oil temperature sensor, and then, through the corresponding relationship between the hydraulic oil temperature and the speed of the hydraulic cooling motor as shown in Figure 5 , the first required speed Nom of the hydraulic cooling motor can be determined, so as to accurately determine the required speed of the cooling motor according to the actual temperature of the hydraulic oil, ensure the stable operation of the hydraulic system. Based on the corresponding relationship between the current of the hydraulic cooling pump and the speed of the hydraulic cooling motor and the first speed Nom as shown in Figure 6 , the first required current Iop of the hydraulic cooling pump is calculated. After the controller outputs the required first current Iop to the hydraulic cooling pump, the second speed Nop of the hydraulic cooling motor is detected by a hydraulic cooling motor speed sensor, and the first pressure Pop of the hydraulic cooling pump is detected by a hydraulic cooling pump pressure sensor. Finally, the actual power P1' of the hydraulic cooling system can be calculated by the formula P1' = Vgom·Nop·pop / ηo / 60000, where Vgom is the displacement (cc / rev) of the hydraulic cooling motor, which can be set as a fixed value in the controller for a finalized product, ηo is the total volumetric efficiency of the hydraulic cooling system, which can be taken as 0.9. The corresponding relationship between the hydraulic oil temperature and the speed of the hydraulic cooling motor can be preset in the system, and the corresponding relationship between the current of the hydraulic cooling pump and the speed of the hydraulic cooling motor can be measured after installation. The hydraulic cooling motor speed sensor and the hydraulic cooling pump pressure sensor are installed at corresponding positions in the excavator, which is only for example and not limited.

[0048] Specifically, calculating the actual power of the engine cooling system based on the current engine water temperature or the engine intercooler temperature includes: obtaining the current engine water temperature and the engine intercooler temperature; and respectively calculating the required third speed of the engine cooling motor corresponding to the engine water temperature and the required fourth speed of the engine cooling motor corresponding to the engine intercooler temperature based on the corresponding relationship between the preset engine water temperature and the engine cooling motor speed and the corresponding relationship between the preset engine intercooler temperature and the engine cooling motor speed; selecting the highest speed from the required third speed and fourth speed of the engine cooling motor as the required fifth speed of the engine cooling motor; determining the required second current of the engine cooling pump based on the corresponding relationship between the preset engine cooling pump current and the engine cooling motor speed and the required fifth speed of the engine cooling motor; controlling the current flowing to the engine cooling pump to be the required second current of the engine cooling pump, and obtaining the sixth speed of the engine cooling motor and the second pressure of the engine cooling pump; calculating the actual power of the engine cooling system based on the sixth speed of the engine cooling motor and the second pressure of the engine cooling pump.

[0049] Wherein, the engine cooling system at least includes an engine cooling motor and an engine cooling pump.

[0050] In the embodiment of the present invention, during the starting operation of the excavator, the current engine water temperature Tc can be collected through the engine water temperature sensor, and the engine intercooler temperature Ta can be collected through the engine intercooler temperature sensor. Then, through the corresponding relationship between the engine water temperature and the engine cooling motor speed and the corresponding relationship between the engine intercooler temperature and the engine cooling motor speed as shown in Figure 7 , the required third speed of the engine cooling motor corresponding to the engine water temperature and the required fourth speed of the engine cooling motor corresponding to the engine intercooler temperature can be determined. Then, the highest speed among the third speed and the fourth speed can be taken as the required fifth speed Nem of the engine cooling motor. Based on Figure 8Based on the corresponding relationship between the current of the engine cooling pump and the rotational speed of the engine cooling motor as shown, determine the second current Iep required for the engine cooling pump corresponding to the fifth rotational speed. After outputting the second current Iep to the engine cooling pump, detect the sixth rotational speed Nep of the engine cooling motor through the engine cooling motor speed sensor, and detect the second pressure Pep (Mpa) of the engine cooling pump through the engine cooling pump pressure sensor. Then calculate the actual power P2' of the engine cooling system through P2' = Vgem·Nep·pep / ηe / 60000. Herein, the establishment method of the above corresponding relationship is not limited. For example, the corresponding relationships between the engine water temperature, the engine intercooler temperature and the rotational speed of the engine cooling motor can be preset by the system. The corresponding relationship between the current of the engine cooling pump and the rotational speed of the engine cooling motor is after installation, only for example. Vgem is the displacement (cc / rev) of the engine cooling motor, which can be set as a fixed value in the controller for a finalized product. ηe is the total volumetric efficiency of the hydraulic cooling system, which can be taken as 0.9, only for example.

[0051] Specifically, determining the actual air-conditioning cooling power based on the air-conditioning cooling state includes: judging whether the air conditioner is in the cooling state; if the air conditioner is in the cooling state, obtain the air-conditioning cooling power and use it as the actual air-conditioning cooling power; if the air conditioner is not in the cooling state, determine that the actual air-conditioning cooling power is zero.

[0052] In an embodiment of the present invention, the cooling state of the air conditioner during the start-up operation of the excavator can be obtained. If the air conditioner is in the cooling state, obtain the air-conditioning cooling power and use it as the actual air-conditioning cooling power. The method for obtaining the air-conditioning cooling power is not limited. An electrical power test sensor can be installed, which can obtain the air-conditioning cooling power, or it can be calculated based on the cooling capacity and the energy efficiency ratio. The actual air-conditioning cooling power can also be a fixed preset power value, only for example. If the air conditioner is not in the cooling state, determine that the actual air-conditioning cooling power is zero.

[0053] The present invention determines the corresponding actual air-conditioning cooling power based on whether the current air conditioner is in the cooling state, avoiding the situation that the air-conditioning cooling function is not turned on during the actual operation of the excavator, but the air-conditioning cooling power is set as a fixed value, resulting in the main hydraulic power not being maximally exerted.

[0054] Step S402: Subtract the actual power of the hydraulic cooling system, the actual power of the engine cooling system, the actual air-conditioning cooling power and the preset engine reserve power from the maximum power of the engine to obtain the target main hydraulic power, and apply the target main hydraulic power to the corresponding main pump of the excavator for operation.

[0055] Specifically, based on the calculated maximum power of the engine, take the power value corresponding to its preset percentage as the engine reserve power.

[0056] In an embodiment of the present invention, the reserved power of the engine is taken as the power corresponding to a preset percentage of the maximum power of the engine obtained in the above steps. The specific setting value of the preset percentage is not limited. For example, it can be 5%, which is only for illustration.

[0057] Specifically, the above step S402 includes:

[0058] Step S4021, obtaining the current main pump pressure.

[0059] Step S4022, calculating the maximum displacement of the main pump based on the current main pump pressure and the target main hydraulic power.

[0060] Step S4023, determining the main pump control current based on the corresponding relationship between the preset main pump displacement and the main pump current and the maximum displacement of the main pump.

[0061] Step S4024, controlling the current flowing to the main pump not to be greater than the main pump control current.

[0062] As Figure 9 shown, after calculating the main hydraulic power P' based on the obtained preset engine speed Ne, hydraulic oil temperature To, engine water temperature Tc, and engine intercooler temperature Ta in the embodiment of the present invention, the current main pump pressure Pp can be obtained, and the maximum displacement of the main pump can be calculated through the relationship formula Vgp≤P'60000 / Pp / Ne, where Vgp represents the maximum displacement of the main pump. Then, based on the corresponding relationship between the main pump displacement and the main pump current as Figure 10 shown, the main pump control current Ip is determined. Finally, the current flowing to the main pump is controlled not to be greater than the main pump control current, thereby limiting the main hydraulic power of the main pump from being overloaded.

[0063] In an alternative embodiment, after controlling the current flowing to the main pump not to be greater than the main pump control current, the current engine speed is obtained, and it is determined whether the current engine speed is less than the difference between the preset engine speed corresponding to the current driving gear of the excavator and the preset speed margin value; if the current engine speed is less than the difference between the preset engine speed corresponding to the current driving gear of the excavator and the preset value, the target main hydraulic power is reduced based on a preset percentage, and the reduced main hydraulic power is applied to the corresponding main pump of the excavator for operation.

[0064] As Figure 9As shown, after the current flowing to the main pump is not greater than the main pump control current, the actual speed of the engine based on the main pump control current limit can be obtained through the speed sensor, and it is determined whether the actual speed of the engine is less than the difference between the preset engine speed Ne and the preset speed margin value. Herein, there is no limitation on the setting method of the speed margin value. Taking the speed margin value of 150 as an example, if the actual speed of the engine is less than Ne - 150, it indicates that the engine power output is insufficient, and the main hydraulic power can be reduced to lower the load demand of the hydraulic pump on the engine. The specific method of reducing the main hydraulic power is not limited. It can be to specifically reduce a preset value, or to correct the target main hydraulic power based on a preset percentage. For example, the power P' of the main hydraulic pump is reduced by 5%, just as an example. Finally, the reduced main hydraulic power can be applied to the corresponding main pump of the excavator for operation; if the actual speed of the engine is not less than Ne - 150, the main hydraulic power P' remains unchanged.

[0065] When the present invention determines that the current speed of the engine is less than the difference between the preset engine speed corresponding to the excavator and the speed margin value, the set main hydraulic power is reduced, that is, the load demand of the hydraulic pump on the engine is reduced, so as to avoid further speed reduction or even flameout due to continuous high-load operation, and maintain the stability of the hydraulic system.

[0066] In this embodiment, an excavator is also provided, as Figure 11 shown. The excavator includes a hydraulic oil temperature sensor, an engine water temperature sensor, and an engine intercooler temperature sensor for respectively detecting their corresponding temperatures. It also includes an engine, a hydraulic cooling system, an engine cooling system, an air conditioner, and a controller. The controller includes a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the main hydraulic power setting method of the excavator.

[0067] In a specific embodiment, as Figure 12 shown, the hydraulic cooling system at least includes a hydraulic cooling pump and a hydraulic cooling motor, the engine cooling system at least includes an engine cooling motor and an engine cooling pump. The excavator also includes a hydraulic cooling motor speed sensor and a hydraulic cooling pump pressure sensor, which are respectively used to detect the speed of the hydraulic cooling motor and the pressure of the hydraulic cooling pump, and also includes an engine cooling motor sensor and an engine cooling pump pressure sensor, which are respectively used to detect the speed of the engine cooling motor and the pressure of the engine cooling pump. By setting various sensors, the operating environment state of the excavator can be monitored in real time, so as to floatingly control the setting of the main hydraulic power, and the engine power can be maximally exerted. Other components are not described herein.

[0068] In this embodiment, a main hydraulic power setting device for an excavator is further provided. This device is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be elaborated again. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0069] This embodiment provides a main hydraulic power setting device for an excavator. As Figure 13 shown, it includes: an actual power calculation module 1301, which is used to calculate the maximum engine power, the actual power of the hydraulic cooling system, the actual power of the engine cooling system, and the actual air-conditioning refrigeration power during the operation of the excavator. Among them, the maximum engine power is calculated based on the preset engine speed corresponding to the current driving gear of the excavator, the actual power of the hydraulic cooling system is calculated based on the current hydraulic oil temperature, the actual power of the engine cooling system is calculated based on the current engine water temperature or the engine intercooler temperature, and the actual air-conditioning refrigeration power is determined based on the air-conditioning refrigeration state; a main hydraulic power determination module 1302, which is used to subtract the actual power of the hydraulic cooling system, the actual power of the engine cooling system, the actual air-conditioning refrigeration power from the maximum engine power and the preset engine reserved power to obtain the target main hydraulic power, and apply the target main hydraulic power to the corresponding main pump of the excavator for operation.

[0070] In some alternative implementation manners, the main hydraulic power determination module 1302 includes: a main pump pressure acquisition unit, which is used to acquire the current main pump pressure; a main pump displacement calculation unit, which is used to calculate the maximum displacement of the main pump based on the current main pump pressure and the target main hydraulic power; a main pump current determination unit, which is used to determine the main pump control current based on the corresponding relationship between the preset main pump displacement and the main pump current and the maximum displacement of the main pump; a main pump current control unit, which is used to control the current flowing to the main pump not to be greater than the main pump control current.

[0071] In some alternative implementation manners, after controlling the current flowing to the main pump not to be greater than the main pump control current, the main hydraulic power setting device of the excavator further includes: a speed comparison module, which is used to acquire the current engine speed and determine whether the current engine speed is less than the difference between the preset engine speed corresponding to the current driving gear of the excavator and the preset speed margin value; a power correction module, which is used to, if the current engine speed is less than the difference between the preset engine speed corresponding to the current driving gear of the excavator and the preset value, reduce the target main hydraulic power based on a preset percentage, and apply the reduced main hydraulic power to the corresponding main pump of the excavator for operation.

[0072] In some alternative implementation manners, based on the calculated maximum engine power, the power value corresponding to its preset percentage is taken as the engine reserved power.

[0073] In some alternative embodiments, the hydraulic cooling system at least includes a hydraulic cooling pump and a hydraulic cooling motor. The actual power calculation module 1301 includes: a first rotation speed calculation unit, configured to obtain the current hydraulic oil temperature, and calculate a first rotation speed required for the hydraulic oil cooling motor based on the corresponding relationship between the preset hydraulic oil temperature and the rotation speed of the hydraulic cooling motor; a first current determination unit, configured to determine a first current required for the hydraulic cooling pump based on the corresponding relationship between the preset hydraulic cooling pump current and the rotation speed of the hydraulic cooling motor and the first rotation speed required for the hydraulic oil cooling motor; a first parameter acquisition unit, configured to control the current flowing to the hydraulic cooling pump to be the first current required for the hydraulic cooling pump, and obtain a second rotation speed of the hydraulic oil cooling motor and a first pressure of the hydraulic cooling pump; and a hydraulic actual power calculation unit, configured to calculate the actual power of the hydraulic cooling system based on the second rotation speed of the hydraulic oil cooling motor and the first pressure of the hydraulic cooling pump.

[0074] In some alternative embodiments, the engine cooling system at least includes an engine cooling motor and an engine cooling pump. The actual power calculation module 1301 includes: a rotation speed calculation unit, configured to obtain the current engine water temperature and the engine intercooler temperature; and calculate a third rotation speed required for the engine cooling motor corresponding to the engine water temperature and a fourth rotation speed required for the engine cooling motor corresponding to the engine intercooler temperature respectively based on the corresponding relationship between the preset engine water temperature and the rotation speed of the engine cooling motor and the corresponding relationship between the preset engine intercooler temperature and the rotation speed of the engine cooling motor; a fifth rotation speed determination unit, configured to select the highest rotation speed from the third rotation speed and the fourth rotation speed required for the engine cooling motor as the fifth rotation speed required for the engine cooling motor; a second current determination unit, configured to determine a second current required for the engine cooling pump based on the corresponding relationship between the preset engine cooling pump current and the rotation speed of the engine cooling motor and the fifth rotation speed required for the engine cooling motor; a second parameter acquisition unit, configured to control the current flowing to the engine cooling pump to be the second current required for the engine cooling pump, and obtain a sixth rotation speed of the engine cooling motor and a second pressure of the engine cooling pump; and an engine actual power calculation unit, configured to calculate the actual power of the engine cooling system based on the sixth rotation speed of the engine cooling motor and the second pressure of the engine cooling pump.

[0075] In some alternative embodiments, the actual power calculation module 1301 includes: an air conditioner state judgment unit, configured to judge whether the air conditioner is in a cooling state; a power acquisition unit, configured to obtain the air conditioner cooling power and use it as the actual air conditioner cooling power if the air conditioner is in a cooling state; and a power setting unit, configured to determine that the actual air conditioner cooling power is zero if the air conditioner is not in a cooling state.

[0076] The further function descriptions of the above-mentioned modules and units are the same as those in the corresponding embodiments above, and will not be elaborated here.

[0077] The main hydraulic power setting device of the excavator in this embodiment is presented in the form of a functional unit. Here, the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0078] The embodiment of the present invention further provides a controller having the main hydraulic power setting device of the excavator as described above. Figure 13 shown.

[0079] Please refer to Figure 14 , Figure 14 which is a schematic structural diagram of a controller provided by an alternative embodiment of the present invention. As Figure 14 shown, the controller includes: one or more processors 110, a memory 120, and an interface for connecting each component, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the controller, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple controllers can be connected, and each device provides some necessary operations (such as an array of servers, a set of blade servers, or a multi-processor system). Figure 14 In

[0080] FIG. 16, one processor 110 is taken as an example.

[0081] The processor 110 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 110 can further include a hardware chip. The above hardware chip can be an application specific integrated circuit, a programmable logic device, or a combination thereof. The above programmable logic device can be a complex programmable logic device, a field programmable gate array, a generic array logic, or any combination thereof.

[0082] The memory 120 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the controller and the like. In addition, the memory 120 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 120 may optionally include a memory remotely provided with respect to the processor 110, and these remote memories can be connected to the controller through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0083] The memory 120 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk, or a solid-state drive; the memory 20 may also include a combination of the above types of memories.

[0084] The controller further includes an input device 130 and an output device 140. The processor 110, the memory 120, the input device 130, and the output device 140 may be connected through a bus or other means. Figure 14 Taking the connection through the bus as an example.

[0085] The input device 130 can receive input digital or character information, and generate key signal inputs related to the user settings and function controls of the controller, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (such as an LED), and a tactile feedback device (such as a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light-emitting diode, a display, and a plasma display. In some alternative embodiments, the display device may be a touch screen.

[0086] Embodiments of the present invention also provide a computer-readable storage medium. The method according to the embodiments of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented by downloading over a network and originally stored in a remote storage medium or a non-transitory machine-readable storage medium and will be stored in a local storage medium, so that the method described herein can be stored as such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0087] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for setting the main hydraulic power of an excavator, characterized in that: The method comprises: Calculate the maximum power of the engine, the actual power of the hydraulic cooling system, the actual power of the engine cooling system and the actual power of the air conditioning refrigeration during the operation of the excavator, wherein the maximum power of the engine is calculated based on the preset engine speed corresponding to the current driving gear of the excavator, the actual power of the hydraulic cooling system is calculated based on the current hydraulic oil temperature, the actual power of the engine cooling system is calculated based on the current engine water temperature or engine intercooler temperature, and the actual power of the air conditioning refrigeration is determined based on the air conditioning refrigeration state; The target main hydraulic power is obtained by subtracting the maximum engine power from the actual power of the hydraulic cooling system, the actual power of the engine cooling system, the actual power of the air conditioning refrigeration and the preset engine reserved power, and the target main hydraulic power is applied to the main pump corresponding to the excavator for operation.

2. The method according to claim 1, characterized in that Applying the target main hydraulic power to the main pump corresponding to the excavator to operate includes: Get the current main pump pressure; Calculating the maximum displacement of the main pump based on the current main pump pressure and the target main hydraulic power; Determining the main pump control current based on the corresponding relationship between the preset main pump displacement and the main pump current and the maximum displacement of the main pump; The current flowing to the main pump is controlled to be not greater than the main pump control current.

3. The method according to claim 2, characterized in that After controlling the current flowing to the main pump to be not greater than the main pump control current, the method further includes: Acquiring a current engine speed, and determining whether the current engine speed is less than a difference between a preset engine speed corresponding to a current driving gear of the excavator and a preset speed margin value; If the current engine speed is less than the difference between the preset engine speed corresponding to the current driving gear of the excavator and the preset value, the target main hydraulic power is reduced based on the preset percentage, and the reduced main hydraulic power is applied to the main pump corresponding to the excavator for operation.

4. The method according to claim 1, characterized in that Based on the calculated maximum engine power, a power value corresponding to a preset percentage is taken as the engine reserved power.

5. The method according to claim 1, characterized in that The hydraulic cooling system at least includes a hydraulic cooling pump and a hydraulic cooling motor. The actual power of the hydraulic cooling system is calculated based on the current hydraulic oil temperature, including: Acquire the current hydraulic oil temperature, and calculate the first speed required by the hydraulic oil cooling motor based on the corresponding relationship between the preset hydraulic oil temperature and the speed of the hydraulic cooling motor; Determine the first current required by the hydraulic cooling pump based on the corresponding relationship between the preset hydraulic cooling pump current and the hydraulic cooling motor speed and the first speed required by the hydraulic oil cooling motor; Controlling the current flowing to the hydraulic cooling pump to be the first current required by the hydraulic cooling pump, obtaining the second speed of the hydraulic oil cooling motor, and obtaining the first pressure of the hydraulic cooling pump; The actual power of the hydraulic cooling system is calculated based on the second rotation speed of the hydraulic oil cooling motor and the first pressure of the hydraulic cooling pump.

6. The method according to claim 1, characterized in that The engine cooling system at least includes an engine cooling motor and an engine cooling pump. The actual power of the engine cooling system is calculated based on the current engine water temperature or the engine intercooler temperature, including: Obtaining the current engine water temperature and the engine intercooler temperature; and respectively calculating the third speed required for the engine cooling motor corresponding to the engine water temperature and the fourth speed required for the engine cooling motor corresponding to the engine intercooler temperature based on the corresponding relationship between the preset engine water temperature and the engine cooling motor speed and the corresponding relationship between the preset engine intercooler temperature and the engine cooling motor speed; Selecting the highest speed from the third speed and the fourth speed required by the engine cooling motor as the fifth speed required by the engine cooling motor; Determining a second current required by the engine cooling pump based on a corresponding relationship between a preset engine cooling pump current and an engine cooling motor speed and a fifth speed required by the engine cooling motor; Controlling the current flowing to the engine cooling pump to be the second current required by the engine cooling pump, obtaining the sixth speed of the engine cooling motor, and obtaining the second pressure of the engine cooling pump; The actual power of the engine cooling system is calculated based on the sixth speed of the engine cooling motor and the second pressure of the engine cooling pump.

7. The method according to claim 1, characterized in that The actual cooling power of the air conditioner is determined based on the cooling state of the air conditioner, including: Determine whether the air conditioner is in cooling state; If the air conditioner is in cooling state, the air conditioner cooling power is obtained and used as the actual air conditioner cooling power; If the air conditioner is not in cooling state, it is determined that the actual cooling power of the air conditioner is zero.

8. A main hydraulic power setting device for an excavator, characterized in that: The device comprises: The actual power calculation module is used to calculate the maximum power of the engine, the actual power of the hydraulic cooling system, the actual power of the engine cooling system and the actual power of the air conditioning refrigeration during the operation of the excavator, wherein the maximum power of the engine is calculated based on the preset engine speed corresponding to the current driving gear of the excavator, the actual power of the hydraulic cooling system is calculated based on the current hydraulic oil temperature, the actual power of the engine cooling system is calculated based on the current engine water temperature or the engine intercooler temperature, and the actual power of the air conditioning refrigeration is determined based on the air conditioning refrigeration state; The main hydraulic power determination module is used to obtain the target main hydraulic power by subtracting the maximum power of the engine from the actual power of the hydraulic cooling system, the actual power of the engine cooling system, the actual power of the air conditioning refrigeration and the preset engine reserved power, and apply the target main hydraulic power to the main pump corresponding to the excavator for operation.

9. An excavator, characterized in that: The excavator includes a hydraulic oil temperature sensor, an engine water temperature sensor, and an engine intercooler temperature sensor, which are used to detect their corresponding temperatures respectively, and also includes an engine, a hydraulic cooling system, an engine cooling system, an air conditioner and a controller. The controller includes a memory and a processor. The memory and the processor are communicatively connected to each other. Computer instructions are stored in the memory. The processor executes the main hydraulic power setting method of the excavator described in any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the main hydraulic power setting method for an excavator according to any one of claims 1 to 7.

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