Hydraulic control system of crane

Abstract

The invention provides a crane hydraulic control system, and relates to the technical field of hydraulic control, and the system comprises the following steps: obtaining crane hydraulic control requirements according to crane equipment parameters of crane equipment; a crane hydraulic control assembly is determined according to the crane hydraulic control requirement, simulation processing is conducted, and a crane hydraulic control assembly simulation model is obtained; load data of the crane hydraulic control assembly are determined according to crane hydraulic control requirements and fed back to the crane hydraulic control assembly simulation model, and real-time feedback control is conducted on flow data of the crane hydraulic control assembly; when the flow data of the crane hydraulic control assembly is matched with the load data, a hydraulic control instruction is generated to control crane equipment to execute corresponding actions; and hydraulic control over the crane is effectively achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic control, and particularly to a hydraulic control system for a crane. Background Art

[0002] As an important engineering equipment, cranes are widely used in fields such as ports and construction. Compared with traditional mechanical control systems and electrical control systems, hydraulic control systems have the characteristics of higher control accuracy and more stable control. Therefore, they are currently widely used in cranes. However, there are many existing hydraulic controls, which lead to low hydraulic control efficiency in order to achieve precise control of hydraulic oil; traditional control strategies are difficult to tune parameters under complex working conditions and are difficult to dynamically adapt to the changing demands of multiple loads, resulting in system efficiency decay; in addition, different hydraulic controls require different control accuracies. When multi-loop coordinated control is performed, the control parameters of each actuator are set independently, lacking a global optimization mechanism, resulting in energy waste; for the accuracy requirements of different operating scenarios (such as precision lifting and conventional handling), it is necessary to manually switch the control mode, which is complex and error-prone; the fault warning mechanism based on threshold judgment has hysteresis and cannot achieve early fault prediction; in summary, the reliability of hydraulic control is low and needs to be further improved. With the development of artificial intelligence technology, machine learning algorithms have shown significant advantages in aspects such as non-linear system modeling and dynamic optimization control.

[0003] Therefore, the present invention provides a hydraulic control system for a crane. Summary of the Invention

[0004] The present invention provides a hydraulic control system for a crane, which obtains the hydraulic control requirements of the crane according to the crane equipment parameters of the crane equipment; determines the hydraulic control components of the crane according to the hydraulic control requirements of the crane and performs simulation processing to obtain a simulation model of the hydraulic control components of the crane; determines the load data of the hydraulic control components of the crane according to the hydraulic control requirements of the crane and feeds it back to the simulation model of the hydraulic control components of the crane to perform real-time feedback control on the flow data of the hydraulic control components of the crane; when the flow data of the hydraulic control components of the crane matches the load data, a hydraulic control instruction is generated to control the crane equipment to perform corresponding actions; effectively realizes the hydraulic intelligent control of the crane and comprehensively improves the reliability of the control.

[0005] The present invention provides a hydraulic control system for a crane, including:

[0006] A hydraulic control requirement module for a crane, which is used to obtain the hydraulic control requirements of the crane according to the crane equipment parameters of the crane equipment;

[0007] A hydraulic control simulation module for a crane, which is used to determine the hydraulic control components of the crane according to the hydraulic control requirements of the crane and perform simulation processing to obtain a simulation model of the hydraulic control components of the crane;

[0008] The crane hydraulic control feedback module is used to determine the load data of the crane hydraulic control component according to the crane hydraulic control requirements and feedback it to the crane hydraulic control component simulation model to perform real-time feedback control on the flow data of the crane hydraulic control component;

[0009] The crane hydraulic intelligent control execution module is used to generate a hydraulic control instruction to control the crane equipment to perform corresponding actions when the flow data of the crane hydraulic control component matches the load data.

[0010] According to a crane hydraulic control system provided by the present invention, the crane hydraulic control requirements include: crane hydraulic control component requirements, crane hydraulic control load requirements, crane hydraulic control safety requirements, and crane hydraulic control accuracy requirements.

[0011] According to a crane hydraulic control system provided by the present invention, the crane hydraulic control simulation module includes:

[0012] The crane hydraulic control component unit is used to determine the crane hydraulic control component according to the crane hydraulic control requirements. Among them, the crane hydraulic control component includes: a hydraulic pump component, a hydraulic cylinder component, a control valve component, a safety valve component, a cut-off valve component, a pressure sensor component, a displacement sensor component, and a control unit component;

[0013] The crane hydraulic control component simulation unit is used to perform simulation processing on the crane hydraulic control component, input the crane equipment parameters into the preset hydraulic simulation software and connect the crane hydraulic control component to establish a crane hydraulic control component simulation model. Among them, the said crane equipment parameters include: crane equipment type parameters, crane equipment working parameters, crane equipment safety parameters, and crane equipment accuracy parameters;

[0014] The simulation test unit is used to set simulation test data according to the crane hydraulic control requirements, input the simulation test data into the crane hydraulic control component simulation model, and when it is monitored that the crane hydraulic control component simulation model meets the crane hydraulic control requirements, it is determined that the crane hydraulic control component simulation model is established.

[0015] According to a crane hydraulic control system provided by the present invention, the crane hydraulic control feedback module includes:

[0016] The crane hydraulic control requirement refinement unit is used to perform refined analysis on the crane hydraulic control requirements. If there is only a single crane hydraulic control requirement during the current period, the current period is marked as a single hydraulic control period;

[0017] If there are multiple crane hydraulic control requirements during the current period, mark the current period as a composite hydraulic control period;

[0018] A load data acquisition unit, which is used to select a sensor component according to the crane hydraulic control requirement, and determine the crane hydraulic control component to be monitored by the sensor component according to the crane hydraulic control requirement in the current period, denoted as the crane hydraulic control monitoring component;

[0019] Obtain the pressure-load mapping relationship between the pressure sensor monitoring data and the crane hydraulic control component and the displacement-load mapping relationship between the displacement sensor monitoring data and the crane hydraulic control component according to the historical hydraulic control monitoring data;

[0020] Obtain the monitoring data of the sensor component in the current period, and determine the load data of the crane hydraulic control monitoring component in combination with the pressure-load mapping relationship and the displacement-load mapping relationship;

[0021] If the load data determined by the same crane hydraulic control monitoring component in combination with the pressure-load mapping relationship is inconsistent with the load data determined in combination with the displacement-load mapping relationship, it is determined that the load of the crane hydraulic control monitoring component is abnormal and cannot meet the crane hydraulic control requirement;

[0022] A load data feedback unit, which is used to feedback the load data of the crane hydraulic control monitoring component to the crane hydraulic control component simulation model in real time;

[0023] A simulation model optimization unit, which is used to optimize the crane hydraulic control component simulation model. If the current period is a single hydraulic control period, only retain the crane hydraulic control monitoring component corresponding to the single crane hydraulic control requirement and the crane hydraulic control components with a connection relationship with the crane hydraulic control monitoring component in the crane hydraulic control component simulation model, and eliminate and optimize other crane hydraulic control components;

[0024] If the current period is a composite hydraulic control period, retain the crane hydraulic control monitoring components corresponding to multiple crane hydraulic control requirements in the crane hydraulic control component simulation model;

[0025] When performing feedback control on the crane hydraulic control component during the composite hydraulic control period, set the feedback control sequence of the crane hydraulic control monitoring component, select the hydraulic control monitoring component and the crane hydraulic control components with a connection relationship in the crane hydraulic control component simulation model according to the feedback control sequence, and shield and optimize other crane hydraulic control components;

[0026] A feedback control unit for feeding back the load data of the crane hydraulic control monitoring component to the optimized crane hydraulic control component simulation model to obtain the current flow data and feedback flow data of the crane hydraulic control monitoring component;

[0027] If the current flow data is inconsistent with the feedback flow data, real-time feedback control is performed on the current flow data according to the feedback flow data.

[0028] According to a crane hydraulic control system provided by the present invention, the simulation model optimization unit further includes:

[0029] A simulation model optimization test block for performing optimization tests on the optimized crane hydraulic control component simulation model, inputting historical hydraulic control monitoring data into the optimized crane hydraulic control component simulation model to obtain historical feedback flow data;

[0030] If the historical feedback flow data is consistent with the historical actual flow control data, it is determined that the optimization of the crane hydraulic control component simulation model is qualified;

[0031] If the historical feedback flow data is inconsistent with the historical actual flow control data, it is determined that the optimization of the crane hydraulic control component simulation model is unqualified, and other crane hydraulic control components are successively added to re-perform the optimization test.

[0032] According to a crane hydraulic control system provided by the present invention, the crane hydraulic intelligent control execution module includes:

[0033] A matching determination unit for obtaining the historical flow data of the crane hydraulic control component and determining the maximum flow threshold of the crane hydraulic control component;

[0034] When the current flow data and the feedback flow data of the crane hydraulic control component are not higher than the maximum flow threshold, it is determined that the flow data of the crane hydraulic control component matches the load data;

[0035] A hydraulic control execution unit for generating a hydraulic control command according to the flow difference between the feedback flow data and the current flow data and sending it to the crane hydraulic control component to control the crane equipment to perform corresponding actions when the flow data of the crane hydraulic control component matches the load data, where the actions include: lifting action, rotating action, and walking action.

[0036] According to a crane hydraulic control system provided by the present invention, the crane hydraulic intelligent control execution module further includes:

[0037] An execution feedback control unit for real-time monitoring of the corresponding actions performed by the crane equipment to obtain an execution feedback value;

[0038] Obtain the execution expected value according to the feedback flow data. When the execution feedback value is inconsistent with the execution expected value, perform corresponding actions on the crane equipment according to the preset execution control strategy to perform execution feedback control;

[0039] When the execution feedback value is consistent with the execution expected value, it is determined that the execution feedback control is completed.

[0040] A crane hydraulic control system according to the present invention further includes:

[0041] A crane hydraulic control safety module, configured to, when the pressure data of the crane hydraulic control component is not lower than the cut-off pressure data of the cut-off valve component, control the pressure data to the cut-off pressure data according to the cut-off valve component and perform total safety control on the pressure data exceeding the cut-off pressure data according to the safety valve component.

[0042] Compared with the prior art, the beneficial effects of the present application are as follows:

[0043] Obtain the crane hydraulic control requirements according to the crane equipment parameters of the crane equipment; determine the crane hydraulic control component according to the crane hydraulic control requirements and perform simulation processing to obtain the crane hydraulic control component simulation model; determine the load data of the crane hydraulic control component according to the crane hydraulic control requirements and feedback it to the crane hydraulic control component simulation model to perform real-time feedback control on the flow data of the crane hydraulic control component; when the flow data of the crane hydraulic control component matches the load data, generate a hydraulic control instruction to control the crane equipment to perform corresponding actions; effectively realize the hydraulic intelligent control of the crane, become one of the important application scenarios of artificial intelligence, and empower the industrial development.

[0044] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in the written specification and the drawings.

[0045] The technical solutions of the present invention will be further described in detail below through the drawings and embodiments. Description of the Drawings

[0046] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0047] Figure 1 It is a schematic structural diagram of a crane hydraulic control system in an embodiment of the present invention. Detailed Embodiments

[0048] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present invention, and are not intended to limit the present invention.

[0049] Embodiment 1:

[0050] An embodiment of the present invention provides a crane hydraulic control system, as Figure 1 shown, including:

[0051] A crane hydraulic control requirement module, configured to obtain crane hydraulic control requirements according to crane equipment parameters of the crane equipment;

[0052] A crane hydraulic control simulation module, configured to determine crane hydraulic control components according to the crane hydraulic control requirements and perform simulation processing to obtain a crane hydraulic control component simulation model;

[0053] A crane hydraulic control feedback module, configured to determine load data of the crane hydraulic control components according to the crane hydraulic control requirements and feedback it to the crane hydraulic control component simulation model to perform real-time feedback control on the flow data of the crane hydraulic control components;

[0054] A crane hydraulic intelligent control execution module, configured to generate a hydraulic control command to control the crane equipment to perform corresponding actions when the flow data of the crane hydraulic control components matches the load data.

[0055] In this embodiment, the crane hydraulic control requirement refers to the requirement when performing hydraulic control on the crane.

[0056] In this embodiment, the crane hydraulic control component refers to the component that realizes crane hydraulic control.

[0057] In this embodiment, the crane hydraulic control component simulation model refers to the model determined by performing simulation processing on the crane hydraulic control components.

[0058] In this embodiment, the load data refers to the quantified data corresponding to the load of the crane hydraulic control components.

[0059] In this embodiment, the flow data refers to the quantified data corresponding to the flow of the crane hydraulic control components.

[0060] In this embodiment, the real-time feedback control refers to the control performed by determining the load data of the crane hydraulic control components according to the crane hydraulic control requirements and feeding it back to the crane hydraulic control component simulation model.

[0061] In this embodiment, the hydraulic control command refers to the command generated according to the flow difference between the feedback flow data and the current flow data for realizing hydraulic control.

[0062] The working principle and beneficial effects of the above technical solution are as follows: Obtain the crane hydraulic control requirements according to the crane equipment parameters of the crane equipment; determine the crane hydraulic control components according to the crane hydraulic control requirements and perform simulation processing to obtain the crane hydraulic control component simulation model; determine the load data of the crane hydraulic control components according to the crane hydraulic control requirements and feedback it to the crane hydraulic control component simulation model to perform real-time feedback control on the flow data of the crane hydraulic control components; when the flow data of the crane hydraulic control components matches the load data, generate a hydraulic control instruction to control the crane equipment to perform corresponding actions; effectively realize the hydraulic control of the crane.

[0063] Embodiment 2:

[0064] The embodiment of the present invention provides a crane hydraulic control system. The crane hydraulic control requirements include: crane hydraulic control component requirements, crane hydraulic control load requirements, crane hydraulic control safety requirements, and crane hydraulic control accuracy requirements.

[0065] In this embodiment, the crane hydraulic control requirements refer to the requirements when performing hydraulic control on the crane, including: crane hydraulic control component requirements, crane hydraulic control load requirements, crane hydraulic control safety requirements, and crane hydraulic control accuracy requirements.

[0066] The working principle and beneficial effects of the above technical solution are as follows: By obtaining the crane hydraulic control requirements according to the crane equipment, a hydraulic control requirement basis is laid for subsequent realization of crane hydraulic control.

[0067] Embodiment 3:

[0068] The embodiment of the present invention provides a crane hydraulic control system, and the crane hydraulic control simulation module includes:

[0069] The crane hydraulic control component unit is used to determine the crane hydraulic control components according to the crane hydraulic control requirements. Among them, the crane hydraulic control components include: hydraulic pump components, hydraulic cylinder components, control valve components, safety valve components, cut-off valve components, pressure sensor components, displacement sensor components, and control unit components;

[0070] The crane hydraulic control component simulation unit is used to perform simulation processing on the crane hydraulic control components, input the crane equipment parameters into the preset hydraulic simulation software and connect the crane hydraulic control components to establish a crane hydraulic control component simulation model. Among them, the so-called crane equipment parameters include: crane equipment type parameters, crane equipment working parameters, crane equipment safety parameters, and crane equipment accuracy parameters;

[0071] A simulation test unit is used to set simulation test data according to the crane hydraulic control requirements, input the simulation test data into the simulation model of the crane hydraulic control component, and when it is monitored that the simulation model of the crane hydraulic control component meets the crane hydraulic control requirements, it is determined that the establishment of the simulation model of the crane hydraulic control component is completed.

[0072] In this embodiment, the crane hydraulic control component refers to the component that realizes the crane hydraulic control.

[0073] In this embodiment, the simulation process refers to the process of inputting the crane equipment parameters into the preset hydraulic simulation software and connecting the crane hydraulic control components to establish a simulation model of the crane hydraulic control component, which is convenient for subsequent analysis and processing of the crane hydraulic control.

[0074] In this embodiment, the crane equipment parameters refer to the parameters of the crane equipment, including: crane equipment type parameters, crane equipment working parameters, crane equipment safety parameters, and crane equipment accuracy parameters.

[0075] In this embodiment, the simulation model of the crane hydraulic control component refers to the model determined by the simulation process of the crane hydraulic control component.

[0076] In this embodiment, the simulation test data refers to the data used to test the simulation model of the crane hydraulic control component, which is set according to the crane hydraulic control requirements and is used to ensure the accuracy of the simulation model of the crane hydraulic control component.

[0077] The working principle and beneficial effects of the above technical solution are: by determining the crane hydraulic control component according to the crane hydraulic control requirements and performing simulation processing, a simulation model of the crane hydraulic control component is obtained, which lays a foundation for the subsequent realization of hydraulic control.

[0078] Embodiment 4:

[0079] The embodiment of the present invention provides a crane hydraulic control system, and a crane hydraulic control feedback module, including:

[0080] A crane hydraulic control requirement refinement unit is used to refine and analyze the crane hydraulic control requirements. If there is only a single crane hydraulic control requirement for the crane in the current period, the current period is marked as a single hydraulic control period;

[0081] If there are multiple crane hydraulic control requirements for the crane in the current period, the current period is marked as a composite hydraulic control period;

[0082] A load data acquisition unit, which is used to select a sensor component according to the crane hydraulic control requirements, determine the crane hydraulic control components that need to be monitored by the sensor component according to the crane hydraulic control requirements in the current period, and denote them as crane hydraulic control monitoring components;

[0083] Obtain the pressure-load mapping relationship between the pressure sensor monitoring data and the crane hydraulic control components and the displacement-load mapping relationship between the displacement sensor monitoring data and the crane hydraulic control components according to the historical hydraulic control monitoring data;

[0084] Obtain the monitoring data of the sensor component in the current period, and determine the load data of the crane hydraulic control monitoring component in combination with the pressure-load mapping relationship and the displacement-load mapping relationship;

[0085] If the load data determined by the same crane hydraulic control monitoring component in combination with the pressure-load mapping relationship is inconsistent with the load data determined in combination with the displacement-load mapping relationship, it is determined that the load of the crane hydraulic control monitoring component is abnormal and cannot meet the crane hydraulic control requirements;

[0086] A load data feedback unit, which is used to feedback the load data of the crane hydraulic control monitoring component to the crane hydraulic control component simulation model in real time;

[0087] A simulation model optimization unit, which is used to optimize the crane hydraulic control component simulation model. If the current period is a single hydraulic control period, only the crane hydraulic control monitoring component corresponding to a single crane hydraulic control requirement and the crane hydraulic control components connected to the crane hydraulic control monitoring component are retained in the crane hydraulic control component simulation model, and other crane hydraulic control components are removed and optimized;

[0088] If the current period is a composite hydraulic control period, the crane hydraulic control monitoring components corresponding to multiple crane hydraulic control requirements are retained in the crane hydraulic control component simulation model;

[0089] When performing feedback control on the crane hydraulic control components in the composite hydraulic control period, set the feedback control sequence of the crane hydraulic control monitoring components, select the hydraulic control monitoring components and the crane hydraulic control components with connection relationships in the crane hydraulic control component simulation model according to the feedback control sequence, and shield and optimize other crane hydraulic control components;

[0090] A feedback control unit, which is used to feedback the load data of the crane hydraulic control monitoring component to the optimized crane hydraulic control component simulation model, and obtain the current flow data and feedback flow data of the crane hydraulic control monitoring component;

[0091] If the current flow data is inconsistent with the feedback flow data, the current flow data is subjected to real-time feedback control according to the feedback flow data.

[0092] In this embodiment, the single crane hydraulic control requirement refers to the hydraulic control requirement of a single crane. For example, the hydraulic control requirement for lifting the height of the crane alone.

[0093] In this embodiment, the electro-hydraulic control period refers to the period when there is only a single crane hydraulic control requirement for the crane in the current period.

[0094] In this embodiment, the composite hydraulic control period refers to the period when there are multiple crane hydraulic control requirements in the current period. For example, if there are hydraulic controls for lifting the height and horizontal expansion of the crane in the current period, then the current period is the composite hydraulic control period.

[0095] In this embodiment, the sensor assembly refers to the assembly used to monitor the crane hydraulic control assembly. For example, the pressure sensor assembly, the displacement sensor assembly.

[0096] In this embodiment, the crane hydraulic control monitoring assembly refers to the crane hydraulic control assembly that determines the sensor assembly to be monitored according to the crane hydraulic control requirement in the current period.

[0097] In this embodiment, the historical hydraulic control monitoring data refers to the data obtained by the sensor assembly monitoring the crane hydraulic control assembly in the historical period.

[0098] In this embodiment, the pressure-load mapping relationship refers to the mapping relationship determined according to the historical hydraulic control monitoring data between the monitoring data of the pressure sensor and the pressure data of the crane hydraulic control assembly, and is used to represent the relationship between the pressure data and the load data.

[0099] In this embodiment, the displacement-load mapping relationship refers to the mapping relationship determined according to the historical hydraulic control monitoring data between the monitoring data of the displacement sensor and the displacement data of the crane hydraulic control assembly, and is used to represent the relationship between the pressure data and the load data.

[0100] In this embodiment, the load anomaly refers to the anomaly determined by the inconsistency between the load data determined by the same crane hydraulic control monitoring assembly in combination with the pressure-load mapping relationship and the load data determined in combination with the displacement-load mapping relationship.

[0101] In this embodiment, the elimination optimization refers to the optimization of eliminating other crane hydraulic control components from the simulation model of the crane hydraulic control components, and there is no need to simulate other crane hydraulic control components.

[0102] In this embodiment, the feedback control sequence refers to the sequence of performing feedback control on the crane hydraulic control monitoring component. For example, the feedback control for height lifting is performed first, and then the feedback control for horizontal expansion is performed.

[0103] In this embodiment, the shielding optimization refers to the optimization of shielding other crane hydraulic control components from the crane hydraulic control component simulation model, and other crane hydraulic control components can be enabled for simulation according to requirements.

[0104] In this embodiment, the current flow data refers to the flow data of the crane hydraulic control monitoring component in the current period.

[0105] In this embodiment, the feedback flow data refers to the flow data determined by the crane hydraulic control monitoring component according to the load data in the current period, that is, the flow data that the crane hydraulic control monitoring component needs to reach in the current period.

[0106] In this embodiment, before determining whether the current flow data is consistent with the feedback flow data, it includes:

[0107] Obtain the first quantization value matching the current flow data from the flow database;

[0108] Calculate the second quantization value of the feedback flow data of the crane hydraulic control monitoring component;

[0109]

[0110] Where Q represents the second quantization value of the feedback flow data; L1 represents the length of the crane hydraulic control rod; x2 represents the current displacement of the control valve of the crane hydraulic control monitoring component; x1 represents the feedback displacement of the control valve of the crane hydraulic control monitoring component; s represents the area of the control valve of the crane hydraulic control monitoring component; k represents the stiffness coefficient of the control valve of the crane hydraulic control monitoring component; θ represents the angle between the crane hydraulic control rod and the control valve, and the value range is (1, 90°); g is the gravity coefficient; ρ represents the hydraulic oil density of the crane hydraulic control monitoring component; Δ P represents the matching pressure under unit flow; ln represents the logarithmic function symbol;

[0111] When the first quantization value is consistent with the second quantization value, it is determined that the current flow data is consistent with the feedback flow data.

[0112] In this embodiment, the flow database contains different flow data and the first quantization values matching the flow data, which are all set in advance.

[0113] In this embodiment, the demand quantities involved in the current period of the crane hydraulic control component simulation model under different histories are statistically distributed in the order of time periods, and an array of combined components for each demand is obtained;

[0114] Calculate the priority coefficient of the monitoring component corresponding to the demand according to the array of combined components;

[0115]

[0116] Among them, Xj represents the priority coefficient of the monitoring component for the j-th demand; Mj represents the number of time periods involved in the array of combined components for the j-th demand; Mn represents the total number of time periods; δ j represents the set weight of the component corresponding to the j-th demand; u0 h1 represents the importance degree of the j-th demand in the array of combined components for the j-th demand in the h1-th time period, and the value range is (0, 1);

[0117] Sort the priority coefficients by size to obtain the feedback control order.

[0118] The working principle and beneficial effects of the above technical solution are: By determining the load data of the crane hydraulic control component according to the crane hydraulic control demand and feeding it back to the crane hydraulic control component simulation model, real-time feedback control is performed on the flow data of the crane hydraulic control component, effectively realizing the hydraulic control of the crane.

[0119] Embodiment 5:

[0120] The embodiment of the present invention provides a crane hydraulic control system and a simulation model optimization unit, further including:

[0121] A simulation model optimization test block for optimizing and testing the optimized crane hydraulic control component simulation model, inputting historical hydraulic control monitoring data into the optimized crane hydraulic control component simulation model, and obtaining historical feedback flow data;

[0122] If the historical feedback flow data is consistent with the historical actual flow control data, it is determined that the optimization of the crane hydraulic control component simulation model is qualified;

[0123] If the historical feedback flow data is inconsistent with the historical actual flow control data, it is determined that the optimization of the crane hydraulic control component simulation model is unqualified, and other crane hydraulic control components are successively added for re-optimization testing.

[0124] In this embodiment, the historical feedback flow data refers to the feedback flow data in the historical time period.

[0125] In this embodiment, the historical actual flow control data refers to the flow data actually controlled by the crane equipment during the historical period.

[0126] The working principle and beneficial effects of the above technical solution are as follows: By optimizing and testing the optimized simulation model of the crane hydraulic control component, the model accuracy of the optimized simulation model of the crane hydraulic control component is ensured, and further the subsequent hydraulic control of the crane is ensured.

[0127] Embodiment 6:

[0128] The embodiment of the present invention provides a crane hydraulic control system, and a crane hydraulic intelligent control execution module, including:

[0129] A matching determination unit, configured to obtain the historical flow data of the crane hydraulic control component and determine the maximum flow threshold of the crane hydraulic control component;

[0130] When the current flow data and the feedback flow data of the crane hydraulic control component are not higher than the maximum flow threshold, it is determined that the flow data of the crane hydraulic control component matches the load data;

[0131] A hydraulic control execution unit, configured to generate a hydraulic control instruction according to the flow difference between the feedback flow data and the current flow data and send it to the crane hydraulic control component to control the crane equipment to perform corresponding actions when the flow data of the crane hydraulic control component matches the load data, wherein the actions include: lifting action, rotating action, and walking action.

[0132] In this embodiment, the historical flow data refers to the flow data during the historical period.

[0133] In this embodiment, the maximum flow threshold refers to the maximum flow value allowed for the crane hydraulic control component under safe operation.

[0134] In this embodiment, when the current flow data and the feedback flow data of the crane hydraulic control component are not higher than the maximum flow threshold, the current flow data can be controlled to meet the load data.

[0135] In this embodiment, the flow difference refers to the difference between the feedback flow data and the current flow data.

[0136] In this embodiment, the hydraulic control instruction refers to an instruction for realizing hydraulic control generated according to the flow difference between the feedback flow data and the current flow data.

[0137] The working principle and beneficial effects of the above technical solution are as follows: By generating a hydraulic control instruction to control the crane equipment to perform corresponding actions when the flow data of the crane hydraulic control component matches the load data, the hydraulic control of the crane is further realized.

[0138] Example 7:

[0139] An embodiment of the present invention provides a crane hydraulic control system. The crane hydraulic intelligent control execution module further includes:

[0140] An execution feedback control unit, configured to monitor in real time the execution of corresponding actions by the crane equipment and obtain an execution feedback value;

[0141] Obtain an execution expected value according to the feedback flow data. When the execution feedback value is inconsistent with the execution expected value, perform execution feedback control on the execution of corresponding actions by the crane equipment according to a preset execution control strategy;

[0142] When the execution feedback value is consistent with the execution expected value, it is determined that the execution feedback control is completed.

[0143] In this embodiment, the execution feedback value refers to the execution value obtained by monitoring in real time the execution of corresponding actions by the crane equipment. For example, the lifting height a1 of the crane equipment.

[0144] In this embodiment, the execution expected value refers to the expected value determined according to the feedback flow data. For example, the expected lifting height a2 of the crane equipment.

[0145] In this embodiment, the preset execution control strategy refers to a control strategy that ensures the execution action meets the expectation when the crane equipment executes corresponding actions. For example, when the expected lifting height of the crane equipment is inconsistent with the actual lifting height, obtain the height difference and continue to generate a hydraulic control instruction to control the crane to continue to execute the corresponding action until the actual execution action is consistent with the expected execution action.

[0146] In this embodiment, the execution feedback control refers to the control of the crane equipment based on the monitoring result of the execution of corresponding actions by the crane equipment in real time and the preset execution control strategy.

[0147] The working principle and beneficial effects of the above technical solution are: By monitoring in real time the execution of corresponding actions by the crane equipment and obtaining the execution feedback value, the effective execution of the crane hydraulic control is effectively ensured.

[0148] Example 8:

[0149] An embodiment of the present invention provides a crane hydraulic control system, further including:

[0150] A crane hydraulic control safety module, configured to, when the pressure data of the crane hydraulic control component is not lower than the cut-off pressure data of the cut-off valve component, control the pressure data to the cut-off pressure data according to the cut-off valve component and perform total safety control on the pressure data exceeding the cut-off pressure data according to the safety valve component.

[0151] In this embodiment, the cut-off pressure data refers to the data of the cut-off valve assembly for cutting off the pressure of the crane hydraulic control assembly. That is, when the pressure data of the crane hydraulic control assembly is not lower than the cut-off pressure data of the cut-off valve assembly, the pressure data of the crane hydraulic control assembly is controlled through the cut-off valve assembly to avoid pressure overload.

[0152] In this embodiment, the cut-off valve assembly refers to the assembly that controls the pressure data of the crane hydraulic control assembly and is used to ensure the safe operation of the crane hydraulic control assembly.

[0153] In this embodiment, the safety valve assembly refers to the assembly that controls the overall safe operation of the crane hydraulic control assembly.

[0154] In this embodiment, the total safety control refers to the control of the crane hydraulic control assembly by the safety valve assembly.

[0155] The working principle and beneficial effects of the above technical solution are as follows: By controlling the pressure data to the cut-off pressure data according to the cut-off valve assembly and performing total safety control on the pressure data exceeding the cut-off pressure data according to the safety valve assembly, the hydraulic control safety of the crane equipment is effectively ensured.

[0156] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A crane hydraulic control system, characterized in that: include: A crane hydraulic control requirement module, for obtaining a crane hydraulic control requirement according to crane equipment parameters of the crane equipment; A crane hydraulic control simulation module is used to determine the crane hydraulic control components according to the crane hydraulic control requirements and perform simulation processing to obtain a crane hydraulic control component simulation model; A crane hydraulic control feedback module is used to determine the load data of the crane hydraulic control component according to the crane hydraulic control requirements and feed it back to the crane hydraulic control component simulation model, so as to perform real-time feedback control on the flow data of the crane hydraulic control component; The crane hydraulic intelligent control execution module is used to generate hydraulic control instructions to control the crane equipment to perform corresponding actions when the flow data of the crane hydraulic control component matches the load data.

2. A crane hydraulic control system according to claim 1, characterized in that: The crane hydraulic control requirements include: crane hydraulic control component requirements, crane hydraulic control load requirements, crane hydraulic control safety requirements and crane hydraulic control accuracy requirements.

3. A crane hydraulic control system according to claim 1, characterized in that: Crane hydraulic control simulation module, including: A crane hydraulic control component unit, used to determine the crane hydraulic control component according to the crane hydraulic control requirements, wherein the crane hydraulic control component includes: a hydraulic pump component, a hydraulic cylinder component, a control valve component, a safety valve component, a cut-off valve component, a pressure sensor component, a displacement sensor component and a control unit component; A crane hydraulic control component simulation unit is used to simulate the crane hydraulic control component, input crane equipment parameters into a preset hydraulic simulation software and connect the crane hydraulic control component to establish a crane hydraulic control component simulation model, wherein the crane equipment parameters include: crane equipment type parameters, crane equipment working parameters, crane equipment safety parameters and crane equipment accuracy parameters; The simulation test unit is used to set simulation test data according to the hydraulic control requirements of the crane, input the simulation test data into the simulation model of the crane hydraulic control component, and when it is monitored that the simulation model of the crane hydraulic control component meets the hydraulic control requirements of the crane, it is determined that the simulation model of the crane hydraulic control component is established.

4. A crane hydraulic control system according to claim 1, characterized in that: Crane hydraulic control feedback module, including: The crane hydraulic control demand refinement unit is used to perform refinement analysis on the crane hydraulic control demand. If there is only a single crane hydraulic control demand in the current period, the current period is marked as a single hydraulic control period. If the crane has multiple crane hydraulic control requirements in the current period, the current period is marked as a composite hydraulic control period; A load data acquisition unit is used to select a sensor component according to the crane hydraulic control requirement, and determine the crane hydraulic control component to be monitored by the sensor component according to the crane hydraulic control requirement in the current period, which is recorded as a crane hydraulic control monitoring component; Obtaining the pressure-load mapping relationship between the pressure sensor monitoring data and the crane hydraulic control component according to the historical hydraulic control monitoring data, and obtaining the displacement-load mapping relationship between the displacement sensor monitoring data and the crane hydraulic control component; Acquire monitoring data of the sensor component in the current period, and determine the load data of the crane hydraulic control monitoring component by combining the pressure-load mapping relationship and the displacement-load mapping relationship; If the load data determined by the same crane hydraulic control monitoring component in combination with the pressure-load mapping relationship is inconsistent with the load data determined by the same crane hydraulic control monitoring component in combination with the displacement-load mapping relationship, it is determined that the load of the crane hydraulic control monitoring component is abnormal and cannot meet the crane hydraulic control requirements; A load data feedback unit, used to feed back the load data of the crane hydraulic control monitoring component to the crane hydraulic control component simulation model in real time; The simulation model optimization unit is used to optimize the simulation model of the crane hydraulic control component. If the current period is a single hydraulic control period, only the crane hydraulic control monitoring component corresponding to the single crane hydraulic control demand and the crane hydraulic control component connected to the crane hydraulic control monitoring component are retained in the crane hydraulic control component simulation model, and other crane hydraulic control components are eliminated and optimized; If the current period is a composite hydraulic control period, a crane hydraulic control monitoring component corresponding to a plurality of crane hydraulic control requirements is retained in the crane hydraulic control component simulation model; When feedback control is performed on the crane hydraulic control component in the composite hydraulic control period, the feedback control sequence of the crane hydraulic control monitoring component is set, and the hydraulic control monitoring component and the crane hydraulic control component with a connection relationship are selected in the crane hydraulic control component simulation model according to the feedback control sequence, and other crane hydraulic control components are shielded and optimized; A feedback control unit is used to feed back the load data of the crane hydraulic control monitoring component to the optimized crane hydraulic control component simulation model, and obtain the current flow data and feedback flow data of the crane hydraulic control monitoring component; If the current flow data is inconsistent with the feedback flow data, real-time feedback control is performed on the current flow data according to the feedback flow data.

5. A crane hydraulic control system according to claim 4, characterized in that: The simulation model optimization unit also includes: The simulation model optimization test block is used to optimize the crane hydraulic control component simulation model after optimization, input the historical hydraulic control monitoring data into the optimized crane hydraulic control component simulation model, and obtain the historical feedback flow data; If the historical feedback flow data is consistent with the historical actual flow control data, it is determined that the optimization of the crane hydraulic control component simulation model is qualified; If the historical feedback flow data is inconsistent with the historical actual flow control data, the optimization of the simulation model of the crane hydraulic control component is determined to be unqualified, and other crane hydraulic control components are added one by one to re-optimize and test.

6. A crane hydraulic control system according to claim 4, characterized in that: Crane hydraulic intelligent control execution module, including: A matching determination unit, used to obtain historical flow data of the crane hydraulic control component and determine a maximum flow threshold of the crane hydraulic control component; When the current flow data and the feedback flow data of the crane hydraulic control component are not higher than the maximum flow threshold, it is determined that the flow data of the crane hydraulic control component matches the load data; The hydraulic control execution unit is used to generate a hydraulic control instruction according to the flow difference between the feedback flow data and the current flow data when the flow data of the crane hydraulic control component matches the load data, and send it to the crane hydraulic control component to control the crane equipment to perform corresponding actions, wherein the actions include: lifting action, rotating action and walking action.

7. A crane hydraulic control system according to claim 6, characterized in that: The crane hydraulic intelligent control execution module also includes: An execution feedback control unit is used to monitor the crane equipment in real time to perform corresponding actions and obtain execution feedback values; Obtaining the expected execution value according to the feedback flow data, and when the execution feedback value is inconsistent with the expected execution value, performing execution feedback control on the crane equipment to execute the corresponding action according to the preset execution control strategy; When the execution feedback value is consistent with the execution expected value, it is determined that the execution feedback control is completed.

8. A crane hydraulic control system according to claim 1, characterized in that: Also includes: The crane hydraulic control safety module is used to control the pressure data to the cut-off pressure data according to the cut-off valve assembly when the pressure data of the crane hydraulic control assembly is not lower than the cut-off pressure data of the cut-off valve assembly, and to perform overall safety control on the pressure data exceeding the cut-off pressure data according to the safety valve assembly.

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