Crane flow control method, controller, control system and crane

Abstract

The present application provides a control method, controller, control system and crane for crane flow, which relates to the field of crane equipment. The control method for crane flow includes: obtaining the current speed of the engine, and determining the demand flow of each actuator to perform the current operation based on the linear relationship between the demand flow of each actuator and the current speed; calculating the sum of the demand flow of each actuator to obtain the total demand flow; determining the actual output flow of each oil pump based on the total demand flow and the maximum output flow of each oil pump, and controlling each oil pump to output the corresponding actual output flow. Thus, the demand flow of the actuator is determined according to the current speed of the engine, and then the total demand flow of each actuator is determined. The actual output flow of the oil pump is determined according to the total demand flow and the maximum flow of the oil pump, thereby realizing real-time control of the engine flow, which not only ensures the smooth operation of the engine, but also reduces unnecessary fuel consumption.

Description

Technical Field

[0001] The present application relates to the field of crane equipment, and in particular to a crane flow control method, a controller, a control system and a crane. Background Art

[0002] For cranes with electronically controlled load-sensitive systems, the output of the oil pump is controlled by the engine during the lifting operation, and the opening degree of the proportional solenoid valve is controlled by the handle.

[0003] The traditional lifting operation mode is that the operator relies on experience to coordinate the engine accelerator pedal and the operating handle to make the engine and the proportional solenoid valve work in coordination. This method relies heavily on the operator's experience and often causes the crane to operate under low-speed and high-load or high-speed and small-load conditions, resulting in unstable engine operation and high fuel consumption. Summary of the invention

[0004] In view of this, the present application provides a crane flow control method and system, storage medium and electronic device, which solve the technical problems of unstable engine operation and high fuel consumption of cranes in the prior art.

[0005] According to one aspect of the present application, a method for controlling crane flow is provided, comprising: obtaining a current speed of an engine, and determining the demand flow of each actuator based on a linear relationship between the demand flow of each actuator and the current speed, wherein the actuators include a hoisting mechanism, a lifting mechanism, and a telescopic mechanism; calculating the sum of the demand flow of each actuator to perform a current operation to obtain a total demand flow; determining the actual output flow of each oil pump based on the total demand flow and the maximum flow of each oil pump, and controlling each oil pump to output the corresponding actual output flow.

[0006] In a possible implementation, before obtaining the current speed of the engine and determining the required flow rate for each actuator to perform the current operation based on the current speed from the linear relationship between the required flow rate of the target actuator and the current speed, it also includes: under the condition that the handle opening is maximum, respectively obtaining the first flow rate of each actuator when the engine is at idle speed, and saving it as first data, the first data including the idle speed of the engine and the first flow rate of each actuator; respectively obtaining the first speed of the engine when each actuator obtains the maximum supply flow, and saving it as second data, the second data including the maximum supply flow rate of each actuator and the first speed of the engine; determining a straight line equation based on the first data and the second data of each actuator, and determining the straight line equation as the linear relationship between the required flow rate of the corresponding actuator and the current speed.

[0007] In one possible implementation, the step of obtaining the current speed of the engine and determining the demand flow of each actuator based on the linear relationship between the demand flow of each actuator and the current speed includes: obtaining the current speed of the engine; if the current speed is less than the maximum rated speed of the engine, then determining the demand flow of each actuator corresponding to the current speed based on the linear relationship between the demand flow of each actuator and the current speed; if the current speed is greater than or equal to the rated speed of the engine, then determining the maximum supply flow of each actuator as the corresponding demand flow.

[0008] In a possible implementation, the crane includes a first oil pump and a second oil pump, and determining the actual output flow of each oil pump based on the total demand flow and the maximum output flow of each oil pump includes: comparing the total demand flow with the sum of the maximum output flows of the first oil pump and the second oil pump; if the total demand flow is less than or equal to the sum of the maximum output flows, determining the actual output flow of each oil pump based on a flow distribution principle, and the flow distribution principle is: the first oil pump preferentially outputs full flow, and the remaining flow is provided by the second oil pump; if the total demand flow is greater than the sum of the maximum output flows, the maximum output flow of the first oil pump and the second oil pump is determined as the actual output flow of the corresponding oil pump.

[0009] In a possible implementation, after determining the actual output flow of each oil pump based on the total flow and the maximum output flow of each oil pump, it also includes: determining the oil pump supply current of each oil pump based on the actual output flow of each oil pump and the corresponding relationship between the actual output flow and the supply current; comparing the oil pump supply current with the corresponding maximum demand current of the oil pump; if the oil pump supply current is less than or equal to the maximum demand current of the oil pump, determining the oil pump supply current as the working current of the corresponding oil pump; if the oil pump supply current is greater than the maximum demand current of the oil pump, determining the maximum demand current of the oil pump as the working current of the corresponding oil pump.

[0010] In one possible implementation, before comparing the oil pump supply current with the maximum oil pump demand current, it also includes: determining the oil pump torque of each oil pump at the current speed, and obtaining the corresponding pump outlet pressure of the oil pump; based on the relationship between the oil pump maximum demand current and the oil pump torque, pump outlet pressure, pump maximum flow, and oil pump set current, determining the oil pump maximum demand current.

[0011] In a possible implementation, after obtaining the current speed of the engine and determining the demand flow of each actuator based on the linear relationship between the demand flow of each actuator and the current speed, it also includes: determining the actuator supply current corresponding to the demand flow of each actuator based on the relationship between the demand flow of each actuator and the supply current; determining the target valve opening corresponding to each actuator based on the corresponding relationship between the actuator supply current and the valve opening of each actuator, and generating a proportional solenoid valve control signal for the target valve according to the target valve opening.

[0012] As another aspect of the present application, the present application provides a controller for crane flow, characterized in that it includes: a demand flow determination module, used to obtain the current speed of the engine, and determine the demand flow of each actuator to perform the current operation based on the linear relationship between the demand flow of each actuator and the current speed, wherein the actuators include a hoisting mechanism, a lifting mechanism and a telescopic mechanism; a total flow determination module, used to calculate the sum of the demand flow of each actuator to obtain the total demand flow; an output flow determination module, used to determine the actual output flow of each oil pump based on the total demand flow and the maximum output flow of each oil pump, and control each oil pump to output the corresponding actual output flow.

[0013] As the third aspect of the present application, the present application provides a crane flow control system, characterized in that it includes: a first oil pump, a second oil pump, and proportional solenoid valves of each actuator, wherein the first oil pump and the second oil pump provide corresponding required flow for each actuator, and the proportional solenoid valve is used to control the valve opening of the corresponding actuator; and the controller.

[0014] As a fourth aspect of the present application, the present application provides a crane, comprising a control system for crane flow.

[0015] The present invention provides a control method, controller, control system and crane for crane flow. The control method for crane flow includes: obtaining the current speed of the engine, determining the required flow of each actuator for performing the current operation based on the linear relationship between the required flow of each actuator and the current speed, wherein the actuator includes a hoisting mechanism, a lifting mechanism and a telescopic mechanism; calculating the sum of the required flow of each actuator to obtain the total required flow; determining the actual output flow of each oil pump based on the total required flow and the maximum output flow of each oil pump, and controlling each oil pump to output the corresponding actual output flow. Thus, the required flow of the actuator is determined according to the current speed of the engine, and then the total required flow of each actuator is determined. The actual output flow of the oil pump is determined according to the total required flow and the maximum flow of the oil pump, thereby realizing real-time control of the engine flow, which not only ensures the smooth operation of the engine, but also reduces unnecessary fuel consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 The figure is a flow chart of a crane flow control method provided by an embodiment of the present application;

[0018] Figure 2 FIG. 1 is a flow chart of a crane flow control method provided by another embodiment of the present application;

[0019] Figure 3 FIG. 1 is a flow chart of a crane flow control method provided by another embodiment of the present application;

[0020] Figure 4 FIG. 1 is a flow chart of a crane flow control method provided by another embodiment of the present application;

[0021] Figure 5 FIG. 1 is a flow chart of a crane flow control method provided by another embodiment of the present application;

[0022] Figure 6 FIG. 1 is a flow chart of a crane flow control method provided by another embodiment of the present application;

[0023] Figure 7 FIG. 1 is a flow chart of a crane flow control method provided by another embodiment of the present application;

[0024] Figure 8 Schematic diagram showing the actual output flow and supply current of the hoisting mechanism & telescopic mechanism of a crane flow control method provided by another embodiment of the present application

[0025] Fig. 9 The figure shows a working principle diagram of a control system for crane flow provided by an embodiment of the present application;

[0026] Fig.10 Shown is a schematic structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0027] In the description of the application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise clearly and specifically limited. In the embodiment of the present application, all directional indications (such as up, down, left, right, front, back, top, bottom ...) are only used to explain the relative position relationship, motion conditions, etc. between the components under a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their deformations are intended to cover non-exclusive inclusions. For example, the process, method, system, product or equipment comprising a series of steps or units are not limited to the steps or units listed, but optionally also include the steps or units not listed, or optionally also include other steps or units inherent to these processes, methods, products or equipment.

[0028] In addition, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] The crane involved in this embodiment is also called an overhead crane, an overhead crane or a crane, and refers to a multi-action lifting machinery that vertically lifts and horizontally transports heavy objects within a certain range.

[0031] The speed control of traditional lifting operations is mainly achieved by handles and accelerator pedals. When the operator steps on the accelerator pedal, the voltage signal of the sensor on the pedal is triggered to change. The engine's electronic control unit controls the engine to run at the speed corresponding to the signal based on the collected signal. In this operation mode, the operator controls the handle and accelerator pedal based on experience, so the smoothness and smoothness of the operation of the hoisting structure, undulating structure and telescopic structure mainly depend on the operator. If the operator's operation is not stable, the operation will not be smooth enough, which will cause the engine oil pump output to not match the actual load, and then cause the engine to run under low speed and high load and high speed and low load conditions, resulting in unstable engine operation and high fuel consumption.

[0032] Therefore, the present application provides a method for controlling crane flow, namely Figure 1 FIG. 1 is a flow chart of a crane flow control method provided by the present application, as shown in FIG. Figure 1 As shown, the crane flow control method includes the following steps:

[0033] Step S101: obtaining the current speed of the engine, and determining the required flow rate of each actuator for performing the current operation based on the linear relationship between the required flow rate of each actuator and the current speed, wherein the actuator includes a winch mechanism, a lifting mechanism, and a telescopic mechanism;

[0034] The actuator refers to the key mechanism for performing the tasks of vertical lifting and horizontal transportation of heavy objects, including the hoisting mechanism, the lifting mechanism and the telescopic mechanism. The hoisting mechanism is a mechanism in which the motor drives the wire rope drum to rotate forward and reverse after being decelerated by the reducer, and performs lifting and lowering movements. It generally includes the main hoisting mechanism and the auxiliary hoisting mechanism. The hoisting mechanism, also called the lifting mechanism, is a basic structure that is necessary for cranes to lift and lower objects. The hoisting mechanism is driven by the lifting motor through the coupling through the hollow shaft of the reducer to rotate the drum, so that the wire rope / cable wound on the drum drives the hook device to rise or fall. The function of the crane telescopic mechanism is to change the length of the boom to obtain the required amplitude and lifting height to meet the operating requirements. The hoisting mechanism, the lifting mechanism and the telescopic mechanism cooperate with each other under the control of the engine and the proportional solenoid valve to complete the task of transporting heavy objects.

[0035] Specifically, during the operation of the engine, the current speed of the engine is measured and uploaded by the speed sensor. Generally, the engine speed is determined by measuring the speed of the crankshaft, and the speed of the crankshaft is usually measured by a signal disk and a speed sensor installed on the crankshaft. After the crankshaft speed is obtained, the crankshaft speed is determined as the real-time speed.

[0036] Under the condition of keeping the handle open, the greater the engine speed, the greater the flow rate provided to the actuator, and vice versa, the smaller the engine speed, the smaller the flow rate provided to the actuator. In practice, the engine speed and the flow rate of the actuator are linearly related. In this embodiment, the linear relationship between the required flow rate of each actuator and the current speed is expressed as: Q = aR + b, where Q represents the required flow rate, R represents the speed, and a and b are constants.

[0037] Therefore, after obtaining the real-time engine speed measured by the speed sensor, the controller of the crane can determine the corresponding flow rate by performing a linear operation based on the flow rate and the speed. The required flow rate of the actuator involved in this embodiment refers to the hydraulic oil flow rate of the hydraulic cylinder, so that the hydraulic cylinder can convert the flow rate into power.

[0038] In this embodiment, the linear relationship between the required flow rate of the hoisting mechanism and the current rotation speed is expressed as: Q1=a1R+b1, where Q1 represents the required flow rate of the hoisting mechanism, R represents the rotation speed, and a1 and b1 are known constants;

[0039] The linear relationship between the required flow rate of the lifting mechanism and the current speed is expressed as: Q2 = a2R + b2, where Q2 represents the required flow rate of the lifting mechanism, R represents the speed, and a2 and b2 are known constants;

[0040] The linear relationship between the required flow rate of the telescopic mechanism and the current speed is expressed as: Q3 = a3R + b3, where Q3 represents the required flow rate of the telescopic mechanism, R represents the speed, and a3 and b3 are known constants;

[0041] Therefore, after obtaining the current rotation speed, the required flow rate for the corresponding hoisting mechanism to perform the current operation, the required flow rate for the lifting mechanism to perform the current operation, and the required flow rate for the telescopic mechanism to perform the current operation can be determined according to each linear relationship.

[0042] Step S102, calculating the sum of the required flow rates of the respective actuators to obtain a total required flow rate;

[0043] It can be understood that since the flow of each actuator is supplied by the engine, the sum of the required flow of each actuator is the flow that the engine needs to provide, which is expressed as:

[0044] Total demand flow = demand flow of winch mechanism + demand flow of lifting mechanism + demand flow of telescopic mechanism.

[0045] Step S103, determining the actual output flow of each oil pump based on the total required flow and the maximum output flow of each oil pump, and controlling each oil pump to output the corresponding actual output flow.

[0046] This embodiment uses the dual pump confluence method to control the flow output. In order to improve the utilization rate of the dual pumps, the required flow is provided by a single pump first. When the maximum flow of a single pump cannot meet the total required flow, the other pump provides the remaining flow. After determining the actual output flow that each pump needs to provide, each oil pump is controlled to output the corresponding actual output flow.

[0047] This embodiment infers the demand flow of each actuator based on the current speed, and then determines the total demand flow, and then determines the oil pump output flow corresponding to the total demand flow, thereby achieving the purpose of controlling the oil pump output flow to ensure stable engine operation and save fuel consumption.

[0048] Through the steps S101, S102 and S103, the required flow of the actuator can be determined according to the current speed of the engine, and then the required total flow can be determined, and the actual output flow of the oil pump can be determined according to the total flow and the maximum flow of the oil pump, thereby realizing real-time control of the engine flow, which not only ensures the smooth operation of the engine, but also reduces unnecessary fuel consumption.

[0049] Figure 2 FIG. 1 is a flow chart of a crane flow control method provided by another embodiment of the present application. Figure 2 As shown, in some embodiments of the present application, before step S101, the following steps are further included:

[0050] Step S1001: Under the condition that the handle opening is the largest, respectively obtaining the first flow of each actuator when the engine is at an idle speed, wherein the first data includes the idle speed of the engine and the first flow of each actuator;

[0051] Idle speed means that the engine is in an idling state and the accelerator pedal is not pressed. The corresponding engine speed is the idle speed. Generally speaking, the first flow corresponding to the idle speed is the minimum flow of the actuator. Therefore, when the handle is opened to the maximum and the engine is at idle speed, the first data of the hoisting mechanism, the lifting mechanism and the telescopic mechanism are obtained respectively. The first data can be expressed as (idle speed, first flow)

[0052] Step S1002: respectively obtaining the first speed of the engine when each actuator obtains the maximum supply flow, and saving it as second data, wherein the second data includes the maximum supply flow of each actuator and the first speed of the engine;

[0053] When the crane leaves the factory, the maximum flow of each actuator is determined by factors such as parts configuration. In this embodiment, the control engine provides each actuator with the maximum supply flow that each actuator can bear, and obtains the corresponding speed through the speed sensor, which is marked as the first speed.

[0054] For example, without considering the influence of the lifting mechanism and the telescopic mechanism, that is, keeping the flow of the lifting mechanism and the telescopic mechanism at zero, the engine is controlled to provide the winch mechanism with the maximum supply flow that the winch mechanism can withstand, and at the same time obtain the first speed of the engine when the winch mechanism obtains the maximum supply flow.

[0055] In this way, the second data of the hoisting mechanism, the lifting mechanism and the telescopic mechanism at their respective maximum flow rates are obtained. The second data is expressed as (first rotation speed, maximum supply flow rate).

[0056] Step S1003: determining a straight line equation based on the first data and the second data of each actuator respectively, and determining the straight line equation as a linear relationship between the required flow rate and the current rotation speed of the corresponding actuator.

[0057] The greater the rotation speed, the greater the required flow rate of the actuator. Practice has proved that the required flow rate is linearly related to the rotation speed, and the first data and the second data are two characteristic data on the linear relationship.

[0058] In this way, a linear equation can be determined based on the first data and the second data of the hoisting mechanism, and the linear equation is determined as the linear relationship between the required flow rate and the current rotation speed of the hoisting mechanism.

[0059] Similarly, determine the linear relationship between the required flow rate of the lifting mechanism and telescopic mechanism and the current rotation speed.

[0060] Figure 3 FIG. 1 is a flow chart of a crane flow control method provided by another embodiment of the present application. Figure 3 As shown, in some embodiments of the present application, step S101 includes:

[0061] Step S1011: obtaining the current speed of the engine;

[0062] It is understandable that when the load is too large or the operator's control is improper, the actual speed of the engine will be greater than the approved rated speed, which will result in higher fuel consumption and noise. Therefore, in order to extend the life of the engine, this embodiment controls the engine speed within the rated speed of the engine. The rated speed of the engine is determined by the factory value. After obtaining the current speed through the speed sensor, the current speed is compared with the rated speed of the engine.

[0063] Step S1012: if the current speed is less than the rated speed of the engine, based on the linear relationship between the required flow of each actuator and the current speed, respectively determine the required flow of each actuator corresponding to the current speed;

[0064] If the current speed is less than the rated speed of the engine, it indicates that the engine is not overloaded, and the corresponding demand flow is determined according to the linear relationship between the demand flow of each actuator and the current speed. That is, the demand flow can be determined by substituting the current speed into the linear relationship between the demand flow of each actuator and the current speed. In the linear relationship Q=aR+b, Q represents the demand flow, R represents the speed, and a and b are known constants. Therefore, after determining the current speed R, the corresponding demand flow can be determined.

[0065] Step S1013: If the current speed is greater than or equal to the rated speed of the engine, the maximum supply flow of each actuator is determined as the corresponding demand flow.

[0066] If the current speed is less than the rated speed of the engine, it indicates that the engine is not overloaded. To ensure that the engine is not overloaded, the maximum supply flow of each actuator is determined as the corresponding demand flow in this embodiment.

[0067] Therefore, based on step S1011, step S1012 and step S1013, the required current of each actuator at the current speed can be inferred, and the rated speed of the engine is limited to ensure that the final control result is that the engine will not be overloaded and will not cause high fuel consumption.

[0068] Figure 4 FIG. 2 is a flow chart of a crane flow control method provided by another embodiment of the present application. Figure 4 As shown, in step S103: determining the actual output flow of each oil pump based on the total required flow and the maximum flow of the oil pump includes:

[0069] Step S10301: comparing the total required flow rate with the sum of the maximum flow rates of the first oil pump and the second oil pump;

[0070] This embodiment adopts a dual-pump confluence oil supply strategy. The crane is equipped with two oil pumps: a first oil pump and a second oil pump. The maximum output flow rates of the two oil pumps depend on the factory settings. The maximum output flow rate of the first oil pump is marked as the first maximum output flow rate, the maximum output flow rate of the second oil pump is marked as the second maximum output flow rate, and the sum of the flow rates of the first oil pump and the second oil pump is marked as the total maximum output flow rate.

[0071] After obtaining the current rotation speed and determining the required flow of each actuator and the total required flow based on the linear relationship between the required flow of each actuator and the current rotation speed, the total required flow is compared with the sum of the maximum output flows.

[0072] Step S10302: if the total flow rate is less than or equal to the sum of the maximum output flows, determining the actual output flows of each oil pump based on a flow distribution principle, wherein the flow distribution principle is: the first oil pump outputs the full flow rate first, and the remaining flow rate is provided by the second oil pump;

[0073] In this embodiment, the first oil pump is set as a priority output oil pump, and the first maximum output flow rate is greater than or equal to the second maximum output flow rate.

[0074] The principle is that the first oil pump outputs full flow first, and the remaining flow is provided by the second oil pump:

[0075] If the total flow rate is less than the first maximum flow rate, the actual output flow rate of the first oil pump is determined as the required total flow rate, and the actual output flow rate value of the second oil pump is determined as zero;

[0076] If the required total flow rate is greater than the first maximum output flow rate and less than or equal to the sum of the maximum output flows, the first actual output flow rate of the first oil pump is determined as the first maximum flow rate, and the second actual output flow rate of the second oil pump is determined as the difference between the total required flow rate and the first maximum flow rate, that is, the first actual output flow rate of the first oil pump = the first maximum flow rate, and the second actual output flow rate of the second oil pump = the total required flow rate - the first maximum flow rate.

[0077] Step S10303: If the total required flow rate is greater than the sum of the maximum output flow rates, the maximum output flow rates of the first oil pump and the second oil pump are determined as the actual output flow rates of the corresponding oil pumps.

[0078] It can be understood that if the total demand flow is greater than the sum of the maximum output flow rates, the first oil pump and the second oil pump cannot meet the flow requirements of each actuator when not operating under overload. In order to ensure the normal operation of the oil pump, this embodiment determines the actual output flow of the first oil pump as the first maximum output flow rate, and the actual output flow of the second oil pump as the second maximum output flow rate.

[0079] Through step S10301, step S10302, and step S10303, the actual output flow of each oil pump is determined based on the total demand flow and the maximum output flow of the oil pump, thereby ensuring the normal output of the oil pump and achieving the effect of saving fuel consumption.

[0080] Figure 5 FIG. 1 is a flow chart of a crane flow control method provided by another embodiment of the present application. Figure 5 As shown, in some embodiments of the present application, after the step S103: determining the actual output flow of each oil pump based on the total flow and the maximum flow of the oil pump, further includes:

[0081] The supply current of each oil pump is determined based on the actual output flow rate of each oil pump.

[0082] Specifically, it includes:

[0083] Step S1031: determining the oil pump supply current of each oil pump based on the actual output flow rate of each oil pump and the corresponding relationship between the actual output flow rate and the supply current;

[0084] The oil pump has a preset maximum current, minimum current, and maximum flow rate before leaving the factory. For example, if the maximum current is 600mA, the minimum current is 200mA, and the maximum flow rate is 85ml / r, then the minimum current of 200mA corresponds to a flow rate of 0ml / r (200,0), and the maximum current of 600mA corresponds to a flow rate of 85ml / r (600,85). Based on (200,0) and (600,85), the actual output flow rate-supply current correspondence can be determined.

[0085] After the actual output flow is generated, the oil pump supply current of each oil pump can be determined based on the actual output flow-supply current correspondence relationship.

[0086] Step S1032: comparing the supply current of each oil pump with the corresponding maximum demand current of the oil pump;

[0087] Generally, the maximum required current of the oil pump is set before leaving the factory. To ensure the smooth operation of the oil pump, the general working current should not exceed the maximum required current of the oil pump. In this embodiment, the maximum required currents of the first oil pump and the second oil pump can be the same or different.

[0088] Step S1033: if the oil pump supply current is less than or equal to the maximum required current of the oil pump, the oil pump supply current is determined as the working current of the corresponding oil pump;

[0089] In this embodiment, the first oil pump and the second oil pump merge to supply oil, but the motor needs to provide corresponding working currents for the first oil pump and the second oil pump respectively.

[0090] If the supply current of the first oil pump is less than or equal to the maximum demand current of the first oil pump, the operating current of the first oil pump is determined as the supply current of the first oil pump; if the supply current of the second oil pump is less than or equal to the maximum demand current of the second oil pump, the operating current of the second oil pump is determined as the supply current of the second oil pump.

[0091] Step S1034: If the oil pump supply current is greater than the oil pump maximum demand current, the oil pump maximum demand current is determined as the oil pump operating current.

[0092] If the supply current of the first oil pump is greater than the maximum demand current of the first oil pump, the operating current of the first oil pump is determined as the maximum demand current of the first oil pump; if the supply current of the second oil pump is greater than the maximum demand current of the second oil pump, the operating current of the second oil pump is determined as the maximum demand current of the second oil pump.

[0093] After determining the operating current of each oil pump, the control motor transmits the corresponding current to each oil pump.

[0094] Figure 6 FIG. 1 is a flow chart of a crane flow control method provided by another embodiment of the present application. Figure 6 As shown, in some embodiments of the present application, before the step S1031: comparing the oil pump supply current with the oil pump maximum demand current respectively, it also includes:

[0095] Step S10301, determining the oil pump torque of each oil pump at the current speed, and obtaining the corresponding pump outlet pressure;

[0096] In this embodiment, the first oil pump torque of the first oil pump is obtained by the first torque sensor of the first oil pump, and the first pump outlet pressure of the first oil pump is obtained by the pressure sensor arranged at the outlet of the first oil pump. The second oil pump torque of the second oil pump is obtained by the second torque sensor of the second oil pump, and the second pump outlet pressure of the second oil pump is obtained by the pressure sensor arranged at the outlet of the second oil pump.

[0097] Step S10302, determining the maximum required current of the oil pump based on the relationship between the maximum required current of the oil pump and the oil pump torque, the pump outlet pressure, the maximum flow rate of the pump, and the set current of the oil pump.

[0098] The oil pump setting current includes the minimum setting current and the maximum setting current. The oil pump current range of the crane is from the minimum setting current to the maximum setting current. For example, the minimum setting current can be 200mA, and the maximum setting current can be 600mA. The setting current is set before leaving the factory. The formula for determining the maximum current is: maximum demand current = minimum setting current + 0.5 × oil pump torque × 20π × (maximum setting current - minimum setting current) / (maximum pump flow × pump outlet pressure). The maximum pump flow depends on the factory setting of the oil pump, for example, it can be 80ml / r.

[0099] Therefore, the first maximum current of the first oil pump can be determined according to the first oil pump torque and the first pump outlet pressure of the first oil pump; the second maximum current of the second oil pump can be determined according to the second oil pump torque and the second pump outlet pressure of the second oil pump, so as to determine the first maximum current and the second maximum current to determine the working current of the corresponding oil pump.

[0100] Figure 7FIG. 1 is a flow chart of a crane flow control method provided by another embodiment of the present application. Figure 7 As shown, in some embodiments of the present application, after step S101, the following steps are further included:

[0101] Step S104: determining the actuator supply current corresponding to the required flow rate of each actuator based on the relationship between the required flow rate and the supply current of each actuator;

[0102] In this embodiment, under the condition of controlling the engine speed and the target actuator valve opening being unchanged, the supply current under different output flow rates is measured to obtain multiple sets of data; and the relationship between the actual output flow rate and the supply current is determined based on the multiple sets of data.

[0103] For the actuator, there is a stable relationship between flow and current. This embodiment has previously determined the following relationship through practical measurements: When I1<I2, the flow Q and the current I are in a binary linear relationship: Q=cI 2 +dI+e, where c, d, and f are constants; when I2≤I≤I3, the flow rate Q and current I are linearly related: Q=gI+h, where g and h are constants.

[0104] Reference Figure 8 , Figure 8 FIG. 1 is a schematic diagram of the actual output flow and supply current of the hoisting mechanism & telescopic mechanism of a crane flow control method provided by another embodiment of the present application. Figure 6 As shown, when the current is greater than or equal to 280 and less than 560, the corresponding relationship is y = 0.0025x 2 -1.2024x+138.69, where x represents the supply current and y represents the actual output flow; when the current is greater than or equal to 560 and less than 700, the corresponding relationship is y=0.1475x+166.73, where x represents the supply current and y represents the actual output flow.

[0105] Therefore, after the required flow rate is determined, the supply current corresponding to the required current may be determined based on a relationship between the required flow rate and the supply current.

[0106] Step S105: Based on the correspondence between the actuator supply current and the valve opening of each actuator, the target valve opening corresponding to each supply current is determined respectively, and the proportional solenoid valve control signal of each actuator is output to control the proportional solenoid valve of each actuator to open to the corresponding target valve opening.

[0107] In this embodiment, the current interval of each actuator is linearly related to the valve opening, and the valve opening is represented by 0%-100%, corresponding to the minimum supply current to the maximum supply current of the current interval. For example, if the current interval of the hoisting mechanism is (200mA, 600mA), then the linear relationship between the current interval of the hoisting mechanism and the valve opening can be determined based on (200mA, 0%), (600mA, 100%).

[0108] After the valve opening of the actuator is determined, a proportional solenoid valve control signal of the actuator is output to control the proportional solenoid valve of each actuator to open to the corresponding target valve opening.

[0109] This embodiment determines the corresponding supply current according to the demand flow of the actuator through step S104-step S105, and then determines the valve opening of each actuator, thereby realizing the control logic of speed-dashed line flow-supply current-valve opening, realizing real-time intelligent adjustment of the valve opening, reducing dependence on the operator, and improving the stability of engine operation.

[0110] As another aspect of the present application, the present application provides a crane flow controller, wherein the crane flow controller includes:

[0111] A demand flow determination module is used to obtain the current speed of the engine, and determine the demand flow of each actuator for performing the current operation based on the linear relationship between the demand flow of each actuator and the current speed, wherein the actuator includes a winch mechanism, a lifting mechanism, and a telescopic mechanism;

[0112] A total flow determination module is used to calculate the sum of the required flows of each of the actuators to obtain a total required flow;

[0113] The output flow determination module is used to determine the actual output flow of each oil pump based on the total required flow and the maximum output flow of each oil pump, and control each oil pump to output the corresponding actual output flow.

[0114] As another aspect of the present application, the present application provides a control system for crane flow, Fig. 9 FIG. 1 is a schematic diagram showing the working principle of a crane flow control system provided by the present application. Fig. 9 As shown, the control system of the crane flow includes:

[0115] A first oil pump 11, a second oil pump 12, a proportional solenoid valve 2 of each actuator, wherein the first oil pump and the second oil pump provide corresponding required flow for each actuator, and the proportional solenoid valve is used to control the valve opening of the corresponding actuator; and a controller 3.

[0116] The controller 3 comprises:

[0117] The demand flow determination module 31 is used to obtain the current speed of the engine, and determine the demand flow of each actuator based on the linear relationship between the demand flow of each actuator and the current speed, wherein the actuator includes a winch mechanism, a lifting mechanism and a telescopic mechanism;

[0118] A total flow determination module 32 is used to calculate the sum of the required flows of each of the actuators to obtain a total required flow;

[0119] The output flow determination module 33 is used to determine the actual output flow of each oil pump based on the total required flow and the maximum output flow of each oil pump, and control each oil pump to output the corresponding actual output flow.

[0120] As another aspect of the present application, the present application provides a crane, comprising a control system for crane traffic.

[0121] Below, reference Fig.10 To describe an electronic device according to an embodiment of the present application. Fig.10 Shown is a schematic structural diagram of an electronic device provided in one embodiment of the present application.

[0122] like Fig.10 As shown, the electronic device 600 includes one or more processors 601 and a memory 602 .

[0123] The processor 601 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.

[0124] The memory 601 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program information may be stored on the computer-readable storage medium, and the processor 601 may run the program information to implement the crane flow control method of each embodiment of the present application described above or other desired functions.

[0125] In one example, the electronic device 600 may further include: an input device 603 and an output device 604, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0126] The input device 603 may include, for example, a keyboard, a mouse, etc.

[0127] The output device 604 can output various information to the outside. The output device 604 can include, for example, a display, a communication network and a remote output device connected thereto.

[0128] Of course, to simplify, Fig. 9 Only some of the components related to the present application in the electronic device 600 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 600 may also include any other appropriate components.

[0129] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program information. When the computer program information is executed by a processor, the processor executes the steps of the crane flow control method according to various embodiments of the present application described in this specification.

[0130] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0131] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program information stored thereon, and when the computer program information is executed by a processor, the processor executes the steps of the crane flow control method according to various embodiments of the present application in this specification.

[0132] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0133] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0134] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0135] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0136] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features of the present invention.

[0137] The above description is only a preferred embodiment of the invention of the present application and is not intended to limit the invention of the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the invention of the present application shall be included in the protection scope of the invention of the present application.

Claims

1. A method for controlling crane flow, characterized in that: include: Acquire the current speed of the engine, and determine the required flow rate of each actuator for performing the current operation based on the linear relationship between the required flow rate of each actuator and the current speed, wherein the actuator includes a winch mechanism, a lifting mechanism, and a telescopic mechanism; Calculating the sum of the required flow rates of each of the actuators to obtain a total required flow rate; The actual output flow of each oil pump is determined based on the total required flow and the maximum output flow of each oil pump, and each oil pump is controlled to output the corresponding actual output flow.

2. The method according to claim 1, characterized in that Before obtaining the current speed of the engine and determining the required flow rate of each actuator for performing the current operation based on the linear relationship between the required flow rate of each actuator and the current speed, the method further includes: Under the condition that the handle opening is the largest, the first flow of each of the actuators when the engine is at an idle speed is obtained respectively and saved as first data, wherein the first data includes the idle speed of the engine and the first flow of each of the actuators; Respectively obtaining a first speed of the engine when each actuator obtains a maximum supply flow, and saving the result as second data, wherein the second data includes the maximum supply flow of each actuator and the first speed of the engine; A straight line equation is determined based on the first data and the second data of each actuator respectively, and the straight line equation is determined as a linear relationship between a required flow rate and a current rotation speed of the corresponding actuator.

3. The method according to claim 1, characterized in that The obtaining of the current speed of the engine and determining the required flow of each actuator based on the linear relationship between the required flow of each actuator and the current speed include: Get the current speed of the engine; If the current speed is less than the rated speed of the engine, based on the linear relationship between the required flow of each actuator and the current speed, the required flow of each actuator corresponding to the current speed is determined respectively; If the current speed is greater than or equal to the rated speed of the engine, the maximum supply flow of each actuator is determined as the corresponding demand flow.

4. The method according to claim 1, characterized in that: The crane includes a first oil pump and a second oil pump, and determining the actual output flow of each oil pump based on the total required flow and the maximum output flow of each oil pump includes: Comparing the total required flow rate with the sum of the maximum output flow rates of the first oil pump and the second oil pump; If the total required flow rate is less than or equal to the sum of the maximum output flows, the actual output flow rates of the respective oil pumps are determined based on a flow distribution principle, wherein the flow distribution principle is: the first oil pump outputs at full flow rate first, and the remaining flow rate is provided by the second oil pump; If the total required flow rate is greater than the sum of the maximum output flow rates, the maximum output flow rates of the first oil pump and the second oil pump are determined as the actual output flow rates of the corresponding oil pumps.

5. The method according to claim 1, characterized in that After determining the actual output flow of each oil pump based on the total required flow and the maximum output flow of each oil pump, the method further includes: Determining the oil pump supply current of each oil pump based on the actual output flow of each oil pump and the corresponding relationship between the actual output flow and the supply current; respectively comparing the oil pump supply current with the corresponding oil pump maximum demand current; If the oil pump supply current is less than or equal to the maximum required current of the oil pump, the oil pump supply current is determined as the working current of the corresponding oil pump; If the oil pump supply current is greater than the maximum oil pump demand current, the maximum oil pump demand current is determined as the operating current of the corresponding oil pump.

6. The method according to claim 5, characterized in that Before comparing the oil pump supply current with the oil pump maximum demand current respectively, the method further includes: Determine the oil pump torque of each oil pump at the current speed, and obtain the pump outlet pressure of the corresponding oil pump; The maximum required current of the oil pump is determined based on the relationship between the maximum required current of the oil pump and the oil pump torque, the pump outlet pressure, the maximum flow rate of the pump, and the set current of the oil pump.

7. The method according to claim 1, characterized in that After obtaining the current speed of the engine and determining the required flow of each actuator based on the linear relationship between the required flow of each actuator and the current speed, the method further includes: Determine the actuator supply current corresponding to the required flow rate of each actuator based on the relationship between the required flow rate and the supply current of each actuator; The target valve openings corresponding to the respective actuators are determined based on the corresponding relationship between the actuator supply currents and the valve openings of the respective actuators, and a proportional solenoid valve control signal of the target valve is generated according to the target valve openings.

8. A crane flow controller, characterized in that: include: A demand flow determination module is used to obtain the current speed of the engine, and determine the demand flow of each actuator to perform the current operation based on the linear relationship between the demand flow of each actuator and the current speed, wherein the actuator includes a winch mechanism, a lifting mechanism and a telescopic mechanism; A total flow determination module is used to calculate the sum of the required flows of each of the actuators to obtain a total required flow; The output flow determination module is used to determine the actual output flow of each oil pump based on the total required flow and the maximum output flow of each oil pump, and control each oil pump to output the corresponding actual output flow.

9. A crane flow control system, characterized in that: include: A first oil pump, a second oil pump, and a proportional solenoid valve for each actuator, wherein the first oil pump and the second oil pump provide corresponding required flow for each actuator, and the proportional solenoid valve is used to control the valve opening of the corresponding actuator; and the controller as described in claim 8.

10. A crane, characterized in that: A control system for crane flow comprising the crane flow control system as claimed in claim 9.

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