Hydraulic rotary system control method and device for engineering machinery and engineering machinery

Abstract

The embodiment of the present invention provides a hydraulic rotary system control method, device and engineering machinery for engineering machinery, which belongs to the technical field of engineering machinery. The hydraulic rotary system includes a rotary motor, an oil inlet valve of the rotary motor, an oil return valve of the rotary motor and a bypass valve of the oil inlet valve. The method includes: obtaining a first parameter, the first parameter being at least one of the following: handle current, rotary speed, and rotary flow; determining the rotary load of the engineering machinery; determining a first bypass current based on the first parameter and the rotary load of the engineering machinery; and applying the determined first bypass current to the bypass valve to adjust the opening of the bypass valve. It can effectively reduce pressure shocks under different working conditions and pressure and speed jitters during the rotation process.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a control method and device for a hydraulic rotary system of engineering machinery, and the engineering machinery. Background Art

[0002] Among the hydraulic rotary systems of engineering machinery products, pump-controlled rotary systems and valve-controlled rotary systems are the more mainstream rotary systems.

[0003] The core control element of a valve-controlled rotary system in related technology is a three-position, six-way directional valve. In the neutral position, oil flows into the tank, unloading the main pump. A bypass throttling flow control mechanism is employed. The left and right operating positions of the valve control the left and right rotation of the motor, respectively. This system features a simple structural principle and is easy to manufacture. Furthermore, traditional valve-controlled rotary systems typically integrate functions such as air intake and oil replenishment, overload protection, and low-pressure self-rotation, effectively meeting the requirements of certain operating conditions.

[0004] The pump-controlled hydraulic rotary system in the related technology controls the pump displacement and thus controls the pump output flow and motor speed. The pump-controlled closed rotary system also integrates functions such as air suction and oil replenishment, overload protection, and low-pressure self-rotation.

[0005] However, when the pump-controlled rotary system and the valve-controlled rotary system operate under medium and heavy load conditions, pressure shocks will occur, and pressure and speed fluctuations will occur during the rotation process. Summary of the Invention

[0006] In view of this, an object of the embodiments of the present invention is to provide a method and device for controlling a hydraulic rotary system of engineering machinery, and engineering machinery, so as to at least partially resolve the above-mentioned technical deficiencies.

[0007] In order to achieve the above-mentioned purpose, an embodiment of the present invention provides a hydraulic swing system control method for engineering machinery, wherein the hydraulic swing system includes a swing motor, an oil inlet valve of the swing motor, an oil return valve of the swing motor, and a bypass valve of the oil inlet valve, and the method includes: obtaining a first parameter, the first parameter being at least one of the following: handle current, swing speed, and swing flow; determining the swing load of the engineering machinery; determining a first bypass current based on the first parameter and the swing load of the engineering machinery; and applying the determined first bypass current to the bypass valve to adjust the opening of the bypass valve.

[0008] Optionally, before determining the first bypass current based on the first parameter and the swing load of the engineering machinery, the method also includes: obtaining multiple sets of operating condition data to be fitted of the engineering machinery, each set of operating condition data to be fitted includes a swing load, a first parameter and a corresponding second bypass current; and fitting the multiple sets of operating condition data to be fitted to obtain a target formula, wherein the target formula is used to calculate the first bypass current based on the first parameter and the swing load.

[0009] Optionally, when the first parameter is the handle current, the target formula includes:

[0010] I_bypass=I0+K_L*L+Ki*(I-I0)

[0011] Among them, I_bypass represents the first bypass current, I represents the handle current, I0 represents the valve core displacement dead zone current of the bypass valve, L represents the rotary load of the engineering machinery, K_L represents the load coefficient, and Ki represents the handle current coefficient.

[0012] Optionally, multiple groups of working condition data to be fitted of the engineering machinery are obtained, including: obtaining target working condition parameters, the target working condition parameters including multiple rotary loads and multiple first parameters; generating test working condition data based on the target working condition parameters, wherein the test working condition data include P test working conditions and Q third bypass currents, wherein one test working condition is a combination of one rotary load and one first parameter, and any one of the test working conditions corresponds to at least one third bypass current, and P and Q are both integers greater than 1; and performing corresponding working condition tests based on the generated test working condition data to filter out the second bypass current from the corresponding at least one third bypass current for each test working condition.

[0013] Correspondingly, an embodiment of the present invention also provides an engineering machinery, which includes: a hydraulic slewing system, which includes a slewing motor, an oil inlet valve of the slewing motor, an oil return valve of the slewing motor and a bypass valve of the oil inlet valve; and a control device, which is used to: obtain a first parameter, which is at least one of the following: handle current, slewing speed, and slewing flow; determine the slewing load of the engineering machinery; determine a first bypass current based on the first parameter and the slewing load of the engineering machinery; and apply the determined first bypass current to the bypass valve to adjust the opening of the bypass valve.

[0014] Optionally, the hydraulic swing system includes a first electric proportional valve, a second electric proportional valve, a third electric proportional valve, and a fourth electric proportional valve, wherein under the forward rotation condition, the first electric proportional valve and the fourth electric proportional valve are respectively used as the oil inlet valve and the oil return valve of the swing motor, and the second electric proportional valve is used as the bypass valve, wherein under the reverse rotation condition, the third electric proportional valve and the second electric proportional valve are respectively used as the oil inlet valve and the oil return valve of the swing motor, and the fourth electric proportional valve is used as the bypass valve.

[0015] Optionally, the hydraulic rotary system also includes a pressure compensator; the first electric proportional valve and the third electric proportional valve are respectively connected to the hydraulic pump module of the hydraulic rotary system through the pressure compensator, and the pressure compensator is used to maintain the pressure difference across the first electric proportional valve or the third electric proportional valve constant.

[0016] Optionally, the engineering machinery includes an operating handle, and the control device is used to: obtain the handle current corresponding to the handle opening of the operating handle under forward rotation or reverse rotation conditions; determine the first bypass current based on the handle current and the swing load of the engineering machinery; control the oil inlet valve and oil return valve of the swing motor based on the handle current, and control the bypass valve based on the first bypass current.

[0017] Correspondingly, an embodiment of the present invention also provides a hydraulic slewing system control device for engineering machinery, characterized in that the hydraulic slewing system includes a slewing motor, an oil inlet valve of the slewing motor, an oil return valve of the slewing motor and a bypass valve of the oil inlet valve, and the device includes: a first acquisition module for acquiring a first parameter, the first parameter being at least one of the following: handle current, slewing speed, and slewing flow; a first determination module for determining the slewing load of the engineering machinery; a second determination module for determining a first bypass current based on the first parameter and the slewing load of the engineering machinery; and an application module for applying the determined first bypass current to the bypass valve to adjust the opening of the bypass valve.

[0018] Correspondingly, an embodiment of the present invention further provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned hydraulic slewing system control method for engineering machinery.

[0019] For hydraulic swing systems equipped with bypass valves, the system determines the appropriate bypass current for the respective operating conditions in real time, both at system startup and during operation, and applies it to the bypass valve. This allows the system to adapt to various load levels and maintain optimal performance under all operating conditions. Furthermore, since the bypass current is automatically adjusted based on operating conditions, it effectively reduces pressure shocks under varying operating conditions, as well as pressure and speed fluctuations during the swing process.

[0020] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0022] Figure 1 A schematic diagram of the hydraulic principle of a valve-controlled rotary system in the related art is shown;

[0023] Figure 2 A schematic diagram of the hydraulic principle of a pump-controlled hydraulic rotary system in the related art is shown;

[0024] Figure 3 A schematic diagram showing the principle of a hydraulic rotary system according to an embodiment of the present invention is shown;

[0025] Figure 4 for Figure 3 A simplified schematic diagram of

[0026] Figure 5 A schematic flow chart of a hydraulic rotary system control method for engineering machinery according to an embodiment of the present invention is shown;

[0027] Figure 6 A structural block diagram of an engineering machine according to an embodiment of the present invention is shown; and

[0028] Figure 7 A structural block diagram of a hydraulic rotary system control device for engineering machinery according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0029] The following describes the specific implementation of the embodiment of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present invention and is not used to limit the embodiment of the present invention.

[0030] Figure 1 The figure shows the hydraulic principle diagram of the valve-controlled rotary system in the related art. Figure 1As shown, the core component of the valve-controlled rotary system is the 3-position, 6-way main valve 11, whose spool position moves between neutral and left and right positions. Besides supplying the load, excess oil flows through the valve's neutral position into the reservoir, a typical bypass throttling mechanism. The high-pressure relief valve 14, damping orifice 16, damping orifice 17, and buffer unloading valve 15 together form the high-pressure buffer unloading mechanism. When the load pressure exceeds the set limit of the high-pressure relief valve 14, oil flows through the buffer unloading valve 15 into the reservoir, unloading the high-pressure oil. The oil replenishment check valves 12 and 13 primarily act to absorb air and replenish oil, while the buffer relief valve 18 cushions and unloads braking shocks. After the 3-position, 6-way main valve 11 returns to its neutral position, the solenoid switch valve 19 is activated to switch to the free-slip mode.

[0031] The valve-controlled rotary system in the related technology has the following defects: the speed regulation range is narrow, especially under heavy load and large inertia conditions, the bypass port opening degree needs to be very small, otherwise it will cause huge system flow fluctuations and make the system unstable; for pressure spikes and jitter phenomena that occur during operation, the buffer unloading mechanism needs to reach the set opening pressure of the overflow valve to open, if it is lower than this pressure, there is no buffering effect; the impact buffering effect of the brake back pressure needs to reach the set pressure of the buffer balance valve, and the same set pressure is difficult to adapt to different inertia loads under all working conditions, so the back pressure impact buffering effect is limited.

[0032] Figure 2 The figure shows the hydraulic principle diagram of the pump-controlled hydraulic rotary system in the related art. Figure 2 As shown, the core component of the pump-controlled hydraulic swing system is the closed variable pump 21. Adjusting the variable mechanism of the closed variable pump 21 changes the main pump displacement and system flow, thereby controlling the swing speed. The main relief valve 26, port A relief valve 22, and port B relief valve 23 provide overload protection for the system. The oil replenishment check valve 24 and the air intake check valve 25 replenish oil in the system. The oil replenishment pump 27 replenishes oil, and excess oil is returned to the tank through the swing motor flush valve. Furthermore, the free-slip solenoid valve 20 connects the motor ports A and B, enabling the free-slip function.

[0033] The pump-controlled rotary system in the related art has the following defects: large shock during starting and braking; high pressure and speed jitter when operating under medium and heavy load conditions.

[0034] In view of the defects of valve-controlled rotary systems and pump-controlled rotary systems in related technologies, an object of the embodiments of the present invention is to provide a hydraulic rotary system control method and device for engineering machinery, so as to at least partially solve the above technical defects.

[0035] An embodiment of the present invention first provides a hydraulic rotary system for engineering machinery, wherein the hydraulic rotary system is a valve-port-independent hydraulic rotary system. The hydraulic rotary system may include: an oil inlet valve for motor A port, an oil return valve for motor A port, a bypass valve for motor A port, an oil inlet valve for motor B port, an oil return valve for motor B port, a bypass valve for motor B port, and a hydraulic pump module, wherein the oil return valve for motor A port is reused as a bypass valve for motor B port, and / or the oil return valve for motor B port is reused as a bypass valve for motor A port. The motor described in any embodiment of the present invention is a rotary motor, and "motor" and "rotary motor" can be used interchangeably.

[0036] The oil inlet valve of the motor A port and the oil inlet valve of the motor B port are two independent valves.

[0037] The inlet of the hydraulic pump module is connected to the oil tank of the hydraulic oil. The hydraulic rotary system may further include: a first pressure compensation module and / or a second pressure compensation module.

[0038] The oil inlet valve for motor A port is connected to motor A port on one end and to the outlet of the hydraulic pump module on the other end. The oil return valve for motor A port is connected to motor B port on one end and to the hydraulic oil tank on the other end. The bypass valve for motor A port is connected to motor A port on one end and to the hydraulic oil tank on the other end. A first pressure compensation module is connected between the outlet of the hydraulic pump module and the other end of the oil inlet valve for motor A port.

[0039] During forward rotation, the hydraulic oil pumped from the hydraulic oil tank by the hydraulic pump module flows into Motor A port via the inlet valve at Motor A port. After use by the motor, the hydraulic oil flows out of Motor B port and returns to the hydraulic oil tank via the return valve at Motor A port. The bypass valve at Motor A port, when controlled, returns excess hydraulic oil flowing into Motor A port to the hydraulic oil tank. The first pressure compensation module is responsible for maintaining a constant pressure difference between the hydraulic oil on both ends of the inlet valve at Motor A port.

[0040] The oil inlet valve for motor B port is connected to motor B port on one end and to the outlet of the hydraulic pump module on the other end. The oil return valve for motor B port is connected to motor A port on one end and to the hydraulic oil tank on the other end. The bypass valve for motor B port is connected to motor B port on one end and to the hydraulic oil tank on the other end. A second pressure compensation module is connected between the outlet of the hydraulic pump module and the other end of the oil inlet valve for motor B port.

[0041] During reverse operation, the hydraulic oil pumped from the hydraulic oil tank by the hydraulic pump module flows into Motor B port via the inlet valve at Motor B port. After use by the motor, the hydraulic oil flows out of Motor A port and into the hydraulic oil tank via the return valve at Motor B port. The bypass valve at Motor B port, when controlled, returns excess hydraulic oil flowing into Motor B port to the hydraulic oil tank. A second pressure compensation module maintains a constant pressure difference between the two ends of the inlet valve at Motor B port.

[0042] According to the above structure, under normal circumstances, six valves may be required to implement the oil inlet valve, oil return valve, and bypass valve for motor ports A and B. Preferably, the oil return valve for motor port A and the bypass valve for motor port B can share the same valve, and / or the oil return valve for motor port B and the bypass valve for motor port A can share the same valve. That is, the oil return valve for motor port A can be reused as the bypass valve for motor port B, and / or the oil return valve for motor port B can be reused as the bypass valve for motor port A. In this way, four or five valves can be used to implement the oil inlet valve, oil return valve, and bypass valve for motor ports A and B. More preferably, four valves can be used to implement the oil inlet valve, oil return valve, and bypass valve for motor ports A and B to simplify the structure.

[0043] Optionally, one or more of the oil inlet valve at motor A port, the oil return valve at motor A port, the bypass valve at motor A port, the oil inlet valve at motor B port, the oil return valve at motor B port, and the bypass valve at motor B port can be electro-proportional valves. Four or five electro-proportional valves can be used to implement the oil inlet valves, oil return valves, and bypass valves at motor ports A and B. More preferably, four electro-proportional valves can be used to implement the oil inlet valves, oil return valves, and bypass valves at motor ports A and B to simplify the structure.

[0044] The electric proportional valve may preferably be a 2-position 2-way proportional valve, but the embodiment of the present invention is not limited thereto. Any other type of proportional valve capable of controlling the flow of hydraulic oil may be used.

[0045] The hydraulic pump module may use a load-sensing hydraulic pump, but the embodiment of the present invention is not limited thereto, and any other suitable type of hydraulic pump, such as a fixed displacement pump, may also be used.

[0046] The first and second pressure compensation modules can be pre-valve pressure compensators. Preferably, the oil inlet valve at motor A and the oil inlet valve at motor B can share the same pressure compensation module. That is, the first and second pressure compensation modules are the same pressure compensation module. Alternatively, the first pressure compensation module can be reused as the second pressure compensation module.

[0047] In some optional embodiments, the hydraulic rotary system may further include a port A relief valve and / or a port B relief valve. During forward rotation, the port A relief valve provides overload protection for the hydraulic oil at port A of the motor. One end of the port A relief valve is connected to port B of the motor, and the other end is connected to the hydraulic oil tank. During reverse rotation, the port B relief valve provides overload protection for the hydraulic oil at port B. One end of the port B relief valve is connected to port A of the motor, and the other end is connected to the hydraulic oil tank.

[0048] In some optional embodiments, the hydraulic rotation system may further include an A-port oil replenishing one-way valve, and / or a B-port oil replenishing one-way valve. The A-port oil replenishing one-way valve is used to replenish oil to the A-port of the motor when cavitation occurs, wherein one end of the A-port oil replenishing one-way valve is connected to the A-port of the motor, and the other end is connected to the hydraulic oil tank. The B-port oil replenishing one-way valve is used to replenish oil to the B-port of the motor when cavitation occurs, wherein one end of the B-port oil replenishing one-way valve is connected to the B-port of the motor, and the other end is connected to the hydraulic oil tank. Under low-pressure self-rotation conditions, the two return oil valves are controlled to open so that the motor enters the pump condition; in the event of cavitation in the motor, the A-port oil replenishing one-way valve and the B-port oil replenishing one-way valve will replenish oil to the A-port and the B-port respectively.

[0049] In some optional embodiments, the hydraulic slewing system may further include a first post-valve pressure compensator and / or a second post-valve pressure compensator. The first post-valve pressure compensator may be connected between the motor A port and the one end of the oil inlet valve of the motor A port. The second post-valve pressure compensator may be connected between the motor B port and the one end of the oil inlet valve of the motor B port. In the case where the engineering machinery has multiple loads, the first post-valve pressure compensator is used to maintain a constant pressure difference between the hydraulic oil at both ends of the motor A port oil inlet valve, and the second post-valve pressure compensator is used to maintain a constant pressure difference between the hydraulic oil at both ends of the motor B port oil inlet valve.

[0050] Figure 3 FIG. 1 shows a schematic diagram of the principle of a hydraulic rotary system according to an embodiment of the present invention. Figure 4 for Figure 3 Simplified schematic diagram of the reference Figure 3 and 4 An embodiment of the present invention provides a valve-port-independent hydraulic rotary system, comprising a first electric proportional valve 31, a second electric proportional valve 32, a third electric proportional valve 33, a fourth electric proportional valve 34, a load-sensing hydraulic pump 36, and a pressure compensator 35. Specifically, the hydraulic rotary system utilizes four electric proportional valves to function as the oil inlet valve, oil return valve, and bypass valve for ports A and B of a motor 37. A pressure compensator is employed to maintain a constant pressure differential between the hydraulic oil at either the first electric proportional valve 31 or the third electric proportional valve 33.

[0051] One end of the first electric proportional valve 31 is connected to port A, and the other end is connected to the load-sensing hydraulic pump 6 via the pressure compensator 35. One end of the second electric proportional valve 32 is connected to port A, and the other end is connected to the hydraulic oil tank. One end of the third electric proportional valve 33 is connected to port B, and the other end is connected to the load-sensing hydraulic pump 6 via the pressure compensator 35. One end of the fourth electric proportional valve 34 is connected to port B, and the other end is connected to the hydraulic oil tank.

[0052] In forward rotation, the first and fourth electric proportional valves 31 and 34 function as the oil inlet and return valves, respectively, for port 37A of the motor; the second electric proportional valve 32 functions as a bypass valve for port 37A of the motor; and the pressure compensator 35 maintains a constant pressure difference between the hydraulic oil across the first electric proportional valve 31 (i.e., the oil inlet valve). In reverse rotation, the third and second electric proportional valves 33 and 32 function as the oil inlet and return valves, respectively, for port 37B of the motor; the fourth electric proportional valve 34 functions as a bypass valve for port 37B of the motor; and the pressure compensator 35 maintains a constant pressure difference between the hydraulic oil across the third electric proportional valve 33 (i.e., the oil inlet valve).

[0053] The first electric proportional valve 31, the second electric proportional valve 32, the third electric proportional valve 33, and the fourth electric proportional valve 34 can all be 2-position 2-way proportional valves. The pressure compensator 35 can be a pre-valve pressure compensator.

[0054] In some optional embodiments, the hydraulic rotary system may further include a port A relief valve 38 and a port B relief valve 39. During forward rotation, port A relief valve 38 is used to protect the hydraulic oil at port A from overloads. One end of port A relief valve 38 is connected to port B, and the other end is connected to the hydraulic oil tank. During reverse rotation, port B relief valve 39 is used to protect the hydraulic oil at port B from overloads. One end of port B relief valve 39 is connected to port A, and the other end is connected to the hydraulic oil tank.

[0055] In some optional embodiments, the hydraulic rotation system may further include an A-port oil replenishing one-way valve 41 and a B-port oil replenishing one-way valve 40. The A-port oil replenishing one-way valve 41 is used to replenish oil to the A-port when cavitation occurs, wherein one end of the A-port oil replenishing one-way valve 41 is connected to the A-port, and the other end is connected to the hydraulic oil tank. The B-port oil replenishing one-way valve 40 is used to replenish oil to the B-port when cavitation occurs, wherein one end of the B-port oil replenishing one-way valve 40 is connected to the B-port, and the other end is connected to the hydraulic oil tank. Under low-pressure self-rotation conditions, the two oil return valves (the second electric proportional valve 32 and the fourth electric proportional valve 34) are controlled to open, so that the motor enters the pumping condition; when cavitation occurs in the motor, the A-port oil replenishing one-way valve 41 and the B-port oil replenishing one-way valve 40 replenish oil to the A-port and the B-port, respectively.

[0056] In some optional embodiments, the hydraulic swing system may further include a first post-valve pressure compensator 43 and a second post-valve pressure compensator 44. When the construction machine is equipped with multiple loads, the first post-valve pressure compensator 43 is used to maintain a constant pressure difference between the hydraulic oil across the first electric proportional valve 31, and the second post-valve pressure compensator 44 is used to maintain a constant pressure difference between the hydraulic oil across the third electric proportional valve 33.

[0057] The hydraulic rotary system for engineering machinery provided in an embodiment of the present invention is a valve port independently controlled hydraulic rotary system. Compared with related technologies, its advantage is that the openings of each electric proportional valve are independent of each other, and the control freedom is high, which helps to regulate pressure jitter, impact and other problems that may occur during the operation of the rotary system, thereby optimizing the rotary performance.

[0058] An embodiment of the present invention also provides a method for controlling a hydraulic rotary system for engineering machinery, wherein the hydraulic rotary system includes a rotary motor, an oil inlet valve of the rotary motor, an oil return valve of the rotary motor, and a bypass valve of the oil inlet valve. Optionally, the method is applicable to any hydraulic rotary system provided with a bypass valve, for example, it can be applicable to the hydraulic rotary system for engineering machinery provided in an embodiment of the present invention. The method effectively reduces pressure shocks under different working conditions and pressure and speed jitters during the rotation process by real-time control of the bypass current applied to the bypass valve, thereby optimizing the rotation performance. The method can be executed by the main controller of the engineering machinery or by a separate control device.

[0059] Specifically, refer to Figure 5 The hydraulic rotary system control method for engineering machinery provided by an embodiment of the present invention may include steps S510-S540.

[0060] Step S510: Obtain a first parameter.

[0061] Step S520: determining the rotation load of the engineering machinery.

[0062] Step S530: determining a first bypass current according to the first parameter and the swing load of the engineering machinery.

[0063] Step S540: applying the determined first bypass current to the bypass valve to adjust the opening of the bypass valve.

[0064] The hydraulic swing system control method for construction machinery provided by the present invention, for a hydraulic swing system equipped with a bypass valve, determines the appropriate bypass current for the corresponding operating conditions in real time during the system's initial operation and operation, and applies it to the bypass valve. This method enables the swing system to adapt to various load levels and achieves optimal performance under various operating conditions. Furthermore, because the bypass current is automatically adjusted based on operating condition information, it effectively reduces pressure shocks under different operating conditions, as well as pressure and speed fluctuations during the swing process.

[0065] The hydraulic rotary system control method for engineering machinery provided by the embodiments of the present invention is described in detail below in conjunction with some specific implementation methods.

[0066] The first parameter may be at least one of the following: handle current, rotation speed, and rotation flow rate.

[0067] In engineering machinery products, the degree of pressure shock, pressure jitter, and speed jitter during the rotation process mainly depends on: (1) handle current; (2) rotation load.

[0068] The handle current corresponds to the handle opening. When the slewing system begins operating, the operator manipulates the construction machinery's handle to a certain opening. The main controller detects the handle opening and outputs a current corresponding to the handle opening to the oil inlet and oil return valves. This current, called the handle current, is then applied to the valve spools of the oil inlet and oil return valves, respectively, to achieve the valve spool opening corresponding to the handle current.

[0069] Due to the action of the pressure compensator, the pressure difference ΔP of the hydraulic oil at both ends of the oil inlet valve is kept at a constant value, which can be obtained by setting the pressure compensator. According to the throttle valve equation:

[0070]

[0071] Where Q represents the hydraulic flow through the oil inlet valve; C d represents the flow coefficient, which is a constant; A represents the flow area of ​​the valve core of the oil inlet valve; ρ represents the density of the hydraulic oil, which is a constant.

[0072] In formula (1), Cd, ρ, and ΔP can be regarded as constants. The flow area A of the valve core of the oil inlet valve depends on the valve core displacement. Therefore, the flow through the valve core is only related to the valve core opening, and the valve core opening is determined by the handle current. Therefore, it can be determined that the handle current basically determines the flow level and rotation speed of the rotary system.

[0073] When the handle current is input, the valve core of the oil inlet valve obtains the corresponding valve core opening value and the corresponding hydraulic flow and rotational speed. The hydraulic flow of the oil inlet valve is also called the rotational flow. Therefore, the handle current corresponds one-to-one with the rotational flow and rotational speed, and the hydraulic flow or rotational speed can be used instead of the handle current. The rotational speed can be measured using a rotational angular velocity sensor, and the rotational flow can be measured using a flow sensor. Given that the accuracy of the rotational angular velocity sensor in the related art is relatively low and the cost of the flow sensor is relatively high, it is preferred to use the handle current to maintain low cost while ensuring accuracy.

[0074] Based on this, the degree of pressure shock, pressure jitter, and speed jitter during the rotation process mainly depends on: (1) a first parameter, which is at least one of the following: handle current, rotation speed, and rotation flow; (2) rotation load.

[0075] The swing load varies depending on the type of construction machinery. For example, for a crane, it is primarily determined by the swing range and the load, while for an excavator, it is primarily determined by the swing range and the mass of the boom arm converted to the swing radius. In the embodiments of the present invention, the swing load can be determined using known methods for different construction machinery.

[0076] The bypass current and the corresponding bypass valve spool displacement act as hydraulic damping in the hydraulic rotary system, which can reduce the pressure shock, pressure jitter, and speed jitter of the rotary system to optimize the rotary performance. However, the bypass setting must be reasonable. If the bypass current is too large, it will seriously affect the system response speed. If the bypass current is too small, the effect of reducing pressure shock, jitter and other problems will not be obvious.

[0077] Because the degree of pressure shock, pressure jitter, and speed jitter during the rotation process primarily depends on the first parameter and the rotation load, the present application focuses on associating the bypass current with load operating condition information, pre-determining the relationship between the bypass current, the first parameter, and the rotation load, such as obtaining a target formula. Thus, for any given operating condition, the main controller can determine the first bypass current based on the target formula using the first parameter and the rotation load, and apply this first bypass current to the bypass valve core.

[0078] The following describes how to obtain the target formula between the bypass current, the rotary load, and the handle current. It mainly includes the following steps.

[0079] (1) Acquire multiple sets of working condition data to be fitted for the engineering machinery, each set of working condition data to be fitted includes a rotary load, a first parameter, and a corresponding second bypass current.

[0080] The corresponding second bypass current may be a bypass current that causes no or almost no pressure shock, pressure jitter, or speed jitter under the corresponding rotary load and handle current. Alternatively, the corresponding second bypass current may be a bypass current that keeps the pressure shock, pressure jitter, or speed jitter within a certain range under the corresponding rotary load and handle current.

[0081] Specifically, target operating condition parameters can be first obtained. These target operating condition parameters may include multiple swing loads and multiple first parameters. Parameters related to the swing load of the construction machinery can be obtained from the swing load-related information page of the construction machinery's technical manual. For example, for cranes, this may be a swing load table containing information on different amplitudes, loads, and arm lengths; for excavators, this may be design parameters such as boom and arm geometry and mass. Multiple swing loads can be determined using the parameters related to the construction machinery's swing load.

[0082] Then, test operating condition data is generated based on the target operating condition parameters. The test operating condition data may include P test operating conditions and Q third bypass currents, wherein one test operating condition is a combination of one swing load and one first parameter, and each test operating condition corresponds to at least one third bypass current, with P and Q both being integers greater than 1. Taking the handle current as an example, the test operating condition data may include different swing loads and different handle current levels (i.e., different swing speed levels) for the construction machinery. Different bypass current values ​​are set for each different swing load range and handle current level. For example, a crane product may design a test operating condition table for different swing amplitudes, swing loads, and handle currents. An excavator product may design a series of test operating condition tables ranging from a fully retracted boom and arm state (when the swing load is minimum) to a fully extended boom and arm state (when the swing load is maximum). By designing this test operating condition table and completing the corresponding tests, a more comprehensive performance of the swing system under various loads, handle current levels (speed levels) can be obtained. The generated test condition data may be presented in a table, for example, as a test condition table.

[0083] Taking a certain type of engineering machinery product as an example, its minimum rotary load is L1 and its maximum rotary load is Ln. The following test condition sample table is made.

[0084] Table 1 Sample operating conditions for target formula design of bypass current

[0085]

[0086] As can be seen from Table 1, the designed test conditions include all rotary loads of the product, and under each rotary load, there are 3 handle current levels (speed levels) and 4 bypass current values, totaling nx3x4=12n test conditions, which already have sufficient original data samples for data fitting.

[0087] Next, a corresponding operating condition test can be performed based on the generated test operating condition data to filter out the second bypass current from the corresponding at least one third bypass current for each test operating condition. The test results of the operating condition test can be correlated with pressure shock, pressure jitter, speed jitter, etc. to filter out the corresponding bypass current. The filtered data can be organized into a table, as shown in Table 2 below, which shows the second bypass current filtered out for each corresponding test operating condition in Table 1.

[0088] Table 2 Optimal bypass current under each test condition

[0089]

[0090] (2) Fitting the multiple groups of working condition data to be fitted to obtain a target formula, where the target formula is used to calculate the first bypass current based on the first parameter and the rotary load.

[0091] The fitting method used can be any appropriate method, such as a multivariate nonlinear fitting method, a least squares method, etc.

[0092] Optionally, a multivariate nonlinear fitting function may be performed on the data in Table 2 to obtain a target formula between the bypass current, the rotary load, and the handle current:

[0093] I_bypass=I0+K_L*L+Ki*(I-I0) (2)

[0094] Where I_bypass represents the first bypass current, in mA; I represents the handle current, in mA; I0 represents the bypass valve's spool displacement dead-band current, in mA; L represents the swing load of the construction machinery; K_L represents the load factor; and Ki represents the handle current factor. The load factor and handle current factor can be fitted constants. Different fitting methods can result in different load factors and handle current factors. For a given bypass valve, the bypass valve's spool displacement dead-band current is a constant.

[0095] The target formula between the bypass current, the swing load, and the handle current generated by other fitting methods may be different from formula (2).

[0096] Furthermore, the fitted formula can be optionally modified. For example, the fitted formula can be loaded into the main controller to test whether the bypass current calculated by the main controller using the fitted formula can optimize pressure shock, pressure jitter, speed jitter, etc. under any rotary load and handle current. If not, the fitted formula can be modified to ultimately obtain a suitable fitting formula.

[0097] Formula (2) is a fitting formula for calculating the bypass current using the handle current and the rotary load. A similar process can be used to pre-fit the target formula for calculating the first bypass current using the rotary speed and the rotary load, or to pre-fit the target formula for calculating the first bypass current using the rotary flow and the rotary load.

[0098] The bypass current for the bypass valve can be determined according to the first parameter and the rotary load of the engineering machinery using a pre-fitted target formula.

[0099] Whether in forward or reverse operation, the method for determining the first bypass current is the same. Figure 3 and Figure 4 The slewing control system shown in FIG. 1 is used as an example for explanation.

[0100] During forward rotation, the main controller outputs the handle current to the first and fourth electric proportional valves 31 and 34, which control the oil inlet and return, respectively. Both valves receive the same handle current. The second electric proportional valve 32 is a bypass valve. The main controller determines a first bypass current in real time based on the first parameter and the swing load, and applies this determined first bypass current to the second electric proportional valve 32.

[0101] During reverse operation, the main controller outputs the handle current to the third and second electric proportional valves 33 and 32, which control the oil inlet and return, respectively, and both valves receive the same handle current. The fourth electric proportional valve 34 is a bypass valve. The main controller determines a first bypass current in real time based on the first parameter and the swing load, and applies this determined first bypass current to the fourth electric proportional valve 34.

[0102] The hydraulic slewing system control method for construction machinery provided by the present invention can determine the appropriate bypass current for the corresponding operating conditions in real time during the slewing system's initial operation and operation, and apply it to the bypass valve. This allows the slewing system to adapt to various load levels and achieve optimal performance under various operating conditions. Furthermore, because the bypass current can be automatically adjusted based on operating condition information, it can effectively reduce pressure shocks under different operating conditions and pressure and speed fluctuations during the slewing process.

[0103] Figure 6 FIG. 1 shows a structural block diagram of an engineering machine according to an embodiment of the present invention. Figure 6As shown, an embodiment of the present invention further provides an engineering machine, which can be any type of engineering machine, such as a crane, an excavator, and a loader. The engineering machine can include a hydraulic swing system 610 and a control device 620. The hydraulic swing system 610 can include a swing motor, an oil inlet valve of the swing motor, an oil return valve of the swing motor, and a bypass valve of the oil inlet valve.

[0104] The control device 620 obtains a first parameter, which is at least one of the following: handle current, swing speed, and swing flow; determines the swing load of the engineering machinery; determines a first bypass current based on the first parameter and the swing load of the engineering machinery; and applies the determined first bypass current to the bypass valve to adjust the opening of the bypass valve. The control device 620 can specifically execute the hydraulic swing system control method for engineering machinery according to any embodiment of the present invention, and its specific working principle and beneficial effects will not be repeated here. The control device 620 can be an independent control device or can be the main controller of the engineering machinery.

[0105] For example, the hydraulic rotary system 610 may be the hydraulic rotary system described in any embodiment of the present invention, and preferably may be the hydraulic rotary system described in reference Figure 3 and Figure 4 The specific structure, working principle and beneficial effects of the hydraulic rotary system will not be described in detail here. Figure 3 and Figure 4 The slewing control system shown in FIG. 1 is used as an example for explanation.

[0106] During forward rotation, the control device 620 obtains the handle current corresponding to the handle opening of the operating handle and outputs the handle current to the first and fourth electric proportional valves 31 and 34, which control the oil inlet and oil return, respectively. Both valves receive the same handle current. The second electric proportional valve 32 is a bypass valve. The control device 620 determines a first bypass current in real time based on the first parameter and the swing load, and applies the determined first bypass current to the second electric proportional valve 32.

[0107] During reverse operation, the control device 620 obtains the handle current corresponding to the handle opening of the operating handle and outputs the handle current to the third and second electric proportional valves 33 and 32, which control the oil inlet and oil return, respectively, and both valves receive the same handle current. The fourth electric proportional valve 34 is a bypass valve. The control device 620 determines a first bypass current in real time based on the first parameter and the rotary load, and applies the determined first bypass current to the fourth electric proportional valve 34.

[0108] Figure 7FIG. 1 shows a structural block diagram of a hydraulic rotary system control device for engineering machinery according to an embodiment of the present invention. Figure 7 As shown, an embodiment of the present invention further provides a hydraulic slewing system control device for engineering machinery, wherein the hydraulic slewing system includes a slewing motor, an oil inlet valve of the slewing motor, an oil return valve of the slewing motor, and a bypass valve of the oil inlet valve, and the device includes: a first acquisition module 710, for acquiring a first parameter, wherein the first parameter is at least one of the following: handle current, slewing speed, and slewing flow; a first determination module 720, for determining the slewing load of the engineering machinery; a second determination module 730, for determining a first bypass current based on the first parameter and the slewing load of the engineering machinery; and an application module 740, for applying the determined first bypass current to the bypass valve to adjust the opening of the bypass valve.

[0109] The specific working principle and benefits of the hydraulic rotary system control device for engineering machinery provided by the embodiment of the present invention are the same as those of the hydraulic rotary system control method for engineering machinery provided by the embodiment of the present invention, and will not be repeated here.

[0110] Correspondingly, an embodiment of the present invention further provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the hydraulic slewing system control method for engineering machinery according to any embodiment of the present invention.

[0111] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0112] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0113] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0114] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0115] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0116] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0117] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0118] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0119] The above are merely embodiments of the present invention and are not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A method for controlling a hydraulic rotary system of an engineering machine, characterized in that: The hydraulic swing system includes a swing motor, an oil inlet valve of the swing motor, an oil return valve of the swing motor, and a bypass valve of the oil inlet valve, and the method includes: Acquire a first parameter, where the first parameter is at least one of the following: handle current, rotation speed, and rotation flow rate; determining a rotational load of the construction machinery; determining a first bypass current based on the first parameter, the swing load of the engineering machine, and a pre-obtained relationship between the bypass current and the first parameter and the swing load; and The determined first bypass current is applied to the bypass valve to adjust the opening of the bypass valve.

2. The method according to claim 1, characterized in that Before determining the first bypass current according to the first parameter and the swing load of the engineering machinery, the method further includes: Acquiring multiple sets of working condition data to be fitted for the engineering machinery, each set of working condition data to be fitted including a swing load, a first parameter, and a corresponding second bypass current; and The multiple groups of working condition data to be fitted are fitted to obtain a target formula, where the target formula is used to calculate the first bypass current according to the first parameter and the rotary load.

3. The method according to claim 2, characterized in that When the first parameter is the handle current, the target formula includes: I_bypass=I0+K_L*L+Ki*(I-I0) Among them, I_bypass represents the first bypass current, I represents the handle current, I0 represents the valve core displacement dead zone current of the bypass valve, L represents the rotary load of the engineering machinery, K_L represents the load coefficient, and Ki represents the handle current coefficient.

4. The method according to claim 2, characterized in that Acquiring multiple sets of working condition data to be fitted for the engineering machinery, including: Acquiring target operating condition parameters, where the target operating condition parameters include a plurality of rotational loads and a plurality of first parameters; generating test operating condition data according to the target operating condition parameter, wherein the test operating condition data includes P test operating conditions and Q third bypass currents, wherein one test operating condition is a combination of one swing load and one first parameter, any one test operating condition corresponds to at least one third bypass current, and P and Q are both integers greater than 1; and A corresponding operating condition test is performed according to the generated test operating condition data, so as to filter out the second bypass current from the corresponding at least one third bypass current for each test operating condition.

5. An engineering machine, characterized in that: The engineering machinery includes: A hydraulic swing system, comprising a swing motor, an oil inlet valve of the swing motor, an oil return valve of the swing motor, and a bypass valve of the oil inlet valve; and Control device for: Acquire a first parameter, where the first parameter is at least one of the following: handle current, rotation speed, and rotation flow rate; determining a rotational load of the construction machinery; determining a first bypass current based on the first parameter, the swing load of the engineering machine, and a pre-obtained relationship between the bypass current and the first parameter and the swing load; and The determined first bypass current is applied to the bypass valve to adjust the opening of the bypass valve.

6. The construction machine according to claim 5, characterized in that: The hydraulic rotary system includes a first electric proportional valve, a second electric proportional valve, a third electric proportional valve, and a fourth electric proportional valve. In the forward rotation condition, the first electric proportional valve and the fourth electric proportional valve are used as the oil inlet valve and the oil return valve of the rotary motor respectively, and the second electric proportional valve is used as the bypass valve. In the reverse working condition, the third electric proportional valve and the second electric proportional valve are respectively used as the oil inlet valve and the oil return valve of the rotary motor, and the fourth electric proportional valve is used as the bypass valve.

7. The engineering machine according to claim 6, characterized in that: The hydraulic rotary system further includes a pressure compensator; The first electric proportional valve and the third electric proportional valve are respectively connected to the hydraulic pump module of the hydraulic rotary system through the pressure compensator, and the pressure compensator is used to maintain a constant pressure difference across the first electric proportional valve or the third electric proportional valve.

8. The engineering machine according to claim 6, characterized in that: The engineering machine includes an operating handle, and the control device is used to: Under the forward rotation condition or the reverse rotation condition, obtaining the handle current corresponding to the handle opening of the operating handle; determining the first bypass current according to the handle current and the rotary load of the engineering machinery; An oil inlet valve and an oil return valve of the rotary motor are controlled according to the handle current, and the bypass valve is controlled according to the first bypass current.

9. A hydraulic rotary system control device for engineering machinery, characterized in that: The hydraulic swing system includes a swing motor, an oil inlet valve of the swing motor, an oil return valve of the swing motor, and a bypass valve of the oil inlet valve, and the device includes: A first acquisition module is configured to acquire a first parameter, wherein the first parameter is at least one of the following: handle current, rotation speed, and rotation flow rate; A first determining module, configured to determine the rotary load of the engineering machinery; a second determining module, configured to determine a first bypass current based on the first parameter, the swing load of the engineering machinery, and a pre-obtained relationship between the bypass current and the first parameter and the swing load; and An applying module is configured to apply the determined first bypass current to the bypass valve to adjust the opening of the bypass valve.

10. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions for causing a machine to execute the hydraulic slewing system control method for engineering machinery according to any one of claims 1 to 4.

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