Control method and device for construction machinery, readable storage medium and construction machinery

Abstract

The present invention proposes a control method, device, readable storage medium and engineering machinery for engineering machinery. The engineering machinery includes a power system and a hydraulic system, and the control method of the engineering machinery includes: obtaining first operating data of the power system and second operating data of the hydraulic system; determining a first power of the power system according to the first operating data; determining a second power of the hydraulic system when it is a load according to the second operating data; and determining a target power of the hydraulic system according to the first power and the second power.

Description

Technical Field

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

[0002] The application of hybrid power systems is becoming more and more extensive. However, in hybrid power systems with hydraulic systems as loads, the calculation of the required power of the hydraulic system is simple, and the actual required power of the hydraulic system cannot be accurately calculated, resulting in a high output power of the power source in the hybrid power system, which in turn causes high energy consumption of the hybrid power system. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, a first aspect of the present invention is to provide a control method for construction machinery.

[0005] A second aspect of the present invention is to provide a control device for construction machinery.

[0006] A third aspect of the present invention is to provide a control device for engineering machinery.

[0007] A fourth aspect of the present invention is to provide a readable storage medium.

[0008] A fifth aspect of the present invention is to provide a construction machine.

[0009] In view of this, according to a first aspect of the present invention, a control method for engineering machinery is proposed, the engineering machinery including a power system and a hydraulic system, the control method for engineering machinery including: acquiring first operating data of the power system and second operating data of the hydraulic system; determining a first power of the power system according to the first operating data; determining a second power of the hydraulic system when it is a load according to the second operating data; and determining a target power of the hydraulic system according to the first power and the second power.

[0010] In the technical solution, the engineering machinery includes a power system and a hydraulic system, the power system and the hydraulic system are connected in series, the power system serves as the drive of the engineering machinery, and the hydraulic system serves as the load of the engineering machinery, wherein the power system includes multiple power sources, which can provide the required power for the hydraulic system, and the hydraulic system is a system that increases the force by changing the pressure. During the operation of the engineering machinery, the control device detects the power system and the hydraulic system in real time, and obtains the first operation data of the power system and the second operation data of the hydraulic system respectively, wherein the first operation data includes the torque, speed and other parameters of the power system, and the second operation data includes the flow, pressure and other parameters of the hydraulic system. For the power system as the drive, the control device determines the first power of the power system according to the first operation data, wherein the first power is the actual output power of the power system. For the hydraulic system as the load, the control device determines the second power of the hydraulic system according to the second operation data, wherein the second power is the estimated required power of the hydraulic system. The control device calibrates the second power according to the first power, and determines the target power of the hydraulic system, wherein the target power is the actual required power of the hydraulic system.

[0011] The control method of the engineering machinery in the present technical solution determines the first power of the power system and the second power of the hydraulic system according to the first operating data of the power system and the second operating data of the hydraulic system, respectively, and then determines the target power of the hydraulic system according to the first power and the second power, thereby ensuring the accuracy of determining the actual required power of the hydraulic system, thereby ensuring that the power system can provide accurate energy for the hydraulic system, avoiding energy loss of the power system, and reducing the overall energy consumption of the engineering machinery.

[0012] The control method of the engineering machinery according to the present invention may also have the following additional technical features:

[0013] In the above technical solution, the second operating data includes flow data and pressure data of the hydraulic system. According to the second operating data, the second power of the hydraulic system when it is a load is determined, specifically including: determining the third power of the hydraulic system through a Kalman filter algorithm according to the flow data and the pressure data; determining the second power according to the flow data and the third power.

[0014] In this technical solution, the control device obtains the flow data and pressure data of the hydraulic system, wherein the flow data is the volume of oil flowing through the hydraulic system per unit time, and the pressure data is the pressure value of the oil inside the hydraulic system. The control device uses the flow data and pressure data as input parameters, and determines the flow estimation value and pressure estimation value of the hydraulic system through the Kalman filter algorithm, and then determines the third power of the hydraulic system based on the flow estimation value and the pressure estimation value, wherein the flow estimation value is the estimated value of the flow data of the hydraulic system, the flow estimation value is the estimated value of the pressure data of the hydraulic system, and the third power is the estimated value of the output power of the hydraulic system. After determining the third power, the control device can determine the second power of the hydraulic system based on the third power combined with the flow data.

[0015] It should be noted that the Kalman filter algorithm is an algorithm that uses the state estimate of the dynamic system at the previous moment and the observation value of the dynamic system at the current moment to obtain the optimal estimate of the state variable of the dynamic system at the current moment.

[0016] The control method of the engineering machinery in the present technical solution determines the third power of the hydraulic system and then determines the second power of the hydraulic system according to the second operating data of the hydraulic system through the Kalman filtering algorithm, thereby ensuring that the accuracy of calculating the required power of the hydraulic system is improved when the load is constantly changing, avoiding the low fuel efficiency of the power system caused by inaccurate calculation of the required power of the hydraulic system, ensuring that the power system operates in the best state, and further ensuring that the power system has the best fuel consumption power.

[0017] In the above technical solution, the second power is determined according to the flow data and the third power, specifically including: determining the target efficiency of the hydraulic system according to the mapping relationship between the output efficiency of the hydraulic system and the flow data; determining the second power according to the target efficiency and the third power.

[0018] In this technical solution, there is a corresponding relationship between the output efficiency of the hydraulic system and the flow data. The control device can determine the target efficiency of the hydraulic system through the flow data, wherein the output efficiency is an efficiency parameter of the hydraulic system output quantity compared with the input quantity, and the target efficiency is the real-time output efficiency of the hydraulic system in the current state. The control device can calculate the second power based on the target efficiency and the third power.

[0019] The control method of engineering machinery in the present technical solution determines the second power of the hydraulic system through the mapping relationship between the output efficiency of the hydraulic system and the flow data, thereby further ensuring the accuracy of calculating the required power of the hydraulic system, avoiding large fluctuations in the output power of the power system, and achieving the best energy distribution among multiple power drive sources in the entire power system, thereby ensuring that the hydraulic system can continue to operate in the best working state.

[0020] In the above technical solution, the first operating data includes torque data and speed data of the power system, and determining the first power of the power system according to the first operating data specifically includes: determining the first power of the power system according to the torque data and speed data.

[0021] In this technical solution, the first operating data of the power system includes torque data and speed data, wherein the torque data is a special moment generated when the power system rotates, and the speed data is the number of revolutions per unit time when the power system rotates. The control device can calculate the first power based on the torque data and the speed data.

[0022] The control method of the engineering machinery in the present technical solution determines the first power of the power system based on the torque data and the speed data, thereby ensuring the accuracy of determining the output power of the power system, and performs energy management and coordinated control on multiple power drive sources within the power drive system according to the actual operating status of the power system, thereby achieving the best energy distribution among the multiple power drive sources within the entire hybrid power system, and avoiding a series of problems such as complicated control steps caused by the use of a hybrid power system.

[0023] In the above technical solution, the target power of the hydraulic system is determined based on the first power and the second power, specifically including: when the absolute value of the difference between the first power and the second power is less than or equal to the first threshold, the average value of the first power and the second power is used as the target power; or when the absolute value of the difference between the first power and the second power is greater than the first threshold, the second power is used as the target power.

[0024] In this technical solution, the control device calibrates the second power according to the first power. Specifically, the control device performs a difference operation on the first power and the second power, and compares the absolute value of the difference with the first threshold value. When the absolute value of the difference is less than or equal to the first threshold value, it means that the first power has use value, and the error of the second power can be eliminated by the first power. The target power is determined by the first power and the second power, and the average value of the first power and the second power is set as the target power. When the absolute value of the difference is greater than the first threshold value, it means that the target power is in a large-scale change process, and the first power cannot follow the second power well, so the target power is determined by the second power alone, and the second power is set as the target power. Among them, the first threshold value is a set power threshold value.

[0025] The control method of the engineering machinery in the present technical solution determines the target power of the hydraulic system based on the first power and the second power, thereby avoiding errors in the target power calculated for the hydraulic system, and at the same time ensuring that the target power can meet different operating conditions of the hydraulic system, ensuring that the entire power system works reliably and efficiently, and further ensuring the optimal operating performance of the entire engineering machinery.

[0026] In the above technical solution, the control method of the engineering machinery further includes: controlling the power system to provide the target power for the hydraulic system.

[0027] In this technical solution, the control device controls the output power of the power system and enables the output power to match the target power of the hydraulic system.

[0028] The control method of engineering machinery in the present technical solution controls the power system to provide target power to the hydraulic system, thereby ensuring that the power system can provide accurate energy to the hydraulic system, meeting the energy demand of the hydraulic system as a load of the engineering machinery, and at the same time meeting the demand for precise control of the output power of the power system, thereby achieving high power output and high-precision control of the engineering machinery and other performance.

[0029] In the above technical solution, the power system includes an engine, a battery and a motor, and controlling the power system to provide the target power for the hydraulic system specifically includes: controlling the engine and / or the motor to provide the target power for the hydraulic system according to the power level of the battery.

[0030] In this technical solution, the power system includes an engine, a battery and a motor. It should be noted that the battery can power the motor, thereby driving the motor to provide the target power for the hydraulic system. The engine can also operate alone to provide the target power for the hydraulic system. In addition, the engine and the motor can operate simultaneously to provide the target power for the hydraulic system.

[0031] Furthermore, the control device provides the target power for the hydraulic system by controlling the operating state of the engine and the motor. Specifically, the control device detects the power level of the battery in real time, and controls the output power of the engine and the motor to match the target power of the hydraulic system according to the power level of the battery.

[0032] The control method of engineering machinery in the present technical solution controls the output power of the engine and the motor respectively according to the battery power, and matches the target power of the hydraulic system, thereby ensuring that the engine and the motor can provide accurate energy to the hydraulic system, avoiding energy loss of the engine and the motor, and ensuring that the high-power hydraulic output of the engine and the motor is controlled while improving the control accuracy and stability of the hydraulic system, thereby realizing high-power output and high-precision control of the engine, motor and hydraulic system.

[0033] In the above technical solution, the engine and / or motor are controlled to provide the target power for the hydraulic system according to the battery power, specifically including: when the battery power is greater than or equal to the first power threshold, the motor is controlled to provide the target power for the hydraulic system; or when the battery power is less than the first power threshold and greater than the second power threshold, the engine and the motor are controlled to provide the target power for the hydraulic system; or when the battery power is less than or equal to the second power threshold, the engine is controlled to provide the target power for the hydraulic system.

[0034] In this technical solution, the power system includes an engine, a battery and a motor, wherein the engine can directly drive the hydraulic system to operate, the battery can drive the motor to operate, and then the motor drives the hydraulic system to operate.

[0035] It should be noted that the engine and the motor can be operated separately to provide the target power for the hydraulic system, or the engine and the motor can be operated simultaneously to provide the target power for the hydraulic system. The control device provides the target power for the hydraulic system by controlling the operating states of the engine and the motor.

[0036] Specifically, the control device divides the battery power into three power intervals, namely, a high power interval, a medium power interval, and a low power interval, by setting a first power threshold and a second power threshold. When the battery power is in the high power interval, the control device controls the motor to start running, and controls the engine to stop running, and the motor alone provides the target power for the hydraulic system; when the battery power is in the medium power interval, the control device controls the motor and the engine to start running at the same time, and the motor and the engine simultaneously provide the target power for the hydraulic system; when the battery power is in the low power interval, the control device controls the engine to start running, and controls the motor to stop running, and the engine alone provides the target power for the hydraulic system.

[0037] The control method of the engineering machinery in the present technical solution realizes energy management of the hybrid power system by controlling the engine and the motor to match the target power of the hydraulic system according to the battery power, and realizes coordinated control of the motor and the engine, thereby achieving optimal energy distribution between the motor and the engine, thereby solving a series of problems such as complex control process and structural changes caused by the use of hybrid power systems in engineering machinery, and making the entire hybrid power system work reliably and efficiently, thereby maximizing the fuel economy of engineering machinery, reducing the exhaust emissions of engineering machinery, and improving the operating stability of engineering machinery.

[0038] According to a second aspect of the present invention, a control device for engineering machinery is proposed. The engineering machinery includes a power system and a hydraulic system. The control device for engineering machinery includes: an acquisition module for acquiring first operating data of the power system and second operating data of the hydraulic system; a determination module for determining a first power of the power system according to the first operating data; a determination module for determining a second power of the hydraulic system when it is a load according to the second operating data; and a determination module for determining a target power of the hydraulic system according to the first power and the second power.

[0039] In the technical solution, the engineering machinery includes a power system and a hydraulic system, the power system and the hydraulic system are connected in series, the power system serves as the drive of the engineering machinery, and the hydraulic system serves as the load of the engineering machinery, wherein the power system includes multiple power sources, which can provide the required power for the hydraulic system, and the hydraulic system is a system that increases the force by changing the pressure. During the operation of the engineering machinery, the acquisition module detects the power system and the hydraulic system in real time, and respectively acquires the first operation data of the power system and the second operation data of the hydraulic system, wherein the first operation data includes parameters such as torque and speed of the power system, and the second operation data includes parameters such as flow and pressure of the hydraulic system. For the power system as the drive, the determination module determines the first power of the power system according to the first operation data, wherein the first power is the actual output power of the power system. For the hydraulic system as the load, the determination module determines the second power of the hydraulic system according to the second operation data, wherein the second power is the estimated required power of the hydraulic system. The determination module calibrates the second power according to the first power, and determines the target power of the hydraulic system, wherein the target power is the actual required power of the hydraulic system.

[0040] The control device of the engineering machinery in the present technical solution obtains the first operating data of the power system and the second operating data of the hydraulic system through an acquisition module, and the determination module determines the first power of the power system and the second power of the hydraulic system respectively, and then determines the target power of the hydraulic system according to the first power and the second power, thereby ensuring the accuracy of determining the actual required power of the hydraulic system, and further ensuring that the power system can provide accurate energy for the hydraulic system, avoiding energy loss of the power system, and reducing the overall energy consumption of the engineering machinery.

[0041] According to the third aspect of the present invention, a control device for engineering machinery is proposed, comprising a processor and a memory, wherein a program or instruction is stored in the memory, and when the program or instruction is executed by the processor, the steps of the control method for engineering machinery in any of the above technical solutions are implemented. Therefore, the control device has all the beneficial effects of the control method for engineering machinery in any of the above technical solutions, which will not be described in detail here.

[0042] According to a fourth aspect of the present invention, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, a control method for an engineering machine as in any of the above technical solutions is implemented. Therefore, the readable storage medium has all the beneficial effects of the control method for an engineering machine in any of the above technical solutions, which will not be described in detail here.

[0043] According to a fifth aspect of the present invention, a construction machinery is proposed, comprising: a control device for the construction machinery as defined in the above second aspect, or a control device for the construction machinery as defined in the above third aspect, or a readable storage medium as defined in the above fourth aspect, and thus having all the beneficial technical effects of the control device for the construction machinery as defined in the above second aspect, or the control device for the construction machinery as defined in the above third aspect, or the readable storage medium as defined in the above fourth aspect, which will not be elaborated herein.

[0044] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0046] Figure 1 One of the flow charts of the control method of the engineering machinery in the first embodiment of the present invention is shown;

[0047] Figure 2 A second flow chart of the control method for engineering machinery in the first embodiment of the present invention is shown;

[0048] Figure 3 A third flow chart of the control method for engineering machinery in the first embodiment of the present invention is shown;

[0049] Figure 4 A fourth flow chart of the control method for engineering machinery in the first embodiment of the present invention is shown;

[0050] Figure 5 A fifth flow chart of the control method for engineering machinery in the first embodiment of the present invention is shown;

[0051] Figure 6 A sixth flow chart of the control method for engineering machinery in the first embodiment of the present invention is shown;

[0052] Figure 7 FIG7 shows a flow chart of the control method of the construction machinery in the first embodiment of the present invention;

[0053] Figure 8 FIG8 is a flow chart showing an eighth flow chart of a control method for an engineering machine in a first embodiment of the present invention;

[0054] Fig. 9 FIG9 is a flow chart showing a ninth flow chart of a control method for an engineering machine in a first embodiment of the present invention;

[0055] Fig.10 FIG10 is a flowchart diagram showing a control method for an engineering machine in a first embodiment of the present invention;

[0056] Fig.11 FIG11 is a flow chart showing a control method for an engineering machine in a first embodiment of the present invention;

[0057] Fig.12 One of the structural block diagrams of the control device for engineering machinery in the second embodiment of the present invention is shown;

[0058] Fig.13 A second structural block diagram of a control device for an engineering machine in a second embodiment of the present invention is shown;

[0059] Fig.14 A structural block diagram of a control device for an engineering machine in a third embodiment of the present invention is shown;

[0060] Fig.15 A structural block diagram of an engineering machine in a fifth embodiment of the present invention is shown. DETAILED DESCRIPTION

[0061] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0062] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0063] Combine the following Figures 1 to 15 , the control method, device, readable storage medium and engineering machinery provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0064] Embodiment 1:

[0065] like Figure 1As shown, a first embodiment of the present invention provides a control method for an engineering machine, the engineering machine includes a power system and a hydraulic system, and the control method for the engineering machine includes:

[0066] Step 102, obtaining first operating data of the power system and second operating data of the hydraulic system;

[0067] Step 104, determining a first power of the power system according to the first operating data;

[0068] Step 106, determining a second power when the hydraulic system acts as a load according to the second operating data;

[0069] Step 108: Determine a target power of the hydraulic system according to the first power and the second power.

[0070] In this embodiment, the engineering machinery includes a power system and a hydraulic system, the power system and the hydraulic system are connected in series, the power system serves as the drive of the engineering machinery, and the hydraulic system serves as the load of the engineering machinery, wherein the power system includes multiple power sources, which can provide the required power for the hydraulic system, and the hydraulic system is a system that increases the force by changing the pressure. During the operation of the engineering machinery, the control device detects the power system and the hydraulic system in real time, and respectively obtains the first operation data of the power system and the second operation data of the hydraulic system, wherein the first operation data includes parameters such as torque and speed of the power system, and the second operation data includes parameters such as flow and pressure of the hydraulic system. For the power system as the drive, the control device determines the first power of the power system according to the first operation data, wherein the first power is the actual output power of the power system. For the hydraulic system as the load, the control device determines the second power of the hydraulic system according to the second operation data, wherein the second power is the estimated required power of the hydraulic system. The control device calibrates the second power according to the first power, and determines the target power of the hydraulic system, wherein the target power is the actual required power of the hydraulic system.

[0071] In some embodiments, the power system may be a hybrid power system, which includes an electric power source and a fuel power source. The power system may drive the hydraulic system to operate via the hybrid power source.

[0072] The control method of the engineering machinery in this embodiment determines the first power of the power system and the second power of the hydraulic system according to the first operating data of the power system and the second operating data of the hydraulic system, respectively, and then determines the target power of the hydraulic system according to the first power and the second power, thereby ensuring the accuracy of determining the actual required power of the hydraulic system, and further ensuring that the power system can provide accurate energy for the hydraulic system, avoiding energy loss of the power system, and reducing the overall energy consumption of the engineering machinery.

[0073] like Figure 2 As shown, in any of the above embodiments, the control method of the engineering machinery includes:

[0074] Step 202, obtaining first operating data of the power system and second operating data of the hydraulic system;

[0075] Step 204, determining a first power of the power system according to the first operating data;

[0076] Step 206, determining the third power of the hydraulic system through a Kalman filter algorithm according to the flow data and the pressure data;

[0077] Step 208, determining the second power according to the flow data and the third power;

[0078] Step 210: Determine a target power of the hydraulic system according to the first power and the second power.

[0079] In this embodiment, the control device obtains flow data and pressure data of the hydraulic system, wherein the flow data is the volume of oil flowing through the hydraulic system per unit time, and the pressure data is the pressure value of the oil inside the hydraulic system. The control device uses the flow data and pressure data as input parameters, and determines the flow estimation value and pressure estimation value of the hydraulic system through the Kalman filter algorithm, and then determines the third power of the hydraulic system based on the flow estimation value and the pressure estimation value, wherein the flow estimation value is the estimated value of the flow data of the hydraulic system, the flow estimation value is the estimated value of the pressure data of the hydraulic system, and the third power is the estimated value of the output power of the hydraulic system. After determining the third power, the control device can determine the second power of the hydraulic system based on the third power combined with the flow data.

[0080] It should be noted that the Kalman filter algorithm is an algorithm that uses the state estimate of the dynamic system at the previous moment and the observation value of the dynamic system at the current moment to obtain the optimal estimate of the state variable of the dynamic system at the current moment.

[0081] Furthermore, if Figure 3 As shown, the process of determining the third power of the hydraulic system according to the flow data and the pressure data through the Kalman filter algorithm specifically includes steps 302 to 310.

[0082] Step 302, calculate the prior estimation of the hydraulic system state variables, where the state variables are the estimated values ​​of the hydraulic system flow, pressure and power, and the prior estimation is the estimation of the current moment data from the previous moment data. The calculation formula is as follows:

[0083]

[0084] The posterior estimate of the previous moment

[0085]

[0086] Combining the above two formulas, we can get the state matrix F at the current moment. k The formula is as follows:

[0087]

[0088]

[0089] In the above formula, q k-1 is the estimated flow rate of the hydraulic system at the previous moment, p k-1 is the estimated pressure value of the hydraulic system at the previous moment, Δt is the iterative update cycle, is the pressure change rate of the hydraulic system at the previous moment, P k-1 is the estimated output power of the hydraulic system at the previous moment, F k is the state matrix at the current moment, is the posterior estimate of the state variable at the previous moment, is the prior estimate of the state variable at the current moment.

[0090] Step 304, calculate the prior estimated covariance matrix of the state variables, where the prior estimated covariance matrix at the current moment is The calculation formula is as follows:

[0091]

[0092] Where Q is the covariance matrix of the process excitation noise, A k-1 is the posterior estimated covariance matrix of the previous moment, F k is the state matrix at the current moment, is the transpose of the state matrix at the current moment, is the prior estimated covariance matrix at the current moment.

[0093] Step 306: Update the Kalman gain, where the Kalman gain is the estimated change, and the calculation formula of the Kalman gain K is as follows:

[0094]

[0095] Among them, H is the observation matrix of state variables, H T is the transpose of the observation matrix of the state variables, R is the covariance matrix of the measurement noise, is the prior estimated covariance matrix at the current moment, and K is the Kalman gain.

[0096] Step 308, update the posterior estimated covariance, calculate the a priori estimated covariance matrix through the posterior estimated covariance, and the posterior estimated covariance A k The calculation formula is as follows:

[0097]

[0098] Among them, I is the identity matrix, H is the observation matrix of the state variables, K is the Kalman gain, is the prior estimated covariance matrix at the current moment, A k is the posterior estimated covariance matrix at the current moment.

[0099] Step 310, update the a posteriori estimate, calculate the a priori estimate through the a posteriori estimate, and the a posteriori estimate The calculation formula is as follows:

[0100]

[0101] Among them, z k is the measured value of the state variable, H is the observation matrix of the state variable, K is the Kalman gain, is the prior estimate of the state variable at the current moment, is the posterior estimate of the state variable at the current moment.

[0102] Through the above steps, the third power of the hydraulic system can be estimated. The third power estimation formula of the hydraulic system is as follows:

[0103]

[0104] Among them, q k is the estimated flow rate of the hydraulic system, p k is the estimated pressure of the hydraulic system, P k is the third power of the hydraulic system, x k is the state variable of the hydraulic system.

[0105] The control method of the engineering machinery in this embodiment determines the third power of the hydraulic system and then determines the second power of the hydraulic system according to the second operating data of the hydraulic system through the Kalman filtering algorithm, thereby improving the accuracy of calculating the required power of the hydraulic system when the load is constantly changing, avoiding the low fuel efficiency of the power system due to inaccurate calculation of the required power of the hydraulic system, ensuring that the power system operates in the best state, and further ensuring that the power system has the best fuel consumption power.

[0106] like Figure 4 As shown, in any of the above embodiments, the control method of the engineering machinery includes:

[0107] Step 402, obtaining first operating data of the power system and second operating data of the hydraulic system;

[0108] Step 404, determining a first power of the power system according to the first operating data;

[0109] Step 406, determining the third power of the hydraulic system through a Kalman filter algorithm according to the flow data and the pressure data;

[0110] Step 408, determining the target efficiency of the hydraulic system according to the mapping relationship between the output efficiency and the flow data;

[0111] Step 410, determining the second power according to the target efficiency and the third power;

[0112] Step 412: Determine a target power of the hydraulic system according to the first power and the second power.

[0113] In this embodiment, there is a corresponding relationship between the output efficiency of the hydraulic system and the flow data, and the control device can determine the target efficiency of the hydraulic system through the flow data, wherein the output efficiency is an efficiency parameter of the hydraulic system output quantity compared with the input quantity, and the target efficiency is the real-time output efficiency of the hydraulic system in the current state. The control device can calculate the second power according to the target efficiency and the third power.

[0114] Specifically, the calculation formula of the second power is:

[0115] P n =P k / η;

[0116] Where η is the target efficiency, P k is the third power, P n The second power.

[0117] In some embodiments, there is a mapping table between the flow data and the output efficiency of the hydraulic system, and the target efficiency of the hydraulic system can be determined by querying the table.

[0118] The control method of the engineering machinery in this embodiment determines the second power of the hydraulic system through the mapping relationship between the output efficiency of the hydraulic system and the flow data, further ensuring the accuracy of calculating the required power of the hydraulic system, avoiding large fluctuations in the output power of the power system, and achieving the best energy distribution among multiple power drive sources in the entire power system, thereby ensuring that the hydraulic system can continue to operate in the best working state.

[0119] like Figure 5 As shown, in any of the above embodiments, the control method of the engineering machinery includes:

[0120] Step 502, obtaining first operating data of the power system and second operating data of the hydraulic system;

[0121] Step 504, determining a first power of the power system according to the torque data and the speed data;

[0122] Step 506, determining a second power when the hydraulic system acts as a load according to the second operating data;

[0123] Step 508: Determine a target power of the hydraulic system according to the first power and the second power.

[0124] In this embodiment, the first operation data of the power system includes torque data and speed data, wherein the torque data is a special moment generated when the power system rotates, and the speed data is the number of revolutions per unit time when the power system rotates. The control device can calculate the first power according to the torque data and the speed data.

[0125] Specifically, the calculation formula of the first power is:

[0126]

[0127] Among them, P a is the first power, T is the torque data, and N is the speed data.

[0128] In some embodiments, there is a mapping table between the flow data and the output efficiency of the hydraulic system, and the target efficiency of the hydraulic system can be determined by querying the table.

[0129] The control method of the engineering machinery in this embodiment determines the first power of the power system based on the torque data and the speed data, thereby ensuring the accuracy of determining the output power of the power system, and performs energy management and coordinated control on multiple power drive sources within the power drive system according to the actual operating status of the power system, thereby achieving the best energy distribution among the multiple power drive sources within the entire hybrid power system, and avoiding a series of problems such as complicated control steps caused by the use of a hybrid power system.

[0130] like Figure 6 As shown, in any of the above embodiments, the control method of the engineering machinery includes:

[0131] Step 602, obtaining first operating data of the power system and second operating data of the hydraulic system;

[0132] Step 604, determining a first power of the power system according to the first operating data;

[0133] Step 606, determining a second power when the hydraulic system acts as a load according to the second operating data;

[0134] Step 608, determining a difference between the first power and the second power;

[0135] Step 610, determining whether the absolute value of the difference is greater than a first threshold value, if the determination result is yes, executing step 612, if the determination result is no, executing step 614;

[0136] Step 612, using the second power as the target power;

[0137] Step 614: Taking the average of the first power and the second power as the target power.

[0138] In which, when the absolute value of the difference between the first power and the second power is less than or equal to the first threshold, the average value of the first power and the second power is used as the target power; or when the absolute value of the difference between the first power and the second power is greater than the first threshold, the second power is used as the target power.

[0139] In this embodiment, the control device calibrates the second power according to the first power. Specifically, the control device performs a difference operation on the first power and the second power, and compares the absolute value of the difference with the first threshold value. When the absolute value of the difference is less than or equal to the first threshold value, it indicates that the first power has use value, and the error of the second power can be eliminated by the first power. The target power is determined by the first power and the second power, and the average value of the first power and the second power is set as the target power. When the absolute value of the difference is greater than the first threshold value, it indicates that the target power is in a large-scale change process, and the first power cannot follow the second power well, so the target power is determined by the second power alone, and the second power is set as the target power. Among them, the first threshold value is a set power threshold value.

[0140] Specifically, the target power is calculated as follows:

[0141]

[0142] Among them, P th is the first threshold, P a is the first power, P n is the second power, P′ n is the target power.

[0143] The control method of the engineering machinery in this embodiment determines the target power of the hydraulic system based on the first power and the second power, thereby avoiding errors in the target power calculated for the hydraulic system, and at the same time ensuring that the target power can meet different operating conditions of the hydraulic system, ensuring that the entire power system works reliably and efficiently, and further ensuring the optimal operating performance of the entire engineering machinery.

[0144] like Figure 7As shown, in any of the above embodiments, the control method of the engineering machinery includes:

[0145] Step 702, obtaining first operating data of the power system and second operating data of the hydraulic system;

[0146] Step 704, determining a first power of the power system according to the first operating data;

[0147] Step 706, determining a second power when the hydraulic system acts as a load according to the second operating data;

[0148] Step 708, determining a target power of the hydraulic system according to the first power and the second power;

[0149] Step 710: Control the power system to provide target power to the hydraulic system.

[0150] In this embodiment, the control device controls the output power of the power system and enables the output power to match the target power of the hydraulic system.

[0151] The control method of the engineering machinery in this embodiment controls the power system to provide the target power to the hydraulic system, thereby ensuring that the power system can provide accurate energy to the hydraulic system, meeting the energy demand of the hydraulic system as a load of the engineering machinery, and at the same time meeting the demand for precise control of the output power of the power system, thereby achieving the performance of high power output and high-precision control of the engineering machinery.

[0152] like Figure 8 As shown, in any of the above embodiments, the control method of the engineering machinery includes:

[0153] Step 802, obtaining first operating data of the power system and second operating data of the hydraulic system;

[0154] Step 804, determining a first power of the power system according to the first operating data;

[0155] Step 806, determining a second power when the hydraulic system acts as a load according to the second operating data;

[0156] Step 808, determining a target power of the hydraulic system according to the first power and the second power;

[0157] Step 810: Control the engine and / or the motor to provide target power to the hydraulic system according to the battery power.

[0158] In this embodiment, the power system includes an engine, a battery and a motor. It should be noted that the battery can power the motor, thereby driving the motor to provide the target power for the hydraulic system. The engine can also operate alone to provide the target power for the hydraulic system. In addition, the engine and the motor can operate simultaneously to provide the target power for the hydraulic system.

[0159] Furthermore, the control device provides the target power for the hydraulic system by controlling the operating state of the engine and the motor. Specifically, the control device detects the power level of the battery in real time, and controls the output power of the engine and the motor to match the target power of the hydraulic system according to the power level of the battery.

[0160] The control method for engineering machinery in this embodiment controls the output power of the engine and motor respectively according to the battery power and matches the target power of the hydraulic system, thereby ensuring that the engine and motor can provide accurate energy to the hydraulic system and avoiding energy loss of the engine and motor. While ensuring the control of high-power hydraulic output of the engine and motor, the control accuracy and stability of the hydraulic system are improved, thereby achieving high-power output and high-precision control of the engine, motor and hydraulic system.

[0161] like Fig. 9 As shown, in any of the above embodiments, the control method of the engineering machinery includes:

[0162] Step 902, obtaining first operating data of the power system and second operating data of the hydraulic system;

[0163] Step 904, determining a first power of the power system according to the first operating data;

[0164] Step 906, determining a second power when the hydraulic system acts as a load according to the second operating data;

[0165] Step 908, determining a target power of the hydraulic system according to the first power and the second power;

[0166] Step 910, when the battery power is greater than or equal to the first power threshold, controlling the motor to provide the target power to the hydraulic system;

[0167] Step 912, when the battery power is less than the first power threshold and greater than the second power threshold, controlling the engine and the motor to provide the target power for the hydraulic system;

[0168] Step 914: When the battery power is less than or equal to the second power threshold, control the engine to provide the target power to the hydraulic system.

[0169] In this embodiment, the power system includes an engine, a battery and a motor, wherein the engine can directly drive the hydraulic system to operate, and the battery can drive the motor to operate, and then drive the hydraulic system to operate through the motor.

[0170] It should be noted that the engine and the motor can be operated separately to provide the target power for the hydraulic system, or the engine and the motor can be operated simultaneously to provide the target power for the hydraulic system. The control device provides the target power for the hydraulic system by controlling the operating states of the engine and the motor.

[0171] Specifically, the control device divides the battery power into three power intervals, namely, a high power interval, a medium power interval, and a low power interval, by setting a first power threshold and a second power threshold. When the battery power is in the high power interval, the control device controls the motor to start running, and controls the engine to stop running, and the motor alone provides the target power for the hydraulic system; when the battery power is in the medium power interval, the control device controls the motor and the engine to start running at the same time, and the motor and the engine simultaneously provide the target power for the hydraulic system; when the battery power is in the low power interval, the control device controls the engine to start running, and controls the motor to stop running, and the engine alone provides the target power for the hydraulic system.

[0172] In some embodiments, when the battery power is in a low power range, the engine alone provides the target power to the hydraulic system, and at the same time, the engine can charge the battery.

[0173] In some other embodiments, when the engine, battery and motor all fail, the power system and hydraulic system are controlled to stop working. The control method of the engineering machinery in this embodiment realizes energy management of the hybrid power system by controlling the engine and motor to match the target power of the hydraulic system according to the power of the battery, and realizes coordinated control of the motor and the engine, and realizes the best energy distribution between the motor and the engine, thereby solving a series of problems such as complex control process and structural changes caused by the use of hybrid power system in engineering machinery, and making the entire hybrid power system work reliably and effectively, maximizing the fuel economy of engineering machinery, reducing the exhaust emissions of engineering machinery, and improving the operation stability of engineering machinery.

[0174] like Fig.10 As shown, in any of the above embodiments, the control method of the engineering machinery includes:

[0175] Step 1002, obtaining data of the hydraulic system and the power system;

[0176] Step 1004, hydraulic system power estimation based on Kalman filtering;

[0177] Step 1006, determining whether the absolute value of the difference between the estimated power and the actual power calculated by the power system is less than a threshold, if so, executing step 1008, if not, executing step 1010;

[0178] Step 1008, taking the average of the estimated power and the actual power as the required power of the hydraulic system;

[0179] Step 1010, using the estimated power as the required power of the hydraulic system;

[0180] Step 1012, determine the system status and coordinate power allocation with the optimal fuel consumption target.

[0181] In this embodiment, the construction machinery includes a hydraulic system and a power system, and the control device obtains data of the hydraulic system and the power system. Based on Kalman filtering, the control device determines the estimated power of the hydraulic system, and then determines whether the absolute value of the difference between the estimated power and the actual power calculated by the power system is less than a threshold value. If the absolute value of the difference is less than the threshold value, the average of the estimated power and the actual power is used as the required power of the hydraulic system; if the absolute value of the difference is greater than or equal to the threshold value, the estimated power is used as the required power of the hydraulic system. Finally, the control device determines the system state and coordinates the power distribution with the optimal fuel consumption target.

[0182] The control method of the engineering machinery in this embodiment estimates the estimated power of the hydraulic system through Kalman filtering, and then determines the required power of the hydraulic system based on the difference between the estimated power and the actual power calculated by the power system, thereby ensuring the accuracy of determining the required power of the hydraulic system, and further ensuring that the power system can provide accurate energy for the hydraulic system, ensuring that the entire power system works reliably and efficiently, and further ensuring the optimal operating performance of the entire engineering machinery.

[0183] like Fig.11 As shown, in any of the above embodiments, the control method of the engineering machinery includes:

[0184] Step 1102, obtaining the required power, engine status, motor status, and battery status of the hydraulic system;

[0185] Step 1104, determine whether the engine, motor, and battery are all in a usable state, if so, execute step 1114, if not, execute step 1106;

[0186] Step 1106, determine whether the engine is available, if yes, go to step 1108, if not, go to step 1110;

[0187] Step 1108, running the fault limp home mode;

[0188] Step 1110, determine whether the motor and battery are available, if yes, execute step 1108, if not, execute step 1112;

[0189] Step 1112, running a complete failure mode;

[0190] Step 1114, running in normal mode;

[0191] Step 1116, determine whether the battery is at a high SOC, if so, proceed to step 1118, if not, proceed to step 1120;

[0192] Step 1118, running in pure electric mode;

[0193] Step 1120, determine whether the battery is in medium SOC, if yes, go to step 1122, if no, go to step 1124;

[0194] Step 1122, running hybrid power mode;

[0195] Step 1124, determining that the battery is at low SOC;

[0196] Step 1126, running in pure fuel mode.

[0197] In this embodiment, the battery power can be represented by the battery SOC (state of charge). The control device divides the battery power into three power intervals, namely high SOC, medium SOC and low SOC, by setting a first power threshold and a second power threshold.

[0198] Specifically, when the battery power is at a high SOC, the control device controls the motor to start running and controls the engine to stop running, and the motor alone provides the target power for the hydraulic system. At this time, the construction machinery is in pure electric mode; when the battery power is at a medium SOC, the control device controls the motor and the engine to start running at the same time, and the motor and the engine provide the target power for the hydraulic system at the same time. At this time, the construction machinery is in hybrid power mode; when the battery power is at a low SOC, the control device controls the engine to start running and controls the motor to stop running, and the engine alone provides the target power for the hydraulic system. At this time, the construction machinery is in pure fuel mode.

[0199] The control method of the engineering machinery in this embodiment realizes energy management of the hybrid power system by selecting different modes to operate the engineering machinery according to the battery power, and at the same time realizes coordinated control of the motor and the engine, thereby achieving optimal energy distribution between the motor and the engine.

[0200] Embodiment 2:

[0201] like Fig.12As shown, a second embodiment of the present invention provides a control device for an engineering machine, and the control device 1200 for the engineering machine includes:

[0202] An acquisition module 1202 is used to acquire first operation data of the power system and second operation data of the hydraulic system;

[0203] A determination module 1204 is used to determine a first power of the power system according to the first operation data;

[0204] The determination module 1204 is further used to determine a second power when the hydraulic system acts as a load according to the second operation data;

[0205] The determination module 1204 is further configured to determine a target power of the hydraulic system according to the first power and the second power.

[0206] In this embodiment, the engineering machinery includes a power system and a hydraulic system, the power system and the hydraulic system are connected in series, the power system serves as the drive of the engineering machinery, and the hydraulic system serves as the load of the engineering machinery, wherein the power system includes multiple power sources, which can provide the required power for the hydraulic system, and the hydraulic system is a system that increases the force by changing the pressure. During the operation of the engineering machinery, the acquisition module detects the power system and the hydraulic system in real time, and respectively acquires the first operation data of the power system and the second operation data of the hydraulic system, wherein the first operation data includes parameters such as torque and speed of the power system, and the second operation data includes parameters such as flow and pressure of the hydraulic system. For the power system as the drive, the determination module determines the first power of the power system according to the first operation data, wherein the first power is the actual output power of the power system. For the hydraulic system as the load, the determination module determines the second power of the hydraulic system according to the second operation data, wherein the second power is the estimated required power of the hydraulic system. The determination module calibrates the second power according to the first power, and determines the target power of the hydraulic system, wherein the target power is the actual required power of the hydraulic system.

[0207] In some embodiments, the power system may be a hybrid power system, which includes an electric power source and a fuel power source, and the power system may drive the hydraulic system to operate by using the hybrid energy.

[0208] The control device of the engineering machinery in this embodiment determines the first power of the power system and the second power of the hydraulic system according to the first operating data of the power system and the second operating data of the hydraulic system, respectively, and then determines the target power of the hydraulic system according to the first power and the second power, thereby ensuring the accuracy of determining the actual required power of the hydraulic system, and further ensuring that the power system can provide accurate energy to the hydraulic system, avoiding energy loss of the power system, and reducing the overall energy consumption of the engineering machinery.

[0209] like Fig.13 As shown, in any of the above embodiments, the control device 1300 of the engineering machinery includes:

[0210] The data acquisition module 1302 is used to acquire the signal quantity required for calculation according to the estimation algorithm and perform preliminary signal processing on it;

[0211] The power estimation module 1304 is used to estimate the system demand power by using a Kalman filter algorithm, and to perform correction calculation by calculating the actual feedback power at the previous moment;

[0212] The power allocation module 1306 is used to allocate power according to the principle of optimal fuel consumption.

[0213] The control device of the engineering machinery in this embodiment obtains the signal quantity required for calculation through an estimation algorithm, and distributes power according to the principle of optimal fuel consumption, thereby ensuring the operational stability of the engineering machinery.

[0214] Embodiment three:

[0215] like Fig.14 As shown, in the third embodiment of the present invention, a control device for engineering machinery is provided, and the control device 1400 for engineering machinery includes a processor 1402 and a memory 1404, and the memory 1404 stores a program or instruction, and when the program or instruction is executed by the processor 1402, the steps of the control method for engineering machinery in any of the above technical solutions are implemented. Therefore, the control device for engineering machinery has all the beneficial effects of the control method for engineering machinery in any of the above technical solutions, which will not be described in detail here.

[0216] Embodiment 4:

[0217] A fourth embodiment of the present invention provides a readable storage medium having a program stored thereon. When the program is executed by a processor, the control method for engineering machinery as in any of the above embodiments is implemented, thereby having all the beneficial technical effects of the control method for engineering machinery in any of the above embodiments.

[0218] The readable storage medium includes a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0219] Embodiment five:

[0220] A fifth embodiment of the present invention provides an engineering machinery, comprising: a control device for the engineering machinery as in any of the above embodiments, or a readable storage medium as in any of the above embodiments, and thus has all the beneficial technical effects of the control device for the engineering machinery as in any of the above embodiments, or the readable storage medium as in any of the above embodiments, and no further details will be given here.

[0221] like Fig.15 As shown, in any of the above embodiments, the engineering machinery includes: a hydraulic system 1502, which serves as the load of the engineering machinery; a battery 1504, which can store electrical energy; a motor 1506, which can match the target power of the hydraulic system, and the target power is the actual required power; an engine 1508, which can match the required power of the hydraulic system and can also charge the battery; a mechanical transmission 1510, which is a transmission device that transmits kinetic power and motion in a mechanical manner; a clutch 1512, which is connected to the engine 1508, and switches or transmits the power output by the engine 1508; and an ECU 1514 (engine controller). , controls the operation and shutdown of the engine 1508; CCU1516 (clutch controller), controls the engagement, disconnection and semi-clutching of the clutch 1512; MCU1518 (motor controller), controls the operation and shutdown of the motor 1506; BMS1520 (battery management system), manages the status of the battery 1504; HCU1522 (hydraulic system controller), collects data of the hydraulic system 1502; VCU1524 (vehicle controller), coordinates the above controllers according to the system status, realizes the normal operation of the construction machinery, and achieves the lowest energy consumption of the construction machinery.

[0222] It should be clarified that in the claims, specification and drawings of the present invention, the term "multiple" refers to two or more than two. Unless otherwise clearly defined, the orientation or position relationship indicated by the terms "upper" and "lower" is based on the orientation or position relationship shown in the drawings, which is only for the purpose of more conveniently describing the present invention and making the description process simpler, rather than indicating or implying that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation, so these descriptions cannot be understood as limiting the present invention; the terms "connect", "install", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances of the above data.

[0223] In the claims, specification and drawings of the present invention, the description of the terms "one embodiment", "some embodiments", "specific embodiments" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In the claims, specification and drawings of the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0224] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method for an engineering machine, the engineering machine comprising a power system and a hydraulic system, characterized in that: The control method of the engineering machinery comprises: Acquiring first operating data of the power system and second operating data of the hydraulic system; Determine a first power of the power system according to the first operating data; the first power is an actual output power of the power system; determining, according to the second operating data, a second power of the hydraulic system when it is used as a load; the second power being an estimated required power of the hydraulic system; determining a target power of the hydraulic system according to the first power and the second power; The determining the target power of the hydraulic system according to the first power and the second power specifically includes: When the absolute value of the difference between the first power and the second power is less than or equal to a first threshold, taking an average value of the first power and the second power as the target power; or When an absolute value of a difference between the first power and the second power is greater than a first threshold, taking the second power as the target power; The second operating data includes flow data and pressure data of the hydraulic system. Determining a second power of the hydraulic system when it is used as a load according to the second operating data specifically includes: Determine a third power of the hydraulic system according to the flow data and the pressure data through a Kalman filter algorithm; the third power is an estimated value of the output power of the hydraulic system; determining the second power according to the flow data and the third power; The determining the second power according to the flow data and the third power specifically includes: determining a target efficiency of the hydraulic system according to a mapping relationship between the output efficiency of the hydraulic system and the flow data; The second power is determined according to the target efficiency and the third power.

2. The control method for construction machinery according to claim 1, characterized in that: The first operating data includes torque data and speed data of the power system. Determining a first power of the power system according to the first operating data specifically includes: A first power of the power system is determined according to the torque data and the speed data.

3. The control method for construction machinery according to claim 1, characterized in that: The control method of the engineering machinery further includes: The power system is controlled to provide the target power to the hydraulic system.

4. The control method for construction machinery according to claim 3, wherein the power system comprises an engine, a battery and a motor, and is characterized in that: Controlling the power system to provide the target power to the hydraulic system specifically includes: The engine and / or the motor are controlled to provide the target power to the hydraulic system according to the power level of the battery.

5. The control method for construction machinery according to claim 4, characterized in that: According to the power of the battery, controlling the engine and / or the motor to provide the target power for the hydraulic system specifically includes: When the power level of the battery is greater than or equal to a first power threshold, controlling the motor to provide the target power to the hydraulic system; or When the power level of the battery is less than the first power threshold and greater than a second power threshold, controlling the engine and the motor to provide the target power to the hydraulic system; or When the power level of the battery is less than or equal to the second power level threshold, the engine is controlled to provide the target power to the hydraulic system.

6. A control device for an engineering machine, the engineering machine comprising a power system and a hydraulic system, using the method as claimed in any one of claims 1 to 5, characterized in that: The control device of the engineering machinery comprises: an acquisition module, configured to acquire first operating data of the power system and second operating data of the hydraulic system; a determination module, configured to determine a first power of the power system according to the first operation data; a determination module, configured to determine a second power of the hydraulic system when it acts as a load according to the second operation data; A determination module is used to determine a target power of the hydraulic system according to the first power and the second power.

7. A control device for engineering machinery, characterized in that: include: processor; A memory, wherein a program or instruction is stored in the memory, and the processor implements the steps of the method according to any one of claims 1 to 5 when executing the program or instruction in the memory.

8. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

9. An engineering machine, characterized in that: include: The control device for engineering machinery according to claim 6 or 7; or The readable storage medium as claimed in claim 8.

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