Control method, device, controller and engineering machine device for a hydraulic system

Abstract

The application discloses a control method and a control device for a hydraulic system, a controller, an engineering mechanical device and a storage medium, and the method comprises the following steps: monitoring the inclination angle signals of a first operation handle and a second operation handle to determine whether a composite action occurs; when the composite action occurs, controlling the first reversing valve and the fourth reversing valve to be in an open state, and controlling the second reversing valve and the third reversing valve to be in a neutral state. In this way, the oil paths of each execution element are not interfered with under the composite action, the flow obtained by each execution element is determined by the corresponding operation handle, more accurate flow distribution is provided for each execution element, the speed stability of the execution element is effectively improved, the coordination of the composite action operation is improved, and the user operation experience is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, and in particular to a control method and control device for a hydraulic system, a controller, an engineering machinery device and a storage medium. BACKGROUND

[0002] At present, in the hydraulic system using an electrically controlled displacement pump and an electrically controlled main valve, the flow of an executing element is directly controlled by the output of the main pump, and the output size of the main pump flow is controlled by an operating handle, and the size of the main valve opening is also controlled by the operating handle. Each executing element in the hydraulic system corresponds to its own load pressure, and the load pressure changes according to the change of the load.

[0003] However, when performing a composite action, the load of each executing element changes according to the working condition, resulting in a change in the load pressure. If the total flow of the main pump remains unchanged, each executing element allocates flow according to the size of the load pressure, and the uncertainty of the load causes the load pressure to fluctuate, and the flow allocated to each executing element under the composite action also fluctuates, resulting in unstable flow input to the executing element. In the hydraulic system, the flow of the executing element determines the speed of the executing element, so the speed of each executing element under the composite action cannot maintain a stable speed, resulting in that when the operator of the engineering machinery device performs a composite action operation, the operator cannot accurately control the speed of the executing element or the speed ratio between each executing element through the operating handle, so that the engineering machinery device is not operated in coordination, and the user's operation experience is poor. SUMMARY

[0004] The purpose of the present application is to provide a control method and control device for a hydraulic system, a controller, an engineering machinery device and a storage medium, which can effectively improve the speed stability of the executing element, the coordination of the composite action operation and improve the user's operation experience.

[0005] To achieve the above purpose:

[0006] In a first aspect, the embodiments of the present application provide a control method for a hydraulic system, the hydraulic system comprising at least a first hydraulic pump, a second hydraulic pump, a first directional valve, a second directional valve, a third directional valve, a fourth directional valve, a first actuator, a second actuator, a first operating handle, a second operating handle and an oil tank; wherein the second directional valve and the third directional valve are O-type neutral directional valves; the first directional valve is connected to the first hydraulic pump through an oil line, and the second directional valve is connected to the first hydraulic pump through the first directional valve or an oil line; the fourth directional valve is connected to the second hydraulic pump through an oil line, and the third directional valve is connected to the second hydraulic pump through the fourth directional valve or an oil line; the working oil ports of the first directional valve and the third directional valve are connected one by one, and the first actuator is connected to the working oil ports of the first directional valve and the third directional valve respectively; the working oil ports of the second directional valve and the fourth directional valve are connected one by one, and the second actuator is connected to the working oil ports of the second directional valve and the fourth directional valve respectively; the return oil ports of the first directional valve, the second directional valve, the third directional valve and the fourth directional valve are connected to the oil tank respectively; the first operating handle is used to control the action of the first actuator, and the second operating handle is used to control the action of the second actuator; the method comprises:

[0007] monitoring the inclination angle signals of the first operating handle and the second operating handle to determine whether a compound action occurs;

[0008] when the compound action occurs, controlling the first directional valve and the fourth directional valve to be in an open state, and controlling the second directional valve and the third directional valve to be in a neutral state.

[0009] Optionally, the monitoring of the inclination angle signals of the first operating handle and the second operating handle to determine whether a compound action occurs comprises:

[0010] monitoring whether the inclination angles of the first operating handle and the second operating handle change simultaneously;

[0011] if the inclination angles of the first operating handle and the second operating handle change simultaneously, it is determined that a compound action occurs.

[0012] Optionally, the method further comprises:

[0013] determining a first flow value required by the first hydraulic pump according to the inclination angle of the first operating handle, and controlling the output flow of the first hydraulic pump to be the first flow value;

[0014] determining a second flow value required by the second hydraulic pump according to the tilt angle of the second operation handle, and controlling the output flow of the second hydraulic pump to be the second flow value;

[0015] and / or sending a target opening signal to the first directional valve and the fourth directional valve to make the opening of the first directional valve and the fourth directional valve maximum.

[0016] Optionally, the first execution element is a main hoist motor, and the second execution element is a power head motor, and the method further comprises:

[0017] determining a third flow value required by the first hydraulic pump according to the tilt angle of the first operation handle, and controlling the output flow of the first hydraulic pump to be the third flow value

[0018] determining a fourth flow value required by the second hydraulic pump according to the third flow value and a preset speed ratio value between the first execution element and the second execution element, and controlling the output flow of the second hydraulic pump to be the fourth flow value; the fourth flow value is the product of the third flow value and the speed ratio value.

[0019] Optionally, the first execution element is a main hoist motor, and the second execution element is a power head motor, and the method further comprises:

[0020] determining a fifth flow value required by the first hydraulic pump according to the tilt angle of the first operation handle, and controlling the output flow of the first hydraulic pump to be the fifth flow value;

[0021] determining a sixth flow value required by the second hydraulic pump according to the tilt angle of the second operation handle, and detecting whether the sixth flow value is less than or equal to a preset flow value;

[0022] if the sixth flow value is less than or equal to the preset flow value, controlling the output flow of the second hydraulic pump to be the sixth flow value;

[0023] if the sixth flow value is greater than the preset flow value, controlling the output flow of the second hydraulic pump to be the preset flow value.

[0024] In a second aspect, an embodiment of the present application provides a controller configured to execute the control method for the hydraulic system in the first aspect.

[0025] In a third aspect, the embodiments of the present application provide a control device for a hydraulic system, the hydraulic system comprising at least a first hydraulic pump, a second hydraulic pump, a first directional valve, a second directional valve, a third directional valve, a fourth directional valve, a first actuator, a second actuator, a first operating handle, a second operating handle and an oil tank; the second directional valve and the third directional valve are O-type neutral function directional valves; the first directional valve is connected to the first hydraulic pump through an oil line, and the second directional valve is connected to the first hydraulic pump through the first directional valve or an oil line; the fourth directional valve is connected to the second hydraulic pump through an oil line, and the third directional valve is connected to the second hydraulic pump through the fourth directional valve or an oil line; working oil ports of the first directional valve and the third directional valve are connected one by one, and the first actuator is connected to the working oil ports of the first directional valve and the third directional valve respectively; working oil ports of the second directional valve and the fourth directional valve are connected one by one, and the second actuator is connected to the working oil ports of the second directional valve and the fourth directional valve respectively; the first directional valve, the second directional valve, the third directional valve and the fourth directional valve are connected to the oil tank through return oil ports respectively; the first operating handle is used to control the first actuator to act, and the second operating handle is used to control the second actuator to act; the control device comprises the controller according to the second aspect.

[0026] In a fourth aspect, the embodiments of the present application provide a hydraulic system, the hydraulic system comprising the control device for a hydraulic system according to the third aspect.

[0027] In a fifth aspect, the embodiments of the present application provide an engineering mechanical device, the engineering mechanical device comprising the hydraulic system according to the fourth aspect.

[0028] In a sixth aspect, the embodiments of the present application provide a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the steps of the control method for a hydraulic system according to the first aspect.

[0029] The control method and control device for a hydraulic system, the controller, the engineering machinery device and the storage medium provided by the embodiments of the present application, the hydraulic system at least comprises a first hydraulic pump, a second hydraulic pump, a first reversing valve, a second reversing valve, a third reversing valve, a fourth reversing valve, a first actuating element, a second actuating element, a first operating handle, a second operating handle and an oil tank; wherein the second reversing valve and the third reversing valve are O-type neutral function reversing valves; the first reversing valve is connected with the first hydraulic pump through an oil circuit, and the second reversing valve is connected with the first hydraulic pump through an oil circuit or the first reversing valve; the fourth reversing valve is connected with the second hydraulic pump through an oil circuit, and the third reversing valve is connected with the second hydraulic pump through an oil circuit or the fourth reversing valve; the working oil ports of the first reversing valve and the third reversing valve are connected one by one, and the first actuating element is connected with the working oil ports of the first reversing valve and the third reversing valve respectively; the working oil ports of the second reversing valve and the fourth reversing valve are connected one by one, and the second actuating element is connected with the working oil ports of the second reversing valve and the fourth reversing valve respectively; the oil return ports of the first reversing valve, the second reversing valve, the third reversing valve and the fourth reversing valve are connected with the oil tank respectively; the first operating handle is used for controlling the action of the first actuating element, and the second operating handle is used for controlling the action of the second actuating element; the method comprises the following steps: monitoring the inclination angle signals of the first operating handle and the second operating handle to determine whether a composite action occurs; when it is determined that the composite action occurs, controlling the first reversing valve and the fourth reversing valve to be in an open state, and controlling the second reversing valve and the third reversing valve to be in a neutral state. In this way, the oil circuits of the actuating elements are not interfered with each other under the composite action, the flow obtained by each actuating element is determined by the corresponding operating handle, more accurate flow distribution is provided for each actuating element, the speed stability of the actuating element, the coordination of the composite action operation and the user operation experience are effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is the schematic diagram of the architecture of the hydraulic system in the embodiments of the present application;

[0031] Figure 2 It is the flowchart of the control method for the hydraulic system provided by the embodiments of the present application;

[0032] Figure 3 It is the schematic diagram of the architecture of the existing hydraulic system;

[0033] Figure 4 It is the schematic diagram of the hardware control logic in the embodiments of the present application;

[0034] Figure 5 It is the schematic diagram of the corresponding relationship between the displacement of the pump and the control signal value of the pump in the embodiments of the present application;

[0035] Figure 6 Fig. 1 is a diagram showing the correspondence between the opening value of the valve and the control signal value of the valve in an embodiment of the present application;

[0036] Figure 7 Fig. 2 is a diagram showing the composite action control logic in an embodiment of the present application;

[0037] Figure 8 Fig. 3 is a diagram showing the structure of the control device for the hydraulic system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The illustrative examples described herein will be explained further with reference to the accompanying drawings. In the interest of clarity, not all of the various implementations of the applications have been presented. Accordingly, for ease of reference, the same or similar reference numbers will be used throughout the drawings and text to indicate the same or like components. As those skilled in the art will appreciate, the specific examples presented herein are representative of the work of the inventors and the present application, and should not be taken as limiting the present application in any way.

[0039] It should be noted that, as used in this document, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element. The terms "an embodiment", "one embodiment", "some embodiments", "one certain embodiment", "some certain embodiments" and the like used in the present document are intended to represent that a particular implementation of the process, method, article, or apparatus has been described. Such terms do not indicate a commitment to the particular implementation, and will not be construed as indicating that the described implementation is the only implementation available, and thus do not exclude the presence or possibility of additional similar or other implementations.

[0040] It should be understood that, although the terms first, second, third, etc. can be employed in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to differentiate one piece of information from another. For example, a first information can also be termed a second information, similarly, a second information can also be termed a first information, without departing from the scope of this disclosure. Depending on the context, the word "if' as used herein can be interpreted to mean "when" or "in response to determining". Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises", "comprising", "includes" and / or "including", as used herein, specify the presence of stated features, steps, operations, elements, components, items, kinds and / or groups but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, items, kinds and / or groups. The terms "or" and "and / or" as used herein are to be interpreted as inclusive, i.e. as meaning either item by itself or any combination of items. Thus "A, B or C" or "A, B and / or C" means any of the following: A; B; C; A and B; A and C; B and C; A, B and C. This definition applies to all uses of the terms "or" and "and / or", unless a context dictates otherwise.

[0041] It should be understood that, although the steps in the flowcharts of the embodiments of the present application are displayed in sequence according to the arrows, the steps are not necessarily executed in sequence according to the arrows. Unless otherwise specified herein, the execution of the steps is not limited in sequence, and can be executed in other sequences. Moreover, at least part of the steps in the figures can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or sub-steps or stages of other steps.

[0042] It should be noted that, in this disclosure, step codes such as S101, S102 are used, which are intended to more clearly and briefly describe the corresponding content, and do not constitute substantial restrictions on the sequence. Those skilled in the art can perform S102 first and then perform S101, etc. in specific implementation, but these should be within the protection scope of the present application.

[0043] It should be understood that the specific embodiments described herein are merely intended to explain the present application, and are not intended to limit the present application.

[0044] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0045] This application provides a control method for a hydraulic system. This control method can be executed by a control device for a hydraulic system provided in this application. The control device can be implemented using software and / or hardware. This embodiment uses the application of the control method for a hydraulic system to a controller as an example. See below. Figure 1 The hydraulic system includes at least a first hydraulic pump 1, a second hydraulic pump 2, a first directional valve 3, a second directional valve 4, a third directional valve 5, a fourth directional valve 6, a first actuator 7, a second actuator 8, and a first operating handle. Figure 1 (not shown in the image), second operating handle ( Figure 1 (not shown in the image) and fuel tank ( Figure 1 (Not shown in the image); wherein, the second directional valve 4 and the third directional valve 5 are O-type center-position functional directional valves; the first directional valve 3 is connected to the first hydraulic pump 1 via an oil circuit, and the second directional valve 4 is connected to the first hydraulic pump 1 via an oil circuit or the first directional valve 3; the fourth directional valve 6 is connected to the second hydraulic pump 2 via an oil circuit, and the third directional valve 5 is connected to the second hydraulic pump 2 via an oil circuit or the fourth directional valve 6; the working ports A1 and B1 of the first directional valve 3 are connected to the working ports A3 and B3 of the third directional valve 5 in a one-to-one correspondence, and the first actuator 7 is respectively connected to the working ports of the first directional valve 3. Oil ports A1 and B1 are connected to the working oil ports A3 and B3 of the third directional valve 5; the working oil ports A2 and B2 of the second directional valve 4 are connected to the working oil ports A4 and B4 of the fourth directional valve 6 in a one-to-one correspondence, and the second actuator 8 is connected to the working oil ports A2 and B2 of the second directional valve 4 and the working oil ports A4 and B4 of the fourth directional valve 6 respectively; the return oil ports of the first directional valve 3, the second directional valve 4, the third directional valve 5, and the fourth directional valve 6 are respectively connected to the oil tank; the first operating handle is used to control the action of the first actuator 7, and the second operating handle is used to control the action of the second actuator 8. Furthermore, the first hydraulic pump 1 and the second hydraulic pump 2 are respectively connected to the engine to obtain the mechanical energy output by the engine. Based on the above hydraulic system, see [reference needed]. Figure 2 The control method for a hydraulic system provided in this embodiment includes:

[0046] Step S101: Monitor the tilt angle signals of the first operating handle and the second operating handle to determine whether a compound action has occurred.

[0047] Optionally, the tilt angle signal of the first operation handle can reflect whether the first actuating element needs to be driven or controlled to act and the flow required for the action of the first actuating element, and the tilt angle signal of the second operation handle can reflect whether the second actuating element needs to be driven or controlled to act and the flow required for the action of the second actuating element. The composite action refers to the simultaneous operation of two or more actions, such as, for a rotary drilling rig, lifting the main winch while reversing the power head, etc.

[0048] Optionally, since the composite action actually occurs when two or more actuating elements are simultaneously driven or act, whether the actuating elements are driven or act can be determined by the tilt angle of the corresponding operation handle, so whether the composite action occurs can be determined by detecting the tilt angle signal of the operation handle. Optionally, the monitoring of the tilt angle signals of the first operation handle and the second operation handle to determine whether the composite action occurs includes: monitoring whether the tilt angles of the first operation handle and the second operation handle change simultaneously; if they change simultaneously, it is determined that the composite action occurs. Optionally, the tilt angles of the first operation handle and the second operation handle can be monitored in real time, at irregular times, or periodically, and if it is detected that the tilt angles of the first operation handle and the second operation handle change simultaneously, it is determined that the composite action occurs. It can be understood that the operator can first control the first operation handle or the second operation handle to act to generate a tilt angle signal, and then control the second operation handle or the first operation handle to act to generate another tilt angle signal after a period of time. Of course, the operator can also simultaneously control the first operation handle and the second operation handle to act to generate corresponding tilt angle signals. In this way, the occurrence of the composite action can be accurately determined, further improving the timeliness of ensuring the speed stability of the actuating elements and the user operation experience.

[0049] Step S102: When the composite action occurs, the first reversing valve and the fourth reversing valve are controlled to be in the open state, and the second reversing valve and the third reversing valve are controlled to be in the neutral state.

[0050] Optionally, when the first operation handle for controlling the action of the first actuating element generates an inclination angle signal, the first directional valve and the third directional valve are controlled to be in the open state, and the second directional valve and the fourth directional valve are controlled to be in the closed state, at this time the hydraulic oil output by the first hydraulic pump passes through the first directional valve, and the hydraulic oil output by the second hydraulic pump passes through the third directional valve, and together they are provided to the first actuating element, that is, the flow output by the first hydraulic pump and the second hydraulic pump is all distributed to the first actuating element, and the flow output by the first hydraulic pump and the second hydraulic pump is affected by the inclination angle of the first operation handle, and the opening degree of the first directional valve and the third directional valve is also affected by the inclination angle of the first operation handle. When the second operation handle for controlling the action of the second actuating element generates an inclination angle signal, the second directional valve and the fourth directional valve are controlled to be in the open state, and the first directional valve and the third directional valve are controlled to be in the closed state, at this time the hydraulic oil output by the first hydraulic pump passes through the second directional valve, and the hydraulic oil output by the second hydraulic pump passes through the fourth directional valve, and together they are provided to the second actuating element, that is, the flow output by the first hydraulic pump and the second hydraulic pump is all distributed to the second actuating element, and the flow output by the first hydraulic pump and the second hydraulic pump is affected by the inclination angle of the second operation handle, and the opening degree of the second directional valve and the fourth directional valve is also affected by the inclination angle of the second operation handle.

[0051] However, when it is determined that the composite action occurs, the first directional valve and the fourth directional valve are controlled to be in the open state, and the second directional valve and the third directional valve are controlled to be in the neutral state, at this time the hydraulic oil output by the first hydraulic pump passes through the first directional valve to the first actuating element, and the hydraulic oil output by the second hydraulic pump passes through the fourth directional valve to the second actuating element, and since the neutral function of the second directional valve and the third directional valve is O-shaped, the hydraulic oil output by the first hydraulic pump and the second hydraulic pump will not pass through the second directional valve and the third directional valve to the oil tank, thereby realizing that the first hydraulic pump only provides hydraulic oil to the first actuating element, and the second hydraulic pump only provides hydraulic oil to the second actuating element, and the oil circuits do not interfere with each other.

[0052] Optionally, the first directional valve and the fourth directional valve can be Y-type center function directional valves. Meanwhile, the second directional valve and the third directional valve can also be M-type center function directional valves in which two working oil ports are not connected when in a center state, etc. Optionally, the first actuating element and the second actuating element can be motors or oil cylinders. It should be noted that when the hydraulic system is applied to a rotary drilling rig, the first actuating element and the second actuating element can be a main winch motor, a traveling motor, a power head motor, a rotary motor, a mast oil cylinder, an amplitude motor, etc.

[0053] In summary, the control method for a hydraulic system provided by the above embodiments can realize that the oil paths of the actuating elements are not interfered with each other in the composite action, the flow rate obtained by each actuating element is determined by the corresponding operating handle, more accurate flow rate distribution is provided for each actuating element, the speed stability of the actuating element is effectively improved, the coordination of the composite action operation is improved, and the user operation experience is improved.

[0054] In an embodiment, the method further comprises:

[0055] determining a first flow rate value required by the first hydraulic pump according to the tilt angle of the first operating handle, and controlling the output flow rate of the first hydraulic pump to be the first flow rate value;

[0056] determining a second flow rate value required by the second hydraulic pump according to the tilt angle of the second operating handle, and controlling the output flow rate of the second hydraulic pump to be the second flow rate value;

[0057] and / or sending a target opening degree signal to the first directional valve and the fourth directional valve to make the opening degrees of the first directional valve and the fourth directional valve maximum.

[0058] Optionally, the displacement value required by the first hydraulic pump to output can be calculated according to the tilt angle of the first operating handle, and a displacement control signal is sent to the first hydraulic pump to make the first hydraulic pump output a corresponding displacement. The output flow rate of the first hydraulic pump is equal to the displacement of the first hydraulic pump multiplied by the rotation speed of the first hydraulic pump, the rotation speed of the first hydraulic pump is in a proportional relationship with the engine rotation speed, and the engine rotation speed is approximately constant. Therefore, the size of the displacement of the first hydraulic pump determines the output flow rate of the first hydraulic pump. That is, by controlling the first hydraulic pump to output a corresponding displacement, the output flow rate of the first hydraulic pump can be controlled to be the first flow rate value.

[0059] Optionally, the required output displacement value of the second hydraulic pump can be calculated according to the tilt angle of the second operation handle, and a displacement control signal is sent to the second hydraulic pump to make the second hydraulic pump output a corresponding displacement. The output flow of the second hydraulic pump is equal to the displacement of the second hydraulic pump multiplied by the rotating speed of the second hydraulic pump, and the rotating speed of the second hydraulic pump is in proportional relationship with the engine rotating speed which is approximately constant, so the size of the displacement of the second hydraulic pump determines the output flow of the second hydraulic pump. That is, by controlling the second hydraulic pump to output a corresponding displacement, the output flow of the second hydraulic pump can be controlled to be the second flow value.

[0060] Optionally, target opening signals are sent to the first directional valve and the fourth directional valve to make the opening of the first directional valve and the fourth directional valve be maximum, so as to ensure that the flow output from the first hydraulic pump can completely flow to the first actuator, and the flow output from the second hydraulic pump can completely flow to the second actuator, further improving the actuator speed stability, the coordination of compound operation and the user operation experience.

[0061] In an embodiment, the first actuator is a main hoist motor, and the second actuator is a power head motor, and the method further comprises:

[0062] determining a third flow value required to be output by the first hydraulic pump according to the tilt angle of the first operation handle, and controlling the output flow of the first hydraulic pump to be the third flow value;

[0063] determining a fourth flow value required to be output by the second hydraulic pump according to the third flow value and a preset rotating speed ratio value between the first actuator and the second actuator, and controlling the output flow of the second hydraulic pump to be the fourth flow value; the fourth flow value is the product of the third flow value and the rotating speed ratio value.

[0064] Optionally, when the first actuating element is a main hoist motor and the second actuating element is a power head motor, in a specific working scenario, the main hoist motor and the power head motor need to be controlled to act simultaneously, if the rotation speed of the main hoist motor and the rotation speed of the power head motor need to be controlled to keep a certain proportional relationship, and it is difficult for the operator to control the rotation speed of the main hoist motor and the rotation speed of the power head motor to keep a constant proportion by manually operating the first operation handle and the second operation handle, therefore, the third flow value required by the first hydraulic pump can be determined according to the inclination angle of the first operation handle, and the product of the rotation speed ratio value between the main hoist motor and the power head motor and the third flow value is taken as the fourth flow value required by the second hydraulic pump, so as to control the output flow of the second hydraulic pump to be the fourth flow value, so that the rotation speed of the main hoist motor can be changed according to the inclination angle of the first operation handle, while ensuring that the rotation speed ratio value between the main hoist motor and the power head motor keeps constant, thereby improving the control accuracy, and the speed of two actuating elements can be simultaneously and accurately controlled by one operation handle, that is, the accurate cooperation of the speed relationship between the actuating elements is realized, and the user operation experience is further improved.

[0065] In an embodiment, the first actuating element is a main hoist motor, and the second actuating element is a power head motor, and the method further comprises:

[0066] determining a fifth flow value required by the first hydraulic pump according to the inclination angle of the first operation handle, and controlling the output flow of the first hydraulic pump to be the fifth flow value;

[0067] determining a sixth flow value required by the second hydraulic pump according to the inclination angle of the second operation handle, and detecting whether the sixth flow value is less than or equal to a preset flow value;

[0068] if the sixth flow value is less than or equal to the preset flow value, controlling the output flow of the second hydraulic pump to be the sixth flow value;

[0069] if the sixth flow value is greater than the preset flow value, controlling the output flow of the second hydraulic pump to be the preset flow value.

[0070] Optionally, when the first actuating element is a main hoist motor and the second actuating element is a power head motor, in a specific working scenario, the main hoist motor and the power head motor need to be controlled to act simultaneously, and if the rotational speed of the power head motor needs to be kept constant, that is, the output flow of the second hydraulic pump needs to be kept constant, it is difficult for the operator to keep the rotational speed of the power head motor constant by manually operating the second operating handle. Therefore, the sixth flow value required by the second hydraulic pump can be determined according to the tilt angle of the second operating handle, and it is detected whether the sixth flow value is less than or equal to a preset flow value. If the sixth flow value is less than or equal to the preset flow value, the output flow of the second hydraulic pump is controlled to be the sixth flow value. If the sixth flow value is greater than the preset flow value, the output flow of the second hydraulic pump is controlled to be the preset flow value. That is, no matter how the rotational speed of the main hoist motor changes, the rotational speed of the power head motor can be kept constant. In this way, the control accuracy is improved, and the user operation experience is further improved.

[0071] Based on the same inventive concept as the foregoing embodiments, the embodiments of the present application also provide a controller. The hydraulic system at least includes a first hydraulic pump, a second hydraulic pump, a first directional valve, a second directional valve, a third directional valve, a fourth directional valve, a first actuating element, a second actuating element, a first operating handle, a second operating handle, and an oil tank. The second directional valve and the third directional valve are O-type neutral function directional valves. The first directional valve is connected to the first hydraulic pump through an oil path, and the second directional valve is connected to the first hydraulic pump through an oil path or the first directional valve. The fourth directional valve is connected to the second hydraulic pump through an oil path, and the third directional valve is connected to the second hydraulic pump through an oil path or the fourth directional valve. The working oil ports of the first directional valve and the third directional valve are connected one by one, and the first actuating element is connected to the working oil ports of the first directional valve and the third directional valve, respectively. The working oil ports of the second directional valve and the fourth directional valve are connected one by one, and the second actuating element is connected to the working oil ports of the second directional valve and the fourth directional valve, respectively. The return oil ports of the first directional valve, the second directional valve, the third directional valve, and the fourth directional valve are connected to the oil tank. The first operating handle is used to control the action of the first actuating element, and the second operating handle is used to control the action of the second actuating element. The controller is configured to execute the following method: monitoring the tilt angle signals of the first operating handle and the second operating handle to determine whether a composite action occurs; and when the composite action occurs, controlling the first directional valve and the fourth directional valve to be in an open state, and controlling the second directional valve and the third directional valve to be in a neutral state.

[0072] In an embodiment, the monitoring the tilt angle signals of the first operation handle and the second operation handle to determine whether a combined action occurs comprises:

[0073] monitoring whether the tilt angle of the first operation handle and the tilt angle of the second operation handle change simultaneously;

[0074] if the tilt angles change simultaneously, determining that a combined action occurs.

[0075] In an embodiment, the method further comprises:

[0076] determining a first flow value required by the first hydraulic pump according to the tilt angle of the first operation handle, and controlling the output flow of the first hydraulic pump to be the first flow value;

[0077] determining a second flow value required by the second hydraulic pump according to the tilt angle of the second operation handle, and controlling the output flow of the second hydraulic pump to be the second flow value;

[0078] and / or sending a target opening signal to the first directional valve and the fourth directional valve to make the opening of the first directional valve and the fourth directional valve maximum.

[0079] In an embodiment, the first execution element is a main hoist motor, and the second execution element is a power head motor, and the method further comprises:

[0080] determining a third flow value required by the first hydraulic pump according to the tilt angle of the first operation handle, and controlling the output flow of the first hydraulic pump to be the third flow value

[0081] determining a fourth flow value required by the second hydraulic pump according to the third flow value and a preset speed ratio value between the first execution element and the second execution element, and controlling the output flow of the second hydraulic pump to be the fourth flow value; the fourth flow value is the product of the third flow value and the speed ratio value.

[0082] In an embodiment, the first execution element is a main hoist motor, and the second execution element is a power head motor, and the method further comprises:

[0083] determining a sixth flow value required by the second hydraulic pump according to the tilt angle of the second operation handle, and detecting whether the sixth flow value is less than or equal to a preset flow value;

[0084] if the sixth flow value is less than or equal to the preset flow value, controlling the output flow of the second hydraulic pump to be the sixth flow value;

[0085] If the sixth flow value is greater than the preset flow value, the output flow of the second hydraulic pump is controlled to be the preset flow value.

[0086] Based on the same inventive concept as the foregoing embodiments, the embodiments of the present application also provide a control device for a hydraulic system, the hydraulic system comprising at least a first hydraulic pump, a second hydraulic pump, a first directional valve, a second directional valve, a third directional valve, a fourth directional valve, a first actuator, a second actuator, a first operating handle, a second operating handle, and an oil tank; the second directional valve and the third directional valve are O-type neutral directional valves; the first directional valve is connected to the first hydraulic pump through an oil path, and the second directional valve is connected to the first hydraulic pump through the first directional valve or an oil path; the fourth directional valve is connected to the second hydraulic pump through an oil path, and the third directional valve is connected to the second hydraulic pump through the fourth directional valve or an oil path; the working oil ports of the first directional valve and the third directional valve are connected one by one, and the first actuator is connected to the working oil ports of the first directional valve and the third directional valve respectively; the working oil ports of the second directional valve and the fourth directional valve are connected one by one, and the second actuator is connected to the working oil ports of the second directional valve and the fourth directional valve respectively; the return oil ports of the first directional valve, the second directional valve, the third directional valve, and the fourth directional valve are connected to the oil tank respectively; the first operating handle is used to control the action of the first actuator, and the second operating handle is used to control the action of the second actuator; the control device comprises the controller described above.

[0087] It should be noted that the apparatus provided in the above embodiments is only exemplified by the division of the above program modules when performing the related operations, and in actual applications, the above processes can be completed by different program modules according to needs, that is, the internal structure of the terminal is divided into different program modules to complete all or part of the above processes. In addition, the apparatus provided in the above embodiments and the method embodiments in the above embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be described here.

[0088] Based on the same inventive concept as the foregoing embodiments, the embodiments of the present application also provide a hydraulic system, as shown in Figure 1 The hydraulic system comprises at least a first hydraulic pump 1, a second hydraulic pump 2, a first directional valve 3, a second directional valve 4, a third directional valve 5, a fourth directional valve 6, a first actuator 7, a second actuator 8, a first operating handle (not shown in Figure 1 ), a second operating handle (not shown in Figure 1 ), and an oil tank (not shown in Figure 1The second directional valve 4 and the third directional valve 5 are O-type neutral function directional valves; the first directional valve 3 is connected with the first hydraulic pump 1 through an oil line, and the second directional valve 4 is connected with the first hydraulic pump 1 through an oil line or the first directional valve 3; the fourth directional valve 6 is connected with the second hydraulic pump 2 through an oil line, and the third directional valve 5 is connected with the second hydraulic pump 2 through an oil line or the fourth directional valve 6; the working oil ports A1 and B1 of the first directional valve 3 are connected with the working oil ports A3 and B3 of the third directional valve 5 in one-to-one correspondence, and the first actuator 7 is connected with the working oil ports A1 and B1 of the first directional valve 3 and the working oil ports A3 and B3 of the third directional valve 5 respectively; the working oil ports A2 and B2 of the second directional valve 4 are connected with the working oil ports A4 and B4 of the fourth directional valve 6 in one-to-one correspondence, and the second actuator 8 is connected with the working oil ports A2 and B2 of the second directional valve 4 and the working oil ports A4 and B4 of the fourth directional valve 6 respectively; the return oil ports of the first directional valve 3, the second directional valve 4, the third directional valve 5 and the fourth directional valve 6 are connected with the oil tank respectively; the first operation handle is used for controlling the first actuator 7 to act, and the second operation handle is used for controlling the second actuator 8 to act; the hydraulic system further comprises the control device for the hydraulic system.

[0089] Based on the same inventive concept as the foregoing embodiments, the embodiments of the present application also provide an engineering mechanical device, which comprises the hydraulic system described above. The engineering mechanical device includes, but is not limited to, a rotary drilling rig and the like.

[0090] In an embodiment, the engineering mechanical device further comprises:

[0091] a communication interface, which is capable of interacting with other devices (such as network devices, terminals, etc.) to exchange information;

[0092] a processor, which is connected with the communication interface to realize information interaction with other devices, and is used to run a computer program to execute the method provided in one or more of the technical solutions described above;

[0093] a memory, which is used to store a computer program capable of running on the processor.

[0094] The processor contains a core, and the core retrieves corresponding program units from the memory. The core can be set to one or more, and the method provided in one or more of the technical solutions described above is realized by adjusting the core parameters.

[0095] The memory can include non-permanent memory in a computer readable medium, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip. It should be noted that the specific process of the processor performing the above operations is described in detail in the method embodiment, which will not be described here.

[0096] Based on the same inventive concept as the foregoing embodiments, the foregoing embodiments are described in detail below through a specific example. In this embodiment, the valve can be referred to as a reversing valve, and the pump can be referred to as a hydraulic pump.

[0097] Referring to Figure 3 In the existing hydraulic system, the neutral function of the valves 3, 4, 5, and 6 is Y-shaped (or the neutral function is that one or two of the working oil ports A and B are connected to the oil return port), and the execution element 7 must work normally. The valve opening degree of the valve 3 and the valve opening degree of the valve 5 must be increased. If only the valve 3 changes and the valve 5 does not change, the flow from the hydraulic pump 1 to the valve 3 will directly flow back to the tank through the valve 5, resulting in no action. In the compound action, the execution elements 7 and 8 act simultaneously, and the opening degrees of the valves 3, 4, 5, and 6 must also change and cannot be maintained at the neutral position. Once this occurs, it will cause one of the execution elements to have no action. The opening degree of the handle control main valve is controlled, the main valve distributes the flow, and the flow of each main valve and the flow of the main pump are confirmed.

[0098] To solve the above problems, the embodiment designs a hydraulic system, which continues to refer to Figure 1 The hydraulic system provided in the embodiment includes a main pump 1, a main pump 2, a main valve 3, a main valve 4, a main valve 5, a main valve 6, a motor 7, a motor 8, a controller, a first operation handle, and a second operation handle. Wherein,

[0099] Referring to Figure 4 The controller controls the displacement control proportional valve of the main pump 1 and 2 and the opening degree control proportional valve of the valves 3, 4, 5, and 6 according to the first operation handle and the second operation handle. It should be noted that the main pump 1 and the main pump 2 can be referred to as pump 1 and pump 2 respectively, and the main valve 3, the main valve 4, the main valve 5, and the main valve 6 can be referred to as valve 3, valve 4, valve 5, and valve 6 respectively.

[0100] The main pump is a displacement pump, and the controller calculates the displacement value of the main pump according to the tilt angle signal of the operation handle. The main pump outputs the corresponding displacement according to the displacement control signal output by the controller. The corresponding relationship between the displacement of the pump and the control signal value of the pump can be referred to Figure 5 The flow is equal to the main pump displacement multiplied by the main pump speed RPM. The main pump speed RPM is in a proportional relationship with the speed of the engine connected to the main pump. In the embodiment, the engine speed is a constant speed (or the engine speed fluctuates very little, which is approximately a constant speed). Therefore, the pump displacement determines the pump flow.

[0101] The main valve is an electrically controlled valve, the opening value of which is determined by the opening control signal sent by the controller. The corresponding relationship between the opening value of the valve and the control signal value of the valve can be referred to Figure 6 .

[0102] The first operating handle controls the motor 7 as an execution element, and the hydraulic oil of the main pump 1 passes through the valve 3, and the hydraulic oil of the main pump 2 passes through the valve 5, and is provided to the motor 7 together; wherein the A and B ports of the valve 3 in the middle function as Y type, and the A and B ports of the valve 5 in the middle function as O type.

[0103] The second operating handle controls the motor 8 as an execution element, and the hydraulic oil of the main pump 1 passes through the valve 4, and the hydraulic oil of the main pump 2 passes through the valve 6, and is provided to the motor 8 together; wherein the A and B ports of the valve 6 in the middle function as Y type, and the A and B ports of the valve 4 in the middle function as O type.

[0104] In single action, the operated execution element-motor 7 is controlled by the first operating handle, the flow of the main pumps 1 and 2 is affected by the tilt angle signal of the first operating handle, the opening of the main valve corresponding to the execution element is affected by the tilt angle signal of the first operating handle, and the flow of the main pumps 1 and 2 is all distributed to the execution element-motor 7.

[0105] In single action, the operated execution element-motor 8 is controlled by the second operating handle, the flow of the main pumps 1 and 2 is affected by the tilt angle signal of the second operating handle, the opening of the main valve corresponding to the execution element is affected by the tilt angle signal of the second operating handle, and the flow of the main pumps 1 and 2 is all distributed to the execution element-motor 8.

[0106] Referring to Figure 7 , it is a control logic schematic diagram for composite action. In composite action, the execution element-motor 7 and the execution element-motor 8 need to be operated at the same time, the controller obtains the tilt angle of the first operating handle and the tilt angle of the second operating handle, and when the tilt angle of the first operating handle and the tilt angle of the second operating handle change at the same time, the controller considers that composite action occurs.

[0107] When composite action occurs, the valves 4 and 5 remain unchanged in the middle state; the hydraulic oil of the main pump 1 flows to the motor 7 through the valve 3, and the hydraulic oil of the main pump 2 flows to the motor 8 through the valve 6; since the middle functions of the valves 4 and 5 are O type, the hydraulic oil of the main pumps 1 and 2 will not flow back to the oil tank through the valves 4 and 5; the main pump 1 only supplies oil to the motor 7, and the main pump 2 only supplies oil to the motor 8, so as to realize mutual non-interference of the oil paths.

[0108] When the composite action occurs, for the control of the valve: the controller acquires the tilt angle signal of the first operating handle, sends the valve opening control signal to the valve 3, and the valve 3 outputs the corresponding valve opening according to the control signal of the first operating handle (in this embodiment, the opening is maximum at this time under the composite action); the controller acquires the tilt angle signal of the second operating handle, sends the valve opening control signal to the valve 6, and after receiving the control signal of the second operating handle, the valve 6 outputs the corresponding valve opening according to the control signal of the second operating handle 2 (in this embodiment, the opening is maximum at this time under the composite action).

[0109] When the composite action occurs, for the control of the pump: the controller acquires the tilt angle signal of the first operating handle, sends the displacement control signal to the main pump 1, and the main pump 1 outputs the corresponding flow Q1 according to the control signal of the first operating handle, so the speed of the motor 7 is completely determined by the tilt angle signal of the first operating handle; the controller acquires the tilt angle signal of the second operating handle, sends the displacement control signal to the main pump 2, and the main pump 2 outputs the corresponding flow Q2 according to the control signal of the second operating handle, so the speed of the motor 8 is completely determined by the tilt angle signal of the second operating handle 8.

[0110] Under the composite action, the oil circuits of the motor 7 and the motor 8 do not interfere with each other, and the flow (speed) of each is determined by the operating handle; solves the problem that under the composite action in the prior art, each execution element allocates flow according to the size of the load pressure, causing unstable speed of the execution element and mutual influence.

[0111] Under the composite action, the flow of the main pump 1 and the main pump 2 is fully executed by the motor 7 and the motor 8; since the flow of the main pump is determined by the displacement of the main pump, the speed ratio relationship and priority of the motor 7 and the motor 8 can be set to make the cooperation of the two more accurate under the composite action.

[0112] Speed ratio relationship: when the rotational speed of the motor 7 is MV1 and the rotational speed of the motor 8 is MV2, there is a speed ratio relationship K between them, where K = MV1 / MV2, and under the composite action, the first operating handle is used to control the motor 7, and the main pump 1 outputs the flow Q1, so the output flow Q2 of the main pump 2 is K*Q1, thereby realizing the function of accurately controlling two motors at the same time with one operating handle.

[0113] Priority relationship: when the rotational speed of the motor 7 is MV1 and the rotational speed of the motor 8 is MV2, the priority of the motor 2 is higher than that of the motor 1, and when the second operating handle is used, the MV2 of the motor 8 is kept constant, that is, the output flow Q2 of the main pump 2 is kept constant, that is, no matter how the first operating handle changes, the rotational speed of the motor 8 is constant. For example, for the working scene of unlocking the drill rod of the rotary drilling rig, the operator needs to raise the main winch (motor 7) and reverse the power head (motor 8) at the same time, and in this case, the speed of the reversed power head needs to be kept constant regardless of the speed of the main winch.

[0114] In summary, the control method for a hydraulic system provided by the embodiment has the following advantages or effects: (1) the control sequence is different, that is, the angle range of the handle determines the pump flow and the opening of the valve, which belongs to the positive flow technical route, which is different from the load-sensitive technical route in the prior art in which the angle range of the handle determines the flow of the valve, and the flow of the valve determines the flow of the pump; (2) the output size of the pump flow is controlled by the angle range of the handle, and the opening of the valve is adjusted to be maximum; (3) the oil circuit design link and the valve mid-position function design are added, and on this basis, the precise cooperation of the speed relationship between the execution elements is realized; (4) in the prior art, a pressure unit needs to be added to realize flow distribution, while in the present application, the flow is independently distributed through the design of the oil circuit and the valve core function.

[0115] Based on the same inventive concept as the foregoing embodiments, the embodiment of the present application provides a control device for a hydraulic system, as shown in Figure 8 , the device comprises a processor 310 and a memory 311 storing a computer program; wherein, Figure 8 The processor 310 in the figure is not used to refer to the number of processors 310 being one, but is only used to refer to the positional relationship of the processor 310 relative to other devices, and in actual application, the number of processors 310 can be one or more; similarly, Figure 8 The memory 311 in the figure also has the same meaning, that is, it is only used to refer to the positional relationship of the memory 311 relative to other devices, and in actual application, the number of memories 311 can be one or more. When the processor 310 runs the computer program, the control method for a hydraulic system applied to the above device is realized.

[0116] The device can further comprise at least one network interface 312. The various components in the device are coupled together through a bus system 313. It can be understood that the bus system 313 is used to realize the connection and communication between the components. The bus system 313 includes not only a data bus, but also a power supply bus, a control bus and a status signal bus. However, for the purpose of clear illustration, all kinds of buses are marked as the bus system 313 in Figure 8 .

[0117] The memory 311 can be a volatile memory or a non-volatile memory, and can include both a volatile and a non-volatile memory. The non-volatile memory can be a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a Compact Disc Read-Only Memory (CD-ROM). The magnetic surface memory can be a magnetic disk memory or a magnetic tape memory. The volatile memory can be a Random Access Memory (RAM) used as an external cache. By way of example, but not limitation, many forms of RAM can be used, such as a Static Random Access Memory (SRAM), a Synchronous Static Random Access Memory (SSRAM), a Dynamic Random Access Memory (DRAM), a Synchronous Dynamic Random Access Memory (SDRAM), a Double Data Rate Synchronous Dynamic Random Access Memory (DDR SDRAM), an Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), a Sync Link Dynamic Random Access Memory (SLDRAM), a Direct Rambus Random Access Memory (DRRAM).The memory 311 described in the embodiments of the present application is intended to include, but not limited to, these and any other suitable type of memory.

[0118] The memory 311 in the embodiments of the present application is configured to store various types of data to support the operation of the device. Examples of the data include: any computer programs for operating on the device, such as operating systems and application programs; contact data; phonebook data; messages; pictures; videos; and the like. The operating system contains various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application programs can contain various application programs, such as a media player (Media Player), a browser (Browser), and the like, for implementing various application services. Here, the program for implementing the method of the embodiments of the present application can be contained in the application programs.

[0119] Based on the same inventive concept as the foregoing embodiments, the present embodiment also provides a computer storage medium, in which a computer program is stored, and the computer storage medium can be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, a compact disc read-only memory (CD-ROM), or the like. The computer storage medium can also be various devices including one or any combination of the above memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, and the like. The computer program stored in the computer storage medium is run by a processor to implement the control method for a hydraulic system applied to the device described above. The specific step flow implemented by the computer program run by the processor will be described in the description of the embodiments shown in the drawings, which will not be described here again. Figure 2 The description of the embodiments shown in the drawings will not be described here again.

[0120] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, however, as long as the combinations of the technical features do not contradict each other, they should be considered as the scope of the present disclosure.

[0121] In this document, the terms "comprise" "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0122] The above description is only specific embodiments of the application, but the protection scope of the application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the application, which should be covered by the protection scope of the application. Therefore, the protection scope of the application should be subject to the protection scope of the claims.

Claims

1. A control method for a hydraulic system, characterized in that, The hydraulic system includes at least a first hydraulic pump, a second hydraulic pump, a first directional valve, a second directional valve, a third directional valve, a fourth directional valve, a first actuator, a second actuator, a first operating handle, a second operating handle, and an oil tank; wherein the second directional valve and the third directional valve are O-type center-position functional directional valves; the first directional valve is connected to the first hydraulic pump via an oil circuit, and the second directional valve is connected to the first hydraulic pump via an oil circuit or the first directional valve; the fourth directional valve is connected to the second hydraulic pump via an oil circuit, and the third directional valve is connected to the second hydraulic pump via an oil circuit or the fourth directional valve; the working port of the first directional valve is connected to the... The working ports of the third directional control valve are connected one-to-one, and the first actuator is connected to the working ports of the first and third directional control valves respectively; the working ports of the second and fourth directional control valves are connected one-to-one, and the second actuator is connected to the working ports of the second and fourth directional control valves respectively; the return ports of the first, second, third, and fourth directional control valves are respectively connected to the oil tank; the first operating handle is used to control the action of the first actuator, and the second operating handle is used to control the action of the second actuator; the method includes: Monitor the tilt angle signals of the first and second operating handles to determine whether a compound action has occurred; When a combined action is determined to occur, the first and fourth directional valves are controlled to be in the open state, and the second and third directional valves are controlled to be in the neutral state.

2. The method according to claim 1, characterized in that, The monitoring of the tilt angle signals of the first and second operating handles to determine whether a compound action has occurred includes: Monitor whether the tilt angles of the first operating handle and the second operating handle change simultaneously; If changes occur simultaneously, a compound action is determined to have occurred.

3. The method according to claim 1, characterized in that, The method further includes: The first flow rate value required to be output by the first hydraulic pump is determined based on the tilt angle of the first operating handle, and the output flow rate of the first hydraulic pump is controlled to be the first flow rate value. The second flow rate value required to be output by the second hydraulic pump is determined based on the tilt angle of the second operating handle, and the output flow rate of the second hydraulic pump is controlled to be the second flow rate value; And / or, send a target opening signal to the first directional valve and the fourth directional valve to maximize the opening of the first directional valve and the fourth directional valve.

4. The method according to claim 1, characterized in that, The first actuator is a main hoisting motor, the second actuator is a power head motor, and the method further includes: The third flow rate value required by the first hydraulic pump is determined based on the tilt angle of the first operating handle, and the output flow rate of the first hydraulic pump is controlled to be the third flow rate value. Based on the third flow rate value and the preset speed ratio between the first actuator and the second actuator, the fourth flow rate value required to be output by the second hydraulic pump is determined, and the output flow rate of the second hydraulic pump is controlled to be the fourth flow rate value; the fourth flow rate value is the product of the third flow rate value and the speed ratio.

5. The method according to claim 1, characterized in that, The first actuator is a main hoisting motor, the second actuator is a power head motor, and the method further includes: The fifth flow rate value required to be output by the first hydraulic pump is determined based on the tilt angle of the first operating handle, and the output flow rate of the first hydraulic pump is controlled to be the fifth flow rate value. The sixth flow rate value required to be output by the second hydraulic pump is determined based on the tilt angle of the second operating handle, and it is detected whether the sixth flow rate value is less than or equal to the preset flow rate value. If the sixth flow rate value is less than or equal to the preset flow rate value, then the output flow rate of the second hydraulic pump is controlled to be the sixth flow rate value; If the sixth flow rate value is greater than the preset flow rate value, then the output flow rate of the second hydraulic pump is controlled to be the preset flow rate value.

6. A controller, characterized in that, It is configured to perform a control method for a hydraulic system according to any one of claims 1 to 5.

7. A control device for a hydraulic system, characterized in that, The hydraulic system includes at least a first hydraulic pump, a second hydraulic pump, a first directional valve, a second directional valve, a third directional valve, a fourth directional valve, a first actuator, a second actuator, a first operating handle, a second operating handle, and an oil tank; the second directional valve and the third directional valve are O-type center-position functional directional valves; the first directional valve is connected to the first hydraulic pump via an oil circuit, and the second directional valve is connected to the first hydraulic pump via an oil circuit or the first directional valve; the fourth directional valve is connected to the second hydraulic pump via an oil circuit, and the third directional valve is connected to the second hydraulic pump via an oil circuit or the fourth directional valve; the working ports of the first directional valve and the third directional valve are... The control device comprises a controller according to claim 6. The first actuator is connected to the working ports of the first and third directional control valves respectively. The working ports of the second and fourth directional control valves are connected in a one-to-one correspondence, and the second actuator is connected to both working ports of the second and fourth directional control valves respectively. The return ports of the first, second, third, and fourth directional control valves are connected to the oil tank. The first operating handle controls the action of the first actuator, and the second operating handle controls the action of the second actuator.

8. A hydraulic system, characterized in that, The hydraulic system includes the control device for the hydraulic system according to claim 7.

9. An engineering machinery equipment, characterized in that, The engineering machinery equipment includes the hydraulic system according to claim 8.

10. A computer-readable storage medium, characterized in that, The system contains a computer program that, when executed by a processor, implements the control method for a hydraulic system as described in any one of claims 1 to 5.

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