Method, system and crane for dynamic regulation control of hoisting flow merging

Abstract

The application discloses a hoisting flow dynamic adjustment control method, system and crane. The method comprises the following steps: acquiring the hoisting weight of the crane, the ratio of the pulley block, the working layer number and the drum diameter of the steel wire rope, and the output power and torque corresponding to the current rotating speed of the engine. The current required displacement of the pump set is determined according to the output power and torque, and the actual required power and torque of the pump set are determined according to the current required displacement, the hoisting weight of the crane, the ratio of the pulley block, the working layer number and the drum diameter of the steel wire rope. In the case that the actual required power and torque are greater than the output power and torque of the engine, the actual displacement of the pump set and / or the motor is adjusted to match the actual required power and torque of the pump set with the output power and torque corresponding to the current rotating speed of the engine. The application can solve the problem of engine stall caused by different hoisting weight conditions, especially when the current load demand exceeds the power and torque that the engine can provide, and improve the working efficiency of the system.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a method, system, and crane for dynamic adjustment and control of lifting and merging. Background Technology

[0002] During crane lifting operations, as the weight of the load and the lifting height increase, the power and torque requirements of the load end also gradually increase until they reach or exceed the upper limit of the power and torque that the engine can provide under the current conditions. At this time, it is necessary to adjust the load end (adjust the pump and / or motor displacement) to meet the power and torque requirements that the engine can provide, so as to ensure that the engine does not stall.

[0003] In existing technologies, the main control method employed is extreme load system regulation control. Extreme load systems regulate the load by first detecting deviation (speed) and then making adjustments. Specifically, they receive the engine's current actual speed and the set speed, compare the difference between the two to determine if the load is excessive. When the speed difference exceeds the allowable value, they adjust the pump and / or motor displacement to reduce the load and meet the engine's output power and torque requirements. However, at this point, the engine's output power and torque are no longer sufficient to meet the current demands. When faced with situations with large load variations, such as multi-pump / multi-motor systems, the extreme load system exhibits a response lag, leading to insufficient adjustment time and engine stalling. Summary of the Invention

[0004] The purpose of this application is to provide a method, system, and crane for dynamic adjustment and control of lifting and merging, in order to solve the problem in the prior art where the engine stalls due to the lag in the adjustment response of the extreme load system when facing situations with large load changes, such as multi-pump-multi-motor systems.

[0005] To achieve the above objectives, the first aspect of this application provides a method for dynamic adjustment and control of hoisting and confluence, applied to a crane. The crane includes a controller, an engine, a hoisting mechanism, a pulley block, and a wire rope. The controller communicates with both the engine and the hoisting mechanism. The hoisting mechanism includes a drum, at least one pump unit, and at least one motor. The method includes:

[0006] Obtain the crane's lifting capacity, pulley block ratio, number of working layers of wire rope, and drum diameter;

[0007] Obtain the output power and output torque corresponding to the current engine speed;

[0008] The current required displacement of the pump set is determined based on the output power and output torque corresponding to the current engine speed.

[0009] The actual required power and torque of the pump set are determined based on the current required displacement of the pump set, the lifting capacity of the crane, the ratio of the pulley block, the number of working layers of the wire rope, and the drum diameter.

[0010] Determine whether the actual power and torque required by the pump unit are greater than the output power and torque corresponding to the current engine speed;

[0011] If the actual power and torque demanded by the pump set are determined to be greater than the output power and torque corresponding to the current engine speed, the actual displacement of the pump set and / or motor is adjusted to the current demand displacement so that the actual power and torque demanded by the pump set are matched with the output power and torque corresponding to the current engine speed.

[0012] In this embodiment of the application, the current required displacement of the pump set satisfies formula (1):

[0013]

[0014]

[0015] V g2 =min(V g2-1 V g2-2 (1)

[0016] Among them, V g2-1 V is the first current required displacement of the pump set calculated based on the output power corresponding to the current engine speed. g2-2 V is the second current required displacement of the pump set calculated based on the output torque corresponding to the current engine speed. g2 K represents the current required displacement of the pump set, and K is the power and torque conversion factor, ranging from 0 to 1.

[0017] In this embodiment of the application, after adjusting the actual displacement of the pump set and / or motor to the current required displacement so that the actual required power and torque of the pump set match the output power and torque corresponding to the current engine speed, the method further includes:

[0018] The theoretical speed of the motor is determined based on the current required displacement of the pump set, the total displacement of the motor, and the current speed of the engine.

[0019] Obtain the actual speed of the motor;

[0020] Determine whether the actual speed of the motor matches its theoretical speed;

[0021] If the actual speed of the motor does not match its theoretical speed, continue to adjust the actual displacement of the pump set and / or the motor until the actual speed of the motor matches its theoretical speed.

[0022] In this embodiment, the theoretical rotational speed of the motor satisfies formula (2):

[0023]

[0024] Where n1 is the theoretical speed of the motor, n0 is the current speed of the engine, η1 is the total volumetric efficiency of the pump set and motor, N2 is the number of motors, N1 is the number of pump sets, i2 is the transfer case speed ratio (i2 is 1 when there is no transfer case between the engine and the pump set), V g1 V represents the total displacement of the motor. g2 This represents the current required displacement of the pump unit.

[0025] In this embodiment of the application, determining the actual required power and torque of the pump set based on the current required displacement of the pump set, the lifting weight of the crane, the pulley block ratio, the working layer of the wire rope, and the drum diameter includes:

[0026] The single-rope tension of the wire rope is determined based on the lifting capacity of the crane and the ratio of the pulley block.

[0027] The current working diameter of the wire rope is determined based on the drum diameter and the wire rope diameter.

[0028] The average working pressure of the motor is determined based on the single rope tension, the current working diameter, and the number of working layers of the wire rope.

[0029] The average pressure of the pump set is determined based on the average operating pressure of the motor.

[0030] The actual required power and torque of the pump set are determined based on the average pressure of the pump set and the current required displacement of the pump set.

[0031] In this embodiment, the average working pressure of the motor satisfies formula (3):

[0032]

[0033] Where p1 is the average working pressure of the motor, F is the single-rope tension of the wire rope, d is the current working diameter of the wire rope, i1 is the speed ratio of the reducer, and V g1 η1 is the total displacement of the motor, η2 is the total volumetric efficiency of the pump set and the motor, and η3 is the mechanical efficiency of the reducer.

[0034] In this embodiment, the average pressure of the pump set satisfies formula (4):

[0035] p2 = p1 + Δp; (4)

[0036] Where p2 is the average pressure of the pump set, p1 is the average working pressure of the motor, and Δp is the pressure loss of the pipeline from the pump set to the motor.

[0037] In this embodiment, the actual power and actual torque of the pump set satisfy formula (5):

[0038]

[0039] Wherein, P1 is the actual power requirement of the pump set, T1 is the actual torque requirement of the pump set, p1 is the average working pressure of the motor, p2 is the average pressure of the pump set, and V g2 η is the current required displacement of the pump set, n0 is the current speed of the engine, η3 is the total efficiency of the pump set, η4 ​​is the volumetric efficiency of the pump set, and η5 is the mechanical efficiency of the pump set.

[0040] A second aspect of this application provides a controller, comprising:

[0041] The memory is configured to store instructions; and

[0042] The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the aforementioned method for dynamic adjustment and control of lifting and merging.

[0043] A third aspect of this application provides a lifting and merging dynamic adjustment control system, comprising:

[0044] engine;

[0045] The hoisting mechanism includes a drum, at least one pump unit, and at least one motor; and

[0046] The aforementioned controllers communicate with the engine and the lifting mechanism, respectively.

[0047] The fourth aspect of this application provides a crane including a lifting and confluence dynamic adjustment control system according to the above description.

[0048] The fifth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the above-described lifting and merging dynamic adjustment control method.

[0049] The above technical solution first obtains the crane's lifting capacity, pulley block ratio, wire rope working layer number, and drum diameter. Then, it obtains the engine's current speed-corresponding output power and torque. Based on the engine's current speed-corresponding output power and torque, the pump set's current required displacement is determined. Then, based on the pump set's current required displacement, the crane's lifting capacity, pulley block ratio, wire rope working layer number, and drum diameter, the pump set's actual required power and torque are determined. Next, it is determined whether the pump set's actual required power and torque are greater than the engine's current speed-corresponding output power and torque. If it is determined that the pump set's actual required power and torque are greater than the engine's current speed-corresponding output power and torque, the pump set and / or motor's actual displacement is adjusted to the current required displacement to match the pump set's actual required power and torque with the engine's current speed-corresponding output power and torque. This application adjusts the pump and / or motor displacement through real-time calculation, thereby matching the engine's output power and torque with the dynamically changing demands of the load. It also uses motor speed as a parameter for closed-loop feedback control, which solves the problem of engine stalling under different lifting conditions, especially when the current load demand exceeds the power and torque that the engine can provide, and improves the system's working efficiency.

[0050] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0051] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0052] Figure 1 This diagram schematically illustrates an application environment of a method for dynamic adjustment and control of lifting and merging according to an embodiment of this application.

[0053] Figure 2 A flowchart illustrating a method for dynamic adjustment and control of lifting and merging according to an embodiment of this application is shown schematically.

[0054] Figure 3 A flowchart illustrating a method for precisely adjusting the displacement of a pump set according to an embodiment of this application is shown schematically.

[0055] Figure 4 This schematically illustrates a flowchart of a method for determining the actual required power and actual required torque of a pump set according to an embodiment of this application;

[0056] Figure 5 This schematic diagram illustrates a structural block diagram of a controller according to an embodiment of the present application;

[0057] Figure 6 A block diagram of a lifting and merging dynamic adjustment control system according to an embodiment of this application is shown schematically.

[0058] Explanation of reference numerals in the attached figures

[0059] 1. Engine 2. Lifting mechanism

[0060] 3. Pulley block 4. Controller

[0061] 210 Pump Set 220 Motor

[0062] 230 reducer, 240 drum Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0064] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0065] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0066] Figure 1 This schematic diagram illustrates an application environment of a lifting and merging dynamic adjustment control method according to an embodiment of this application. The lifting and merging dynamic adjustment control method of this application embodiment can be applied to, for example... Figure 1The application environment is shown. In this embodiment, the method of dynamic adjustment and control of lifting and merging is applied to a crane, which includes an engine 1, a transfer case, a pump set 210, a motor 220, a reducer 230, a drum 240, a pulley block 3, and a wire rope. The engine 1 drives the pump 210 through the transfer case to provide power to the motor 220. The rotational motion of the motor 220 drives the lifting or lowering of the load. During the lifting operation, as the weight of the load and the lifting height increase, the power and torque demand of the load end also gradually increases until it reaches or exceeds the upper limit of the power and torque that the engine 1 can provide under the current state. At this time, it is necessary to adjust the load end (adjust the displacement of the pump set 210 and / or the motor 220) to meet the power and torque requirements that the engine 1 can provide, so as to ensure that the engine 1 does not stall.

[0067] The current main control method is extreme load system regulation control: it determines whether the load exceeds the limit by detecting whether the engine speed drops; if it does, it adjusts the displacement of the pump set and / or motor to reduce the load and meet the engine's output power and torque requirements. The extreme load system's adjustment of the load end involves first detecting the deviation (speed) and then making the adjustment. At this point, the engine's output power and torque may already be insufficient to meet the current demand. When faced with situations with large load changes, such as multiple pumps and multiple motors, the extreme load system's adjustment exhibits a response lag, leading to engine stalling due to insufficient adjustment time. Based on this, this application proposes a lifting and merging dynamic regulation control method. This method ensures that the engine's single output can correspond to dynamically changing load demands. When the load demand exceeds the engine's capacity, the pumps and / or motors are adjusted to adapt to the engine's output power and torque, thereby preventing engine stalling.

[0068] Figure 2 A flowchart illustrating a method for dynamic adjustment and control of lifting and merging according to an embodiment of this application is shown schematically. Figure 2 As shown in the figure, this application provides a method for dynamic adjustment and control of lifting and merging, which may include the following steps.

[0069] Step 201: Obtain the crane's lifting capacity, pulley block ratio, number of working layers of wire rope, and drum diameter.

[0070] In this embodiment, when the load is at different heights, the corresponding hoisting mechanism wire rope is at different working layers. The working pressure of the hoisting system gradually increases with the number of working layers. Thus, the load demand is dynamically changing, while the engine output power and torque are fixed once the engine speed is selected. In other words, the engine's single output must correspond to the dynamically changing load demand. In actual operation, the engine output power and torque may meet the load demand at the current working layer, but not at another working layer. For situations where the load demand exceeds the engine's capacity, the pump and / or motor need to be adjusted to adapt to the engine's output power and torque. Therefore, to accurately adjust the pump and / or motor, relevant parameters of the crane can be obtained first. In this example, these parameters may be the crane's lifting capacity, the pulley block ratio, the number of working layers of the wire rope, and the drum diameter.

[0071] Step 202: Obtain the output power and output torque corresponding to the current engine speed.

[0072] In this embodiment, since the engine's output power and torque are fixed once the engine speed is selected, it is necessary to obtain the output power and torque corresponding to the engine's current speed in order to ensure that the engine's unique output can correspond to dynamically changing load requirements. The output power and torque corresponding to the engine's current speed can be read directly.

[0073] Step 203: Determine the current required displacement of the pump set based on the output power and output torque corresponding to the current engine speed.

[0074] In this embodiment, after determining the unique output of the engine, namely the output power and output torque corresponding to the engine's current speed, the load demand, i.e., the current required displacement of the pump set, can be calculated based on the output power and output torque corresponding to the engine's current speed. Determining the current required displacement of the pump set can avoid situations where the load demand exceeds the engine's capacity, ensuring the system operates normally and efficiently. In this embodiment, the current required displacement of the pump set satisfies formula (1):

[0075]

[0076]

[0077] V g2 =min(V g2-1 V g2-2 (1)

[0078] Among them, V g2-1V is the first current required displacement of the pump set calculated based on the output power corresponding to the current engine speed. g2-2 V is the second current required displacement of the pump set, calculated based on the output torque corresponding to the current engine speed. g2 K represents the current required displacement of the pump set, and K is the power and torque conversion factor, ranging from 0 to 1.

[0079] Specifically, the current required displacement of the pump set is calculated based on the output power corresponding to the current engine speed and the output torque corresponding to the current engine speed, i.e., the first current required displacement V. g2-1 Second current demand displacement V g2-2 To ensure that the load demand does not exceed the engine's capacity, the first current demand displacement V is selected. g2-1 Second current demand displacement V g2-2 The smaller one is used as the current required displacement of the pump set.

[0080] Step 204: Determine the actual required power and torque of the pump set based on the current required displacement of the pump set, the lifting weight of the crane, the ratio of the pulley block, the working layer of the wire rope, and the drum diameter.

[0081] Specifically, the actual power and torque at the load end are the basis for determining whether the load demand exceeds the maximum capacity of the engine. Therefore, the actual power and torque at the load end can be calculated based on the relevant parameters of the crane and the load demand to determine whether the engine can meet the load demand. In this embodiment, the actual required power and torque of the pump set can be determined based on the current required displacement of the pump set, the lifting weight of the crane, the pulley system ratio, the number of working layers of the wire rope, and the drum diameter.

[0082] Step 205: Determine whether the actual power and torque required by the pump set are greater than the output power and torque corresponding to the current engine speed.

[0083] In this embodiment, during actual operation, there may be situations where the engine's output power and torque can meet the load's requirements at the current working level, but cannot at another working level. Therefore, it can be determined whether the current demand exceeds the engine's capacity by judging whether the pump set's actual required power and torque are greater than the engine's output power and torque corresponding to its current speed.

[0084] Step 206: If it is determined that the actual required power and torque of the pump set are greater than the output power and output torque corresponding to the current engine speed, adjust the actual displacement of the pump set and / or the motor to the current required displacement so that the actual required power and torque of the pump set match the output power and output torque corresponding to the current engine speed.

[0085] Specifically, if the actual power and torque demand of the pump set are less than or equal to the output power and torque corresponding to the current engine speed, it indicates that the engine can meet the current demand of the load. In this case, the controller continues to acquire the average working pressure of the motor, and the pump set operates at its current actual displacement. If the actual power and torque demand of the pump set are greater than the output power and torque corresponding to the current engine speed, it indicates that the demand at the load end exceeds what the engine can provide. In this case, the pump and / or motor need to be adjusted to adapt the load end to the engine's output power and torque. In this embodiment, the actual displacement of the pump set and / or motor can be adjusted to the currently required displacement to match the actual power and torque demand of the pump set with the output power and torque corresponding to the current engine speed. This ensures that the engine's single output can correspond to the dynamically changing load demand, preventing engine stalling. Matching the actual power and torque demand with the output power and torque corresponding to the current engine speed means that both the power ratio and torque ratio are less than 1, i.e., the pump set's actual power demand / the engine's current speed's output power < 1, and the pump set's actual torque demand / the engine's current speed's output torque < 1.

[0086] The above technical solution first obtains the crane's lifting capacity, pulley block ratio, wire rope working layer number, and drum diameter. Then, it obtains the engine's current speed-corresponding output power and torque. Based on the engine's current speed-corresponding output power and torque, the pump set's current required displacement is determined. Then, based on the pump set's current required displacement, the crane's lifting capacity, pulley block ratio, wire rope working layer number, and drum diameter, the pump set's actual required power and torque are determined. Next, it is determined whether the pump set's actual required power and torque are greater than the engine's current speed-corresponding output power and torque. If it is determined that the pump set's actual required power and torque are greater than the engine's current speed-corresponding output power and torque, the pump set and / or motor's actual displacement is adjusted to the current required displacement to match the pump set's actual required power and torque with the engine's current speed-corresponding output power and torque. This application adjusts the pump and / or motor displacement through real-time calculation, thereby matching the engine's output power and torque with the dynamically changing demands of the load. It also uses motor speed as a parameter for closed-loop feedback control, which solves the problem of engine stalling under different lifting conditions, especially when the current load demand exceeds the power and torque that the engine can provide, and improves the system's working efficiency.

[0087] Figure 3 A flowchart illustrating a method for precisely adjusting the displacement of a pump unit according to an embodiment of this application is shown schematically. Figure 3 As shown in the embodiments of this application, after adjusting the actual displacement of the pump set and / or motor to the currently required displacement so that the actual required power and torque of the pump set match the output power and torque corresponding to the current engine speed, the method may further include:

[0088] Step 301: Determine the theoretical speed of the motor based on the current required displacement of the pump set, the total displacement of the motor, and the current speed of the engine;

[0089] Step 302: Obtain the actual speed of the motor;

[0090] Step 303: Determine whether the actual speed of the motor matches the theoretical speed of the motor;

[0091] Step 304: If it is determined that the actual speed of the motor does not match the theoretical speed of the motor, continue to adjust the actual displacement of the pump set and / or the motor until the actual speed of the motor matches the theoretical speed of the motor.

[0092] In this embodiment of the application, after adjusting the actual displacement of the pump set and / or motor to the current required displacement so that the actual required power and torque of the pump set match the output power and torque corresponding to the current engine speed, it is also possible to add, for example Figure 3The illustrated closed-loop feedback control based on motor speed enables more precise pump displacement adjustment. This motor speed-based closed-loop feedback control compares the difference between the motor's current actual speed and its theoretical speed. Specifically, the theoretical motor speed is first determined based on the pump's current required displacement, the motor's total displacement, and the engine's current speed. Then, the motor's current actual speed is obtained. Finally, it checks whether the actual and theoretical motor speeds match. If they do not match, the actual displacement of the pump and / or motor is adjusted until they match. Using motor speed as a parameter for closed-loop feedback control satisfies current power and torque requirements while maximizing system efficiency.

[0093] In this embodiment, the theoretical rotational speed of the motor satisfies formula (2):

[0094]

[0095] Where n1 is the theoretical speed of the motor, n0 is the current speed of the engine, η1 is the total volumetric efficiency of the pump set and motor, N2 is the number of motors, N1 is the number of pump sets, i2 is the transfer case speed ratio (i2 is 1 when there is no transfer case between the engine and the pump set), V g1 V represents the total displacement of the motor. g2 This represents the current required displacement of the pump unit.

[0096] Figure 4 A flowchart illustrating a method for determining the actual required power and actual required torque of a pump set according to an embodiment of this application is shown schematically. Figure 4 As shown in this embodiment, determining the actual required power and torque of the pump set based on the pump set's current required displacement, the crane's lifting capacity, the pulley system's ratio, the number of working layers of the wire rope, and the drum diameter may include:

[0097] Step 401: Determine the single-rope tension of the wire rope based on the crane's lifting capacity and the pulley block ratio;

[0098] Step 402: Determine the current working diameter of the wire rope based on the drum diameter and the wire rope diameter;

[0099] Step 403: Determine the average working pressure of the motor based on the single rope tension, the current working diameter, and the number of working layers;

[0100] Step 404: Determine the average pressure of the pump set based on the average working pressure of the motor;

[0101] Step 405: Determine the actual required power and torque of the pump set based on the average pressure of the pump set and the current required displacement of the pump set.

[0102] In this embodiment, by obtaining data such as the lifting weight and the pulley block ratio, the single-rope tension of the wire rope of the current hoisting mechanism can be calculated. Combined with the drum diameter, wire rope diameter, and the number of working layers of the wire rope, the average working pressure of the current mechanism motor can be calculated, and thus the average working pressure of the pump unit can be calculated. Finally, based on the average pressure of the pump unit and the current required displacement of the pump unit, the actual required power and torque of the pump unit can be determined.

[0103] In this embodiment, the single-rope tension of the wire rope satisfies formula (6):

[0104]

[0105] Where F is the single-rope tension of the wire rope, G is the lifting weight of the crane, and η is the ratio of the pulley block.

[0106] In this embodiment, the current working diameter of the wire rope satisfies formula (7):

[0107] d = d1 + (n-1)d2; (7)

[0108] Where d is the current working diameter of the wire rope, d1 is the drum diameter, d2 is the wire rope diameter, and n is the number of working layers of the wire rope.

[0109] In this embodiment, the derivation process of the motor's average operating pressure is as follows:

[0110]

[0111] Among them, T motor T represents the motor torque. gear V represents the torque of the speed reducer. g1 η1 is the total displacement of the motor, η2 is the total volumetric efficiency of the pump set and the motor, i1 is the speed ratio of the reducer, F is the single rope tension of the wire rope, and d is the current working diameter of the wire rope.

[0112] Therefore, the average working pressure of the motor satisfies formula (3):

[0113]

[0114] Where p1 is the average working pressure of the motor, F is the single-rope tension of the wire rope, d is the current working diameter of the wire rope, i1 is the speed ratio of the reducer, and V g1 η1 is the total displacement of the motor, η2 is the total volumetric efficiency of the pump set and the motor, and η3 is the mechanical efficiency of the reducer.

[0115] In this embodiment, the average pressure of the pump set satisfies formula (4):

[0116] p2 = p1 + Δp; (4)

[0117] Where p2 is the average pressure of the pump set, p1 is the average working pressure of the motor, and Δp is the pressure loss of the pipeline from the pump set to the motor.

[0118] In this embodiment, the derivation process of the actual power of the pump set is as follows:

[0119]

[0120] Where Q is the total displacement of the pump set, P1 is the actual power required by the pump set, T1 is the actual torque required by the pump set, p1 is the average working pressure of the motor, p2 is the average pressure of the pump set, and V g2 η1 is the current required displacement of the pump set, n0 is the current speed of the engine, i2 is the transfer case speed ratio (i2 is 1 when there is no transfer case between the engine and the pump set), η3 is the total efficiency of the pump set, η4 ​​is the volumetric efficiency of the pump set, and η5 is the mechanical efficiency of the pump set.

[0121] Therefore, the actual power and actual torque of the pump set satisfy formula (5):

[0122]

[0123] Wherein, P1 is the actual power requirement of the pump set, T1 is the actual torque requirement of the pump set, p1 is the average working pressure of the motor, p2 is the average pressure of the pump set, and V g2 η is the current required displacement of the pump set, n0 is the current speed of the engine, η3 is the total efficiency of the pump set, η4 ​​is the volumetric efficiency of the pump set, and η5 is the mechanical efficiency of the pump set.

[0124] Figure 5 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 5 As shown in the figure, this application provides a controller that may include:

[0125] Memory 510 is configured to store instructions; and

[0126] The processor 520 is configured to retrieve instructions from the memory 510 and, when executing the instructions, to implement the aforementioned method of dynamic adjustment and control of lifting and merging.

[0127] Specifically, in this embodiment of the application, the processor 520 can be configured to:

[0128] Obtain the crane's lifting capacity, pulley block ratio, number of working layers of wire rope, and drum diameter;

[0129] Obtain the output power and output torque corresponding to the current engine speed;

[0130] The current required displacement of the pump set is determined based on the output power and output torque corresponding to the current engine speed.

[0131] The actual required power and torque of the pump set are determined based on the current required displacement of the pump set, the lifting capacity of the crane, the ratio of the pulley block, the number of working layers of the wire rope, and the drum diameter.

[0132] Determine whether the actual power and torque required by the pump unit are greater than the output power and torque corresponding to the current engine speed;

[0133] If the actual power and torque demanded by the pump set are determined to be greater than the output power and torque corresponding to the current engine speed, the actual displacement of the pump set and / or motor is adjusted to the current demand displacement so that the actual power and torque demanded by the pump set are matched with the output power and torque corresponding to the current engine speed.

[0134] In this embodiment of the application, the current required displacement of the pump set satisfies formula (1):

[0135]

[0136]

[0137] V g2 =min(V g2-1 V g2-2 (1)

[0138] Among them, V g2-1 V is the first current required displacement of the pump set calculated based on the output power corresponding to the current engine speed. g2-2 V is the second current required displacement of the pump set calculated based on the output torque corresponding to the current engine speed. g2 K represents the current required displacement of the pump set, and K is the power and torque conversion factor, ranging from 0 to 1.

[0139] Furthermore, the processor 520 can also be configured as follows:

[0140] The theoretical speed of the motor is determined based on the current required displacement of the pump set, the total displacement of the motor, and the current speed of the engine.

[0141] Obtain the actual speed of the motor;

[0142] Determine whether the actual speed of the motor matches its theoretical speed;

[0143] If the actual speed of the motor does not match its theoretical speed, continue to adjust the actual displacement of the pump set and / or the motor until the actual speed of the motor matches its theoretical speed.

[0144] In this embodiment, the theoretical rotational speed of the motor satisfies formula (2):

[0145]

[0146] Where n1 is the theoretical speed of the motor, n0 is the current speed of the engine, η1 is the total volumetric efficiency of the pump set and motor, N2 is the number of motors, N1 is the number of pump sets, i2 is the transfer case speed ratio (i2 is 1 when there is no transfer case between the engine and the pump set), V g1 V represents the total displacement of the motor. g2 This represents the current required displacement of the pump unit.

[0147] Furthermore, the processor 520 can also be configured as follows:

[0148] The single-rope tension of the wire rope is determined based on the lifting capacity of the crane and the ratio of the pulley block.

[0149] The current working diameter of the wire rope is determined based on the drum diameter and the wire rope diameter.

[0150] The average working pressure of the motor is determined based on the single rope tension, the current working diameter, and the number of working layers of the wire rope.

[0151] The average pressure of the pump set is determined based on the average operating pressure of the motor.

[0152] The actual required power and torque of the pump set are determined based on the average pressure of the pump set and the current required displacement of the pump set.

[0153] In this embodiment, the average working pressure of the motor satisfies formula (3):

[0154]

[0155] Where p1 is the average working pressure of the motor, F is the single-rope tension of the wire rope, d is the current working diameter of the wire rope, i1 is the speed ratio of the reducer, and V g1 η1 is the total displacement of the motor, η2 is the total volumetric efficiency of the pump set and the motor, and η3 is the mechanical efficiency of the reducer.

[0156] In this embodiment, the average pressure of the pump set satisfies formula (4):

[0157] p2 = p1 + Δp; (4)

[0158] Where p2 is the average pressure of the pump set, p1 is the average working pressure of the motor, and Δp is the pressure loss of the pipeline from the pump set to the motor.

[0159] In this embodiment, the actual power and actual torque of the pump set satisfy formula (5):

[0160]

[0161] Wherein, P1 is the actual power requirement of the pump set, T1 is the actual torque requirement of the pump set, p1 is the average working pressure of the motor, p2 is the average pressure of the pump set, and V g2 η is the current required displacement of the pump set, n0 is the current speed of the engine, η3 is the total efficiency of the pump set, η4 ​​is the volumetric efficiency of the pump set, and η5 is the mechanical efficiency of the pump set.

[0162] The above technical solution first obtains the crane's lifting capacity, pulley block ratio, wire rope working layer number, and drum diameter. Then, it obtains the engine's current speed-corresponding output power and torque. Based on the engine's current speed-corresponding output power and torque, the pump set's current required displacement is determined. Then, based on the pump set's current required displacement, the crane's lifting capacity, pulley block ratio, wire rope working layer number, and drum diameter, the pump set's actual required power and torque are determined. Next, it is determined whether the pump set's actual required power and torque are greater than the engine's current speed-corresponding output power and torque. If it is determined that the pump set's actual required power and torque are greater than the engine's current speed-corresponding output power and torque, the pump set and / or motor's actual displacement is adjusted to the current required displacement to match the pump set's actual required power and torque with the engine's current speed-corresponding output power and torque. This application adjusts the pump and / or motor displacement through real-time calculation, thereby matching the engine's output power and torque with the dynamically changing demands of the load. It also uses motor speed as a parameter for closed-loop feedback control, which solves the problem of engine stalling under different lifting conditions, especially when the current load demand exceeds the power and torque that the engine can provide, and improves the system's working efficiency.

[0163] Figure 6 A block diagram of a lifting and merging dynamic adjustment control system according to an embodiment of this application is illustrated schematically. Figure 6 As shown in the embodiments of this application, a lifting and merging dynamic adjustment and control system is also provided, which may include:

[0164] Engine 1;

[0165] The lifting mechanism 2 includes a drum 240, at least one pump assembly 210, and at least one motor 220; and

[0166] According to the controller 4 mentioned above, it communicates with the engine 1 and the lifting mechanism 2 respectively.

[0167] In this embodiment, the controller 4 can communicate with both the engine 1 and the lifting mechanism 2. The controller 4 acquires the engine speed and the corresponding output power and torque of the engine 1 in real time. Simultaneously, it calculates the required displacement of the pump assembly 210 in the lifting mechanism 2 based on the output power and torque corresponding to the engine speed of the engine 1. Based on the required displacement of the pump assembly 210, the current required power and torque of the pump assembly 210 can be calculated. By comparing the current required power and torque of the pump assembly 210 with the output power and torque corresponding to the engine speed of the engine 1, it can be determined whether the current demand of the pump assembly 210 exceeds what the engine 1 can provide.

[0168] It should be noted that the configuration of the pump set and motor in this embodiment can be configured in various ways:

[0169] 1) Quantity configuration method

[0170] It can be configured as a dual-pump-dual-motor or a multi-pump-multi-motor configuration, where the multi-pump-multi-motor configuration includes a single-pump-multi-motor and a multi-pump-single-motor configuration.

[0171] 2) Structural configuration

[0172] It can be configured as: variable pump-variable motor, variable pump-fixed displacement motor, fixed displacement pump-variable motor, and corresponding adjustment methods: dual adjustment of pump and / or motor displacement, pump displacement adjustment, and motor displacement adjustment.

[0173] In the embodiments of this application, the displacement adjustment method of the pump and motor can be either electronically controlled proportional or hydraulically controlled proportional. The hoisting mechanism of the crane can be a single hoisting mechanism or a double hoisting mechanism, and can also include scenarios involving the linkage of multiple mechanisms, such as composite actions of the hoisting mechanism and the luffing mechanism.

[0174] This application also provides a crane, including a lifting and confluence dynamic adjustment and control system according to the above-described method.

[0175] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the above-described method for dynamic adjustment and control of lifting and merging.

[0176] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0177] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0178] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0179] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0180] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0181] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0182] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0183] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0184] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for dynamic adjustment and control of lifting and merging, characterized in that, Applied to a crane, the crane including a controller, an engine, a hoisting mechanism, a pulley block, and a wire rope, the controller communicating with the engine and the hoisting mechanism respectively, the hoisting mechanism including a drum, at least one pump unit, and at least one motor, the method comprising: Obtain the lifting capacity of the crane, the pulley block ratio, the number of working layers of the wire rope, and the drum diameter; Obtain the output power and output torque corresponding to the current speed of the engine; The current required displacement of the pump set is determined based on the output power and output torque corresponding to the current speed of the engine. The actual required power and torque of the pump set are determined based on the current required displacement of the pump set, the lifting capacity of the crane, the ratio of the pulley block, the number of working layers of the wire rope, and the diameter of the drum. Determine whether the actual power and torque required by the pump set are greater than the output power and output torque corresponding to the current speed of the engine; If it is determined that the actual required power and torque of the pump set are greater than the output power and output torque corresponding to the current speed of the engine, the actual displacement of the pump set and / or the motor is adjusted to the current required displacement so that the actual required power and torque of the pump set are matched with the output power and output torque corresponding to the current speed of the engine.

2. The method according to claim 1, characterized in that, The current required displacement of the pump set satisfies formula (1): ； （1） in, The first current required displacement of the pump set is calculated based on the output power corresponding to the current engine speed. The second current required displacement of the pump set is calculated based on the output torque corresponding to the current engine speed. The current required displacement of the pump set, This is a power and torque conversion factor, ranging from 0 to 1. For the transfer case speed ratio, The total efficiency of the pump set. For pump unit volumetric efficiency, For the mechanical efficiency of the pump set, The average pressure of the pump set, The current speed of the engine. This refers to the output power corresponding to the current engine speed. This refers to the output torque corresponding to the current engine speed.

3. The method according to claim 1, characterized in that, After adjusting the actual displacement of the pump assembly and / or the motor to the currently required displacement so that the actual required power and torque of the pump assembly match the output power and torque corresponding to the current speed of the engine, the method further includes: The theoretical speed of the motor is determined based on the current required displacement of the pump set, the total displacement of the motor, and the current speed of the engine. Obtain the actual rotational speed of the motor; Determine whether the actual speed of the motor matches the theoretical speed of the motor; If it is determined that the actual speed of the motor does not match the theoretical speed of the motor, the actual displacement of the pump set and / or the motor shall be adjusted until the actual speed of the motor matches the theoretical speed of the motor.

4. The method according to claim 3, characterized in that, The theoretical speed of the motor satisfies formula (2): ； （2） in, This is the theoretical rotational speed of the motor. The current speed of the engine. The total volumetric efficiency of the pump assembly and the motor. The number of motors. Number of pump sets The transfer case speed ratio is used when there is no transfer case between the engine and the pump set. =1, The total displacement of the motor ， The current required displacement of the pump set 。 5. The method according to claim 1, characterized in that, The process of determining the actual required power and torque of the pump set based on the current required displacement of the pump set, the lifting capacity of the crane, the ratio of the pulley system, the number of working layers of the wire rope, and the diameter of the drum includes: The single-rope tension of the wire rope is determined based on the lifting capacity of the crane and the ratio of the pulley block. The current working diameter of the wire rope is determined based on the drum diameter and the wire rope diameter. The average working pressure of the motor is determined based on the single rope tension, current working diameter, and number of working layers of the wire rope. The average pressure of the pump set is determined based on the average operating pressure of the motor. The actual required power and actual required torque of the pump set are determined based on the average pressure of the pump set and the current required displacement of the pump set.

6. The method according to claim 5, characterized in that, The average working pressure of the motor satisfies formula (3): ； （3） in, The average operating pressure of the motor. The single-rope tension of the steel wire rope. The current operating diameter of the wire rope is [missing information]. For the speed ratio of the reducer, The total displacement of the motor is [missing information]. The total volumetric efficiency of the pump assembly and the motor. The mechanical efficiency of the speed reducer.

7. The method according to claim 5, characterized in that, The average pressure of the pump set satisfies formula (4): ； （4） in, The average pressure of the pump set, The average operating pressure of the motor. This refers to the pressure loss in the pipeline from the pump unit to the motor.

8. The method according to claim 5, characterized in that, The actual power and torque required by the pump set satisfy formula (5): ， ； （5） in, This represents the actual power requirement of the pump set. This represents the actual torque required by the pump unit. The average operating pressure of the motor. The average pressure of the pump set, The current required displacement of the pump set. The current speed of the engine. The total efficiency of the pump set. The volumetric efficiency of the pump unit. For the mechanical efficiency of the pump set, This refers to the transfer case speed ratio.

9. A controller, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method of dynamic adjustment control for lifting and merging according to any one of claims 1 to 8.

10. A lifting and merging dynamic adjustment control system, characterized in that, include: engine; The hoisting mechanism includes a drum, at least one pump unit, and at least one motor; and The controller according to claim 9 communicates with the engine and the lifting mechanism respectively.

11. A crane, characterized in that, Includes the lifting and merging dynamic adjustment and control system according to claim 10.

12. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the method of lifting and merging dynamic adjustment control according to any one of claims 1 to 8.

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