Hydraulic system control method, device and working machine

Abstract

The application relates to the field of engineering machinery and provides a hydraulic system control method and device and a working machine. The method comprises the following steps: acquiring an electric signal output by an electric control handle; the electric control handle is used for converting an input action instruction into an electric signal; the electric signal comprises an action direction and an action opening degree of the electric control handle; the category and size of a pilot pressure of the electric control handle are determined based on the electric signal; a target pilot-displacement corresponding relationship is determined based on the category of the pilot pressure, and a control signal is determined based on the target pilot-displacement corresponding relationship and the size of the pilot pressure; the control signal is used for controlling the hydraulic system to execute the action instruction. The application can generate a corresponding control signal according to actual action requirements, and realizes the balance between fine tuning characteristics and working speed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, and in particular to a hydraulic system control method and device and working machine. BACKGROUND

[0002] The control of the hydraulic system in the working machine has a very important influence on the performance of the whole machine.

[0003] Currently, the collection and processing of action signals are usually performed by using a hydraulic pilot handle. When the working machine is in action, the operation handle controls the opening of the pilot valve, and the pilot oil is output to the pilot end of the main control valve to push the valve core to move. The angle of the operation handle controls the opening of the pilot valve, and in turn controls the opening of the main control valve. Meanwhile, the action speed of the operation handle determines the response speed of the main control valve. However, the flow characteristics of the pilot control valve and the main control valve are fixed, and it is difficult to achieve the balance between the fine tuning characteristics and the working speed. SUMMARY

[0004] In view of the problems in the prior art, the present application provides a hydraulic system control method and device and working machine.

[0005] The present application provides a hydraulic system control method, comprising:

[0006] obtaining an electrical signal output by an electric control handle; wherein the electric control handle is used to convert an input action instruction into the electrical signal; the electrical signal includes the action direction and the action opening degree of the electric control handle;

[0007] determining the category and the size of the pilot pressure of the electric control handle based on the electrical signal;

[0008] determining a target pilot-displacement corresponding relationship based on the category of the pilot pressure, and determining a control signal based on the target pilot-displacement corresponding relationship and the size of the pilot pressure; wherein the control signal is used to control the hydraulic system to execute the action instruction.

[0009] According to the hydraulic system control method provided by the present application, the determination of the category and the size of the pilot pressure of the electric control handle based on the electrical signal comprises:

[0010] determining the direction mark and the stroke amount of the electric control handle in two orthogonal directions based on the electrical signal;

[0011] determining the category of the pilot pressure based on the direction mark;

[0012] determining the size of the pilot pressure based on the category of the pilot pressure and the stroke amount.

[0013] The hydraulic system control method provided by the application comprises the following steps:

[0014] Based on the target pilot-displacement corresponding relationship and the size of the pilot pressure, a displacement signal corresponding to the pilot pressure is determined as a target displacement.

[0015] A change rate corresponding to the target displacement is determined, and the control signal is determined based on the target displacement and the change rate; wherein the change rate is a loading change rate or a reducing change rate.

[0016] The hydraulic system control method provided by the application comprises the following steps:

[0017] A current working condition is obtained, and a change rate corresponding to the target displacement is determined based on the current working condition.

[0018] The hydraulic system control method provided by the application comprises the following steps:

[0019] A loading step or a reducing step is determined based on the change rate.

[0020] The control signal is determined based on the target displacement and the loading step or the reducing step.

[0021] The hydraulic system control method provided by the application comprises the following steps:

[0022] The temperature of hydraulic oil of the hydraulic system is obtained.

[0023] The target pilot-displacement corresponding relationship is corrected based on the temperature of the hydraulic oil.

[0024] The application further provides a hydraulic system control device, comprising:

[0025] A data acquisition module is configured to acquire an electric signal output by an electric control handle; wherein the electric control handle is configured to convert an input action instruction into the electric signal; the electric signal comprises a motion direction and a motion opening degree of the electric control handle.

[0026] A first calculation module is configured to determine a category and a size of a pilot pressure of the electric control handle based on the electric signal.

[0027] The second calculation module is configured to determine a target pilot-displacement corresponding relationship based on the category of the pilot pressure, and determine a control signal based on the target pilot-displacement corresponding relationship and the magnitude of the pilot pressure, wherein the control signal is used to control the hydraulic system to execute the action instruction.

[0028] The application further provides a working machine, comprising an electric control handle, a hydraulic system and a control device.

[0029] The electric control handle is configured to convert an input action instruction into an electric signal, wherein the electric signal comprises an action direction and an action opening degree of the electric control handle.

[0030] The control device is configured to acquire the electric signal output by the electric control handle, determine a category and a magnitude of a pilot pressure of the electric control handle based on the electric signal, determine a target pilot-displacement corresponding relationship based on the category of the pilot pressure, and determine a control signal based on the target pilot-displacement corresponding relationship and the magnitude of the pilot pressure, wherein the control signal is used to control the hydraulic system to execute the action instruction.

[0031] The application further provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the hydraulic system control method according to any one of the above.

[0032] The application further provides a non-transitory computer readable storage medium, which stores a computer program executable on a processor to implement the hydraulic system control method according to any one of the above.

[0033] The application provides a hydraulic system control method, device and working machine, which acquires an electric signal output by an electric control handle, determines a category and a magnitude of a pilot pressure of the electric control handle based on the electric signal, determines a target pilot-displacement corresponding relationship based on the category of the pilot pressure, and determines a control signal based on the target pilot-displacement corresponding relationship and the magnitude of the pilot pressure, so as to control the hydraulic system to execute a corresponding action instruction through the control signal, which can generate a corresponding control signal according to actual action requirements, and balance fine tuning characteristics and working speed. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0035] Figure 1This is a flowchart illustrating the hydraulic system control method provided by the present invention;

[0036] Figure 2 This is a comparative schematic diagram of the control signals obtained by different loading change rates provided by the present invention;

[0037] Figure 3 This is a comparative schematic diagram of the control signals obtained by reducing the rate of change according to the present invention;

[0038] Figure 4 This is a schematic diagram of the hydraulic system control device provided by the present invention;

[0039] Figure 5 This is a schematic diagram of the structure of the operating machinery provided by the present invention;

[0040] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0042] The following is combined Figures 1 to 3 This invention describes a hydraulic system control method. The hydraulic system control method of this invention is executed by electronic devices such as control devices, or by the hardware and / or software therein. The control device can be the controller of the working machinery itself, or it can be a newly added controller. For example... Figure 1 As shown, the hydraulic system control method of the present invention includes:

[0043] S101. Obtain the electrical signal output by the electric control handle; wherein the electric control handle is used to convert the input action command into the electrical signal; the electrical signal includes the action direction and action opening of the electric control handle.

[0044] Specifically, the working machine usually comprises one or more electric control handles for converting action instructions input by an operator into electric signals. For example, the operator inputs different action instructions by pushing the electric control handles in different directions (e.g., forward, backward, left, right). Taking an excavator as an example, two electric control handles are included, and through the two electric control handles, eight single-action action instructions can be input, for example, left rotation, right rotation, bucket arm digging, bucket arm unloading, boom lifting, boom lowering, bucket digging, and bucket unloading. Among them, pushing the electric control handle between two directions and simultaneously pushing the left and right electric control handles can input a composite action action instruction.

[0045] The specific type of the electric signal can be set according to actual needs, for example, it can be a voltage signal. The electric signal can be transmitted to the control device in the form of a CAN message through a CAN bus. The electric signal includes the action direction of the electric control handle and the action opening degree, the action direction being the action direction of the electric control handle, such as forward, backward, left, and right, and the action opening degree being the displacement size of the action of the electric control handle. Among them, the action direction of the electric control handle can be determined according to the value of the corresponding flag bit in the CAN message. For example, the value of the flag bit is 1, indicating that the electric control handle is pushed to the direction, and the value of the flag bit is 0, indicating that the electric control handle is not pushed to the direction.

[0046] S102, determining the category and size of the pilot pressure of the electric control handle based on the electric signal.

[0047] Specifically, the category of the pilot pressure, i.e., the pilot pressure corresponding to different actions, such as bucket arm digging pilot pressure. The specific way of determining the category and size of the pilot pressure of the electric control handle based on the electric signal can be set according to actual needs, for example, the electric signal can be parsed, the category of the pilot pressure is determined according to the parsing result of the action direction of the electric control handle, and the size of the pilot pressure is determined according to the parsing result of the action opening degree of the electric control handle and the category of the pilot pressure.

[0048] Among them, the pilot pressure of the electric control handle is a single-action corresponding pilot pressure; for two or three composite actions, each single action in the composite action corresponds to a pilot pressure, and each pilot pressure corresponds to a category and a size.

[0049] S103, determining a target pilot-displacement corresponding relationship based on the category of the pilot pressure, and determining a control signal based on the target pilot-displacement corresponding relationship and the size of the pilot pressure; wherein the control signal is used to control the hydraulic system to execute the action instruction.

[0050] Specifically, the target pilot-displacement correspondence can be a mapping table of pilot and displacement, or a pilot-displacement curve, which is a curve of displacement signal changing with the magnitude of pilot pressure. The specific type of displacement signal can be set according to actual needs, for example, it can be a current signal. The specific way of determining the target pilot-displacement correspondence based on the category of pilot pressure can be set according to actual needs, for example, the corresponding pilot-displacement correspondence can be determined and stored in advance based on different categories of pilot pressure, and in the process of determining the target pilot-displacement correspondence, the determined category of pilot pressure is matched to obtain the target pilot-displacement correspondence; when matching the determined category of pilot pressure, the pilot pressure can be action coded, and the pilot pressure is matched according to the action code to obtain the target pilot-displacement correspondence, so that fast matching can be realized. Action coding, that is, the action corresponding to the pilot pressure is represented by a binary code of multiple bits, for example, 1001.

[0051] After obtaining the target pilot-displacement correspondence, the specific way of determining the control signal based on the target pilot-displacement correspondence and the magnitude of the pilot pressure can be set according to actual needs, for example, the magnitude of the pilot pressure can be determined in the target pilot-displacement correspondence to correspond to the displacement signal, as the target displacement, and the control signal is determined according to the target displacement, wherein the target displacement can be directly used as the control signal, or the target displacement can be processed based on the constraint of the rate of change to obtain a curve of displacement signal changing with time, and the curve of displacement signal changing with time is used as the control signal, so that for different action instructions, different pilot-displacement correspondences can be matched, and the control signal can be determined according to the corresponding pilot-displacement correspondence and the magnitude of the pilot pressure, so that the fine tuning characteristics of the working machine can be ensured when the pilot pressure is low, and the balance of the working speed can be ensured when the pilot pressure is high, meeting different working needs.

[0052] For a composite action of two actions or three actions, a target pilot-displacement correspondence is determined for each pilot pressure, and the corresponding control signal is determined according to the target pilot-displacement correspondence corresponding to the pilot pressure and the magnitude of the pilot pressure, and the control signal is sent to the hydraulic system corresponding to the pilot pressure, for example, it can be sent to the main control valve of the hydraulic system corresponding to the pilot pressure, so as to change the opening of the main control valve through the control signal, and then control the hydraulic system to execute the corresponding single action in the action instruction.

[0053] The traditional method usually uses a hydraulic pilot handle to collect and process the action signal. When the working machine is in action, the operation handle controls the opening of the pilot valve, and the pilot oil is output to the pilot end of the main control valve to push the valve core to move. The angle of the operation handle controls the opening of the pilot valve, and then controls the opening of the main control valve. The action speed of the operation handle determines the response speed of the main control valve. However, the flow characteristics of the pilot control valve and the main control valve are fixed, and it is difficult to achieve the balance between fine tuning characteristics and working speed.

[0054] In the embodiment of the present application, the electrical signal output by the electric control handle is acquired, the category and size of the pilot pressure of the electric control handle are determined based on the electrical signal, the target pilot-displacement corresponding relationship is determined based on the category of the pilot pressure, and the control signal is determined based on the target pilot-displacement corresponding relationship and the size of the pilot pressure, so as to control the hydraulic system to execute the corresponding action instruction through the control signal. According to the actual action demand, the corresponding control signal can be generated, and the balance between fine tuning characteristics and working speed is realized.

[0055] Based on the above embodiment, the category and size of the pilot pressure of the electric control handle are determined based on the electrical signal, which includes:

[0056] The direction mark and stroke amount of the electric control handle in two orthogonal directions are determined based on the electrical signal;

[0057] The category of the pilot pressure is determined based on the direction mark;

[0058] The size of the pilot pressure is determined based on the category of the pilot pressure and the stroke amount.

[0059] Specifically, the two orthogonal directions can be set as X direction and Y direction respectively, the positive direction of the X direction can be set as the front side of the cab, and the positive direction of the Y direction can be set as the right side of the cab. The direction mark of the electric control handle in the X direction and the Y direction can include positive mark and reverse mark in the corresponding direction. Among them, the electrical signal can be analyzed, and the direction mark in the X direction and / or the Y direction is determined based on the analysis result of the action direction of the electric control handle, for example, the electric control handle is pushed to the front left direction, then the positive mark of the X direction is 1, the reverse mark is 0, the positive mark of the Y direction is 0, and the reverse mark is 1. The stroke amount of the electric control handle in the X direction or the Y direction, that is, the displacement of the electric control handle in the corresponding direction, can be determined based on the analysis result of the action opening of the electric control handle in the X direction and / or the Y direction.

[0060] The specific way of determining the category of the pilot pressure based on the direction mark can be set according to actual needs, for example, the category of the pilot pressure can be determined based on the corresponding relationship between the direction mark and the pilot pressure.

[0061] After the category of the pilot pressure is determined, the specific way of determining the size of the pilot pressure based on the category of the pilot pressure and the stroke amount can be set according to actual needs, for example, the stroke zero point and the stroke full point in the corresponding direction are determined based on the category of the pilot pressure, the total length of the stroke in the corresponding direction is determined based on the stroke zero point and the stroke full point, and the size of the pilot pressure corresponding to the stroke zero point and the stroke full point and the ratio of the stroke amount in the corresponding direction to the total length of the stroke are used to determine the size of the pilot pressure of the electric control handle.

[0062] The embodiment of the application determines the direction mark and the stroke amount of the electric control handle in two orthogonal directions based on the electric signal, determines the category of the pilot pressure based on the direction mark, and determines the size of the pilot pressure based on the category of the pilot pressure and the stroke amount, which can effectively ensure the accuracy of the category and size of the obtained pilot pressure, and the determination process of the category and size of the pilot pressure is simple and efficient.

[0063] Based on any of the above embodiments, the control signal is determined based on the target pilot-displacement corresponding relationship and the size of the pilot pressure, including:

[0064] Based on the target pilot-displacement corresponding relationship and the size of the pilot pressure, the displacement signal corresponding to the pilot pressure is determined as the target displacement.

[0065] The change rate corresponding to the target displacement is determined, and the control signal is determined based on the target displacement and the change rate; wherein the change rate is a loading change rate or a decreasing change rate.

[0066] Specifically, the specific way of determining the displacement signal corresponding to the pilot pressure based on the target pilot-displacement corresponding relationship and the size of the pilot pressure can be set according to actual needs, for example, the value corresponding to the size of the pilot pressure in the target pilot-displacement corresponding relationship can be directly used as the displacement signal corresponding to the pilot pressure, wherein when the determined size of the pilot pressure does not exist in the target pilot-displacement corresponding relationship, the displacement signal corresponding to the pilot pressure can be determined by methods such as averaging, interpolation, and least squares method; or the target pilot-displacement corresponding relationship can be modified, for example, the target pilot-displacement corresponding relationship is modified based on temperature information, and the point corresponding to the size of the pilot pressure in the modified target pilot-displacement corresponding relationship is used as the displacement signal corresponding to the pilot pressure.

[0067] The change rate corresponding to the target displacement can be determined by the time length from the stroke zero point of the pilot pressure to the stroke full point. After determining the target pilot-displacement corresponding relationship, the target pilot-displacement corresponding relationship can be normalized, that is, the displacement signal corresponding to the stroke zero point of the pilot pressure is 0, the displacement signal corresponding to the stroke full point is 1, the change rate required for the displacement signal to change from 0 to 1 is determined, and the change rate corresponding to the time length required for the displacement signal to change from 0 to 1 is taken as the change rate corresponding to the target displacement, thereby simplifying the signal processing process.

[0068] The specific way of determining the change rate corresponding to the target displacement can be set according to actual needs, for example, the change rate corresponding to the target displacement can be determined according to the sensitivity requirement of the electric control handle, or the change rate corresponding to the target displacement can be determined according to the time length constraint of the current displacement change to the target displacement.

[0069] After determining the change rate corresponding to the target displacement, the control signal can be determined based on the target displacement and the change rate. The change rate can be a loading change rate or a decreasing change rate. When the current displacement is less than the target displacement, the change rate corresponding to the target displacement is the loading change rate. When the current displacement is greater than the target displacement, the change rate corresponding to the target displacement is the decreasing change rate, thereby effectively avoiding the impact of the working machine during the action process and the shaking during the conversion of different actions. The specific way of determining the control signal based on the target displacement and the change rate can be set according to actual needs, for example, the loading step or the decreasing step can be determined according to the loading change rate or the decreasing change rate, the displacement signal at each time during the process of changing the current displacement to the target displacement is obtained according to the loading step or the decreasing step, that is, the change curve of the displacement signal with time, and the change curve of the displacement signal with time is taken as the control signal.

[0070] The traditional method usually converts the action signal of the electric control handle into an electric signal by using a sensor in the electric control handle, controls the opening change of the main control valve according to the change of the electric signal of the electric control handle, and is easy to produce impact during action and shaking during conversion of different actions.

[0071] The embodiment of the application determines the displacement signal corresponding to the pilot pressure based on the target pilot-displacement corresponding relationship and the size of the pilot pressure, and takes the target displacement, determines the loading change rate or the decreasing change rate corresponding to the target displacement, and determines the control signal based on the target displacement and the loading change rate or the decreasing change rate, thereby effectively avoiding the impact of the working machine during the action process and the shaking during the conversion of different actions.

[0072] Based on any of the above embodiments, the determination of the change rate corresponding to the target displacement comprises:

[0073] The current working condition is obtained, and the change rate corresponding to the target displacement is determined based on the current working condition.

[0074] Specifically, the sensitivity requirements of the electric handle are different under different working conditions of the working machine, and therefore, in the process of determining the change rate corresponding to the target displacement, the current working condition of the working machine can be obtained, and the change rate corresponding to the target displacement is determined based on the current working condition. The current working condition is the working condition of the working machine at the current time.

[0075] The specific manner of determining the change rate corresponding to the target displacement based on the current working condition can be set according to actual requirements. For example, the change rates under different working conditions can be pre-stored, and the change rate corresponding to the target displacement is determined from the pre-stored change rates based on the current working condition.

[0076] The embodiment of the application can meet the sensitivity requirements of the working machine control while effectively avoiding the impact of the working machine during the action process and the shaking during the conversion of different actions by obtaining the current working condition and determining the change rate corresponding to the target displacement based on the current working condition.

[0077] Based on any of the above embodiments, the control signal is determined based on the target displacement and the change rate, comprising:

[0078] determining a loading step or a reducing step based on the change rate;

[0079] determining the control signal based on the target displacement and the loading step or the reducing step.

[0080] Specifically, the loading step is the loading change amount of the displacement signal within a unit time, and the reducing step is the reducing change amount of the displacement signal within a unit time. The loading step or the reducing step is determined based on the change rate, for example, the difference between the displacement signal corresponding to the stroke full point of the pilot pressure and the displacement signal corresponding to the stroke zero point is calculated, and the ratio of the difference to the loading time or the reducing time corresponding to the change rate is calculated, and the ratio is taken as the loading step or the reducing step.

[0081] The control signal is determined based on the target displacement and the loading step or the reducing step, that is, the displacement signal at each time in the process of changing the current displacement to the target displacement is obtained according to the loading step or the reducing step, so as to obtain the curve of the displacement signal changing with time. The smaller the loading step or the reducing step, the more gentle the curve of the displacement signal changing with time, and the more stable the action of the working machine.

[0082] A comparison diagram of control signals obtained by different loading change rates is shown in Figure 2 Figure 2 ​In the figure, the abscissa is the percentage of the maximum loading duration, which can be 10 seconds; the ordinate is the percentage of the target displacement; the three change curves are respectively the curves of the displacement signal changing with time obtained when the normal input, loading based on the first loading change rate and loading based on the second loading change rate; wherein, the normal input is to directly load the target displacement without setting the loading change rate, and the first loading change rate is greater than the second loading change rate. The comparison diagram of the control signals obtained by different decreasing change rates is as shown in Figure 3 . Figure 3 In the figure, the abscissa is the percentage of the maximum decreasing duration, which can be 10 seconds; the ordinate is the percentage of the current displacement; the three change curves are respectively the curves of the displacement signal changing with time obtained when the normal input, decreasing based on the first decreasing change rate and decreasing based on the second decreasing change rate; wherein, the normal input is to directly decrease the current displacement to the target displacement without setting the decreasing change rate, and the first decreasing change rate is greater than the second decreasing change rate.

[0083] The embodiment of the application determines the loading step or the decreasing step based on the change rate, and determines the control signal based on the target displacement and the loading step or the decreasing step, so that the stable output of the displacement signal can be realized, the jitter in the action process is avoided, and the smoothness of the action is ensured.

[0084] Based on any of the above embodiments, before determining the control signal based on the target pilot-displacement corresponding relationship and the size of the pilot pressure, the method further comprises:

[0085] Obtaining the hydraulic oil temperature of the hydraulic system;

[0086] Correcting the target pilot-displacement corresponding relationship based on the hydraulic oil temperature.

[0087] Specifically, the hydraulic oil temperature of the hydraulic system can be obtained in real time by a temperature sensor. The specific way of correcting the target pilot-displacement corresponding relationship based on the hydraulic oil temperature can be set according to actual needs, for example, the oil temperature coefficient can be determined based on the hydraulic oil temperature of the hydraulic system; the target pilot-displacement corresponding relationship is corrected based on the oil temperature coefficient. Wherein, the oil temperature coefficient, that is, the correction coefficient for correcting the target pilot-displacement corresponding relationship according to the hydraulic oil temperature.

[0088] Determining the oil temperature coefficient based on the hydraulic oil temperature of the hydraulic system can include: matching the hydraulic oil temperature of the hydraulic system based on a preset corresponding relationship between the hydraulic oil temperature and the oil temperature coefficient, to obtain the oil temperature coefficient corresponding to the hydraulic oil temperature of the hydraulic system. For example, when the hydraulic oil temperature is 15 degrees, 25 degrees and 35 degrees, the corresponding oil temperature coefficients are 80%, 90% and 100% respectively.

[0089] Taking a target pilot-displacement corresponding relationship as an example, a peak value of a pilot-displacement curve of the target pilot-displacement corresponding relationship can be corrected based on the oil temperature coefficient. For example, the peak value of the pilot-displacement curve can be multiplied by the oil temperature coefficient to obtain a corrected pilot-displacement curve, i.e., a corrected target pilot-displacement corresponding relationship.

[0090] After the target pilot-displacement corresponding relationship is corrected, a control signal is further determined according to the corrected target pilot-displacement corresponding relationship and the size of the pilot pressure, so as to control the hydraulic system to execute a corresponding action instruction through the control signal, thereby effectively solving the problem that the hydraulic system is easy to cause the whole machine to shake and the operability to decrease when outputting a predetermined displacement in low-temperature weather, and further ensuring the fine adjustment characteristics and the balance of the working speed of the working machine.

[0091] The hydraulic system control device provided by the present application is described below, and the hydraulic system control device described below can be referred to in correspondence with the hydraulic system control method described above. As shown in Figure 4 includes:

[0092] The data acquisition module 401 is configured to acquire an electrical signal output by an electric control handle; wherein the electric control handle is configured to convert an input action instruction into the electrical signal; and the electrical signal includes a motion direction and a motion opening degree of the electric control handle.

[0093] The first calculation module 402 is configured to determine a category and a size of a pilot pressure of the electric control handle based on the electrical signal.

[0094] The second calculation module 403 is configured to determine a target pilot-displacement corresponding relationship based on the category of the pilot pressure, and determine a control signal based on the target pilot-displacement corresponding relationship and the size of the pilot pressure; wherein the control signal is configured to control a hydraulic system to execute the action instruction.

[0095] Based on the above embodiment, the first calculation module 402 is specifically configured to:

[0096] determine a direction mark and a stroke amount of the electric control handle in two orthogonal directions based on the electrical signal.

[0097] determine the category of the pilot pressure based on the direction mark.

[0098] determine the size of the pilot pressure based on the category of the pilot pressure and the stroke amount.

[0099] Based on any one of the above embodiments, the second calculation module 403 is specifically configured to:

[0100] determining a target displacement corresponding to the pilot pressure based on the target pilot-displacement correspondence and the magnitude of the pilot pressure;

[0101] determining a change rate corresponding to the target displacement, and determining the control signal based on the target displacement and the change rate; wherein the change rate is an increase change rate or a decrease change rate.

[0102] According to any one of the above embodiments, the second calculation module 403 is specifically configured to:

[0103] obtaining a current working condition, and determining a change rate corresponding to the target displacement based on the current working condition.

[0104] According to any one of the above embodiments, the second calculation module 403 is specifically configured to:

[0105] determining an increase step or a decrease step based on the change rate;

[0106] determining the control signal based on the target displacement and the increase step or the decrease step.

[0107] According to any one of the above embodiments, the application further comprises a correction module, which is configured to:

[0108] obtaining a hydraulic oil temperature of the hydraulic system;

[0109] correcting the target pilot-displacement correspondence based on the hydraulic oil temperature.

[0110] According to any one of the above embodiments, the application further provides a working machine, such as Figure 5 as shown, comprising an electric control handle 501, a hydraulic system 503 and a control device 502;

[0111] The electric control handle 501 is configured to convert an input action instruction into an electric signal; the electric signal includes the action direction and action opening degree of the electric control handle 501;

[0112] The control device 502 is configured to obtain the electric signal output by the electric control handle 501; and is further configured to determine the category and magnitude of the pilot pressure of the electric control handle 501 based on the electric signal; and is further configured to determine a target pilot-displacement correspondence based on the category of the pilot pressure, and determine a control signal based on the target pilot-displacement correspondence and the magnitude of the pilot pressure; wherein the control signal is used to control the hydraulic system 503 to execute the action instruction.

[0113] Specifically, the working machine is an engineering machine such as an excavator, a crane, etc.

[0114] The following describes in detail the specific process of the work machine hydraulic system control method according to an optional embodiment.

[0115] The electric control handle 501 converts the action instruction input by the operator into an electrical signal and outputs the electrical signal to the control device 502.

[0116] After receiving the electrical signal output by the electric control handle 501, the control device 502 processes the electrical signal, obtains a control signal, and sends the control signal to the main control valve of the corresponding hydraulic system 503, so as to change the opening degree of the main control valve through the control signal and further control the hydraulic system 503 to perform the corresponding single action in the action instruction.

[0117] The process of processing the electrical signal by the control device 502 includes:

[0118] decomposing the action instruction corresponding to the electrical signal to generate a direction flag and a stroke amount in each direction;

[0119] judging the category of the pilot signal corresponding to the action instruction according to the direction flag;

[0120] binding the stroke amount in the corresponding direction based on the category of the pilot signal to generate the pilot signal corresponding to the action instruction;

[0121] matching the target pilot-displacement corresponding relationship according to the pilot signal corresponding to the action instruction; in the process of matching the target pilot-displacement corresponding relationship according to the pilot signal, the pilot signal can be action coded, the target pilot-displacement corresponding relationship is matched from the preset different pilot-displacement corresponding relationships through the action coding, and the target pilot-displacement corresponding relationship is corrected through the oil temperature coefficient;

[0122] generating the control signal according to the target pilot-displacement corresponding relationship and the rate constraint.

[0123] Figure 6 An example of an entity structure diagram of an electronic device is shown in Figure 6 The electronic device can include a processor 601, a communications interface 602, a memory 603, and a communications bus 604, wherein the processor 601, the communications interface 602, and the memory 603 complete mutual communication through the communications bus 604. The processor 601 can invoke the logical instructions in the memory 603 to execute the hydraulic system control method, which includes: obtaining an electrical signal output by an electric control handle; wherein the electric control handle is used to convert an input action instruction into the electrical signal; the electrical signal includes the action direction and the action opening degree of the electric control handle;

[0124] determine a category and a size of a pilot pressure of the electric control handle based on the electrical signal;

[0125] determine a target pilot-displacement correspondence relationship based on the category of the pilot pressure, and determine a control signal based on the target pilot-displacement correspondence relationship and the size of the pilot pressure; wherein the control signal is used to control the hydraulic system to execute the action instruction.

[0126] In addition, the logic instructions in the memory 603 described above can be implemented in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0127] On the other hand, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, and the computer program comprises program instructions, when the program instructions are executed by a computer, the computer can execute the hydraulic system control method provided by the above-mentioned methods, the method comprises: obtaining an electrical signal output by an electric control handle; wherein the electric control handle is used to convert an input action instruction into the electrical signal; the electrical signal comprises an action direction and an action opening degree of the electric control handle;

[0128] determine a category and a size of a pilot pressure of the electric control handle based on the electrical signal;

[0129] determine a target pilot-displacement correspondence relationship based on the category of the pilot pressure, and determine a control signal based on the target pilot-displacement correspondence relationship and the size of the pilot pressure; wherein the control signal is used to control the hydraulic system to execute the action instruction.

[0130] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the hydraulic system control method provided above, which comprises: obtaining an electrical signal output by an electric control handle; wherein the electric control handle is configured to convert an input action instruction into the electrical signal; the electrical signal comprises a motion direction and a motion opening degree of the electric control handle;

[0131] determining a category and a size of a pilot pressure of the electric control handle based on the electrical signal;

[0132] determining a target pilot-displacement corresponding relationship based on the category of the pilot pressure, and determining a control signal based on the target pilot-displacement corresponding relationship and the size of the pilot pressure; wherein the control signal is configured to control the hydraulic system to execute the action instruction.

[0133] The device embodiments described above are merely illustrative, wherein the units illustrated as separate components can or can not be physically separated, and the components illustrated as units can or can not be physical units, i.e., they can be located in one place, or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0134] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software plus necessary universal hardware platforms, and of course, can also be realized by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0135] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A hydraulic system control method characterized by, The method comprises: acquiring an electrical signal output by an electric control handle; wherein the electric control handle is used to convert an input action instruction into the electrical signal; the electrical signal comprises a motion direction and a motion opening degree of the electric control handle; determining a category and a size of a pilot pressure of the electric control handle based on the electrical signal; determining a target pilot-displacement corresponding relationship based on the category of the pilot pressure, and determining a control signal based on the target pilot-displacement corresponding relationship and the size of the pilot pressure; wherein the control signal is used to control a hydraulic system to execute the action instruction; the determination of the control signal based on the target pilot-displacement corresponding relationship and the size of the pilot pressure comprises: determining a displacement signal corresponding to the pilot pressure as a target displacement based on the target pilot-displacement corresponding relationship and the size of the pilot pressure; determining a change rate corresponding to the target displacement, and determining the control signal based on the target displacement and the change rate; wherein the change rate is a loading change rate or a reducing change rate.

2. The hydraulic system control method of claim 1, wherein the determination of the category and the size of the pilot pressure of the electric control handle based on the electrical signal comprises: determining a direction mark and a stroke amount of the electric control handle in two orthogonal directions based on the electrical signal; determining the category of the pilot pressure based on the direction mark; determining the size of the pilot pressure based on the category of the pilot pressure and the stroke amount.

3. The hydraulic system control method of claim 2, wherein the determination of the change rate corresponding to the target displacement comprises: acquiring a current working condition, and determining the change rate corresponding to the target displacement based on the current working condition.

4. The hydraulic system control method of claim 2, wherein the determination of the control signal based on the target displacement and the change rate comprises: determining a loading step or a reducing step based on the change rate; determining the control signal based on the target displacement and the loading step or the reducing step.

5. The hydraulic system control method according to any one of claims 1 to 4, characterized by, before the determination of the control signal based on the target pilot-displacement corresponding relationship and the size of the pilot pressure, the method further comprises: acquiring a hydraulic oil temperature of the hydraulic system; correcting the target pilot-displacement corresponding relationship based on the hydraulic oil temperature.

6. A hydraulic system control device characterized by comprising: The method comprises: a data acquisition module, configured to acquire an electrical signal output by an electric control handle; wherein the electric control handle is used to convert an input action instruction into the electrical signal; the electrical signal comprises a motion direction and a motion opening degree of the electric control handle; a first calculation module, configured to determine a category and a size of a pilot pressure of the electric control handle based on the electrical signal; a second calculation module, configured to determine a target pilot-displacement corresponding relationship based on the category of the pilot pressure, and determine a control signal based on the target pilot-displacement corresponding relationship and the size of the pilot pressure; wherein the control signal is used to control a hydraulic system to execute the action instruction; the determination of the control signal based on the target pilot-displacement corresponding relationship and the size of the pilot pressure comprises: determining a displacement signal corresponding to the pilot pressure as a target displacement based on the target pilot-displacement corresponding relationship and the size of the pilot pressure; determining a change rate corresponding to the target displacement, and determining the control signal based on the target displacement and the change rate; wherein the change rate is a loading change rate or a reducing change rate. Determine a change rate corresponding to the target displacement, and determine the control signal based on the target displacement and the change rate; wherein the change rate is a loading change rate or a reducing change rate.

7. A work machine characterized by comprising: Comprise: An electric control handle, a hydraulic system, and a control device; The electric control handle is used to convert an input action instruction into an electric signal; the electric signal comprises a motion direction and a motion opening degree of the electric control handle; The control device is used to acquire the electric signal output by the electric control handle; is further used to determine a category and a size of a pilot pressure of the electric control handle based on the electric signal; is further used to determine a target pilot-displacement corresponding relationship based on the category of the pilot pressure, and determine a control signal based on the target pilot-displacement corresponding relationship and the size of the pilot pressure; wherein the control signal is used to control the hydraulic system to execute the action instruction; The determination of the control signal based on the target pilot-displacement corresponding relationship and the size of the pilot pressure comprises: Determine a displacement signal corresponding to the pilot pressure as a target displacement based on the target pilot-displacement corresponding relationship and the size of the pilot pressure; Determine a change rate corresponding to the target displacement, and determine the control signal based on the target displacement and the change rate; wherein the change rate is a loading change rate or a reducing change rate.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to realize the hydraulic system control method of any one of claims 1 to 5. 9.A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the hydraulic system control method of any one of claims 1 to 5.

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