Method for controlling power of main pump of crane operated by hydraulic control and crane operated by hydraulic control

Abstract

The application discloses a control method for controlling power of a main pump of a hydraulic control operating crane and the hydraulic control operating crane. The control method comprises the following steps: obtaining a preset power control curve and an action signal sent by an orientation detection device; determining a load type according to the action signal; selecting a target power control curve in the preset power control curve according to the load type; and performing power matching of the hydraulic control operating crane according to the target power control curve. The preset power control curve comprises a plurality of candidate power control curves, and the preset power control curve is a relationship curve of engine speed and oil pump current. By matching different load types with corresponding target power control curves, the application can realize differentiated control of oil pump power, more simply and accurately realize power matching of different loads, and thus the working efficiency of the hydraulic control operating crane can be improved.

Description

Technical Field

[0001] This application relates to the field of crane technology, specifically to a method for controlling the power of the main pump of a hydraulically operated crane and a hydraulically operated crane. Background Technology

[0002] Mobile crane hydraulic systems can be classified into fixed displacement pump systems and variable displacement pump systems according to the hydraulic oil source. The mainstream application of variable displacement pump control is constant power control, which can be divided into mechanical constant power and electric constant power control. According to the control method of the operating handle, they can be divided into hydraulic control system and electric control system. The hydraulic control system outputs pilot pressure to control the switching and opening of the multi-way valve, while the electric control system outputs current to control the switching and opening of the multi-way valve.

[0003] Currently, the power control curve for hydraulically operated cranes is a single curve, derived through calculation and experimentation. This curve is based on matching the pump power to the engine according to the engine's torque, power characteristics, and the crane's operating conditions. Current power matching primarily considers the overall load of the oil pump and the engine power, a comprehensive matching of all types of loads without considering the differences in load characteristics for each action. Furthermore, at low engine speeds, the power value is low, and the usable proportion is also low. To prevent engine stalling at low speeds, current technology matches the power to loads with high pressure fluctuations, adjusting the oil pump power to allow for engine power reserves. This results in reduced engine power at low speeds. Moreover, the crane's primary action is the hoisting motion, which operates primarily at low engine speeds. The current matching and power control methods waste engine power at low speeds, leading to low hoisting efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a method for controlling the power of the main pump of a hydraulically operated crane and a hydraulically operated crane, so as to solve the problem that the power matching of the hydraulically operated crane is not accurate enough in the prior art, resulting in low working efficiency of the hydraulically operated crane.

[0005] To achieve the above objectives, the first aspect of this application provides a method for controlling the power of the main pump of a hydraulically operated crane, applied to a controller of the hydraulically operated crane, the controller communicating with a position detection device, the control method comprising:

[0006] Acquire the preset power control curve and the action signal sent by the orientation detection device;

[0007] Determine the load type based on the action signal;

[0008] Select the target power control curve from the preset power control curves according to the load type;

[0009] Power matching for hydraulically operated cranes is performed based on the target power control curve.

[0010] The preset power control curve includes multiple candidate power control curves, and the preset power control curve is the relationship curve between engine speed and oil pump current.

[0011] In this embodiment of the application, obtaining the action signal sent by the orientation detection device includes:

[0012] Determine whether the stroke of the orientation detection device is less than the preset stroke value;

[0013] If the travel of the orientation detection device is less than the preset travel value, the action signal sent by the orientation detection device is acquired.

[0014] In this embodiment of the application, the preset power control curve includes a low speed range and a medium-high speed range. In the low speed range, the engine speed is greater than the engine idle speed and less than or equal to the preset speed value. In the medium-high speed range, the engine speed is greater than the preset speed value and less than or equal to the engine maximum speed value. In the low speed range, the smaller the oil pump current at the same speed, the greater the engine power.

[0015] In this embodiment of the application, selecting a target power control curve from the preset power control curves according to the load type includes:

[0016] When the load type is single load, the target power control curve satisfies the following conditions:

[0017] The larger the starting load or the greater the fluctuation of the starting load, the greater the oil pump current in the low-speed range of the target power control curve;

[0018] The smaller the starting load or the smaller the starting load fluctuation of the load type, the smaller the oil pump current in the low speed range of the target power control curve.

[0019] In this embodiment of the application, selecting the target power control curve from the preset power control curves according to the load type further includes:

[0020] When the load type is a composite load type, the candidate power control curve corresponding to the load type with the largest startup load or the largest startup load fluctuation is selected as the target power control curve.

[0021] In this embodiment of the application, obtaining the preset power control curve includes:

[0022] Obtain the oil pump displacement and oil pump pressure for each operating condition;

[0023] The oil pump torque at each speed is determined based on the oil pump displacement and oil pump pressure.

[0024] Obtain the preset oil pump current and torque control curve;

[0025] Based on the preset oil pump current and torque control curve, the current value corresponding to the oil pump torque at each speed is determined to obtain the candidate power control curve for each operating condition.

[0026] The candidate power control curves under each operating condition are merged to obtain the preset power control curve.

[0027] In this embodiment, the oil pump torque satisfies formula (1):

[0028] T i =βV i ×Δp; (1)

[0029] Among them, T i V represents the oil pump torque. i Δp is the pump displacement, β is the pressure difference between the pump inlet and outlet, and β is a constant coefficient.

[0030] A second aspect of this application provides a controller, comprising:

[0031] The memory is configured to store instructions; and

[0032] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned method for controlling the power of the main pump of a hydraulically operated crane.

[0033] A third aspect of this application provides a hydraulically operated crane, comprising:

[0034] The aforementioned controller;

[0035] The orientation detection device communicates with the controller and is used to send action signals to the controller.

[0036] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned hydraulic control method for controlling the power of a crane main pump.

[0037] The above technical solution establishes communication between the controller of the hydraulically operated crane and the orientation detection device. The controller acquires a preset power control curve and an action signal sent by the orientation detection device, and determines the load type based on the action signal. Then, based on the load type, a target power control curve is selected from the preset power control curves, and power matching for the hydraulically operated crane is performed according to the target power control curve. In this embodiment, the preset power control curve includes multiple candidate power control curves, which are the relationship curves between engine speed and oil pump current. By matching different load types with their corresponding target power control curves, differentiated oil pump power control can be achieved, making power matching for different loads simpler and more accurate, thereby improving the working efficiency of the hydraulically operated crane.

[0038] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0039] 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:

[0040] Figure 1 A flowchart illustrating a method for controlling the power of a hydraulically operated crane main pump according to an embodiment of this application is shown schematically.

[0041] Figure 2 The diagram illustrates a preset power control curve according to a specific embodiment of this application.

[0042] Figure 3 The diagram illustrates a preset oil pump current and torque control curve according to a specific embodiment of this application.

[0043] Figure 4 This schematic diagram illustrates a structural block diagram of a controller according to an embodiment of the present application;

[0044] Figure 5 The diagram schematically illustrates a structural diagram of a hydraulically operated crane according to an embodiment of this application.

[0045] Explanation of reference numerals in the attached figures

[0046] 510 controller, 520 orientation detection device Detailed Implementation

[0047] 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.

[0048] 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.

[0049] 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.

[0050] Figure 1 A flowchart illustrating a method for controlling the power of a hydraulically operated crane main pump according to an embodiment of this application is shown schematically. Figure 1 As shown in the embodiments of this application, a method for controlling the power of the main pump of a hydraulically operated crane is provided. This method is applied to the controller of the hydraulically operated crane, which communicates with a position detection device. The control method may include the following steps:

[0051] Step 101: Obtain the preset power control curve and the action signal sent by the orientation detection device;

[0052] Step 102: Determine the load type based on the action signal;

[0053] Step 103: Select the target power control curve from the preset power control curves according to the load type;

[0054] Step 104: Perform power matching for the hydraulically operated crane according to the target power control curve;

[0055] The preset power control curve includes multiple candidate power control curves, and the preset power control curve is the relationship curve between engine speed and oil pump current.

[0056] This application provides a method for controlling the power of the main pump of a hydraulically operated crane. Different power control curves are matched to the main pump for different types of load characteristics to achieve differentiated control of the oil pump power.

[0057] In this embodiment, the preset power control curve is the relationship curve between the engine speed and the oil pump current of the hydraulically operated crane. This embodiment includes multiple candidate power control curves, each corresponding to a load type. Thus, the controller can match the corresponding candidate power control curve, i.e., the target power control curve, according to different load types. Therefore, the target power control curve is the candidate power control curve corresponding to the current load type.

[0058] In this embodiment, the orientation detection device is used to identify the actions of a hydraulically operated crane. The action signals of the hydraulically operated crane may include the action signals of the handle and pedal. In one example, a handle and pedal with orientation detection can be selected as the orientation detection device; in another example, a switch or limit switch can be added to the handle and pedal for orientation identification to identify the ongoing action. The pedal action signals may include forward and backward movements; the handle action signals may include main coil hoisting / lowering, main coil raising, luffing / boom retraction, and luffing / boom extension.

[0059] In this application embodiment, the load type can include multiple load types. For example, taking load types as divided into type A loads and type B loads, a load with a starting load greater than a first load value or a starting load fluctuating within a first range can be classified as a type A load, and a load with a starting load less than a second load value or a load fluctuating within a second range can be classified as a type B load. The first load value is greater than the second load value. The fluctuation within the first range is greater than the fluctuation within the second range. That is to say, type A loads have a larger starting load or larger starting load fluctuations, which are generally common in the extension and travel movements of hydraulically operated cranes; type B loads have a smaller starting load or stable starting load fluctuations, which are generally common in the hoisting movements of hydraulically operated cranes. It should be noted that the load types in this application embodiment are not limited to the two types described above, and more than two load types can be set according to actual needs.

[0060] In this embodiment, after determining the load type of the current hydraulically operated crane, the controller can select a target power control curve from the preset power control curves based on the load type. This target power control curve matches the current load type, and the power of the hydraulically operated crane is then matched according to the target power control curve. For load types with large starting loads or large starting load fluctuations, a candidate power control curve with lower power should be selected as the target power control curve. Conversely, for load types with small starting loads or relatively stable starting load fluctuations, a candidate power control curve with higher power should be selected as the target power control curve. When the load type is a composite load type, the candidate power control curve corresponding to the load type with even larger starting loads or larger starting load fluctuations should be selected as the target power control curve. This ensures that the engine does not stall at low speeds.

[0061] This application embodiment achieves differentiated control of oil pump power by matching different load types with corresponding target power control curves, making it simpler and more accurate to achieve power matching for different loads, thereby improving the working efficiency of hydraulically operated cranes.

[0062] In this embodiment of the application, step 101, obtaining the action signal sent by the orientation detection device, may include:

[0063] Determine whether the stroke of the orientation detection device is less than the preset stroke value;

[0064] If the travel of the orientation detection device is less than the preset travel value, the action signal sent by the orientation detection device is acquired.

[0065] Specifically, the preset stroke value refers to the maximum idle stroke point of the orientation detection device. Both the handle and the pedal include a dead stroke, i.e., an idle stroke. Within the dead stroke, the operator operating the handle and pedal will not produce a corresponding action. Only when the stroke is greater than the preset stroke value x1 and the pilot pressure is greater than p1, can the corresponding action be produced when the operator operates the handle and pedal. Therefore, in this embodiment, in order to improve the matching efficiency, the orientation detection device needs to detect the action signal before the stroke is within the dead stroke [0, x1].

[0066] In this embodiment of the application, the preset power control curve may include a low speed range and a medium-high speed range. In the low speed range, the engine speed is greater than the engine idle speed and less than or equal to the preset speed value. In the medium-high speed range, the engine speed is greater than the preset speed value and less than or equal to the engine maximum speed value. In the low speed range, the smaller the oil pump current at the same speed, the greater the engine power.

[0067] Specifically, the preset power control curve can include a low-speed range and a medium-to-high-speed range. In the low-speed range, the candidate power control curves corresponding to each load type are different, while in the medium-to-high-speed range, the candidate power control curves corresponding to each load type overlap. That is, in the medium-to-high-speed range, due to the high engine power, only one candidate power control curve exists. Therefore, the selection of the target power control curve in this embodiment is mainly based on the different low-speed ranges. Furthermore, in the low-speed range, the smaller the oil pump current at the same speed, the greater the oil pump torque, and the greater the engine power; similarly, the greater the oil pump current, the greater the oil pump torque, and the smaller the engine power. Here, the low-speed range refers to the engine speed being greater than the engine's idle speed value n. e0 And less than or equal to the preset speed value n ei The mid-to-high speed range refers to the engine speed being greater than the preset speed value n. ei And less than or equal to the maximum speed value n en .

[0068] Figure 2 The diagram illustrates a preset power control curve according to a specific embodiment of this application. Figure 2 As shown, the horizontal axis represents engine speed, and the vertical axis represents oil pump current (i.e., current). Taking type A and type B loads as examples, when the engine speed is greater than the engine's idle speed n... e0 And less than or equal to the preset speed value n ei In the low-speed range, there are two candidate power control curves, while when the engine speed is greater than the preset speed value n... ei And less than or equal to the maximum speed value n en In the medium-to-high speed range, there is only one candidate power control curve.

[0069] In this embodiment of the application, step 103, selecting the target power control curve from the preset power control curves according to the load type, may include:

[0070] When the load type is single load, the target power control curve satisfies the following conditions:

[0071] The larger the starting load or the greater the fluctuation of the starting load, the greater the oil pump current in the low-speed range of the target power control curve;

[0072] The smaller the starting load or the smaller the starting load fluctuation of the load type, the smaller the oil pump current in the low speed range of the target power control curve.

[0073] Specifically, at low speeds, a smaller oil pump current results in a larger oil pump torque and thus a greater engine power at the same speed. Therefore, for load types with large starting loads or large fluctuations in starting load, a candidate power control curve with lower power at low speeds (i.e., higher oil pump current) is needed; conversely, for load types with smaller starting loads or more stable starting load fluctuations, a candidate power control curve with higher power at low speeds (i.e., lower oil pump current) is needed. (Continuing with...) Figure 2 For example, the preset power control curve includes two candidate power control curves, BCD and ACD, where in the low-speed range [n e0 ,n ei The oil pump current of BC is greater than that of AC, meaning the engine power corresponding to BC is less than that corresponding to AC. Therefore, if the starting load of a type A load is large or fluctuates significantly, the target power control curve matched by the controller is BCD; if the starting load of a type B load is small or changes steadily, the target power control curve matched by the controller is ACD. This embodiment of the application, by matching corresponding target power control curves to different load types and setting different power adjustment currents for the oil pumps, makes power matching more precise, increases the maximum usable power of the load in the low-speed range, and thus improves the working efficiency of the hydraulically operated crane.

[0074] In this embodiment of the application, step 103, selecting the target power control curve from the preset power control curves according to the load type, may further include:

[0075] When the load type is a composite load type, the candidate power control curve corresponding to the load type with the largest startup load or the largest startup load fluctuation is selected as the target power control curve.

[0076] Specifically, when the load type is a composite load type, the candidate power control curve corresponding to the load type with a larger starting load or greater starting load fluctuation should be selected as the target power control curve. Figure 2 For example, when adjusting the oil pump power, if only type B load is considered and type A load is not considered, the engine is prone to stalling at low speeds. Therefore, it is necessary to match the corresponding target power control curve according to type A load so that the engine is less likely to stall at low speeds.

[0077] In this embodiment of the application, step 101, obtaining the preset power control curve, may include:

[0078] Obtain the oil pump displacement and oil pump pressure for each operating condition;

[0079] The oil pump torque at each speed is determined based on the oil pump displacement and oil pump pressure.

[0080] Obtain the preset oil pump current and torque control curve;

[0081] Based on the preset oil pump current and torque control curve, the current value corresponding to the oil pump torque at each speed is determined to obtain the candidate power control curve for each operating condition.

[0082] The candidate power control curves under each operating condition are merged to obtain the preset power control curve.

[0083] Specifically, the preset power control curve can include multiple candidate power control curves, i.e., the relationship curve between engine speed and oil pump current. The preset oil pump current and torque control curve can be set at the factory when the hydraulically operated crane leaves the factory. The candidate power control curve can be determined by the current value corresponding to the oil pump torque at each speed under each operating condition.

[0084] In this embodiment, the controller first acquires the oil pump displacement and oil pump pressure for each operating condition. For each operating condition, the oil pump torque at each speed can be determined based on the oil pump displacement and oil pump pressure.

[0085] In this embodiment, the oil pump torque can satisfy formula (1):

[0086] T i =βV i ×Δp; (1)

[0087] Among them, T i V represents the oil pump torque. i Let V be the pump displacement, Δp be the pressure difference between the pump inlet and outlet, and β be a constant coefficient. Therefore, the controller first obtains the pump displacement V. i And the oil pump pressure Δp, from which the oil pump torque T can be obtained. i .

[0088] The input power of the oil pump can satisfy formula (2):

[0089] Pi = αT i ×n i (2)

[0090] Among them, P i T is the input power of the oil pump. i n is the oil pump torque. i P represents the oil pump speed, and α is a constant coefficient. There may be a speed ratio between the engine and the oil pump. i and T i It is usually calculated by subtracting the engine's own power consumption from its power and torque. The engine speed is n. i At a certain operating condition, the torque T of the oil pump i The calculations include:

[0091] (1) Design speed value of the actuator: Calculate the oil pump displacement V i ;

[0092] (2) Maximum load of the actuator: Calculate the oil pump pressure P b ;

[0093] The actuator can be a hydraulic cylinder or a winch; a hydraulic cylinder provides linear motion, while a winch provides rotary motion. Therefore: T i =V i ×P b .

[0094] In this embodiment, the controller can also acquire a preset oil pump current and torque control curve. Then, based on the preset oil pump current and torque control curve, it determines the current value corresponding to the oil pump torque at each speed under the current operating condition. Figure 3 This diagram schematically illustrates a preset oil pump current and torque control curve according to a specific embodiment of this application. Figure 3 As shown, the horizontal axis represents the oil pump current (i.e., current), and the vertical axis represents the torque. The torque decreases as the oil pump current increases. According to... Figure 3 The engine speed n can be obtained from the preset oil pump current and torque control curve. ei The corresponding current value at that time. Based on the above principle, multiple candidate power control curves corresponding to different load types can be obtained at different oil pump speeds, for example, Figure 2 The preset power control curves shown include two candidate power control curves corresponding to two load types.

[0095] Based on the above principle, in a specific example, when the engine speed is a certain speed, assuming the oil pump speed is n1 and the current-set torque value is T... b (Based on type B load settings, type A load not considered), because the suction pressure is relatively low, the inlet pressure is set to 0. For type B load, assume the pump outlet pressure is P. b Then the torque T b =V×P b When the crane switches to a Class A load, the pump outlet pressure increases to P due to the higher load pressure. a The pump's variable displacement mechanism was not adjusted in time. At this point, T = βV × P a>b. The engine will stall. When adjusting the oil pump power, if only type B loads are considered and type A loads are not, the engine is prone to stalling at low speeds. A common solution is to set the matching power based on type A loads, which reduces the maximum availability of type B loads at low speeds, resulting in lower efficiency. The embodiments of this application, by matching different target power control curves, can greatly improve the maximum availability of type B loads at low speeds, and make power matching more precise and efficient, thereby improving the working efficiency of the hydraulically operated crane.

[0096] Figure 4 This schematically illustrates a structural block diagram of a controller according to an embodiment of this application. Figure 4 As shown in the figure, this application provides a controller that may include:

[0097] Memory 410 is configured to store instructions; and

[0098] The processor 420 is configured to retrieve instructions from the memory 410 and, when executing the instructions, to implement the aforementioned method for controlling the power of the hydraulically operated crane main pump.

[0099] In this embodiment of the application, the processor 420 can be configured to:

[0100] Acquire the preset power control curve and the action signal sent by the orientation detection device;

[0101] Determine the load type based on the action signal;

[0102] Select the target power control curve from the preset power control curves according to the load type;

[0103] Power matching for hydraulically operated cranes is performed based on the target power control curve.

[0104] The preset power control curve includes multiple candidate power control curves, and the preset power control curve is the relationship curve between engine speed and oil pump current.

[0105] Furthermore, the processor 420 can also be configured as follows:

[0106] The action signals sent by the orientation detection device include:

[0107] Determine whether the stroke of the orientation detection device is less than the preset stroke value;

[0108] If the travel of the orientation detection device is less than the preset travel value, the action signal sent by the orientation detection device is acquired.

[0109] In this embodiment of the application, the preset power control curve includes a low speed range and a medium-high speed range. In the low speed range, the engine speed is greater than the engine idle speed and less than or equal to the preset speed value. In the medium-high speed range, the engine speed is greater than the preset speed value and less than or equal to the engine maximum speed value. In the low speed range, the smaller the oil pump current at the same speed, the greater the engine power.

[0110] Furthermore, the processor 420 can also be configured as follows:

[0111] Select the target power control curve from the preset power control curves based on the load type, including:

[0112] When the load type is single load, the target power control curve satisfies the following conditions:

[0113] The larger the starting load or the greater the fluctuation of the starting load, the greater the oil pump current in the low-speed range of the target power control curve;

[0114] The smaller the starting load or the smaller the starting load fluctuation of the load type, the smaller the oil pump current in the low speed range of the target power control curve.

[0115] Furthermore, the processor 420 can also be configured as follows:

[0116] Selecting a target power control curve from the preset power control curves based on load type also includes:

[0117] When the load type is a composite load type, the candidate power control curve corresponding to the load type with the largest startup load or the largest startup load fluctuation is selected as the target power control curve.

[0118] Furthermore, the processor 420 can also be configured as follows:

[0119] Obtaining the preset power control curve includes:

[0120] Obtain the oil pump displacement and oil pump pressure for each operating condition;

[0121] The oil pump torque at each speed is determined based on the oil pump displacement and oil pump pressure.

[0122] Obtain the preset oil pump current and torque control curve;

[0123] Based on the preset oil pump current and torque control curve, the current value corresponding to the oil pump torque at each speed is determined to obtain the candidate power control curve for each operating condition.

[0124] The candidate power control curves under each operating condition are merged to obtain the preset power control curve.

[0125] In this embodiment, the oil pump torque satisfies formula (1).

[0126] T i =βV i ×Δp; (1)

[0127] Among them, T i V represents the oil pump torque. i Δp is the pump displacement, β is the pressure difference between the pump inlet and outlet, and β is a constant coefficient.

[0128] The above technical solution establishes communication between the controller of the hydraulically operated crane and the orientation detection device. The controller acquires a preset power control curve and an action signal sent by the orientation detection device, and determines the load type based on the action signal. Then, based on the load type, a target power control curve is selected from the preset power control curves, and power matching for the hydraulically operated crane is performed according to the target power control curve. In this embodiment, the preset power control curve includes multiple candidate power control curves, which are the relationship curves between engine speed and oil pump current. By matching different load types with their corresponding target power control curves, differentiated oil pump power control can be achieved, making power matching for different loads simpler and more accurate, thereby improving the working efficiency of the hydraulically operated crane.

[0129] Figure 5 A schematic diagram of a hydraulically operated crane according to an embodiment of this application is shown. Figure 5 As shown, this application provides a hydraulically operated crane, which may include:

[0130] The aforementioned controller 510;

[0131] The orientation detection device 520 communicates with the controller 510 and is used to send action signals to the controller 510.

[0132] In this embodiment, the orientation detection device 520 is used for motion recognition of a hydraulically operated crane. The motion signals of the hydraulically operated crane may include motion signals from the handle and pedal. In one example, a handle and pedal with orientation detection can be selected as the orientation detection device; in another example, a switch or limit switch can be added to the handle and pedal for orientation recognition to identify the ongoing motion. The pedal's motion signals may include forward and backward movements; the handle's motion signals may include main coil hoisting / lowering, main coil raising, luffing / boom retraction, and luffing / boom extension.

[0133] In this embodiment, the controller 510 of the hydraulically operated crane communicates with the orientation detection device 520. The controller 510 acquires a preset power control curve and an action signal sent by the orientation detection device 520, and determines the load type based on the action signal. Then, based on the load type, it selects a target power control curve from the preset power control curves, and performs power matching for the hydraulically operated crane according to the target power control curve. The preset power control curve in this embodiment includes multiple candidate power control curves, and the preset power control curve is the relationship curve between engine speed and oil pump current. By matching different load types with the corresponding target power control curves, differentiated control of oil pump power can be achieved, making power matching for different loads simpler and more accurate, thereby improving the working efficiency of the hydraulically operated crane.

[0134] This application provides a machine-readable storage medium storing instructions for causing a machine to execute the aforementioned hydraulic control method for controlling the power of a crane's main pump.

[0135] 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.

[0136] 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.

[0137] 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 1The function specified in one or more boxes.

[0138] 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.

[0139] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] 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 controlling the power of the main pump of a hydraulically operated crane, characterized in that, A controller for a hydraulically operated crane, the controller communicating with a position detection device, the control method comprising: Acquire the preset power control curve and the action signal sent by the orientation detection device; The load type is determined based on the action signal; Select the target power control curve from the preset power control curves according to the load type; The power of the hydraulically operated crane is matched according to the target power control curve; The preset power control curve includes multiple candidate power control curves, and the preset power control curve is the relationship curve between engine speed and oil pump current; The preset power control curve includes a low-speed range and a medium-high speed range. In the low-speed range, the engine speed is greater than the engine's idle speed and less than or equal to the preset speed value. In the medium-high speed range, the engine speed is greater than the preset speed value and less than or equal to the engine's maximum speed value. In the low-speed range, the smaller the oil pump current at the same speed, the greater the engine power. The step of selecting a target power control curve from the preset power control curves according to the load type includes: When the load type is a single load type, the target power control curve satisfies the following conditions: The larger the starting load of the load type or the greater the starting load fluctuation, the greater the oil pump current in the low speed range of the target power control curve. The smaller the starting load or the smaller the starting load fluctuation of the load type, the smaller the oil pump current in the low speed range of the target power control curve.

2. The control method according to claim 1, characterized in that, The action signals sent by the orientation detection device include: Determine whether the stroke of the orientation detection device is less than a preset stroke value; If the travel distance of the orientation detection device is less than the preset travel distance value, the action signal sent by the orientation detection device is acquired.

3. The control method according to claim 1, characterized in that, The step of selecting the target power control curve from the preset power control curves according to the load type further includes: When the load type is a composite load type, the candidate power control curve corresponding to the load type with the largest start-up load or the largest start-up load fluctuation is selected as the target power control curve.

4. The control method according to claim 1, characterized in that, The process of obtaining the preset power control curve includes: Obtain the oil pump displacement and oil pump pressure for each operating condition; Based on the oil pump displacement and oil pump pressure, the oil pump torque at each speed is determined respectively; Obtain the preset oil pump current and torque control curve; Based on the preset oil pump current and torque control curve, the current value corresponding to the oil pump torque at each speed is determined to obtain the candidate power control curve for each operating condition. The candidate power control curves under each operating condition are merged to obtain the preset power control curve.

5. The control method according to claim 4, characterized in that, The oil pump torque satisfies formula (1): ； （1） in, The torque of the oil pump is... The displacement of the oil pump is... The pressure difference between the inlet and outlet of the oil pump. It is a constant coefficient.

6. 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 for controlling the power of the hydraulically operated crane main pump according to any one of claims 1 to 5.

7. A hydraulically operated crane, characterized in that, include: The controller according to claim 6; The orientation detection device communicates with the controller and is used to send action signals to the controller.

8. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform a method for controlling the power of the hydraulically operated crane main pump according to any one of claims 1 to 5.

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