Control method for a hydraulic system, storage medium and processor

Abstract

The embodiment of the present application provides a control method, a storage medium and a processor for a hydraulic system. The method comprises the following steps: obtaining gravitational potential energy generated by a heavy object in a descending stage; controlling first hydraulic oil carrying the gravitational potential energy to flow from a main hydraulic motor to a secondary hydraulic motor; controlling a generator of the secondary hydraulic motor to convert the gravitational potential energy into kinetic energy and store the kinetic energy; controlling second hydraulic oil carrying the gravitational potential energy to flow from an auxiliary hydraulic motor to an accumulator; and controlling the accumulator to convert the gravitational potential energy into pressure energy and store the pressure energy; wherein the kinetic energy and the pressure energy are used to be converted into mechanical energy to drive the hoisting mechanism to ascend in a process that the hoisting mechanism is in an ascending stage. The above technical solution can improve the energy recovery and utilization efficiency of the hydraulic system, improve the flexibility of the energy storage mode, save energy, and improve the efficiency of the hydraulic system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of hydraulic system energy recovery and reuse, and particularly relates to a control method for a hydraulic system, a storage medium and a processor. BACKGROUND

[0002] At present, when the load is lifted, the gravity does work, and when the load is lowered, the throttling speed regulation of the lowering process is realized by controlling the throttling area of the balance valve. The energy of the load lowering process is completely converted into heat energy, causing energy waste. In the prior art, the gravitational potential energy of the load lowering is converted into heat energy, which leads to an increase in the temperature of the hydraulic system, reduces the service life of the hydraulic components, and thus reduces the working efficiency of the hydraulic system. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a control method for a hydraulic system, a storage medium and a processor.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a control method for a hydraulic system, the hydraulic system comprising a first recovery system, a second recovery system and a hoisting mechanism, the first recovery system comprising a main hydraulic motor and a secondary hydraulic motor connected through an oil supply pipeline, the second recovery system comprising an auxiliary hydraulic motor and an accumulator connected through an oil supply pipeline, and the auxiliary hydraulic motor and the secondary hydraulic motor connected through an oil supply pipeline, the control method comprising:

[0005] obtaining gravitational potential energy generated by the load in the lowering stage;

[0006] controlling the first hydraulic oil carrying the gravitational potential energy to flow from the main hydraulic motor to the secondary hydraulic motor;

[0007] controlling the generator of the secondary hydraulic motor to convert the gravitational potential energy into kinetic energy and store it;

[0008] controlling the second hydraulic oil carrying the gravitational potential energy to flow from the auxiliary hydraulic motor to the accumulator;

[0009] controlling the accumulator to convert the gravitational potential energy into pressure energy and store it;

[0010] wherein the kinetic energy and the pressure energy are used to convert into mechanical energy in the process of the hoisting mechanism in the lifting stage, to drive the hoisting mechanism to lift.

[0011] In the embodiment of the present application, the descending stage includes a first descending stage and a second descending stage, the gravitational potential energy includes first gravitational potential energy generated by the weight in the first descending stage and second gravitational potential energy generated by the weight in the second descending stage, the kinetic energy includes first kinetic energy and second kinetic energy, and the generator of the auxiliary hydraulic motor converts the gravitational potential energy into the kinetic energy and stores the kinetic energy, including: during the process that the hoisting mechanism is in the first descending stage, controlling the first sub-hydraulic oil carrying the first gravitational potential energy to flow from the main hydraulic motor to the auxiliary hydraulic motor; and controlling the generator of the auxiliary hydraulic motor to convert the first gravitational potential energy into the first kinetic energy and store the first kinetic energy.

[0012] In the embodiment of the present application, the descending stage includes a first descending stage and a second descending stage, the gravitational potential energy includes first gravitational potential energy generated by the weight in the first descending stage and second gravitational potential energy generated by the weight in the second descending stage, the pressure energy includes first pressure energy and second pressure energy, and the accumulator converts the gravitational potential energy into the pressure energy and stores the pressure energy, including: during the process that the hoisting mechanism is in the first descending stage, controlling the second sub-hydraulic oil carrying the first gravitational potential energy to flow from the auxiliary hydraulic motor to the accumulator; and controlling the accumulator to convert the first gravitational potential energy into the first pressure energy and store the first pressure energy.

[0013] In the embodiment of the present application, the accumulator and the hoisting mechanism are connected through the oil supply pipeline, and the control method further includes: after the accumulator converts the first gravitational potential energy into the first pressure energy and stores the first pressure energy, controlling the third hydraulic oil carrying the first pressure energy to flow from the accumulator to the hoisting mechanism, so that the hoisting mechanism keeps descending, and the weight generates new gravitational potential energy in the descending process; and controlling the third hydraulic oil carrying the new gravitational potential energy to flow back to the accumulator from the hoisting mechanism.

[0014] In the embodiment of the present application, the accumulator, the auxiliary hydraulic motor and the hoisting mechanism are connected through the oil supply pipeline in sequence, and the control of the third hydraulic oil carrying the first pressure energy flowing from the accumulator to the hoisting mechanism, so that the hoisting mechanism keeps descending, and the weight generates new gravitational potential energy in the descending process includes: controlling the third hydraulic oil carrying the first pressure energy to flow from the accumulator to the auxiliary hydraulic motor, so that the auxiliary hydraulic motor generates a target torque; and controlling the target torque to act on the hoisting mechanism, so that the hoisting mechanism keeps descending, and the weight generates new gravitational potential energy in the descending process.

[0015] In this embodiment of the application, the control method further includes: after the generator controlling the auxiliary hydraulic motor converts gravitational potential energy into kinetic energy and stores it, controlling the first hydraulic oil processed by the generator to flow from the auxiliary hydraulic motor to the main hydraulic motor, so that the first hydraulic oil processed by the generator carries the first gravitational potential energy.

[0016] In this embodiment of the application, the control method further includes: during the lifting process of the hoisting mechanism, controlling the hydraulic oil carrying pressure energy and the hydraulic oil carrying kinetic energy to flow from the accumulator and the generator to the main hydraulic motor, respectively, so that the main hydraulic motor drives the hoisting mechanism to lift, wherein the main hydraulic motor is connected to the accumulator and the generator through oil supply lines.

[0017] In this embodiment of the application, the control method further includes: acquiring the load pressure of the heavy object before acquiring the gravitational potential energy generated by the heavy object during the descent phase; and configuring the parameters of the main hydraulic motor, the auxiliary hydraulic motor and the secondary hydraulic motor according to the load pressure so that the main hydraulic motor, the auxiliary hydraulic motor and the secondary hydraulic motor function normally.

[0018] A second aspect of this application provides a processor configured to perform the control method for a hydraulic system described above.

[0019] A third aspect of this application provides an engineering vehicle, comprising:

[0020] The hydraulic system includes a first recovery system, a second recovery system, and a hoisting mechanism. The first recovery system includes a main hydraulic motor and an auxiliary hydraulic motor connected via oil supply lines. The second recovery system includes an auxiliary hydraulic motor and an accumulator connected via oil supply lines, as well as an auxiliary hydraulic motor and an auxiliary hydraulic motor connected via oil supply lines.

[0021] The aforementioned processor.

[0022] A fourth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the aforementioned control method for a hydraulic system.

[0023] The above technical solution involves: capturing the gravitational potential energy generated by the weight during its descent; controlling the flow of first hydraulic oil carrying gravitational potential energy from the main hydraulic motor to the auxiliary hydraulic motor; controlling the generator of the auxiliary hydraulic motor to convert and store the gravitational potential energy into kinetic energy; controlling the flow of second hydraulic oil carrying gravitational potential energy from the auxiliary hydraulic motor to the accumulator; and controlling the accumulator to convert and store the gravitational potential energy into pressure energy. The kinetic and pressure energy are then converted into mechanical energy during the hoisting mechanism's ascent phase to drive the hoisting mechanism upward. This technical solution improves the efficiency of energy recovery and utilization in the hydraulic system, enhances the flexibility of energy storage methods, saves energy, and improves the overall efficiency of the hydraulic system.

[0024] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0025] 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:

[0026] Figure 1 A schematic diagram illustrating a control method for a hydraulic system according to an embodiment of this application is shown.

[0027] Figure 2 A schematic diagram of a hydraulic system according to an embodiment of this application is shown;

[0028] Figure 3 The diagram illustrates the internal structure of a computer device according to an embodiment of this application.

[0029] Figure Labels

[0030] 1. Auxiliary hydraulic pump motor sensor; 2. Auxiliary hydraulic motor

[0031] 3. Auxiliary pump motor, variable displacement cylinder; 4. Two-position four-way hydraulic directional valve

[0032] 5. First two-position three-way solenoid directional valve; 6. Two-position three-way hydraulic directional valve

[0033] 7. Accumulator sensor 8. Accumulator

[0034] 9. Hydraulic check valve 10. Auxiliary clutch

[0035] 11. First winch locking cylinder 12. Second winch locking cylinder

[0036] 13. Main clutch; 14. Hydraulic motor locking cylinder

[0037] 15. Main hydraulic motor; 16. Second two-position three-way solenoid directional valve

[0038] 17. Main hydraulic motor variable cylinder; 18. First check valve

[0039] 19. Third / Second Position Three-Way Solenoid Directional Valve 20. Balance Valve

[0040] 21. Second check valve; 22. Auxiliary hydraulic motor

[0041] 23. Auxiliary hydraulic motor variable displacement cylinder 24. Generator

[0042] 25. Overflow buffer valve assembly 26. First two-position two-way solenoid directional valve

[0043] 27. Third check valve; 28. Auxiliary hydraulic motor sensor

[0044] 29. Second two-position two-way solenoid directional valve; 30. Three-position four-way solenoid directional valve

[0045] 31. Main hydraulic motor sensor; 32. Main clutch locking cylinder

[0046] 33. Hoisting mechanism 34. Target weight

[0047] 35. Target weight sensor; 36. Auxiliary clutch locking cylinder

[0048] 37. Pressure reducing valve; 38. Third two-position two-way solenoid directional valve

[0049] 39. Fourth two-position two-way solenoid directional valve; 40. First two-position two-way solenoid servo directional valve

[0050] 41. Second two-position two-way electromagnetic servo directional valve

[0051] 42. Fifth two-position two-way solenoid directional valve; 43. Third two-position two-way solenoid servo directional valve

[0052] 44. Sixth two-position two-way solenoid directional valve 45. Seventh two-position two-way solenoid directional valve

[0053] 46. ​​Eighth two-position two-way solenoid directional valve

[0054] Y1, electromagnet Y2a, electromagnet Y2b, electromagnet Y3, electromagnet

[0055] Y4, electromagnet Y5, electromagnet Y6, electromagnet Y7, electromagnet

[0056] Y8, Y9, Y10, Y11, electromagnet

[0057] Y12, electromagnet; Y13, electromagnet; Y14, electromagnet; Y15, electromagnet.

[0058] Pf1, control fluid Pf2, control fluid Pf3, control fluid Pf4, control fluid

[0059] Pf5, control fluid Pf6, control fluid Pk1, control fluid Pk2, control fluid

[0060] La, the connection interface between the hydraulic check valve 9 and the fifth two-position two-way solenoid directional valve 42 Detailed Implementation

[0061] 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.

[0062] Figure 1 A schematic flowchart of a control method for a hydraulic system according to an embodiment of this application is shown. Figure 1 As shown in one embodiment of this application, a control method for a hydraulic system is provided. The hydraulic system includes a first recovery system, a second recovery system, and a hoisting mechanism. The first recovery system includes a main hydraulic motor and an auxiliary hydraulic motor connected through an oil supply line. The second recovery system includes an auxiliary hydraulic motor and an accumulator connected through an oil supply line, and an auxiliary hydraulic motor and an auxiliary hydraulic motor connected through an oil supply line. The method includes the following steps:

[0063] Step 101: Obtain the gravitational potential energy generated by the weight during the descent phase.

[0064] Step 102: Control the flow of the first hydraulic oil carrying gravitational potential energy from the main hydraulic motor to the auxiliary hydraulic motor.

[0065] Step 103: The generator controlling the auxiliary hydraulic motor converts gravitational potential energy into kinetic energy and stores it.

[0066] Step 104: Control the flow of the second hydraulic oil carrying gravitational potential energy from the auxiliary hydraulic motor to the accumulator.

[0067] Step 105: Control the accumulator to convert gravitational potential energy into pressure energy and store it. The kinetic energy and pressure energy are used to convert into mechanical energy during the rising phase of the hoisting mechanism to drive the hoisting mechanism to rise.

[0068] A hydraulic system is a system that increases force by changing pressure. A winch mechanism is mainly used for hoisting, pulling, pushing, and dragging heavy objects. A hydraulic motor is an actuator in a hydraulic system; it converts the liquid pressure energy provided by a hydraulic pump into the mechanical energy of its output shaft. An accumulator is an energy storage device in a hydraulic-pneumatic system, used to store and release the energy of the hydraulic system. Oil supply lines are the flow channels for oil in a hydraulic system. Gravitational potential energy refers to the energy possessed by a heavy object due to gravity. Hydraulic oil is the hydraulic medium used in hydraulic systems that utilize liquid pressure energy; it plays roles in energy transfer, anti-wear, system lubrication, corrosion prevention, rust prevention, and cooling within the hydraulic system. Kinetic energy refers to the energy possessed by a generator in motion. Pressure energy is the energy released by an accumulator when needed by the hydraulic system.

[0069] The hydraulic system may include a first recovery system, a second recovery system, and a hoisting mechanism. The first recovery system may include a main hydraulic motor and an auxiliary hydraulic motor connected via oil supply lines. The second recovery system may include an auxiliary hydraulic motor and an accumulator connected via oil supply lines, as well as an auxiliary hydraulic motor and an auxiliary hydraulic motor connected via oil supply lines. The processor can acquire the gravitational potential energy generated by the weight during the descent phase. After acquiring the gravitational potential energy, the processor can control the flow of first hydraulic oil carrying the gravitational potential energy from the main hydraulic motor to the auxiliary hydraulic motor. It also controls the generator of the auxiliary hydraulic motor to convert the gravitational potential energy into kinetic energy and stores the converted kinetic energy. The processor can also control the flow of second hydraulic oil carrying the gravitational potential energy from the auxiliary hydraulic motor to the main accumulator, and control the accumulator to convert the gravitational potential energy into pressure energy and store the converted pressure energy. During the hoisting mechanism's ascent phase, the processor can control the conversion of kinetic and pressure energy into mechanical energy to drive the hoisting mechanism upward.

[0070] In one embodiment, the control method further includes: after the generator controlling the auxiliary hydraulic motor converts gravitational potential energy into kinetic energy and stores it, controlling the first hydraulic oil processed by the generator to flow from the auxiliary hydraulic motor to the main hydraulic motor, so that the first hydraulic oil processed by the generator carries the first gravitational potential energy.

[0071] After the processor controls the generator of the auxiliary hydraulic motor to convert gravitational potential energy into kinetic energy, it can also control the flow of the first hydraulic oil, processed by the generator, from the auxiliary hydraulic motor to the main hydraulic motor. After controlling the first hydraulic oil to flow back to the main hydraulic motor, the processor can make the processed first hydraulic oil carry the first gravitational potential energy.

[0072] In one embodiment, the descent phase includes a first descent phase and a second descent phase. The gravitational potential energy includes the first gravitational potential energy generated by the weight in the first descent phase and the second gravitational potential energy generated by the weight in the second descent phase. The kinetic energy includes the first kinetic energy and the second kinetic energy. The generator controlling the auxiliary hydraulic motor converts the gravitational potential energy into kinetic energy and stores it. This includes: during the first descent phase of the hoisting mechanism, controlling the first sub-hydraulic oil carrying the first gravitational potential energy to flow from the main hydraulic motor to the auxiliary hydraulic motor; controlling the generator controlling the auxiliary hydraulic motor to convert the first gravitational potential energy into first kinetic energy and store it; during the second descent phase of the hoisting mechanism, when the pressure value of the accumulator reaches a preset value, controlling the first sub-hydraulic oil carrying the second gravitational potential energy to flow from the auxiliary hydraulic motor to the auxiliary hydraulic motor; controlling the generator controlling the auxiliary hydraulic motor to convert the second gravitational potential energy into second kinetic energy and store it.

[0073] In one embodiment, the accumulator and the hoisting mechanism are connected via an oil supply line. The control method further includes: after controlling the accumulator to convert the first gravitational potential energy into the first pressure energy and store it, controlling the third hydraulic oil carrying the first pressure energy to flow from the accumulator to the hoisting mechanism so that the hoisting mechanism continues to descend and the heavy object generates new gravitational potential energy during the descent; and controlling the third hydraulic oil carrying the new gravitational potential energy to flow back from the hoisting mechanism to the accumulator.

[0074] After the processor controls the accumulator to convert the first gravitational potential energy into the first pressure energy and stores it, it can also control the flow of the third hydraulic oil carrying the first pressure energy from the accumulator to the winch mechanism, so that the winch mechanism continues to descend. The continuous descent of the winch mechanism allows the load to generate new gravitational potential energy during the descent. The processor can then control the flow of the third hydraulic oil carrying the new gravitational potential energy back from the winch mechanism to the accumulator.

[0075] In one embodiment, the accumulator, auxiliary hydraulic motor, and winch mechanism are sequentially connected to an oil supply line. Controlling the flow of third hydraulic oil carrying first pressure energy from the accumulator to the winch mechanism, thereby maintaining the winch mechanism's descent and allowing the weight to generate new gravitational potential energy during descent, includes: controlling the flow of third hydraulic oil carrying first pressure energy from the accumulator to the auxiliary hydraulic motor, causing the auxiliary hydraulic motor to generate a target torque; and controlling the target torque to act on the winch mechanism, thereby maintaining the winch mechanism's descent and allowing the weight to generate new gravitational potential energy during descent. Torque is a special type of force that causes an object to rotate.

[0076] The processor can control the flow of third hydraulic oil carrying the first pressure energy from the accumulator to the winch mechanism, thereby keeping the winch mechanism descending. This descent allows the load to generate new gravitational potential energy during its descent. Specifically, the processor can control the flow of third hydraulic oil carrying the first pressure energy from the accumulator to the auxiliary hydraulic motor, causing the auxiliary hydraulic motor to generate the target torque. After the auxiliary hydraulic motor generates the target torque, the processor can control the target torque to act on the winch mechanism, keeping it descending and allowing the load to generate new gravitational potential energy during its descent.

[0077] During the first stage of the hoisting mechanism, the processor controls the flow of first sub-hydraulic oil carrying first gravitational potential energy from the main hydraulic motor to the auxiliary hydraulic motor, and controls the generator of the auxiliary hydraulic motor to convert the first gravitational potential energy into first kinetic energy and store the converted first kinetic energy. During the second descent stage of the hoisting mechanism, the processor acquires the pressure value of the accumulator and determines whether the pressure value has reached a preset value. If the pressure value of the accumulator reaches the preset value, the processor controls the flow of first sub-hydraulic oil carrying second gravitational potential energy from the auxiliary hydraulic motor to the auxiliary hydraulic motor. It then controls the generator of the auxiliary hydraulic motor to convert the second gravitational potential energy into second kinetic energy and store the converted second kinetic energy.

[0078] In one embodiment, the descent phase includes a first descent phase and a second descent phase. The gravitational potential energy includes the first gravitational potential energy generated by the weight in the first descent phase and the second gravitational potential energy generated by the weight in the second descent phase. The pressure energy includes the first pressure energy and the second pressure energy. Controlling the accumulator to convert gravitational potential energy into pressure energy and store it includes: during the first descent phase of the hoisting mechanism, controlling the flow of second sub-hydraulic oil carrying the first gravitational potential energy from the auxiliary hydraulic motor into the accumulator; controlling the accumulator to convert the first gravitational potential energy into first pressure energy and store it; during the second descent phase of the hoisting mechanism, if the pressure value of the accumulator is less than a preset value, controlling the flow of second sub-hydraulic oil carrying the second gravitational potential energy from the auxiliary hydraulic motor into the accumulator; controlling the accumulator to convert the second gravitational potential energy into second pressure energy and store it.

[0079] During the first descent phase of the hoisting mechanism, the processor can direct the flow of second hydraulic oil carrying the first gravitational potential energy from the auxiliary hydraulic motor to the accumulator. It then controls the accumulator to convert the first gravitational potential energy into first pressure energy and stores the converted pressure energy. During the second descent phase of the hoisting mechanism, the processor can acquire the pressure value of the accumulator and determine whether the pressure value reaches a preset value. If the pressure value of the accumulator is determined to be less than the preset value, the processor can direct the flow of second hydraulic oil carrying the second gravitational potential energy from the auxiliary hydraulic motor to the accumulator. It then controls the accumulator to convert the second gravitational potential energy into second pressure energy and stores it.

[0080] In one embodiment, the control method further includes: during the lifting process of the hoisting mechanism, controlling the hydraulic oil carrying pressure energy and the hydraulic oil carrying kinetic energy to flow from the accumulator and the generator to the main hydraulic motor, respectively, so that the main hydraulic motor drives the hoisting mechanism to lift, wherein the main hydraulic motor is connected to the accumulator and the generator through oil supply lines.

[0081] The hydraulic system may include a main hydraulic motor, an accumulator, and a generator. The main hydraulic motor is connected to both the accumulator and the generator via oil supply lines. The processor can determine the state of the hoisting mechanism. If the hoisting mechanism is determined to be in the ascending process, the processor can control the flow of pressurized hydraulic oil from the accumulator to the main hydraulic motor, and can also control the flow of kinetic hydraulic oil from the generator to the main hydraulic motor. After the pressurized and kinetic hydraulic oils flow into the main hydraulic motor, the processor can control the main hydraulic motor to move, thus driving the hoisting mechanism upwards.

[0082] In one embodiment, the control method further includes: acquiring the load pressure of the heavy object before acquiring the gravitational potential energy generated by the heavy object during the descent phase; and configuring the parameters of the main hydraulic motor, the auxiliary hydraulic motor, and the secondary hydraulic motor according to the load pressure so that the main hydraulic motor, the auxiliary hydraulic motor, and the secondary hydraulic motor function normally.

[0083] Before acquiring the gravitational potential energy generated during the descent of the heavy object, the processor can acquire the load pressure of the heavy object. After acquiring the load pressure, the processor can set the parameters of the main hydraulic motor, auxiliary hydraulic motor, and secondary hydraulic motor according to the load pressure to ensure that the main hydraulic motor, auxiliary hydraulic motor, and secondary hydraulic motor function normally.

[0084] In one embodiment, such as Figure 2As shown, the hydraulic system includes: auxiliary hydraulic pump motor sensor 1, auxiliary hydraulic motor 2, auxiliary pump motor variable cylinder 3, two-position four-way hydraulic directional valve 4, first two-position three-way solenoid directional valve 5, two-position three-way hydraulic directional valve 6, accumulator sensor 7, accumulator 8, hydraulically controlled check valve 9, auxiliary clutch 10, first winch locking cylinder 11, second winch locking cylinder 12, main clutch 13, hydraulic motor locking cylinder 14, main hydraulic motor 15, second two-position three-way solenoid directional valve 16, main hydraulic motor variable cylinder 17, first check valve 18, third two-position three-way solenoid directional valve 19, balance valve 20, second check valve 21, auxiliary hydraulic motor 22, auxiliary hydraulic motor variable cylinder 23, generator 24, overflow buffer valve group 25, first two-position four-way hydraulic directional valve group 26, and auxiliary hydraulic motor variable cylinder group 27. 26. Two-way solenoid directional valve 27. Third check valve 28. Auxiliary hydraulic motor sensor 29. Second two-way solenoid directional valve 30. Three-way four-way solenoid directional valve 31. Main hydraulic motor sensor 32. Main clutch locking cylinder 33. Hoisting mechanism 33. Target weight 34. Target weight sensor 35. Auxiliary clutch locking cylinder 36. Pressure reducing valve 37. Third two-way solenoid directional valve 38. Fourth two-way solenoid directional valve 39. First two-way solenoid servo directional valve 40. Second two-way solenoid servo directional valve 41. Fifth two-way solenoid directional valve 42. Third two-way solenoid servo directional valve 43. Sixth two-way solenoid directional valve 44. Seventh two-way solenoid directional valve 45. Eighth two-way solenoid directional valve 46. Among them, Y1, Y2a, Y2b, Y3, Y4, Y5, Y6, Y7, Y8, Y9, Y10, Y11, Y12, Y13, Y14, and Y15 are all electromagnets in the hydraulic system. Pf1, Pf2, Pf3, Pf4, Pf5, Pf6, Pk1, and Pk2 are all control oils in the hydraulic system. La is the connection interface between the hydraulic control check valve 9 and the fifth two-position two-way solenoid directional valve 42.

[0085] During the first descent phase of the hoisting mechanism 33, the processor can acquire the first gravitational potential energy of the descending weight. The processor can control electromagnets Y3 and Y5 to be energized. It also controls the first sub-hydraulic oil carrying the first gravitational potential energy to flow out from the upper chamber of the main hydraulic motor 15, pass through the first one-way valve 18, and flow into the upper chamber of the auxiliary hydraulic motor 22. The auxiliary hydraulic motor 22 is equipped with a generator 24. The generator 24 can convert the first gravitational potential energy into first kinetic energy and store it. After the generator 24 stores the first kinetic energy, the processor can also control the first sub-hydraulic oil processed by the generator 24 to flow out from the outlet of the auxiliary hydraulic motor 22, pass through the third one-way valve 27 and the second two-position two-way solenoid directional valve 29, and then flow into the suction port of the main hydraulic motor 15, so that the first sub-hydraulic oil processed by the generator 24 carries new gravitational potential energy.

[0086] When the hoisting mechanism 33 is in the first descent stage, the processor can also control the main clutch 13 and the auxiliary clutch 10 to close. It also controls the second hydraulic oil carrying the first gravitational potential energy to flow from the auxiliary hydraulic motor 2, passing through the two-position four-way hydraulic directional valve 4, the two-position three-way hydraulic directional valve 6, and the hydraulically controlled check valve 9 before flowing into the accumulator 8. The accumulator 8 can convert the first gravitational potential energy into first pressure energy and store it. The accumulator sensor 7 can detect the pressure value of the accumulator 8 and determine the stored energy value based on the pressure value. When the stored energy value of the accumulator 8 reaches its maximum value, the accumulator sensor 7 can send a control signal. After receiving the control signal, the processor can energize the electromagnet Y7, controlling the auxiliary clutch locking cylinder 36 to open, so that the auxiliary clutch 10 is disengaged. The accumulator 8 can then release the third hydraulic oil carrying the first pressure energy. The processor can control the flow of third hydraulic oil carrying the first pressure energy into the auxiliary hydraulic motor 2. Under the action of the first pressure energy, the auxiliary hydraulic motor 2 can provide the target torque to the winch mechanism 33. The processor can control the target torque to act on the winch mechanism 33, so that the winch mechanism 33 can continue its downward motion, thereby generating new gravitational potential energy. After the winch mechanism 33 generates new gravitational potential energy, the processor can control the flow of the third hydraulic oil carrying the new gravitational potential energy back to the auxiliary hydraulic motor 2.

[0087] When the hoisting mechanism 33 is in the second descent stage, the processor can acquire the second gravitational potential energy of the falling load. The processor can control the main clutch 13 to open and the auxiliary clutch 10 to close. The processor can control the auxiliary pump motor variable cylinder 3 to keep the descent speed of the hoisting mechanism 33 within a preset range. The processor can control the first sub-hydraulic oil carrying the second gravitational potential energy to flow out from the auxiliary hydraulic motor 2, and after passing through the two-position four-way hydraulic directional valve 4, the two-position three-way hydraulic directional valve 6, and the hydraulically controlled check valve 9, it flows into the accumulator 8. The accumulator 8 can convert the second gravitational potential energy into second pressure energy and store the second pressure energy. The accumulator sensor 7 can detect the pressure value of the accumulator 8 and determine the stored energy value of the accumulator 8 based on the pressure value. When it is determined that the stored energy value of the accumulator 8 has reached its maximum value, the accumulator sensor 7 can send a control signal. After receiving the control signal, the processor can control the electromagnet Y7 to be energized. The processor can control the flow of second sub-hydraulic oil carrying second gravitational potential energy from the auxiliary hydraulic motor 2. After passing through the third two-position three-way solenoid directional valve 19 and the second one-way valve 24, it flows into the upper chamber of the auxiliary hydraulic motor 22. The auxiliary hydraulic motor 22 is equipped with a generator 24. The generator 24 can convert the second gravitational potential energy into second kinetic energy and store it. After storing the second kinetic energy in the generator 24, the processor can also control the first sub-hydraulic oil, processed by the generator 24, to flow out from the outlet of the auxiliary hydraulic motor 22. After passing through the third one-way valve 27 and the second two-position two-way solenoid directional valve 26, it flows into the oil tank.

[0088] When the hoisting mechanism 33 is in the ascending phase, the processor can control the hydraulic oil carrying pressurized energy to flow from the accumulator 8 and into the main hydraulic motor 15; and control the hydraulic oil carrying kinetic energy to flow from the generator 24 and into the main hydraulic motor 15. The processor can control the conversion of pressurized energy and kinetic energy into mechanical energy to drive the main hydraulic motor 15, thereby controlling the hoisting mechanism 33 to ascend. Specifically, the processor can control the electromagnets Y3, Y2b, Y7, Y13, Y14, and Y15 to be energized. It controls the hydraulic motor locking cylinder 14 to open, the main clutch locking cylinder 32 to engage, the secondary clutch locking cylinder 1 to disengage, the first hoist locking cylinder 11 to open, the second hoist locking cylinder 12 to open, and the three-position four-way solenoid directional valve 30 to operate in the right position. The processor can control the hydraulic oil carrying pressurized energy to flow from the accumulator 8 and control the hydraulic oil carrying kinetic energy to flow from the generator 24. After passing through the balance valve 20 and the second two-position three-way solenoid directional valve 16, the energy flows into the upper chamber of the main hydraulic motor 15. The processor can control the conversion of pressure energy and kinetic energy into mechanical energy. The main hydraulic motor 15 is controlled to transmit mechanical energy to the hoisting mechanism 33 through the main clutch 13, so that the hoisting mechanism 33 rises.

[0089] The above technical solution involves: capturing the gravitational potential energy generated by the weight during its descent; controlling the flow of first hydraulic oil carrying gravitational potential energy from the main hydraulic motor to the auxiliary hydraulic motor; controlling the generator of the auxiliary hydraulic motor to convert and store the gravitational potential energy into kinetic energy; controlling the flow of second hydraulic oil carrying gravitational potential energy from the auxiliary hydraulic motor to the accumulator; and controlling the accumulator to convert and store the gravitational potential energy into pressure energy. The kinetic and pressure energy are then converted into mechanical energy during the hoisting mechanism's ascent phase to drive the hoisting mechanism upward. This technical solution improves the efficiency of energy recovery and utilization in the hydraulic system, enhances the flexibility of energy storage methods, saves energy, and improves the overall efficiency of the hydraulic system.

[0090] Figure 1 This is a flowchart illustrating a control method for a hydraulic system in one embodiment. It should be understood that, although... Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0091] This application provides a processor for running a program, wherein the program executes the control method for a hydraulic system described above.

[0092] This application provides an engineering vehicle, including:

[0093] The hydraulic system includes a first recovery system, a second recovery system, and a hoisting mechanism. The first recovery system includes a main hydraulic motor and an auxiliary hydraulic motor connected via oil supply lines. The second recovery system includes an auxiliary hydraulic motor and an accumulator connected via oil supply lines, as well as an auxiliary hydraulic motor and an auxiliary hydraulic motor connected via oil supply lines.

[0094] The aforementioned processor.

[0095] This application provides a storage medium storing a program that, when executed by a processor, implements the aforementioned control method for a hydraulic system.

[0096] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 3As shown. The computer device includes a processor A01, a network interface A02, memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores data on gravitational potential energy, kinetic energy, and pressure energy. The network interface A02 communicates with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a control method for a hydraulic system.

[0097] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0098] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: acquiring the gravitational potential energy generated by the weight during the descent phase; controlling the flow of a first hydraulic oil carrying the gravitational potential energy from the main hydraulic motor to the auxiliary hydraulic motor; controlling the generator of the auxiliary hydraulic motor to convert the gravitational potential energy into kinetic energy and store it; controlling the flow of a second hydraulic oil carrying the gravitational potential energy from the auxiliary hydraulic motor to the accumulator; and controlling the accumulator to convert the gravitational potential energy into pressure energy and store it. The kinetic and pressure energy are used to convert into mechanical energy during the ascending phase of the hoisting mechanism to drive the hoisting mechanism upward.

[0099] In one embodiment, the descent phase includes a first descent phase and a second descent phase. The gravitational potential energy includes the first gravitational potential energy generated by the weight in the first descent phase and the second gravitational potential energy generated by the weight in the second descent phase. The kinetic energy includes the first kinetic energy and the second kinetic energy. The generator controlling the auxiliary hydraulic motor converts the gravitational potential energy into kinetic energy and stores it. This includes: during the first descent phase of the hoisting mechanism, controlling the first sub-hydraulic oil carrying the first gravitational potential energy to flow from the main hydraulic motor to the auxiliary hydraulic motor; controlling the generator controlling the auxiliary hydraulic motor to convert the first gravitational potential energy into first kinetic energy and store it; during the second descent phase of the hoisting mechanism, when the pressure value of the accumulator reaches a preset value, controlling the first sub-hydraulic oil carrying the second gravitational potential energy to flow from the auxiliary hydraulic motor to the auxiliary hydraulic motor; controlling the generator controlling the auxiliary hydraulic motor to convert the second gravitational potential energy into second kinetic energy and store it.

[0100] In one embodiment, the descent phase includes a first descent phase and a second descent phase. The gravitational potential energy includes the first gravitational potential energy generated by the weight in the first descent phase and the second gravitational potential energy generated by the weight in the second descent phase. The pressure energy includes the first pressure energy and the second pressure energy. Controlling the accumulator to convert gravitational potential energy into pressure energy and store it includes: during the first descent phase of the hoisting mechanism, controlling the flow of second sub-hydraulic oil carrying the first gravitational potential energy from the auxiliary hydraulic motor into the accumulator; controlling the accumulator to convert the first gravitational potential energy into first pressure energy and store it; during the second descent phase of the hoisting mechanism, if the pressure value of the accumulator is less than a preset value, controlling the flow of second sub-hydraulic oil carrying the second gravitational potential energy from the auxiliary hydraulic motor into the accumulator; controlling the accumulator to convert the second gravitational potential energy into second pressure energy and store it.

[0101] In one embodiment, the accumulator and the hoisting mechanism are connected via an oil supply line. The control method further includes: after controlling the accumulator to convert the first gravitational potential energy into the first pressure energy and store it, controlling the third hydraulic oil carrying the first pressure energy to flow from the accumulator to the hoisting mechanism so that the hoisting mechanism continues to descend and the heavy object generates new gravitational potential energy during the descent; and controlling the third hydraulic oil carrying the new gravitational potential energy to flow back from the hoisting mechanism to the accumulator.

[0102] In one embodiment, the accumulator, the auxiliary hydraulic motor, and the winch mechanism are sequentially connected to the oil supply line. Controlling the flow of third hydraulic oil carrying the first pressure energy from the accumulator to the winch mechanism to keep the winch mechanism descending and to generate new gravitational potential energy for the load during descent includes: controlling the flow of third hydraulic oil carrying the first pressure energy from the accumulator to the auxiliary hydraulic motor to generate a target torque; and controlling the target torque to act on the winch mechanism to keep the winch mechanism descending and to generate new gravitational potential energy for the load during descent.

[0103] In one embodiment, the control method further includes: after the generator controlling the auxiliary hydraulic motor converts gravitational potential energy into kinetic energy and stores it, controlling the first hydraulic oil processed by the generator to flow from the auxiliary hydraulic motor to the main hydraulic motor, so that the first hydraulic oil processed by the generator carries the first gravitational potential energy.

[0104] In one embodiment, the control method further includes: during the lifting process of the hoisting mechanism, controlling the hydraulic oil carrying pressure energy and the hydraulic oil carrying kinetic energy to flow from the accumulator and the generator to the main hydraulic motor, respectively, so that the main hydraulic motor drives the hoisting mechanism to lift, wherein the main hydraulic motor is connected to the accumulator and the generator through oil supply lines.

[0105] In one embodiment, the control method further includes: acquiring the load pressure of the heavy object before acquiring the gravitational potential energy generated by the heavy object during the descent phase; and configuring the parameters of the main hydraulic motor, the auxiliary hydraulic motor, and the secondary hydraulic motor according to the load pressure so that the main hydraulic motor, the auxiliary hydraulic motor, and the secondary hydraulic motor function normally.

[0106] This application also provides a computer program product that, when executed on a data processing device, is adapted to perform initialization steps such as those for a control method for a hydraulic system.

[0107] 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.

[0108] 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.

[0109] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0110] 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.

[0111] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0112] 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.

[0113] 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 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.

[0114] 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.

[0115] 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 control method for a hydraulic system, characterized in that, The hydraulic system includes a first recovery system, a second recovery system, and a hoisting mechanism. The first recovery system includes a main hydraulic motor and an auxiliary hydraulic motor connected by an oil supply line. The second recovery system includes an auxiliary hydraulic motor, an accumulator, and the auxiliary hydraulic motor. The auxiliary hydraulic motor and the accumulator are connected by the oil supply line, and the auxiliary hydraulic motor and the auxiliary hydraulic motor are connected by the oil supply line. The control method includes: To obtain the gravitational potential energy generated by a heavy object during its descent; Control the flow of the first hydraulic oil carrying the gravitational potential energy from the main hydraulic motor to the auxiliary hydraulic motor; The generator that controls the auxiliary hydraulic motor converts the gravitational potential energy into kinetic energy and stores it. The second hydraulic oil carrying the gravitational potential energy is controlled to flow from the auxiliary hydraulic motor into the accumulator; The energy storage device is controlled to convert the gravitational potential energy into pressure energy and store it. The kinetic energy and the pressure energy are used to convert into mechanical energy during the rising phase of the hoisting mechanism, so as to drive the hoisting mechanism to rise.

2. The control method for a hydraulic system according to claim 1, characterized in that, The descent phase includes a first descent phase and a second descent phase. The gravitational potential energy includes the first gravitational potential energy generated by the weight in the first descent phase and the second gravitational potential energy generated by the weight in the second descent phase. The kinetic energy includes the first kinetic energy and the second kinetic energy. The generator controlling the auxiliary hydraulic motor converts the gravitational potential energy into kinetic energy and stores it, including: During the first descent phase of the hoisting mechanism, the first sub-hydraulic oil carrying the first gravitational potential energy is controlled to flow from the main hydraulic motor to the auxiliary hydraulic motor. The generator that controls the auxiliary hydraulic motor converts the first gravitational potential energy into the first kinetic energy and stores it. During the second descent phase of the hoisting mechanism, when the pressure value of the accumulator reaches a preset value, the first sub-hydraulic oil carrying the second gravitational potential energy is controlled to flow from the auxiliary hydraulic motor to the secondary hydraulic motor. The generator that controls the auxiliary hydraulic motor converts the second gravitational potential energy into the second kinetic energy and stores it.

3. The control method for a hydraulic system according to claim 1, characterized in that, The descent phase includes a first descent phase and a second descent phase. The gravitational potential energy includes the first gravitational potential energy generated by the object in the first descent phase and the second gravitational potential energy generated by the object in the second descent phase. The pressure energy includes first pressure energy and second pressure energy. Controlling the energy storage device to convert the gravitational potential energy into pressure energy and store it includes: During the first descent phase of the hoisting mechanism, the second sub-hydraulic oil carrying the first gravitational potential energy is controlled to flow from the auxiliary hydraulic motor into the accumulator. The energy storage device is controlled to convert the first gravitational potential energy into the first pressure energy and store it. During the second descent phase of the hoisting mechanism, if the pressure value of the accumulator is less than a preset value, the second sub-hydraulic oil carrying the second gravitational potential energy is controlled to flow from the auxiliary hydraulic motor into the accumulator. The energy storage device is controlled to convert the second gravitational potential energy into the second pressure energy and store it.

4. The control method for a hydraulic system according to claim 3, characterized in that, The accumulator is connected to the hoisting mechanism via the oil supply line, and the control method further includes: After the energy accumulator is controlled to convert the first gravitational potential energy into the first pressure energy and store it, the third hydraulic oil carrying the first pressure energy is controlled to flow from the energy accumulator into the hoisting mechanism, so that the hoisting mechanism continues to descend and the heavy object generates new gravitational potential energy during the descent. The third hydraulic oil carrying the new gravitational potential energy is controlled to flow from the winch mechanism back to the accumulator.

5. The control method for a hydraulic system according to claim 4, characterized in that, The accumulator, the auxiliary hydraulic motor, and the winch mechanism are sequentially connected to the oil supply line. The control of the third hydraulic oil carrying the first pressure energy flows from the accumulator to the winch mechanism, so that the winch mechanism continues to descend, and the new gravitational potential energy generated by the weight during the descent includes: Control the flow of third hydraulic oil carrying the first pressure energy from the accumulator to the auxiliary hydraulic motor, so that the auxiliary hydraulic motor generates the target torque; The target torque is controlled to act on the hoisting mechanism so that the hoisting mechanism continues to descend and the weight generates new gravitational potential energy during the descent.

6. The control method for a hydraulic system according to claim 1, characterized in that, The control method further includes: After the generator controlling the auxiliary hydraulic motor converts the gravitational potential energy into kinetic energy and stores it, the first hydraulic oil processed by the generator is controlled to flow from the auxiliary hydraulic motor to the main hydraulic motor, so that the first hydraulic oil processed by the generator carries the first gravitational potential energy.

7. The control method for a hydraulic system according to claim 1, characterized in that, The control method further includes: During the lifting process of the hoisting mechanism, hydraulic oil carrying pressure energy and hydraulic oil carrying kinetic energy flow from the accumulator and the generator to the main hydraulic motor, respectively, so that the main hydraulic motor drives the hoisting mechanism to lift. The main hydraulic motor is connected to the accumulator and the generator through the oil supply line.

8. The control method for a hydraulic system according to claim 1, characterized in that, The control method further includes: Before acquiring the gravitational potential energy generated by the weight during its descent phase, the load pressure of the weight is acquired. The parameters of the main hydraulic motor, the auxiliary hydraulic motor, and the secondary hydraulic motor are configured according to the load pressure to ensure that the main hydraulic motor, the auxiliary hydraulic motor, and the secondary hydraulic motor function normally.

9. A processor, characterized in that, It is configured to perform the control method for a hydraulic system according to any one of claims 1 to 8.

10. An engineering vehicle, characterized in that, include: A hydraulic system, comprising a first recovery system, a second recovery system, and a hoisting mechanism, wherein the first recovery system includes a main hydraulic motor and an auxiliary hydraulic motor connected via an oil supply line; the second recovery system includes an auxiliary hydraulic motor, an accumulator, and the auxiliary hydraulic motor, wherein the auxiliary hydraulic motor and the accumulator are connected via the oil supply line, and the auxiliary hydraulic motor and the auxiliary hydraulic motor are connected via the oil supply line; and The processor according to claim 9.

11. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, this instruction causes the processor to be configured to perform a control method for a hydraulic system according to any one of claims 1 to 8.

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