Control method for a hydraulic system, storage medium, processor and hydraulic system

Abstract

The embodiment of the application provides a control method, a storage medium, a processor and a hydraulic system for a hydraulic system, the control method comprises the following steps: determining an energy-saving mode of a working device when the working device performs a lifting action at a next moment under the condition that the working device is in a descending state; determining a target energy storage pressure of an energy storage device in a descending process according to the energy-saving mode; and controlling a pressure increasing module to operate, so that the pressure of hydraulic oil flowing into the energy storage device is increased to the target energy storage pressure, so as to convert gravitational potential energy generated by the working device in the descending process into hydraulic energy, and store the hydraulic energy into the energy storage device, and the hydraulic energy stored in the energy storage device is used to provide power for the working device when the working device is lifted, so that the gravitational potential energy of the working device in the descending process is reasonably recovered, the descending speed of the working device is improved, the working efficiency of the working device is greatly improved, the energy storage density of the energy storage device is improved through the pressure increasing module, and the service life of the energy storage device is improved.

Description

Technical Field

[0001] This application relates to the field of hydraulic control, and more specifically to a control method, storage medium, processor, hydraulic system, and engineering machinery for hydraulic systems. Background Technology

[0002] Taking the boom of a hydraulic excavator as an example, during the boom descent process, the gravitational potential energy of the boom is dissipated through the overflow effect of the valve in the hydraulic system. This process generates a large amount of heat, causing the temperature of the hydraulic system to rise. Therefore, the gravitational potential energy during boom descent can be recovered.

[0003] In existing technologies, energy storage devices such as accumulators are typically used to recover as much gravitational potential energy as possible from the boom during descent. However, this method results in a gradual increase in the energy recovered by the accumulator, leading to a continuous decrease in the boom's descent speed and significantly reducing its efficiency. Furthermore, if the energy storage device recovers too much gravitational potential energy, exceeding the accumulator's storage limit, it places an unnecessary burden on the accumulator and reduces its lifespan. Summary of the Invention

[0004] The purpose of this application is to provide a control method, storage medium, processor, hydraulic system, and engineering machinery for hydraulic systems.

[0005] To achieve the above objectives, the first aspect of this application provides a control method for a hydraulic system, the hydraulic system including an energy storage device and a booster module, the booster module being connected to both a working device and the energy storage device, and the control method including:

[0006] When the working device is descending, determine the energy-saving mode when the working device performs the ascending action at the next moment.

[0007] The target energy storage pressure of the energy storage device during the descent process is determined based on the energy-saving mode;

[0008] The pressure boosting module is controlled to increase the pressure of the hydraulic oil flowing into the energy storage device to the target energy storage pressure, so as to convert the gravitational potential energy generated by the working device during descent into hydraulic energy and store the hydraulic energy in the energy storage device. The hydraulic energy stored in the energy storage device is used to provide power for the working device during ascent.

[0009] In this embodiment, the hydraulic system further includes a first power module, which includes a main cylinder. The booster module includes a first booster valve, a second booster valve, a booster cylinder, and an energy control valve. The first rodless chamber of the main cylinder is connected to the first end of the first booster valve. The first and second chambers of the booster cylinder are respectively connected to the second ends of the first and second booster valves. The second end of the second booster valve is connected to the energy storage device and the energy control valve. Controlling the booster module to increase the pressure of the hydraulic oil flowing into the energy storage device to the target energy storage pressure includes: energizing the first booster valve so that the hydraulic oil in the first rodless chamber of the main cylinder flows through the first booster valve into the first chamber to compress the hydraulic oil in the second chamber; energizing the second booster valve and de-energizing the energy control valve so that the hydraulic oil in the second chamber flows through the second booster valve into the energy storage device; and increasing the pressure of the hydraulic oil flowing into the energy storage device to the target energy storage pressure.

[0010] In this embodiment, the first power module further includes a hydraulic pump, a first hydraulic oil tank, a main control valve, and an energy-saving control valve. The hydraulic pump is connected to the first hydraulic oil tank. The first end of the main control valve is connected to both the hydraulic pump and the energy-saving control valve. The second end of the main control valve is connected to both the first rod chamber and the first rodless chamber of the main cylinder. The control method further includes: before energizing the first booster valve, controlling the hydraulic pump to run and controlling the main control valve to be in the first working position; and de-energizing the energy-saving control valve so that the hydraulic oil in the first hydraulic oil tank flows into the first rod chamber through the main control valve to squeeze the hydraulic oil in the first rodless chamber.

[0011] In this embodiment of the application, the control method further includes: after controlling the operation of the booster module, controlling the first booster valve to de-energize and controlling the energy-saving control valve to energize, so as to stop the operation of the booster module and maintain the pressure of the hydraulic oil in the energy storage device.

[0012] In this embodiment, the hydraulic system further includes a second power module, which includes multiple auxiliary cylinders, a flow recovery valve corresponding to each auxiliary cylinder, and a second hydraulic oil tank corresponding to each flow recovery valve. The multiple auxiliary cylinders are connected to the working device. The first end of each flow recovery valve is connected to the second rodless chamber of each auxiliary cylinder and an energy control valve, respectively. The second end of each flow recovery valve is connected to the corresponding second hydraulic oil tank. The control method further includes: energizing the flow recovery valve in the second power module so that the hydraulic oil in the second rodless chamber of the auxiliary cylinder of the second power module flows into the second hydraulic oil tank.

[0013] In this embodiment, the second power module further includes a third hydraulic oil tank corresponding to each auxiliary cylinder. The third hydraulic oil tank is connected to the second rod chamber of the auxiliary cylinder. The first power module further includes a hydraulic pump, a first hydraulic oil tank, a main control valve, and an energy-saving control valve. The control method further includes: when it is necessary to provide power for the working device during its ascent, controlling the second booster valve and each flow recovery valve to de-energize and controlling the energy control valve to energize, so that the hydraulic oil in the energy storage device flows into the second rodless chamber of each auxiliary cylinder, and the hydraulic oil in the second rod chamber of each auxiliary cylinder flows into the third hydraulic oil tank; simultaneously controlling the hydraulic pump to operate, the main control valve to be in the second working position, and the energy-saving control valve to energize, so that the hydraulic oil in the first rod chamber of the main cylinder flows through the energy-saving control valve into the oil tank connected to the energy-saving control valve, so as to simultaneously provide power for the working device during its ascent through the hydraulic pump and the energy storage device.

[0014] In this embodiment of the application, when the working device is in a descending state, determining the energy-saving mode for the working device to perform an ascending action at the next moment includes: receiving a mode switching instruction for the working device to perform an ascending action at the next moment when the working device is in a descending state; determining the energy-saving mode according to the mode switching instruction, wherein the energy-saving mode includes a first mode and a second mode.

[0015] In this embodiment of the application, determining the target energy storage pressure of the energy storage device during the descent process according to the energy-saving mode includes: when the energy-saving mode is the first mode, determining the target energy storage pressure as the rated energy storage pressure of the energy storage device; when the energy-saving mode is the second mode, determining the target energy storage pressure as the maximum energy storage pressure of the energy storage device; wherein, the rated energy storage pressure is less than the maximum energy storage pressure.

[0016] A second aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned control method for a hydraulic system.

[0017] A third aspect of this application provides a processor configured to perform the aforementioned control method for a hydraulic system.

[0018] A fourth aspect of this application provides a hydraulic system, comprising:

[0019] An energy storage device for storing hydraulic energy, which is converted from the gravitational potential energy generated by the working device during its descent.

[0020] A booster module is used to increase the pressure of the hydraulic oil flowing into the energy storage device. The booster module is connected to both the working device and the energy storage device.

[0021] processor.

[0022] In this embodiment, the hydraulic system further includes a first power module, which includes a main cylinder and a booster module, which includes a first booster valve, a second booster valve, a booster cylinder, and an energy control valve. The first rodless chamber of the main cylinder is connected to the first end of the first booster valve, the first chamber and the second chamber of the booster cylinder are respectively connected to the second end of the first booster valve and the first end of the second booster valve, and the second end of the second booster valve is respectively connected to the energy storage device and the energy control valve.

[0023] In this embodiment, the first power module further includes: a hydraulic pump; a first hydraulic oil tank connected to the hydraulic pump; an energy-saving control valve; and a main control valve, the first end of which is connected to the hydraulic pump and the energy-saving control valve respectively, and the second end of which is connected to the first rod chamber and the first rodless chamber of the main cylinder respectively.

[0024] In this embodiment, the hydraulic system further includes a second power module, which includes multiple auxiliary cylinders, a flow recovery valve corresponding to each auxiliary cylinder, and a second hydraulic oil tank corresponding to each flow recovery valve. The multiple auxiliary cylinders are connected to the working device, the first end of each flow recovery valve is connected to the second rodless chamber and the energy control valve of each auxiliary cylinder, and the second end of each flow recovery valve is connected to the corresponding second hydraulic oil tank.

[0025] In this embodiment, the second power module further includes a third hydraulic oil tank corresponding to each auxiliary cylinder, and the third hydraulic oil tank is connected to the second rod chamber of the auxiliary cylinder.

[0026] The fifth aspect of this application provides an engineering machinery, comprising:

[0027] Working device; and

[0028] The aforementioned hydraulic system.

[0029] The above technical solution allows for the determination of the target energy storage pressure during the descent process based on the energy-saving mode of the working device when it performs its lifting action in the next moment. It also controls the operation of the booster module to increase the pressure of the hydraulic oil flowing into the energy storage device to the target energy storage pressure. Considering the energy required for the boom's ascent and the accumulator's storage capacity, it can effectively recover the gravitational potential energy of the working device during descent, increasing the boom's descent speed and significantly improving its working efficiency. Furthermore, the booster module increases the energy storage density of the energy storage device, greatly extending the accumulator's lifespan.

[0030] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0031] 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:

[0032] Figure 1 A schematic diagram illustrating a control method for a hydraulic system according to an embodiment of this application is shown.

[0033] Figure 2 A schematic diagram of the hydraulic system during boom descent according to an embodiment of this application is shown.

[0034] Figure 3 A schematic diagram of the hydraulic system for boom raising according to an embodiment of this application is shown.

[0035] Figure 4 The diagram illustrates the internal structure of a computer device according to an embodiment of this application.

[0036] Figure Labels

[0037] G1, main hydraulic cylinder; G2, auxiliary hydraulic cylinder; G3, auxiliary hydraulic cylinder

[0038] DV1, Flow recovery valve; DV2, Main control valve; DV3, Energy-saving control valve

[0039] DV4, Flow recovery valve; DV5, First booster valve; DV6, Second booster valve

[0040] DV7, Energy Control Valve X1, Third Hydraulic Oil Tank X2, Third Hydraulic Oil Tank

[0041] X3, Second hydraulic oil tank; X4, Second hydraulic oil tank; X5, First hydraulic oil tank Detailed Implementation

[0042] 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.

[0043] Figure 1 A schematic flowchart of a control method for a hydraulic system according to an embodiment of this application is shown. Figure 1As shown in one embodiment of this application, a control method for a hydraulic system is provided. The hydraulic system includes an energy storage device and a booster module. The booster module is connected to both the working device and the energy storage device. The control method includes the following steps:

[0044] Step 101: When the working device is descending, determine the energy-saving mode when the working device performs the ascending action at the next moment.

[0045] Step 102: Determine the target energy storage pressure of the energy storage device during the descent process according to the energy-saving mode.

[0046] Step 103: Control the operation of the booster module to increase the pressure of the hydraulic oil flowing into the energy storage device to the target energy storage pressure, so as to convert the gravitational potential energy generated by the working device during the descent into hydraulic energy and store the hydraulic energy in the energy storage device. The hydraulic energy stored in the energy storage device is used to provide power for the working device when it rises.

[0047] The hydraulic system includes an energy storage device and a booster module, with the booster module connected to both the working device and the energy storage device. The energy storage device can include an accumulator. Accumulators can be classified according to their loading method as spring-type accumulators, piston-type accumulators, and gas-type accumulators. The working device can refer to the execution component in construction machinery that performs tasks. For example, the construction machinery could be a mini hydraulic excavator, and the working device could be the boom of the mini hydraulic excavator. When the working device is descending, the processor can first determine the energy-saving mode for the working device to perform an ascending action at the next moment. The energy-saving mode can include a first mode and a second mode. The energy storage pressure that the energy storage device can store differs between the first and second modes. Therefore, the processor can further determine the target energy storage pressure of the energy storage device during the descent process based on the energy-saving mode. Then, the processor can control the booster module to increase the pressure of the hydraulic oil flowing into the energy storage device to the target energy storage pressure, converting the gravitational potential energy generated by the working device during descent into hydraulic energy, and storing the hydraulic energy in the energy storage device. The hydraulic energy stored in the energy storage device is used to provide power for the working device during ascent.

[0048] The above technical solution allows for the determination of the target energy storage pressure during the descent process based on the energy-saving mode of the working device when it performs its lifting action in the next moment. It also controls the operation of the booster module to increase the pressure of the hydraulic oil flowing into the energy storage device to the target energy storage pressure. Considering the energy required for the boom's ascent and the accumulator's storage capacity, it can effectively recover the gravitational potential energy of the working device during descent, increasing the boom's descent speed and significantly improving its working efficiency. Furthermore, the booster module increases the energy storage density of the energy storage device, greatly extending the accumulator's lifespan.

[0049] In one embodiment, the hydraulic system further includes a first power module, which includes a main cylinder. The booster module includes a first booster valve, a second booster valve, a booster cylinder, and an energy control valve. The first rodless chamber of the main cylinder is connected to the first end of the first booster valve. The first and second chambers of the booster cylinder are respectively connected to the second ends of the first and second booster valves. The second end of the second booster valve is respectively connected to the energy storage device and the energy control valve. Controlling the booster module to increase the pressure of the hydraulic oil flowing into the energy storage device to the target energy storage pressure includes: energizing the first booster valve so that the hydraulic oil in the first rodless chamber of the main cylinder flows through the first booster valve into the first chamber to compress the hydraulic oil in the second chamber; energizing the second booster valve and de-energizing the energy control valve so that the hydraulic oil in the second chamber flows through the second booster valve into the energy storage device; and controlling the pressure of the hydraulic oil flowing into the energy storage device to increase to the target energy storage pressure.

[0050] The hydraulic system also includes a first power module. The first power module provides power for the lifting or lowering of the working device. The first power module includes a main cylinder. The booster module includes a first booster valve, a second booster valve, a booster cylinder, and an energy control valve. Specifically, the first rodless chamber of the main cylinder is connected to the first end of the first booster valve; the first and second chambers of the booster cylinder are respectively connected to the second ends of the first and second booster valves; and the second end of the second booster valve is connected to the energy storage device and the energy control valve. Hydraulic oil in the first rodless chamber of the main cylinder can flow through the first booster valve to the booster cylinder, and then through the second booster valve to the accumulator and / or the energy control valve. When the working device is lowering, the energy control valve can be inactive to allow the accumulator to better recover the potential energy during the descent. When the working device is rising, the energy control valve can be active to allow the accumulator to provide power.

[0051] For mini hydraulic excavators, the boom is relatively lightweight. During boom descent, the return oil pressure in the hydraulic circuit is low, which is detrimental to the recovery of potential energy. Therefore, installing a booster cylinder in the hydraulic circuit between the main cylinder and the energy storage device increases the hydraulic oil pressure in the circuit, thereby increasing the energy storage density of the energy storage device. A higher energy storage density results in higher storage pressure and a smaller size. This provides a larger storage space for the gravitational potential energy generated during the descent of the working device and further reduces the installation cost of the energy storage device.

[0052] When the booster module is running, the processor can first energize the first booster valve, causing hydraulic oil in the first rodless chamber of the main cylinder to flow through the first booster valve into the first chamber of the booster cylinder, thereby compressing the hydraulic oil in the second chamber of the booster cylinder. Then, the processor can energize the second booster valve and de-energize the energy control valve, causing the hydraulic oil in the second chamber to flow through the second booster valve into the energy storage device. Furthermore, the processor can control the pressure of the hydraulic oil flowing into the energy storage device to increase to the target energy storage pressure.

[0053] In one embodiment, the first power module further includes a hydraulic pump, a first hydraulic oil tank, a main control valve, and an energy-saving control valve. The hydraulic pump is connected to the first hydraulic oil tank. The first end of the main control valve is connected to both the hydraulic pump and the energy-saving control valve. The second end of the main control valve is connected to both the first rod chamber and the first rodless chamber of the main cylinder. The control method further includes: before energizing the first booster valve, controlling the hydraulic pump to run and controlling the main control valve to be in a first working position; and de-energizing the energy-saving control valve so that the hydraulic oil in the first hydraulic oil tank flows into the first rod chamber through the main control valve to squeeze the hydraulic oil in the first rodless chamber.

[0054] The first power module also includes a hydraulic pump, a first hydraulic oil tank connected to the hydraulic pump, an energy-saving control valve, and a main control valve. The main control valve may have three operating positions. When it is in the first operating position, the hydraulic pump starts, allowing hydraulic oil from the first hydraulic oil tank to flow through the main control valve into the first rod-side chamber of the main cylinder. At this time, the hydraulic oil in the first rodless chamber can flow towards either the first booster valve or the energy-saving control valve. When the main control valve is in the second operating position, the hydraulic pump starts, allowing hydraulic oil from the first hydraulic oil tank to flow through the main control valve into the first rodless chamber of the main cylinder. At this time, the hydraulic oil in the first rod-side chamber of the main cylinder can flow into the oil tank connected to the energy-saving control valve. The first rod-side chamber of the main cylinder is connected to the working device.

[0055] Before energizing the first booster valve, the processor can control the hydraulic pump to operate and position the main control valve in its first operating position. At this time, the main control valve is connected to the first rod chamber of the main cylinder. Further, the processor can de-energize the energy-saving control valve, causing hydraulic oil in the first hydraulic tank to flow through the main control valve into the first rod chamber, thus compressing the hydraulic oil in the first rodless chamber. Since the energy-saving control valve is de-energized at this time, the hydraulic oil in the first rodless chamber can then flow to the first booster valve.

[0056] In one embodiment, the control method further includes: after controlling the operation of the booster module, de-energizing the first booster valve and energizing the energy-saving control valve, so as to stop the operation of the booster module and maintain the pressure of the hydraulic oil in the energy storage device.

[0057] After controlling the operation of the booster module, the processor can de-energize the first booster valve. When the first booster valve is de-energized, the booster module stops operating. Since the hydraulic pump and the main control valve are still in the first operating position at this time, the processor can simultaneously energize the energy-saving control valve to allow the hydraulic oil in the first rodless chamber to flow into the oil tank corresponding to the energy-saving control valve, thereby maintaining the pressure of the hydraulic oil in the energy storage device.

[0058] In one embodiment, the hydraulic system further includes a second power module, which includes a plurality of auxiliary cylinders, a flow recovery valve corresponding to each auxiliary cylinder, and a second hydraulic oil tank corresponding to each flow recovery valve. The plurality of auxiliary cylinders are connected to the working device, the first end of each flow recovery valve is connected to the second rodless chamber of each auxiliary cylinder and the energy control valve, and the second end of each flow recovery valve is connected to the corresponding second hydraulic oil tank. The control method further includes: energizing the flow recovery valve in the second power module so that the hydraulic oil in the second rodless chamber of the auxiliary cylinder of the second power module flows into the second hydraulic oil tank.

[0059] The hydraulic system also includes a second power module. This second power module can also be used to provide power for the lifting or lowering of the working device. The second power module includes multiple auxiliary cylinders, a flow recovery valve corresponding to each auxiliary cylinder, and a second hydraulic oil tank corresponding to each flow recovery valve. The auxiliary cylinders are connected to the working device. The first end of each flow recovery valve is connected to the second rodless chamber and the energy control valve of each auxiliary cylinder, respectively. The second end of each flow recovery valve is connected to the corresponding second hydraulic oil tank. The processor can energize the flow recovery valves in the second power module, causing hydraulic oil in the second rodless chamber of the auxiliary cylinders to flow into the second hydraulic oil tank. At this time, the boom is in a lowered state.

[0060] In one embodiment, the second power module further includes a third hydraulic oil tank corresponding to each auxiliary cylinder, the third hydraulic oil tank being connected to the second rod chamber of the auxiliary cylinder. The first power module further includes a hydraulic pump, a first hydraulic oil tank, a main control valve, and an energy-saving control valve. The control method further includes: when power needs to be provided to the working device during its ascent, controlling the second booster valve and each flow recovery valve to de-energize, and controlling the energy control valve to energize, so that the hydraulic oil in the energy storage device flows into the second rodless chamber of each auxiliary cylinder, and the hydraulic oil in the second rod chamber of each auxiliary cylinder flows into the third hydraulic oil tank; simultaneously controlling the hydraulic pump to operate, the main control valve to be in the second working position, and the energy-saving control valve to energize, so that the hydraulic oil in the first rod chamber of the main cylinder flows through the energy-saving control valve into the oil tank connected to the energy-saving control valve, so as to simultaneously provide power to the working device during its ascent through the hydraulic pump and the energy storage device.

[0061] The second power module also includes a third hydraulic oil tank corresponding to each auxiliary cylinder. The third hydraulic oil tank is connected to the second rod chamber of the auxiliary cylinder. The first power module also includes a hydraulic pump, a first hydraulic oil tank, a main control valve, and an energy-saving control valve. After the booster module is activated, the pressure of the hydraulic oil in the energy storage device reaches the target energy storage pressure. At this point, it can be determined whether the working device needs to perform a lifting action. If the working device needs to perform a lifting action, power needs to be provided to the working device during lifting. At this time, the processor can de-energize the second booster valve and each flow recovery valve, and de-energize the energy control valve, so that the hydraulic oil in the energy storage device flows into the second rodless chamber of each auxiliary cylinder, and the hydraulic oil in the second rod chamber of each auxiliary cylinder flows into the third hydraulic oil tank. That is, at this time, the hydraulic energy stored in the energy storage device can provide part of the power for the boom lifting.

[0062] Simultaneously, the processor can also control the operation of the hydraulic pump, the main control valve to its second working position, and the energy-saving control valve to be energized. At this time, the hydraulic pump can pump hydraulic oil from the first hydraulic tank through the main control valve into the first rodless chamber of the main cylinder, thereby squeezing the hydraulic oil in the first rodless chamber of the main cylinder to the oil tank connected to the energy-saving control valve. That is, when the main control valve is in its second working position, the main control valve is connected to the first rodless chamber of the main cylinder. At this time, the hydraulic pump can also provide power for the lifting of the working device.

[0063] In the above embodiment, the hydraulic pump and accumulator share a single hydraulic circuit, which may cause flow interference between them, reducing the energy utilization efficiency of the energy storage device. Therefore, multiple auxiliary cylinders are installed in the hydraulic circuit between the hydraulic pump and the accumulator, and high-pressure oil stored in the energy storage device is introduced into the auxiliary hydraulic cylinders. The hydraulic pump and the energy storage device jointly drive the working device to rise. In this case, since the auxiliary cylinders provide partial power to the working device, the load on the hydraulic pump is reduced, and the output power of the hydraulic pump is decreased, thereby enabling the working device to achieve energy saving when performing lifting operations.

[0064] In one embodiment, determining the energy-saving mode for the working device to perform an upward movement at the next moment when the working device is in a downward position includes: receiving a mode switching instruction for the working device to perform an upward movement at the next moment when the working device is in a downward position; determining the energy-saving mode according to the mode switching instruction, wherein the energy-saving mode includes a first mode and a second mode.

[0065] When the working device is descending, the operator can send a mode switching command to the processor based on the weight of the load to be lifted when the device performs its next ascent, or based on the operational requirements of the device during the next ascent. The processor can receive the mode switching command for the device's next ascent. The processor can determine the energy-saving mode for the device's next ascent based on the mode switching command. This energy-saving mode can include a first mode and a second mode. The energy storage pressure that the energy storage device can store differs between the first and second modes.

[0066] In one embodiment, determining the target energy storage pressure of the energy storage device during the descent process according to the energy-saving mode includes: when the energy-saving mode is a first mode, determining the target energy storage pressure to be the rated energy storage pressure of the energy storage device; when the energy-saving mode is a second mode, determining the target energy storage pressure to be the maximum energy storage pressure of the energy storage device; wherein the rated energy storage pressure is less than the maximum energy storage pressure.

[0067] In the first energy-saving mode, the processor can determine the target energy storage pressure as the rated energy storage pressure of the energy storage device. In the second energy-saving mode, the processor can determine the target energy storage pressure as the maximum energy storage pressure of the energy storage device. The rated energy storage pressure is less than the maximum energy storage pressure. That is, the energy storage pressure of the energy storage device differs depending on the energy-saving mode, and the amount of potential energy that the boom needs to recover during descent also differs.

[0068] The above technical solution determines the target energy storage pressure during the descent process based on the energy-saving mode of the working device when it performs the lifting action in the next moment. It also controls the operation of the booster module to increase the pressure of the hydraulic oil flowing into the energy storage device to the target energy storage pressure. Considering the energy required for the boom's lifting and the energy storage capacity of the accumulator, it can effectively recover the gravitational potential energy of the working device during descent, increasing the boom's descent speed and significantly improving the boom's working efficiency. Furthermore, the booster module increases the energy storage density of the energy storage device, greatly extending the accumulator's lifespan. Simultaneously, by having the hydraulic pump and energy storage device jointly drive the working device's lifting, the load on the hydraulic pump is reduced, decreasing its output power and thus achieving energy savings during lifting operations.

[0069] 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.

[0070] In one embodiment, a storage medium is provided on which a program is stored, which, when executed by a processor, implements the control method described above for a hydraulic system.

[0071] In one embodiment, a processor is provided for running a program, wherein the program executes the control method for the hydraulic system described above.

[0072] In one embodiment, a hydraulic system is provided, including an energy storage device for storing hydraulic energy, which is converted from the gravitational potential energy generated by the working device during descent; a booster module for increasing the pressure of hydraulic oil flowing into the energy storage device, the booster module being connected to both the working device and the energy storage device; and a processor.

[0073] The energy storage device may include an accumulator. Accumulators can be classified according to their loading method into spring-type accumulators, piston-type accumulators, and gas-type accumulators. The working device can refer to the actuating component in construction machinery that performs tasks. For example, the construction machinery may be a miniature hydraulic excavator, and the working device may be the boom of the miniature hydraulic excavator. A booster module is connected to both the working device and the energy storage device. The booster module increases the pressure of the hydraulic oil flowing into the energy storage device. The processor can control the operation of the booster module to increase the pressure of the hydraulic oil flowing into the energy storage device.

[0074] In one embodiment, the hydraulic system further includes a first power module, which includes a main cylinder, and a booster module including a first booster valve, a second booster valve, a booster cylinder, and an energy control valve; wherein, the first rodless chamber of the main cylinder is connected to the first end of the first booster valve, the first chamber and the second chamber of the booster cylinder are respectively connected to the second end of the first booster valve and the first end of the second booster valve, and the second end of the second booster valve is respectively connected to the energy storage device and the energy control valve.

[0075] The hydraulic system also includes a first power module. The first power module provides power for the raising or lowering of the working device. The first power module includes a main cylinder. The booster module includes a first booster valve, a second booster valve, a booster cylinder, and an energy control valve. Specifically, the first rodless chamber of the main cylinder is connected to the first end of the first booster valve; the first and second chambers of the booster cylinder are respectively connected to the second ends of the first and second booster valves; and the second end of the second booster valve is connected to the energy storage device and the energy control valve. Hydraulic oil in the first rodless chamber of the main cylinder can flow through the first booster valve to the booster cylinder, and then through the second booster valve to the accumulator. When the working device is lowering, the energy control valve can be inactive to allow the accumulator to recover the potential energy generated during the descent.

[0076] For mini hydraulic excavators, the boom is relatively lightweight. During boom descent, the return oil pressure in the hydraulic circuit is low, which is detrimental to the recovery of potential energy. Therefore, installing a booster cylinder in the hydraulic circuit between the main cylinder and the energy storage device increases the hydraulic oil pressure in the circuit, thereby increasing the energy storage density of the energy storage device. A higher energy storage density results in higher storage pressure and a smaller size. This provides a larger storage space for the gravitational potential energy generated during the descent of the working device and further reduces the installation cost of the energy storage device.

[0077] In one embodiment, the first power module further includes: a hydraulic pump; a first hydraulic oil tank connected to the hydraulic pump; an energy-saving control valve; and a main control valve, the first end of which is connected to the hydraulic pump and the energy-saving control valve respectively, and the second end of which is connected to the first rod chamber and the first rodless chamber of the main cylinder respectively.

[0078] The first power module also includes a hydraulic pump, a first hydraulic oil tank connected to the hydraulic pump, an energy-saving control valve, and a main control valve. The main control valve may have three operating positions. When it is in the first operating position, the hydraulic pump starts, allowing hydraulic oil from the first hydraulic oil tank to flow through the main control valve into the first rod-side chamber of the main cylinder. At this time, the hydraulic oil in the first rodless chamber can flow towards either the first booster valve or the energy-saving control valve. When the main control valve is in the second operating position, the hydraulic pump starts, allowing hydraulic oil from the first hydraulic oil tank to flow through the main control valve into the first rodless chamber of the main cylinder. At this time, the hydraulic oil in the first rod-side chamber of the main cylinder can flow into the oil tank connected to the energy-saving control valve.

[0079] In one embodiment, the hydraulic system further includes a second power module, which includes a plurality of auxiliary cylinders, a flow recovery valve corresponding to each auxiliary cylinder, and a second hydraulic oil tank corresponding to each flow recovery valve; wherein, the plurality of auxiliary cylinders are connected to the working device, the first end of each flow recovery valve is connected to the second rodless chamber and the energy control valve of each auxiliary cylinder respectively, and the second end of each flow recovery valve is connected to the corresponding second hydraulic oil tank.

[0080] The hydraulic system also includes a second power module. This second power module can also be used to provide power for the lifting or lowering of the working device. The second power module includes multiple auxiliary cylinders, a flow recovery valve corresponding to each auxiliary cylinder, and a second hydraulic oil tank corresponding to each flow recovery valve. The multiple auxiliary cylinders are connected to the working device, the first end of each flow recovery valve is connected to the second rodless chamber and the energy control valve of each auxiliary cylinder, and the second end of each flow recovery valve is connected to the corresponding second hydraulic oil tank.

[0081] In one embodiment, the second power module further includes a third hydraulic tank corresponding to each auxiliary cylinder, the third hydraulic tank being connected to the second rod chamber of the auxiliary cylinder.

[0082] In one embodiment, a hydraulic system is provided, comprising:

[0083] An energy storage device for storing hydraulic energy, which is converted from the gravitational potential energy generated by the working device during its descent.

[0084] The booster module is connected to the working device and the energy storage device respectively. The booster module includes a first booster valve, a second booster valve, a booster cylinder and an energy control valve. The first chamber and the second chamber of the booster cylinder are respectively connected to the second end of the first booster valve and the first end of the second booster valve. The second end of the second booster valve is respectively connected to the energy storage device and the energy control valve. The booster module is used to increase the pressure of the hydraulic oil flowing into the energy storage device.

[0085] The first power module includes a main cylinder, a hydraulic pump, a first hydraulic oil tank, an energy-saving control valve, and a main control valve. The first rodless chamber of the main cylinder is connected to the first end of the first booster valve, the first hydraulic oil tank is connected to the hydraulic pump, the first end of the main control valve is connected to the hydraulic pump and the energy-saving control valve, and the second end of the main control valve is connected to the first rod chamber and the first rodless chamber of the main cylinder.

[0086] The second power module includes multiple auxiliary cylinders, a flow recovery valve corresponding to each auxiliary cylinder, a third hydraulic oil tank, and a second hydraulic oil tank corresponding to each flow recovery valve. The multiple auxiliary cylinders are connected to the working device. The first end of each flow recovery valve is connected to the second rodless chamber and the energy control valve of each auxiliary cylinder, respectively. The second end of each flow recovery valve is connected to the corresponding second hydraulic oil tank. The third hydraulic oil tank is connected to the second rod chamber of the auxiliary cylinder.

[0087] processor.

[0088] In one embodiment, such as Figure 2 The diagram shows a schematic of a hydraulic system for boom descent. This hydraulic system is connected to the boom and includes a main cylinder G1, auxiliary cylinders G2 and G3, a flow recovery valve DV1, a main control valve DV2, an energy-saving control valve DV3, a flow recovery valve DV4, a first booster valve DV5, a second booster valve DV6, an energy control valve DV7, a third hydraulic tank X1, a third hydraulic tank X2, a second hydraulic tank X3, a second hydraulic tank X4, a first hydraulic tank X5, a hydraulic pump, booster cylinders, and an accumulator.

[0089] With the boom lowered, the hydraulic pump can be operated, and the main control valve DV2 can be positioned to the leftmost position shown in the diagram. At this time, hydraulic oil in the first hydraulic oil tank X5, connected to the hydraulic pump, flows into the first rod chamber of the main cylinder G1 via the main control valve DV2. Further, the energy-saving control valve DV3 can be de-energized, and the first booster valve DV5 can be energized. At this time, hydraulic oil in the first rodless chamber of the main cylinder G1 flows into the first chamber of the booster cylinder via the first booster valve DV5. Subsequently, the second booster valve DV6 can be energized, and the energy control valve DV7 can be de-energized, causing hydraulic oil in the second chamber of the booster cylinder to flow into the accumulator via the second booster valve DV6. Afterward, if the pressure of the hydraulic oil flowing into the accumulator increases to the target accumulator pressure, the first booster valve DV5 can be de-energized, and the energy-saving control valve DV3 can be energized, causing the booster module to stop operating and maintaining the pressure of the hydraulic oil in the accumulator. In addition, when the boom is lowered, the flow recovery valves DV1 and DV4 can be energized so that the hydraulic oil in the second rodless chamber of the auxiliary cylinder G2 flows into the second hydraulic oil tank X3 through the flow recovery valve DV1, and the hydraulic oil in the second rodless chamber of the auxiliary cylinder G3 flows into the second hydraulic oil tank X4 through the flow recovery valve DV4.

[0090] In one embodiment, such as Figure 3 The diagram shows a schematic of a hydraulic system for boom raising.

[0091] When power is needed to propel the working device upwards, the processor can de-energize the second booster valve DV6 and flow recovery valves DV1 and DV4, and energize the energy control valve DV7. This causes hydraulic oil from the energy storage device to flow into the second rodless chamber of auxiliary cylinder G2 and the second rodless chamber of auxiliary cylinder G3. Simultaneously, hydraulic oil from the second rod chamber of auxiliary cylinder G2 flows into the third hydraulic oil tank X1, and hydraulic oil from the second rod chamber of auxiliary cylinder G3 flows into the third hydraulic oil tank X2. At the same time, the processor can also control the hydraulic pump to operate, the main control valve DV2 to be in the rightmost position shown in the diagram, and the energy-saving control valve DV3 to be energized. This causes hydraulic oil from the first rod chamber of the main cylinder G1 to flow through the energy-saving control valve DV3 into the oil tank connected to the energy-saving control valve DV3, thus simultaneously providing power to the working device during its ascent via the hydraulic pump and the energy storage device.

[0092] In one embodiment, an engineering machine is provided, including a working device and the aforementioned hydraulic system. The working device can refer to an actuating component in the engineering machine capable of performing tasks. For example, the engineering machine can be a hydraulic excavator, specifically a mini hydraulic excavator, and the working device can be the boom of the mini hydraulic excavator. The hydraulic system includes an energy storage device, a booster module, a first power module, a second power module, and a processor.

[0093] The energy storage device may include an accumulator. Accumulators can be classified according to their loading method into spring-type accumulators, piston-type accumulators, and gas-type accumulators. The working device can refer to the actuating component in construction machinery that performs tasks. For example, the construction machinery may be a miniature hydraulic excavator, and the working device may be the boom of the miniature hydraulic excavator. A booster module is connected to both the working device and the energy storage device. The booster module increases the pressure of the hydraulic oil flowing into the energy storage device. The processor can control the operation of the booster module to increase the pressure of the hydraulic oil flowing into the energy storage device.

[0094] The first power module provides power for the lifting or lowering of the working device. The first power module includes a main hydraulic cylinder. The booster module includes a first booster valve, a second booster valve, a booster cylinder, and an energy control valve. The first rodless chamber of the main hydraulic cylinder is connected to the first end of the first booster valve. The first and second chambers of the booster cylinder are respectively connected to the second ends of the first and second booster valves. The second end of the second booster valve is connected to the energy storage device and the energy control valve. Hydraulic oil in the first rodless chamber of the main hydraulic cylinder flows through the first booster valve to the booster cylinder, and then through the second booster valve to the accumulator. When the working device is lowering, the energy control valve can be inactive to allow the accumulator to recover the potential energy of the lowering device.

[0095] The first power module also includes a hydraulic pump, a first hydraulic oil tank connected to the hydraulic pump, an energy-saving control valve, and a main control valve. The main control valve may have three operating positions. When it is in the first operating position, the hydraulic pump starts, allowing hydraulic oil from the first hydraulic oil tank to flow through the main control valve into the first rod-side chamber of the main cylinder. At this time, the hydraulic oil in the first rodless chamber can flow towards either the first booster valve or the energy-saving control valve. When the main control valve is in the second operating position, the hydraulic pump starts, allowing hydraulic oil from the first hydraulic oil tank to flow through the main control valve into the first rodless chamber of the main cylinder. At this time, the hydraulic oil in the first rod-side chamber of the main cylinder can flow into the oil tank connected to the energy-saving control valve.

[0096] The second power module can also be used to provide power for the lifting or lowering of the working device. The second power module includes multiple auxiliary cylinders, a flow recovery valve corresponding to each auxiliary cylinder, and a second hydraulic oil tank corresponding to each flow recovery valve. The multiple auxiliary cylinders are connected to the working device. The first end of each flow recovery valve is connected to the second rodless chamber and the energy control valve of each auxiliary cylinder, respectively. The second end of each flow recovery valve is connected to the corresponding second hydraulic oil tank. The second power module also includes a third hydraulic oil tank corresponding to each auxiliary cylinder, which is connected to the second rod chamber of the auxiliary cylinder.

[0097] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor A01, a network interface A02, a 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 such as target energy storage pressure. The network interface A02 communicates with external terminals via a network connection. When the processor A01 executes the computer program B02, it implements a control method for a hydraulic system.

[0098] Those skilled in the art will understand that Figure 4 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.

[0099] 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: when the working device is descending, it determines an energy-saving mode for the working device to perform an ascending action at the next moment; it determines the target energy storage pressure of the energy storage device during the descent process according to the energy-saving mode; it controls the operation of the booster module to increase the pressure of the hydraulic oil flowing into the energy storage device to the target energy storage pressure, so as to convert the gravitational potential energy generated by the working device during the descent process into hydraulic energy and store the hydraulic energy in the energy storage device, wherein the hydraulic energy stored in the energy storage device is used to provide power for the working device during the ascent.

[0100] In one embodiment, the hydraulic system further includes a first power module, which includes a main cylinder. The booster module includes a first booster valve, a second booster valve, a booster cylinder, and an energy control valve. The first rodless chamber of the main cylinder is connected to the first end of the first booster valve. The first and second chambers of the booster cylinder are respectively connected to the second ends of the first and second booster valves. The second end of the second booster valve is respectively connected to the energy storage device and the energy control valve. Controlling the booster module to increase the pressure of the hydraulic oil flowing into the energy storage device to the target energy storage pressure includes: energizing the first booster valve so that the hydraulic oil in the first rodless chamber of the main cylinder flows through the first booster valve into the first chamber to compress the hydraulic oil in the second chamber; energizing the second booster valve and de-energizing the energy control valve so that the hydraulic oil in the second chamber flows through the second booster valve into the energy storage device; and controlling the pressure of the hydraulic oil flowing into the energy storage device to increase to the target energy storage pressure.

[0101] In one embodiment, the first power module further includes a hydraulic pump, a first hydraulic oil tank, a main control valve, and an energy-saving control valve. The hydraulic pump is connected to the first hydraulic oil tank. The first end of the main control valve is connected to both the hydraulic pump and the energy-saving control valve. The second end of the main control valve is connected to both the first rod chamber and the first rodless chamber of the main cylinder. The control method further includes: before energizing the first booster valve, controlling the hydraulic pump to run and controlling the main control valve to be in a first working position; and de-energizing the energy-saving control valve so that the hydraulic oil in the first hydraulic oil tank flows into the first rod chamber through the main control valve to squeeze the hydraulic oil in the first rodless chamber.

[0102] In one embodiment, the control method further includes: after controlling the operation of the booster module, de-energizing the first booster valve and energizing the energy-saving control valve, so as to stop the operation of the booster module and maintain the pressure of the hydraulic oil in the energy storage device.

[0103] In one embodiment, the hydraulic system further includes a second power module, which includes a plurality of auxiliary cylinders, a flow recovery valve corresponding to each auxiliary cylinder, and a second hydraulic oil tank corresponding to each flow recovery valve. The plurality of auxiliary cylinders are connected to the working device, the first end of each flow recovery valve is connected to the second rodless chamber of each auxiliary cylinder and the energy control valve, and the second end of each flow recovery valve is connected to the corresponding second hydraulic oil tank. The control method further includes: energizing the flow recovery valve in the second power module so that the hydraulic oil in the second rodless chamber of the auxiliary cylinder of the second power module flows into the second hydraulic oil tank.

[0104] In one embodiment, the second power module further includes a third hydraulic oil tank corresponding to each auxiliary cylinder, the third hydraulic oil tank being connected to the second rod chamber of the auxiliary cylinder. The first power module further includes a hydraulic pump, a first hydraulic oil tank, a main control valve, and an energy-saving control valve. The control method further includes: when power needs to be provided to the working device during its ascent, controlling the second booster valve and each flow recovery valve to de-energize, and controlling the energy control valve to energize, so that the hydraulic oil in the energy storage device flows into the second rodless chamber of each auxiliary cylinder, and the hydraulic oil in the second rod chamber of each auxiliary cylinder flows into the third hydraulic oil tank; simultaneously controlling the hydraulic pump to operate, the main control valve to be in the second working position, and the energy-saving control valve to energize, so that the hydraulic oil in the first rod chamber of the main cylinder flows through the energy-saving control valve into the oil tank connected to the energy-saving control valve, so as to simultaneously provide power to the working device during its ascent through the hydraulic pump and the energy storage device.

[0105] In one embodiment, determining the energy-saving mode for the working device to perform an upward movement at the next moment when the working device is in a downward position includes: receiving a mode switching instruction for the working device to perform an upward movement at the next moment when the working device is in a downward position; determining the energy-saving mode according to the mode switching instruction, wherein the energy-saving mode includes a first mode and a second mode.

[0106] In one embodiment, determining the target energy storage pressure of the energy storage device during the descent process according to the energy-saving mode includes: when the energy-saving mode is a first mode, determining the target energy storage pressure to be the rated energy storage pressure of the energy storage device; when the energy-saving mode is a second mode, determining the target energy storage pressure to be the maximum energy storage pressure of the energy storage device; wherein the rated energy storage pressure is less than the maximum energy storage pressure.

[0107] This application also provides a computer program product that, when executed on a data processing device, is adapted to execute a program having initialization steps for a control method for a hydraulic system.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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 an energy storage device and a booster module, the booster module being connected to both the working device and the energy storage device. The control method includes: When the working device is descending, determine the energy-saving mode when the working device performs an ascending action at the next moment; The target energy storage pressure of the energy storage device during the descent process is determined according to the energy-saving mode; The pressurization module is controlled to increase the pressure of the hydraulic oil flowing into the energy storage device to the target energy storage pressure, so as to convert the gravitational potential energy generated by the working device during descent into hydraulic energy and store the hydraulic energy in the energy storage device. The hydraulic energy stored in the energy storage device is used to provide power for the working device during ascent. Determining the energy-saving mode when the working device performs an upward movement in the next moment includes: receiving a mode switching command when the working device performs an upward movement in the next moment while the working device is descending; The energy-saving mode is determined according to the mode switching instruction, wherein the energy-saving mode includes a first mode and a second mode, and the energy storage pressure that the energy storage device can store is different in the first mode and the second mode; When the energy-saving mode is the first mode, the target energy storage pressure is determined to be the rated energy storage pressure of the energy storage device; When the energy-saving mode is the second mode, the target energy storage pressure is determined to be the maximum energy storage pressure of the energy storage device; The rated energy storage pressure is less than the maximum energy storage pressure.

2. The control method for a hydraulic system according to claim 1, characterized in that, The hydraulic system further includes a first power module, which includes a main cylinder. The booster module includes a first booster valve, a second booster valve, a booster cylinder, and an energy control valve. The first rodless chamber of the main cylinder is connected to the first end of the first booster valve. The first chamber and the second chamber of the booster cylinder are respectively connected to the second end of the first booster valve and the first end of the second booster valve. The second end of the second booster valve is respectively connected to the energy storage device and the energy control valve. The step of controlling the operation of the booster module to increase the pressure of the hydraulic oil flowing into the energy storage device to the target energy storage pressure includes: The first booster valve is energized, causing the hydraulic oil in the first rodless chamber of the main cylinder to flow into the first chamber through the first booster valve, thereby squeezing the hydraulic oil in the second chamber. The second booster valve is energized and the energy control valve is de-energized, so that the hydraulic oil in the second chamber flows into the energy storage device through the second booster valve. The pressure of the hydraulic oil flowing into the energy storage device is increased to the target energy storage pressure.

3. The control method for a hydraulic system according to claim 2, characterized in that, The first power module further includes a hydraulic pump, a first hydraulic oil tank, a main control valve, and an energy-saving control valve. The hydraulic pump is connected to the first hydraulic oil tank. The first end of the main control valve is connected to both the hydraulic pump and the energy-saving control valve. The second end of the main control valve is connected to both the first rod-side chamber and the first rodless chamber of the main cylinder. The control method further includes: Before energizing the first booster valve, the hydraulic pump is operated and the main control valve is in the first working position; The energy-saving control valve is de-energized, causing the hydraulic oil in the first hydraulic oil tank to flow into the first rod chamber through the main control valve, thereby squeezing the hydraulic oil in the first rodless chamber.

4. The control method for a hydraulic system according to claim 3, characterized in that, The control method further includes: After controlling the operation of the booster module, the first booster valve is de-energized and the energy-saving control valve is energized, so that the booster module stops operating and the hydraulic oil of the energy storage device is maintained at pressure.

5. The control method for a hydraulic system according to claim 2, characterized in that, The hydraulic system further includes a second power module, which comprises multiple auxiliary cylinders, a flow recovery valve corresponding to each auxiliary cylinder, and a second hydraulic oil tank corresponding to each flow recovery valve. The multiple auxiliary cylinders are connected to the working device. The first end of each flow recovery valve is connected to the second rodless chamber of each auxiliary cylinder and the energy control valve, respectively. The second end of each flow recovery valve is connected to the corresponding second hydraulic oil tank. The control method further includes: The flow recovery valve in the second power module is energized, causing the hydraulic oil in the second rodless chamber of the auxiliary cylinder of the second power module to flow into the second hydraulic oil tank.

6. The control method for a hydraulic system according to claim 5, characterized in that, The second power module further includes a third hydraulic oil tank corresponding to each auxiliary cylinder, the third hydraulic oil tank being connected to the second rod chamber of the auxiliary cylinder. The first power module further includes a hydraulic pump, a first hydraulic oil tank, a main control valve, and an energy-saving control valve. The control method further includes: When it is necessary to provide power for the working device to rise, the second booster valve and each flow recovery valve are de-energized, and the energy control valve is energized, so that the hydraulic oil in the energy storage device flows into the second rodless chamber of each auxiliary cylinder, and the hydraulic oil in the second rod chamber of each auxiliary cylinder flows into the third hydraulic oil tank. Simultaneously controlling the operation of the hydraulic pump, the main control valve to the second working position, and the energy-saving control valve to be energized, the hydraulic oil in the first rod chamber of the main cylinder flows through the energy-saving control valve into the oil tank connected to the energy-saving control valve, so as to provide power for the working device to rise through the hydraulic pump and the energy storage device.

7. 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 6.

8. 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 6.

9. A hydraulic system, characterized in that, include: An energy storage device for storing hydraulic energy, which is converted from the gravitational potential energy generated by the working device during descent; A booster module is used to increase the pressure of the hydraulic oil flowing into the energy storage device. The booster module is connected to both the working device and the energy storage device. as well as The processor according to claim 8.

10. The hydraulic system according to claim 9, characterized in that, The hydraulic system further includes a first power module, which includes a main oil cylinder, and the booster module includes a first booster valve, a second booster valve, a booster cylinder, and an energy control valve. The first rodless chamber of the main cylinder is connected to the first end of the first booster valve, the first chamber and the second chamber of the booster cylinder are respectively connected to the second end of the first booster valve and the first end of the second booster valve, and the second end of the second booster valve is respectively connected to the energy storage device and the energy control valve.

11. The hydraulic system according to claim 10, characterized in that, The first power module also includes: Hydraulic pump; A first hydraulic oil tank is connected to the hydraulic pump; Energy-saving control valve; The main control valve has its first end connected to the hydraulic pump and the energy-saving control valve, and its second end connected to the first rod chamber and the first rodless chamber of the main cylinder.

12. The hydraulic system according to claim 10, characterized in that, The hydraulic system also includes a second power module, which includes multiple auxiliary cylinders, a flow recovery valve corresponding to each auxiliary cylinder, and a second hydraulic oil tank corresponding to each flow recovery valve. Multiple auxiliary cylinders are connected to the working device. The first end of each flow recovery valve is connected to the second rodless chamber of each auxiliary cylinder and the energy control valve, respectively. The second end of each flow recovery valve is connected to the corresponding second hydraulic oil tank.

13. The hydraulic system according to claim 12, characterized in that, The second power module also includes a third hydraulic tank corresponding to each auxiliary cylinder, the third hydraulic tank being connected to the second rod chamber of the auxiliary cylinder.

14. An engineering machinery, characterized in that, include: Working device; as well as The hydraulic system according to any one of claims 9 to 13.

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