Main pump control method, system, working machine, and electronic device

Abstract

The application relates to the technical field of working machines, and provides a main pump control method, a system, a working machine and electronic equipment, wherein the main pump control method comprises the following steps: obtaining a target torque and real-time pressure of a main pump; obtaining a first corresponding relationship under the target torque, the first corresponding relationship being a corresponding relationship between the pressure of the main pump and the current of the main pump; determining the current of the main pump corresponding to the real-time pressure as the required current of the main pump based on the real-time pressure and the first corresponding relationship; and adjusting the current input into the main pump to the required current. The application is used to solve the defect of energy waste caused by power matching at the highest torque point by using the current parameter provided by the main pump supplier in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of working machines, in particular to a main pump control method, system, working machine and electronic device. BACKGROUND

[0002] The working principle of the electrically controlled torque pump is that different input currents correspond to different constant torque outputs. For example, when the input current is A1, the constant torque output is N1; when the input current is A2, the constant torque output is N2; and when the input current is A3, the constant torque output is N3. However, in actual output, for a given current Ai, the torque is not a true constant output, but varies at different pressures.

[0003] However, the working machine manufacturers often use the current parameters provided by the main pump supplier to match the power at the highest torque point. In actual construction, due to the change in output torque at different pressures, the power required to be absorbed by the hydraulic system may decrease at a certain pressure region, at which time the output power of the engine will be greater than the required absorption power of the hydraulic pump, resulting in energy waste. Therefore, how to make the output torque of the main pump not change with the pressure is a problem to be solved. SUMMARY

[0004] The present application provides a main pump control method, system, working machine and electronic device to solve the defect of energy waste caused by using the current parameters provided by the main pump supplier to match the power at the highest torque point in the prior art.

[0005] The present application provides a main pump control method, comprising:

[0006] obtaining a target torque and a real-time pressure of a main pump;

[0007] obtaining a first correspondence relationship under the target torque, the first correspondence relationship being a correspondence relationship between the pressure of the main pump and the current of the main pump;

[0008] determining, based on the real-time pressure and the first correspondence relationship, the current of the main pump corresponding to the real-time pressure as a required current of the main pump;

[0009] adjusting the current input to the main pump to the required current.

[0010] According to the main pump control method of the present application, the first correspondence relationship under the target torque is obtained, comprising:

[0011] obtaining a second correspondence relationship under each preset torque of the main pump, the second correspondence relationship being a correspondence relationship between the pressure of the main pump and the current of the main pump, and the preset torque including at least the maximum torque and the minimum torque that can be output by the main pump.

[0012] If the target torque is the same as one of the preset torques of the main pump, the second correspondence relation at the preset torque same as the target torque is taken as the first correspondence relation;

[0013] If the target torque is different from all the preset torques of the main pump, the first correspondence relation of the main pump at the target torque is determined from the second correspondence relations at all the preset torques of the main pump by using an interpolation method.

[0014] According to the main pump control method, the current of the main pump corresponding to the real-time pressure is determined based on the real-time pressure and the first correspondence relation, and the method comprises the following steps:

[0015] The current of the main pump corresponding to the real-time pressure is determined in the first correspondence relation by using an interpolation method.

[0016] According to the main pump control method, the method further comprises the following steps:

[0017] A determination method of the second correspondence relation;

[0018] The determination method of the second correspondence relation comprises the following steps:

[0019] A third correspondence relation is obtained, the third correspondence relation being a correspondence relation between a pressure of the main pump and a torque of the main pump, and preset currents including at least currents corresponding to the maximum torque and the minimum torque;

[0020] Corresponding to each preset torque, a current value of the main pump at each first preset pressure is determined in the third correspondence relation based on an interpolation method;

[0021] The second correspondence relation is determined based on each preset torque, each first preset pressure, and the current value of the main pump at each first preset pressure.

[0022] According to the main pump control method, the method further comprises the following steps:

[0023] A determination method of the third correspondence relation;

[0024] The determination method of the third correspondence relation comprises the following steps:

[0025] An output torque of the main pump at each second preset pressure under each preset current is obtained;

[0026] The third correspondence relation is determined based on each preset current, each second preset pressure, and the output torque at each second preset pressure.

[0027] According to the main pump control method, adjusting the current input to the main pump to the required current comprises:

[0028] Based on the current value of the current input to the main pump and the current value of the required current, determining a current change condition, the change condition comprising a change rate and a change direction;

[0029] Based on the change condition, determining a current adjustment parameter;

[0030] Adjusting the current input to the main pump to the required current according to the current adjustment parameter.

[0031] The application further provides a main pump control system, comprising:

[0032] A first obtaining module is configured to obtain a target torque and a real-time pressure of a main pump;

[0033] A second obtaining module is configured to obtain a first corresponding relationship under the target torque, the first corresponding relationship being a corresponding relationship between a pressure of the main pump and a current of the main pump;

[0034] A current determining module is configured to determine, based on the real-time pressure and the first corresponding relationship, a current of the main pump corresponding to the real-time pressure as a required current of the main pump;

[0035] A current adjusting module is configured to adjust the current input to the main pump to the required current.

[0036] The application further provides a working machine comprising a hydraulic system and the main pump control system as described above;

[0037] The main pump control system is configured to adjust an input current of an electronically-controlled variable displacement pump input to the hydraulic system, so as to match an input power of the hydraulic system with an output power of an engine of the working machine.

[0038] The application further provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method when executing the program.

[0039] The application further provides a non-transitory computer readable storage medium having a computer program stored thereon, the computer program being executable on a processor to implement the method.

[0040] The application provides a main pump control method, system, working machine and electronic equipment, which realizes dynamic compensation of the current input into the main pump based on the real-time pressure, so as to achieve accurate torque control of the electric control variable pump, solves the problem of insufficient power absorption of the hydraulic system under certain pressure conditions, ensures that the absorption power of the main pump matches the output power of the engine, and thus improves the energy utilization efficiency, and on the other hand, the current of the main pump in the hydraulic system is adjusted in real time to ensure constant torque output, and the problem of poor stability of the hydraulic system caused by the introduction of control factors outside the hydraulic system is avoided.

[0041] By interpolating the corresponding relationship between the pressure of the main pump and the output torque under the preset current, the current value of the main pump under each first preset pressure corresponding to any preset torque can be obtained, that is, the second corresponding relationship is obtained, so that the current value that can maintain the target torque output can be quickly determined based on the real-time pressure, and the problem of low accuracy of the electric control variable pump caused by insufficient hardware of the electric control variable pump is solved at the software level, and the implementation cost is effectively saved.

[0042] By adjusting the current input into the main pump to the demand current according to the current adjustment parameter determined based on the change of the current, the sudden change of the torque is effectively controlled, so that the constant output of the main pump according to the target torque is further ensured. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0044] Figure 1 is a schematic diagram of the working principle of the hydraulic system;

[0045] Figure 2 is a flowchart of a main pump control method provided by an embodiment of the application;

[0046] Figure 3 is an example schematic diagram of a pressure-torque corresponding relationship curve provided by an embodiment of the application;

[0047] Figure 4 is an example schematic diagram of a pressure-current corresponding relationship curve provided by an embodiment of the application;

[0048] Figure 5 This is a schematic diagram of the power matching control process using the main pump control method provided in the embodiments of the present invention;

[0049] Figure 6 This is a schematic diagram of the structure of a main pump control system provided in an embodiment of the present invention;

[0050] Figure 7 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0052] It is understandable that, such as Figure 1 As shown, the working principle of hydraulic operating machinery is as follows: the engine is used as the power source to drive the electronically controlled variable pump, i.e., the main pump, to rotate. After rotating, the electronically controlled variable pump outputs flow to the hydraulic system. After passing through the main control valve, the flow outputs power to the actuator of the actuator, driving the actuator to move, thereby completing the action of the actuator. In this process, the controller outputs the current signal to the proportional solenoid valve, which in turn controls the displacement regulator to change the displacement of the main pump, thereby controlling the input power of the main pump in real time.

[0053] It is evident that the current output by the proportional solenoid valve determines the maximum absorbable torque of the main pump, and theoretically, when the output current of the proportional solenoid valve is constant, the maximum absorbable torque of the main pump is also constant. However, in actual testing, the torque control curve is not completely constant, but fluctuates with changes in pressure. Hydraulic machinery manufacturers often use the current parameters provided by the main pump supplier to perform power matching at the point of highest torque. However, in actual construction, in a certain pressure range, the power required by the hydraulic system to absorb decreases, resulting in slower operating speeds. At this time, the engine's output power will exceed the power required by the hydraulic pump, leading to energy waste.

[0054] Currently, the main method for matching engine output power and hydraulic pump absorption power is to use a fixed current method for power matching under specific modes or gears. This method can improve the matching degree between engine output power and hydraulic pump absorption power to a certain extent, but it cannot solve the problem of power mismatch caused by pressure fluctuations in the main pump. To address this, other power matching control methods have emerged, such as using the deviation between the actual engine torque and the target torque as negative feedback to automatically adjust the main pump hydraulic system, thereby achieving automatic adjustment of the main pump's output power. However, while this method solves the energy waste caused when the engine output power exceeds the absorption power required by the hydraulic pump, from the perspective of control stability, the introduction of a strong real-time factor such as the engine's real-time torque as a control condition significantly reduces the stability of the hydraulic system, thus hindering hydraulic system convergence and easily causing problems such as erratic motion or vibration.

[0055] Based on this, embodiments of the present invention provide a main pump control method for precisely controlling the torque of an electronically controlled variable pump by dynamically compensating the current output of a proportional solenoid valve under different pressures. This not only achieves power matching control without relying on control factors outside the hydraulic system, thus improving the stability of the hydraulic system, but also ensures the accuracy of torque control of the electronically controlled variable pump, thereby effectively utilizing the engine's power and solving the problem of slow operating speed under local pressure.

[0056] The following is combined Figures 2 to 5 This invention describes a main pump control method applied to the main pump of a hydraulic system. The main pump is a constant torque electronically controlled variable pump, which can be controlled by the controller of the working machinery, such as... Figure 2 As shown, the main steps include:

[0057] 101. Obtain the target torque and real-time pressure of the main pump;

[0058] It is understandable that the torque of the main pump corresponds to the engine speed, and the controller of the working machine can read the engine speed from the engine ECU (Electronic Control Unit). Therefore, the controller of the working machine can obtain the target torque of the main pump.

[0059] Furthermore, the controller can also obtain the real-time pressure of the main pump from the main pump pressure sensor.

[0060] 102. Obtain the first correspondence under the target torque. The first correspondence is the correspondence between the pressure of the main pump and the current of the main pump.

[0061] Specifically, firstly, on the electronically controlled variable pump test bench, several torque curves corresponding to different currents can be tested according to actual needs. That is, for a preset current Ai (i = 1, 2, 3, ..., n), the actual torque value corresponding to each pressure can be determined, thus obtaining n pressure-torque correspondence curves. For example, taking a pressure starting from 0 MPa and taking one torque value every 5 MPa, for preset current 1, preset current 2, and preset current 3, the torque values ​​can be determined respectively as follows: Figure 2 The three pressure-torque curves shown represent the pressure and torque of the main pump under preset currents 1, 2, and 3, respectively.

[0062] Understandably, the smaller the pressure interval, the closer the torque value corresponding to other pressure points determined based on the pressure-torque correspondence curve is to the actual torque value, in addition to the torque obtained at each pressure point. That is, the curve representing the correspondence between pressure and torque is closer to the true relationship between pressure and torque. At the same time, the amount of data required is larger. Conversely, the larger the pressure interval, the greater the deviation between the torque value corresponding to other pressure points determined based on the pressure-torque correspondence curve and the actual torque, in addition to the torque obtained at each pressure point. That is, the greater the deviation of the curve representing the correspondence between pressure and torque from the true relationship between pressure and torque, but the amount of data required is smaller.

[0063] Furthermore, with Figure 3 For example, after determining the relationship between the pressure and torque of the main pump under preset current 1 to preset current 3, that is, after determining the pressure-torque relationship curve under preset current 1 to preset current 3, the current value A corresponding to any torque N under any pressure Pi can be further determined based on the pressure-torque relationship curve. Therefore, for the target torque N*, the pressure-current relationship curve under the target torque N* can be obtained according to the relationship between pressure Pi and current value A.

[0064] Similarly, the smaller the pressure interval used to determine the target torque, the closer the current values ​​at other pressure points determined based on the pressure-current correspondence curve are to the actual current values, except for the current values ​​at each pressure point. However, the amount of data that needs to be processed is also larger. Conversely, the larger the pressure interval, the greater the deviation between the current values ​​at other pressure points determined based on the pressure-current correspondence curve and the actual current values, except for the current values ​​at each pressure point. However, the amount of data that needs to be processed is also smaller.

[0065] 103. Based on the real-time pressure and the first correspondence, determine the current of the main pump corresponding to the real-time pressure, which is used as the required current of the main pump;

[0066] Further, based on the target torque and the real-time pressure, a current value corresponding to the target torque, i.e., a demand current, at which the output torque can be kept at the target torque under the real-time pressure can be further determined, so that the torque output by the main pump can be kept at the target torque by adjusting the current input to the main pump to the demand current, and thus the output power of the engine can be always matched with the absorbed power of the hydraulic pump.

[0067] 104. adjusting the current input to the main pump to the demand current.

[0068] The main pump control method provided by the embodiment of the present application can solve the problem of low accuracy caused by insufficient hardware of the electrically-controlled variable pump from the software level, save the cost of realizing the power matching control, and realize the accurate control of the torque in the hydraulic system without introducing external control factors such as engine torque control, so as to not only solve the problem of insufficient power absorption of the hydraulic system under certain pressure conditions, improve the energy utilization efficiency, but also make the arbitrary torque constant output under arbitrary pressure, avoid the problems such as action section variation or shaking, and improve the stability of the hydraulic system.

[0069] Based on the above embodiment, the first corresponding relationship under the target torque is obtained, including:

[0070] The second corresponding relationship under each preset torque of the main pump is obtained, and the second corresponding relationship is the corresponding relationship between the pressure of the main pump and the current of the main pump, and the preset torque at least includes the maximum torque and the minimum torque that can be output by the main pump;

[0071] If the target torque is the same as one of the preset torques of the main pump, the second corresponding relationship under the preset torque which is the same as the target torque is taken as the first corresponding relationship;

[0072] If the target torque is different from all the preset torques of the main pump, the first corresponding relationship under the target torque of the main pump is determined from the second corresponding relationships under all the preset torques of the main pump by using an interpolation method.

[0073] Specifically, taking the preset torques N* of 125.3 NM, 138.9 NM or 145.8 NM as examples, based on the second corresponding relationships under the preset torques N* of 125.3 NM, 138.9 NM or 145.8 NM, the first corresponding relationship under the target torque N* of 125.3 NM is determined by using the interpolation method, and the first corresponding relationship under the target torque N* of 125.3 NM is as shown in Table 2. Figure 3The shown pressure-torque corresponding relationship curve, can be respectively solved corresponding to 125.3NM, 138.9NM and 145.8NM, 3 preset torque, under the pressure of 50bar, 60bar, 70bar, etc. Current value, then with pressure and current to build coordinate system, can be obtained on the coordinate system as Figure 4 The shown 3 corresponding to the preset torque 125.3NM, 138.9NM and 145.8NM pressure-current corresponding relationship curve, that is, the second corresponding relationship under the preset torque is obtained.

[0074] Further, if the target torque is the same as one of the preset torques of the main pump, the second corresponding relationship under the preset torque is the first corresponding relationship under the target torque. If the target torque is different from the preset torques of the main pump, the corresponding relationship between the pressure and the current of the main pump under each preset torque has been determined, and the preset torques include the corresponding relationship between the pressure and the current corresponding to the maximum torque and the minimum torque that the main pump can output. Therefore, by using the interpolation method, the corresponding relationship between the pressure and the current corresponding to the target torque can be determined by interpolation calculation on the second corresponding relationship, that is, the first corresponding relationship curve under the target torque is obtained.

[0075] Further, by setting the preset torque to include at least the maximum torque and the minimum torque that the main pump can output, the obtained pressure-torque corresponding relationship curve can include all the torques that the main pump can output, thereby ensuring that based on the interpolation method, the current value under any target torque and any pressure can be obtained by interpolation calculation on the pressure-torque corresponding relationship curve, that is, the required current can be accurately determined by any target torque and real-time pressure.

[0076] Based on the content of the above embodiment, the current of the main pump corresponding to the real-time pressure is determined based on the real-time pressure and the first corresponding relationship, comprising:

[0077] The current of the main pump corresponding to the real-time pressure is determined in the first corresponding relationship by using the interpolation method.

[0078] Specifically, by performing interpolation calculation on the first corresponding relationship, that is, the corresponding relationship curve between the pressure of the main pump and the current of the main pump corresponding to the target torque, the current value of the main pump corresponding to the real-time pressure can be determined.

[0079] Based on the content of the above embodiment, the main pump control method further comprises a second corresponding relationship determination method;

[0080] The second corresponding relationship determination method comprises:

[0081] obtaining a third corresponding relationship under a preset current, the third corresponding relationship being a corresponding relationship between the pressure of the main pump and the torque of the main pump, the preset current including at least currents corresponding to the maximum torque and the minimum torque;

[0082] determining, based on the interpolation method, a current value of the main pump under each first preset pressure corresponding to each preset torque in the third corresponding relationship;

[0083] determining a second corresponding relationship based on each first preset pressure, each preset torque, and the current value of the main pump under each first preset pressure.

[0084] Specifically, taking Figure 3 for example, after obtaining the corresponding relationship curves between the pressure and the torque under the preset current 1 to the preset current 3, for any preset torque N under any fixed pressure Pi, the controller can determine the current value A under the fixed pressure Pi by performing interpolation calculation on the three determined corresponding relationship curves between the pressure and the torque.

[0085] Further, based on the determination of the current value A under the fixed pressure Pi, for any preset torque N*, the current value under different pressures can be obtained, that is, the current value under each first preset pressure corresponding to the preset torque N* can be obtained, and by constructing a coordinate system with the pressure and the current as the coordinate axes, the current value under each first preset pressure corresponding to the preset torque N* can be marked as coordinate points in the coordinate system, and by connecting these points, the second corresponding relationship under the preset torque N*, that is, the corresponding relationship curve between the pressure and the current of the main pump, can be obtained, for example, the curve as shown in Figure 4 .

[0086] Further, by setting the preset current to include at least the currents corresponding to the maximum torque and the minimum torque, the obtained corresponding relationship between the pressure of the main pump and the torque of the main pump can cover all the currents that can be output by the main pump, thereby achieving comprehensive coverage of the corresponding relationship between the pressure and the torque of the main pump.

[0087] It can be understood that the more preset torques are selected, the more corresponding relationship curves between the pressure and the current are determined, and the more first preset pressures are preset, the more coordinate points on the corresponding relationship curve between the pressure and the current, and the more accurate the relationship between the pressure and the current represented by the corresponding relationship curve.

[0088] Further, the first preset pressures are preferably set based on the same interval between the values of two adjacent first preset pressures as the standard, thereby avoiding the over-concentration of points representing the corresponding relationship between the pressure and the current in a part of the pressure range, and making the coordinate points uniformly distributed, which is beneficial to comprehensively reflecting the real relationship between the pressure and the current under the preset torque.

[0089] Further, the smaller the interval between adjacent first preset pressures, the more points of first preset pressure and current are obtained, thereby improving the accuracy of the pressure and current corresponding relationship curve.

[0090] Based on the above embodiment, the main pump control method further comprises a third corresponding relationship determination method;

[0091] The third corresponding relationship determination method comprises:

[0092] Obtaining the output torque of the main pump at each second preset pressure under each preset current, the preset current at least including the current corresponding to the maximum torque and the minimum torque;

[0093] Based on each preset current, each second preset pressure, and the output torque at each second preset pressure, the third corresponding relationship is determined.

[0094] Specifically, the pressure and output torque of the main pump under each preset current can be obtained through bench testing, and the controller collects the bench testing data, and then determines the third corresponding relationship based on the collected second preset pressure and output torque. The preset current and the second preset pressure can be preset according to actual needs and the actual situation of the tested main pump.

[0095] It can be understood that for each preset current, the output torque of the main pump at different second preset pressures can be obtained, a coordinate system with pressure and torque as coordinates is constructed, and then each second preset pressure and output torque obtained is marked as a coordinate point on the constructed coordinate system, and these coordinate points are connected to obtain the corresponding relationship curve of the pressure and output torque of the main pump under the corresponding preset current, for example, the curve as shown in Figure 3 Thus, the more the number of preset preset currents, the more the number of pressure and output torque corresponding relationship curves obtained, the more the number of first preset pressures, the more the coordinate points on the pressure and output torque corresponding relationship curve, and the more accurate the relationship between pressure and output torque represented by the corresponding relationship curve.

[0096] Similarly, the second preset pressure and the first preset pressure have the same effect, that is, when the second preset pressure is set with the same interval between adjacent two second preset pressures as the standard, the points representing the corresponding relationship between pressure and output torque in the part of the pressure range can be avoided to be too concentrated, so that the coordinate points are uniformly distributed, which is beneficial to fully reflect the true relationship between pressure and output torque corresponding to the preset current. And the smaller the interval between adjacent second preset pressures, the more second preset pressure and output torque points are obtained, thereby improving the accuracy of the pressure and output torque corresponding relationship curve.

[0097] Based on the content of the above embodiments, the current input to the main pump is adjusted to the required current, including:

[0098] Based on the current value of the current input to the main pump and the current value of the required current, the change of the current is determined, including the change rate and the change direction;

[0099] Based on the change, the current adjustment parameter is determined;

[0100] According to the current adjustment parameter, the current input to the main pump is adjusted to the required current.

[0101] It can be understood that, for example, Figure 4 As can be seen from the pressure-current correspondence curve corresponding to different preset torques, the greater the current input to the main pump, the smaller the torque output by the main pump, and therefore, when the current adjustment rate is determined to be high, i.e., the difference between the current and the required current is large, and the adjustment direction is current reduction, if the adjustment speed of the current is fast, there is a risk that the torque output by the main pump will increase sharply, thereby causing the main pump to exceed the torque.

[0102] Specifically, by determining the required current, first determining the change rate and the change direction of the current based on the current value of the current input to the main pump and the current value of the required current, and then determining the appropriate current adjustment parameter based on the change of the current, for example: when the difference between the current and the required current is large and the adjustment direction is current reduction, a smaller current adjustment parameter is selected to make the rate of current reduction lower, so as to avoid the main pump exceeding the torque and ensure that the current input to the main pump is smoothly transitioned to the required current, which can effectively achieve the purpose of avoiding torque mutation.

[0103] In a specific embodiment, the adjustment of the current can use PID regulation, and the current adjustment parameter is a PID parameter.

[0104] In summary, by using the main pump control method provided in the embodiments of the present application, the specific process of power matching between the engine and the hydraulic pump of the working machine is as shown in Figure 5 , including the following steps:

[0105] 501. Sampling pressure-output torque data at different preset currents according to the electrically controlled variable pump bench data;

[0106] 502. Interpolating to calculate the dynamic current required for different preset torques at different pressures;

[0107] 503. Saving the pressure-current correspondence curve corresponding to each preset torque in the controller as a control curve;

[0108] 504、After the real-time pressure and the target torque are acquired, the required demand current of the main pump under the target torque corresponding to any real-time pressure is calculated based on interpolation.

[0109] It can be seen that the main pump control method provided by the embodiment of the application can solve the problem of precision caused by the insufficient hardware of the electric control variable pump without increasing any hardware device, thereby saving the power matching control cost. Meanwhile, the main pump control method provided by the embodiment of the application adopts the variable current control strategy according to the hardware characteristics of the constant torque electric control variable pump and the torque change of the pump under different pressures, so as to achieve the purpose of constant output of the torque of the electric control variable pump, thereby maintaining the constant of the engine load. On the one hand, the embodiment of the application can realize the precise control of the output torque of the electric control variable pump, thereby effectively exerting the power of the engine and solving the problem of slow working speed under local pressure. On the other hand, the embodiment of the application avoids introducing the external factors of the hydraulic system as the closed loop control condition, thereby ensuring the stability of the hydraulic system and avoiding the problems such as action section change or shaking.

[0110] The main pump control system provided by the embodiment of the application is described below. The main pump control system described below can be correspondingly referred to the main pump control method described above.

[0111] The main pump control system provided by the embodiment of the application, as shown in Figure 6 includes a first acquisition module 610, a second acquisition module 620, a current determination module 630 and a current adjustment module 640. Wherein,

[0112] The first acquisition module 610 is configured to acquire the target torque and the real-time pressure of the main pump.

[0113] The second acquisition module 620 is configured to acquire the first corresponding relationship under the target torque, and the first corresponding relationship is the corresponding relationship between the pressure of the main pump and the current of the main pump.

[0114] The current determination module 630 is configured to determine the current of the main pump corresponding to the real-time pressure as the demand current of the main pump based on the real-time pressure and the first corresponding relationship.

[0115] The current adjustment module 640 is configured to adjust the current input into the main pump to the demand current.

[0116] The main pump control system provided by the embodiment of the application, by obtaining the target torque and real-time pressure of the main pump, and the first corresponding relationship of the target torque, that is, the corresponding relationship between the pressure and the current of the main pump, determining the current corresponding to the real-time pressure of the main pump, that is, the required current of the main pump, based on the real-time pressure and the first corresponding relationship, and then adjusting the current output to the main pump to the required current, realizes dynamic compensation of the current input to the main pump based on the real-time pressure, so as to achieve accurate torque control of the electric control variable pump, on the one hand, solves the problem of insufficient power absorption of the hydraulic system under certain pressure conditions, ensures that the absorption power of the main pump matches the output power of the engine, and further improves the energy utilization efficiency, on the other hand, by adjusting the current of the main pump input into the hydraulic system in real time, the constant torque output is ensured, and the problem of poor stability of the hydraulic system caused by the introduction of control factors outside the hydraulic system is avoided.

[0117] Optionally, the second obtaining module is specifically configured to obtain a second corresponding relationship of the main pump under each preset torque, the second corresponding relationship being a corresponding relationship between the pressure and the current of the main pump, and the preset torque at least including a maximum torque and a minimum torque that can be output by the main pump;

[0118] If the target torque is the same as one of the preset torques of the main pump, the second corresponding relationship under the preset torque that is the same as the target torque is taken as the first corresponding relationship.

[0119] If the target torque is different from all the preset torques of the main pump, the first corresponding relationship of the main pump under the target torque is determined from the second corresponding relationships under all the preset torques of the main pump by using an interpolation method.

[0120] Optionally, the current determining module is specifically configured to determine the current of the main pump corresponding to the real-time pressure in the first corresponding relationship by using the interpolation method.

[0121] Optionally, the method further comprises a second corresponding relationship determining module.

[0122] The second corresponding relationship determining module is configured to obtain a third corresponding relationship under a preset current, the third corresponding relationship being a corresponding relationship between the pressure and the torque of the main pump, and the preset current at least including a current corresponding to the maximum torque and the minimum torque.

[0123] The current value of the main pump under each first preset pressure corresponding to each preset torque is determined in the third corresponding relationship based on the interpolation method.

[0124] The second corresponding relationship is determined based on each preset torque, each first preset pressure, and the current value of the main pump under each first preset pressure.

[0125] Optionally, the method further comprises a third corresponding relationship determining module.

[0126] The third correspondence determining module is configured to obtain an output torque of the main pump at each second preset pressure under each preset current.

[0127] The third correspondence is determined based on the second preset pressures, the preset currents, and the output torque at each second preset pressure.

[0128] Optionally, the current adjusting module is specifically configured to determine a variation of the current based on a current value of the input current of the main pump and a current value of the required current, the variation including a variation rate and a variation direction.

[0129] The current adjusting parameter is determined based on the variation.

[0130] The input current of the main pump is adjusted to the required current according to the current adjusting parameter.

[0131] The embodiment of the present application also provides a working machine, which comprises a hydraulic system and the main pump control system provided in any of the above embodiments.

[0132] The main pump control system is configured to adjust the input current of the electrically-controlled variable pump input into the hydraulic system, so that the suction power of the hydraulic system is matched with the output power of the engine of the working machine.

[0133] It can be understood that the working machine comprising the hydraulic system and the main pump control system provided in any of the above embodiments has all the advantages and technical effects of the main pump control system provided in any of the above embodiments, which will not be repeated here.

[0134] Figure 7 An example of a schematic diagram of a physical structure of an electronic device is shown in FIG. 7. Figure 7 As shown in FIG. 7, the electronic device can include a processor 710, a communication interface 720, and a memory 730, which can communicate with each other through a communication bus 740. The processor 710 can invoke a logical instruction in the memory 730 to execute a main pump control method, which includes obtaining a target torque and a real-time pressure of a main pump; obtaining a first correspondence relationship between the pressure of the main pump and the current of the main pump under the target torque; determining a current of the main pump corresponding to the real-time pressure as a required current of the main pump based on the real-time pressure and the first correspondence relationship; and adjusting an input current of the main pump to the required current.

[0135] In addition, the logic instructions in the memory 730 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0136] In another aspect, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, and the computer program comprises program instructions, when the program instructions are executed by a computer, the computer can execute a main pump control method provided by the above-mentioned methods, comprising: obtaining a target torque and a real-time pressure of a main pump; obtaining a first correspondence relationship under the target torque, the first correspondence relationship being a correspondence relationship between the pressure of the main pump and the current of the main pump; determining, based on the real-time pressure and the first correspondence relationship, the current of the main pump corresponding to the real-time pressure as a demand current of the main pump; and adjusting the current input to the main pump to the demand current.

[0137] In another aspect, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, and the computer program comprises program instructions, when the program instructions are executed by a computer, the computer can execute a main pump control method provided by the above-mentioned methods, comprising: obtaining a target torque and a real-time pressure of a main pump; obtaining a first correspondence relationship under the target torque, the first correspondence relationship being a correspondence relationship between the pressure of the main pump and the current of the main pump; determining, based on the real-time pressure and the first correspondence relationship, the current of the main pump corresponding to the real-time pressure as a demand current of the main pump; and adjusting the current input to the main pump to the demand current.

[0138] The device embodiments described above are only schematic, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., they can be located in one place, or distributed on a plurality of network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment. Those skilled in the art can understand and implement without creative labor.

[0139] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0140] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A master pump control method, comprising: obtaining a target torque of a master pump and a real-time pressure; obtaining a first correspondence relationship under the target torque, the first correspondence relationship being a correspondence relationship between a pressure of the master pump and a current of the master pump; the obtaining of the first correspondence relationship under the target torque comprises: obtaining a second correspondence relationship under each preset torque of the master pump, the second correspondence relationship being a correspondence relationship between a pressure of the master pump and a current of the master pump, the preset torque at least including a maximum torque and a minimum torque that can be output by the master pump; if the target torque is the same as one of the preset torques of the master pump, taking the second correspondence relationship under the preset torque that is the same as the target torque as the first correspondence relationship; if the target torque is different from all the preset torques of the master pump, determining the first correspondence relationship of the master pump under the target torque from the second correspondence relationships under all the preset torques of the master pump by using an interpolation method; the determination method of the second correspondence relationship comprises: obtaining a third correspondence relationship under a preset current, the third correspondence relationship being a correspondence relationship between a pressure of the master pump and a torque of the master pump, the preset current at least including currents corresponding to the maximum torque and the minimum torque; determining, in the third correspondence relationship, a current value of the master pump under each first preset pressure corresponding to each preset torque based on an interpolation method; determining the second correspondence relationship based on each preset torque, each first preset pressure, and the current value of the master pump under each first preset pressure corresponding to each preset torque; determining, as a required current of the master pump, a current of the master pump corresponding to the real-time pressure based on the real-time pressure and the first correspondence relationship; adjusting a current input to the master pump to the required current.

2. The main pump control method according to claim 1, characterized by, the determination of the current of the master pump corresponding to the real-time pressure based on the real-time pressure and the first correspondence relationship comprises: determining, in the first correspondence relationship, the current of the master pump corresponding to the real-time pressure by using an interpolation method.

3. The main pump control method according to claim 1, characterized by, further comprising: a determination method of the third correspondence relationship; the determination method of the third correspondence relationship comprises: obtaining an output torque of the master pump under each second preset pressure at each preset current; determining the third correspondence relationship based on each preset current, each second preset pressure, and the output torque under each second preset pressure.

4. The main pump control method according to any one of claims 1 to 3, characterized by, the adjusting of the current input to the master pump to the required current comprises: determining a current change condition including a change rate and a change direction based on a current value of a current input to the master pump and a current value of the required current; determining a current adjustment parameter based on the change condition; adjusting the current input to the master pump to the required current according to the current adjustment parameter.

5. A master pump control system characterized by, comprising: a first obtaining module, configured to obtain a target torque of a master pump and a real-time pressure; The second obtaining module is configured to obtain a first correspondence relationship under the target torque, the first correspondence relationship being a correspondence relationship between a pressure of the main pump and a current of the main pump; The obtaining of the first correspondence relationship under the target torque comprises: obtaining a second correspondence relationship under each preset torque of the main pump, the second correspondence relationship being a correspondence relationship between a pressure of the main pump and a current of the main pump, the preset torque at least including a maximum torque and a minimum torque that can be output by the main pump; if the target torque is the same as one of the preset torques of the main pump, the second correspondence relationship under the preset torque that is the same as the target torque is taken as the first correspondence relationship; if the target torque is different from all the preset torques of the main pump, an interpolation method is used to determine the first correspondence relationship of the main pump under the target torque from the second correspondence relationships under all the preset torques of the main pump; the determination method of the second correspondence relationship comprises: obtaining a third correspondence relationship under a preset current, the third correspondence relationship being a correspondence relationship between a pressure of the main pump and a torque of the main pump, the preset current at least including currents corresponding to the maximum torque and the minimum torque; based on the interpolation method, current values of the main pump under each first preset pressure corresponding to each preset torque are determined in the third correspondence relationship; based on each first preset pressure corresponding to each preset torque and the current value of the main pump under each first preset pressure, the second correspondence relationship is determined; The current determining module is configured to determine, based on the real-time pressure and the first correspondence relationship, a current of the main pump corresponding to the real-time pressure as a demand current of the main pump; The current adjusting module is configured to adjust an input current of the main pump to the demand current.

6. A work machine characterized by, The hydraulic system and the main pump control system according to claim 5 are included. The main pump control system is configured to adjust an input current of an electrically-controlled variable pump input into the hydraulic system, so that a suction power of the hydraulic system matches an output power of an engine of the working machine.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the main pump control method according to any one of claims 1 to 4 when executing the program.

8. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program implements the main pump control method according to any one of claims 1 to 4 when executed by a processor.

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