Power regulation method, device and working machine

Abstract

The application provides a power adjusting method and device and a construction machine. Real-time working parameters are acquired, a corresponding relationship table is queried based on the real-time working parameters, a target current value, i.e. a pump current value corresponding to the real-time working parameters in the table, is obtained, and the opening of a pump proportional valve is controlled based on the target current value. Since the opening of the pump proportional valve is positively correlated with pump demand power, the pump demand power can be controlled, the target current value corresponding to the real-time working parameters is automatically adjusted, the phenomenon that the pump demand power is too high to cause the motor to drop speed or even stall and affect the normal operation of the motor and the pump in the electric excavator is avoided.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a power regulation method, device, and engineering machinery. Background Technology

[0002] In the system architecture of an electric excavator, such as a corded electric excavator, the 380-volt (V) alternating current (AC) from the industrial three-phase power grid is first rectified into direct current (DC) voltage by a rectifier circuit, such as an uncontrolled rectifier circuit. Then, the DC voltage is converted into a variable frequency and amplitude AC voltage by a motor controller to drive the motor, such as a permanent magnet synchronous motor, to provide power. Subsequently, the motor drives the main pump, and the main pump drives the hydraulic system to provide operating power to various actuators.

[0003] Normally, the rated voltage of the power grid is 380V. However, in reality, the voltage of the power grid in some remote areas may be lower, even reaching 350V. In this case, the rectified DC voltage will also be correspondingly lower, resulting in lower motor output power. If the motor load, i.e., the power demand of the pump, is high, the motor may slow down or even shut down, affecting the normal operation of the electric excavator. Summary of the Invention

[0004] Based on the defects and shortcomings of the prior art, this application proposes a power regulation method, device and engineering machinery, which can realize the automatic adjustment of the pump's power demand and solve the problem of motor speed reduction or even shutdown caused by the large power demand of the pump.

[0005] According to a first aspect of the embodiments of this application, a power regulation method is provided, applied to a power control system, the method comprising:

[0006] Get real-time working parameters;

[0007] The target current value is obtained by querying a pre-stored correspondence table based on the real-time operating parameters; the correspondence table is used to record the correspondence between operating parameters and pump current values, and the target current value is the pump current value in the correspondence table that corresponds to the real-time operating parameters.

[0008] Based on the target current value, the opening degree of the pump proportional valve is controlled.

[0009] According to a second aspect of the embodiments of this application, a power regulation device is provided, comprising:

[0010] The acquisition module is used to acquire real-time working parameters;

[0011] The lookup module is used to query a pre-stored correspondence table based on the real-time operating parameters to obtain the target current value; the correspondence table is used to record the correspondence between the operating parameters and the pump current value, and the target current value is the pump current value in the correspondence table that corresponds to the real-time operating parameters;

[0012] The control module is used to control the opening degree of the pump proportional valve based on the target current value.

[0013] According to a third aspect of the embodiments of this application, an electronic device is provided, including a memory and a processor;

[0014] The memory is connected to the processor and is used to store programs;

[0015] The processor is used to implement the power regulation method as described in the first aspect by running a program in the memory.

[0016] According to a fourth aspect of the present application, a storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the power regulation method as described in the first aspect.

[0017] According to a fifth aspect of the embodiments of this application, an engineering machine is provided, wherein the engineering machine is provided with a power control system, the power control system being used to execute the power adjustment method as described in the first aspect.

[0018] In the aforementioned power regulation method, device, and engineering machinery, the target current value, i.e., the pump current value corresponding to the real-time working parameters in the table, can be obtained by querying a pre-stored correspondence table based on the acquired real-time working parameters. The opening degree of the pump proportional valve is then controlled based on the target current value. Since the opening degree of the pump proportional valve is positively correlated with the pump proportional valve current and the pump's power demand, controlling the opening degree of the pump proportional valve based on the target current value can achieve control over the pump's power demand, thereby realizing automatic adjustment of the pump's power demand and avoiding the phenomenon that excessive pump power demand leads to motor speed reduction or even shutdown, affecting the normal operation of the electric excavator. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Figure 1 This is a schematic diagram illustrating an exemplary application scenario provided in an embodiment of this application;

[0021] Figure 2 This is a schematic flowchart illustrating a power regulation method according to an embodiment of this application;

[0022] Figure 3 This is a schematic diagram illustrating a power adjustment process according to an embodiment of this application;

[0023] Figure 4 This is a schematic flowchart illustrating a method for calibrating a correspondence table according to an embodiment of this application.

[0024] Figure 5 This is a schematic diagram of the structure of a power regulation device proposed in an embodiment of this application;

[0025] Figure 6 This is a schematic diagram of the structure of an electronic device proposed in an embodiment of this application. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] Overview

[0028] As described in the background section, the rated voltage of the power grid is 380V. However, in some remote areas or under special circumstances, the power grid voltage may be lower. In this case, the DC voltage obtained by rectifying the power grid voltage will also be lower. Consequently, the motor output power will be lower and will not meet the load, i.e., the power demand of the pump. The motor will slow down or even shut down, affecting the normal operation of the electric excavator.

[0029] Based on this, the inventors further discovered that the pump's power demand is positively correlated with the pump current value, and the pump current value is positively correlated with the opening degree of the pump proportional valve. When the motor's output power is low, the pump's power demand can be reduced by controlling the opening degree of the pump proportional valve, so that the motor's power demand can meet the pump's power demand, thus avoiding the situation where the motor may slow down or even stall during operation, affecting the normal operation of the electric excavator.

[0030] Based on the above concept, this specification provides a power regulation method, which will be described exemplarily below with reference to the accompanying drawings.

[0031] Exemplary scenario

[0032] refer to Figure 1 , Figure 1 This presents a feasible application scenario for power control methods.

[0033] like Figure 1 As shown, this scenario includes a power grid, an uncontrolled rectifier circuit, a motor control circuit, a pump motor (i.e., the motor used to drive the pump), a hydraulic pump, and a hydraulic system. PE is the power grid grounding terminal, KM1 is a relay or circuit breaker, etc. The uncontrolled rectifier circuit is a rectifier circuit composed of rectifier diodes with control functions. When the input power grid voltage is constant, the output DC voltage is also constant, meaning it cannot be adjusted.

[0034] exist Figure 1 In this system, the grid voltage output from the power grid is rectified by an uncontrolled rectifier circuit to output DC voltage, or bus voltage. Subsequently, the DC voltage is frequency- and amplitude-modulated by the motor control circuit and input to the motor, driving and controlling the output speed and torque of motor M1. Correspondingly, M1 uses its output speed and torque to drive pump M2, such as a hydraulic pump, to work, that is, to drive the hydraulic pump to output hydraulic pressure and displacement, thereby enabling the hydraulic system to work.

[0035] In the power regulation method provided in the embodiments of this specification, Figure 1 The controller shown, for example, a central processing unit (CPU), acquires real-time operating parameters, such as real-time grid voltage and operating speed, and determines a target current value based on these parameters. It then controls the opening of the pump's proportional valve based on this target current value. The real-time grid voltage can also be replaced by real-time bus voltage or motor operating parameters, such as motor speed and torque.

[0036] Exemplary methods

[0037] Please see Figure 2 In one exemplary embodiment, a power regulation method is provided, applied in a power control system, the power control system being as follows: Figure 1 As shown. More specifically, this power regulation method can be applied to, for example... Figure 1 In the controller of the power control system shown. For example... Figure 2 As shown, the power adjustment method includes steps S201-S203:

[0038] S201: Obtain real-time operating parameters.

[0039] The operating parameters of the equipment where the power control system is located are monitored and sampled to obtain the real-time operating parameters of the equipment.

[0040] This equipment is a type of construction machinery, such as a cable-operated electric excavator.

[0041] S202: Based on the real-time operating parameters, query the pre-stored correspondence table to obtain the target current value.

[0042] The correspondence table records the relationship between operating parameters and pump current values. The target current value is the pump current value corresponding to the real-time operating parameters in the correspondence table.

[0043] That is, based on the real-time operating parameters, a query is performed in a pre-stored correspondence table to find the pump current value corresponding to the real-time operating parameters, and the corresponding pump current value is determined as the target current value.

[0044] It should be noted that the mapping table can be stored in any storage area within the power control system. This storage area can be either the storage area within the aforementioned controller or the storage area on any device within the power control system capable of communicating with the controller.

[0045] S203: Control the opening degree of the pump proportional valve based on the target current value.

[0046] The pump current value (i.e., the current value of the pump proportional valve) is positively correlated with the opening degree of the pump proportional valve; the larger the opening degree of the pump proportional valve, the larger the pump current value. In other words, the larger the pump current value, the larger the opening degree of the corresponding pump proportional valve. Therefore, the opening degree of the pump proportional valve can be controlled based on the target current value, that is, the pump current value corresponding to the real-time operating parameters.

[0047] Generally, the larger the target current value, the greater the opening degree of the pump proportional valve can be when controlling the opening degree of the pump proportional valve.

[0048] In this embodiment, the system queries a pre-stored correspondence table based on the acquired real-time operating parameters to obtain the target current value, which is the pump current value corresponding to the real-time operating parameters in the table. The opening of the pump proportional valve is then controlled based on this target current value. Since the opening of the pump proportional valve is positively correlated with the pump's power demand, controlling the opening of the proportional valve allows for control of the pump's power demand. This achieves the effect of automatically adjusting the pump's power demand based on the target current value corresponding to the real-time operating parameters, preventing excessively high pump power demand from causing the motor to slow down or even shut down, thus affecting the normal operation of the electric excavator containing the motor and pump.

[0049] In some embodiments, when controlling the opening of the pump proportional valve based on a target current value, a control signal is generated based on the target current value and the control signal is sent to the pump.

[0050] The control signal is used to instruct the pump to set the target current value to the pump's maximum current value, and to adjust the opening of the pump's proportional valve based on the pump's maximum current value.

[0051] Accordingly, the pump receives a control signal and, based on the indication of the control signal, sets the target current value to its own maximum current value, and adjusts the opening of the pump proportional valve based on the maximum current value so that the pump current value does not exceed the maximum current value.

[0052] Specifically, the pump adjusts the opening of its proportional valve so that the opening of the proportional valve is no greater than any preset opening. This preset opening is the opening of the pump's proportional valve when the pump's current is at its maximum value. Thus, since the pump's current value is positively correlated with the opening of its proportional valve, the pump's current value will not exceed its set maximum current value as long as the opening of the proportional valve does not exceed the preset opening corresponding to the maximum current value.

[0053] For example, the process of power adjustment according to the above power adjustment method can be as follows: Figure 3 As shown, after the start, the controller samples the operating parameters to obtain the real-time operating parameters, and performs a lookup based on the sampled real-time operating parameters, that is, it queries a pre-stored correspondence table. Subsequently, the pump sets the maximum current value of the pump based on the pump current value corresponding to the real-time operating parameters obtained from the lookup table.

[0054] In this embodiment, a control signal is generated based on the target current value and sent to the pump, instructing the pump to set the target current value to its maximum current value. Based on this maximum current value, the opening of the pump's proportional valve is controlled. Since the opening of the pump's proportional valve is positively correlated with the pump's current value and power demand, adaptive control of the valve opening ensures the pump's current value does not exceed the maximum current value. This controls the pump's power demand, keeping it low and below the motor's output power. This achieves the effect of automatically adjusting the pump's power demand even when the mains voltage is low, resulting in lower motor output power. This prevents situations where excessive pump power demand leads to motor slowdown or even stalling, affecting the normal operation of the electric excavator.

[0055] In some embodiments, before querying a pre-stored correspondence table based on real-time operating parameters, the correspondence between operating parameters and pump current values ​​is calibrated and recorded to obtain the aforementioned correspondence table, and the correspondence table is stored.

[0056] Specifically, this correspondence table can be stored in any storage area within the power control system. This storage area can be either the storage area within the aforementioned controller or the storage area on any device within the power control system capable of communicating with the controller.

[0057] In this embodiment, before performing a lookup based on real-time operating parameters (i.e., querying a pre-stored correspondence table), a basis is provided for the lookup, namely, a correspondence table between operating parameters and pump current values. This way, after obtaining the real-time operating parameters, the corresponding pump current value can be quickly obtained through table lookup, thereby reducing the computational load required to determine the corresponding pump current value in real time and effectively controlling the time delay of the pump proportional valve opening.

[0058] In some embodiments, the operating parameters include at least one parameter item.

[0059] When calibrating the correspondence between operating parameters and pump current values, for each value of each of the at least one parameter item, determine the corresponding pump current value, and calibrate the correspondence between each value of the at least one parameter item and the corresponding pump current value.

[0060] For example, the operating parameters include one parameter item, such as the mains voltage. For any given value of the mains voltage, determine the corresponding pump current value. For instance, if the mains voltage has three possible values, a, b, and c, determine the pump current value 1 corresponding to a, the pump current value 2 corresponding to b, and the pump current value 3 corresponding to c. Then, calibrate the correspondence between a and pump current value 1, the correspondence between b and pump current value 2, and the correspondence between c and pump current value 3.

[0061] For example, the operating parameters include two parameters, parameter 1 and parameter 2. Parameter 1 can take values ​​a and b, and parameter 2 can take values ​​c and d. When parameter 1 is a and parameter 2 is c, the corresponding pump current value is determined to be A, and the correspondence between parameter 1 value a, parameter 2 value c, and pump current value A is calibrated. When parameter 1 is a and parameter 2 is d, the corresponding pump current value is determined to be B, and the correspondence between parameter 1 value a, parameter 2 value d, and pump current value B is calibrated. When parameter 1 is b and parameter 2 is c, the corresponding pump current value is determined to be C, and the correspondence between parameter 1 value b, parameter 2 value c, and pump current value C is calibrated. When parameter 1 is b and parameter 2 is d, the corresponding pump current value is determined to be D, and the correspondence between parameter 1 value b, parameter 2 value d, and pump current value D is calibrated.

[0062] In this embodiment, for each value of each parameter item in the operating parameters, a corresponding pump current value is determined, and the correspondence between each value of each parameter item and the corresponding pump current value is marked. By iterating through all values ​​of all parameter items and recording them, a correspondence table between operating parameters and pump current values ​​can be obtained. After obtaining the real-time operating parameters, the corresponding pump current value can be quickly obtained by looking up the table, reducing the amount of calculation required to determine the corresponding pump current value in real time, and reducing the time delay in controlling the opening of the pump proportional valve.

[0063] Specifically, in some embodiments, at least one parameter in the operating parameters includes the mains voltage and the operating speed.

[0064] At this point, for each value of each parameter in at least one parameter item, the corresponding pump current value is determined, including:

[0065] Simulate each mains voltage and perform the following operations for any operating level under any mains voltage, until every operating level under every mains voltage has been traversed:

[0066] First, determine the motor operating parameters and the corresponding initial pump current value for any operating position under any grid voltage. Then, based on the motor operating parameters and the initial pump current value, determine the pump current value for any operating position under any grid voltage.

[0067] For example, the grid voltage is taken as a and b, and the operating speed is taken as 1 and 2. For grid voltage a and operating speed 1, the corresponding motor operating parameter A1 and the corresponding initial pump current value A2 are determined. Then, based on the motor operating parameter A1 and the initial pump current value A2, the pump current value corresponding to operating speed 1 under grid voltage a is calibrated. Afterwards, for the three cases of operating speed 2 under grid voltage a, operating speed 1 under grid voltage b, and operating speed 2 under grid voltage c, the corresponding pump current values ​​are determined respectively, thereby calibrating the correspondence between grid voltage and operating speed and pump current value in the operating parameters.

[0068] In this embodiment, the operation of determining the corresponding pump current value is performed for any operating position under any grid voltage until the pump current value corresponding to each operating position under each grid voltage is determined, thereby obtaining a correspondence table between grid voltage, operating position and pump current value. This provides a basis for table lookup based on real-time operating parameters, enabling the corresponding pump current value to be quickly obtained based on real-time operating parameters, reducing the amount of calculation required to determine the corresponding pump current value in real time, and the time delay before controlling the opening of the pump proportional valve.

[0069] More specifically, for any operating range under any grid voltage, when calibrating the pump current value corresponding to any operating range under any grid voltage based on the motor operating parameters and the initial pump current value, first determine whether the motor output power can meet the pump's power requirements based on the motor operating parameters, and then determine the initial pump current value or the adjusted pump current value based on whether the motor output power can meet the pump's power requirements.

[0070] If the motor output power can meet the pump's power requirements, the initial pump current value is determined to be the pump current value corresponding to any operating level under any given grid voltage. Conversely, if the motor output power cannot meet the pump's power requirements, the initial pump current value is adjusted at least once until the motor output power can meet the pump's power requirements, and the adjusted pump current value is determined to be the pump current value corresponding to any operating level under any given grid voltage.

[0071] For example, in the above example, for a mains voltage 'a' and operating gear 1, let's take the determination of the corresponding motor operating parameter A1 and the corresponding initial pump current value A2 as an example. When calibrating the pump current value corresponding to operating gear 1 under mains voltage 'a' based on the motor operating parameter A1 and the initial pump current value A2, firstly, based on the motor operating parameter A1, it is determined whether the motor output power can meet the pump's power requirements. Subsequently, if the motor output power can meet the pump's power requirements, the initial pump current value A2 is determined as the pump current value corresponding to operating gear 1 under mains voltage 'a'. Correspondingly, if the motor output power cannot meet the pump's power requirements, the initial pump current value A2 is adjusted at least once until the motor output power can meet the pump's power requirements, and the adjusted pump current value A3 is determined as the pump current value corresponding to operating gear 1 under mains voltage 'a'.

[0072] Specifically, the initial pump current value is adjusted at least once, that is, the initial pump current value is reduced at least once. Since the pump current value is positively correlated with the pump's power demand, when the motor output power cannot meet the pump's power demand, automatically reducing the pump current value can reduce the pump's power demand, so that the motor output power can meet the pump's power demand.

[0073] In this embodiment, since the pump current value is positively correlated with the pump power demand, when the hydraulic pump pressure remains constant, the larger the pump current value, the greater the pump power demand. Based on whether the motor output power can meet the pump power demand, the initial pump current value or the adjusted pump current value is determined to be the corresponding pump current value. This ensures the accuracy and reliability of the correspondence table between the obtained grid voltage and working gear and the pump current value. Based on the pump current value in this correspondence table, the pump power demand is automatically adjusted to avoid the phenomenon that the motor speed drops or even stalls due to excessive pump power demand, which would affect the normal operation of the electric excavator.

[0074] Among them, in some embodiments, the motor operating parameters include the motor speed. When determining whether the motor output power can meet the pump demand power based on the motor operating parameters, if the motor speed is lower than the corresponding rated speed, that is, the rated speed corresponding to any one of the working gears, and the difference between the motor speed and the rated speed is not less than the preset speed difference, it is determined that the motor output power cannot meet the pump demand power. Correspondingly, if the motor speed is lower than the rated speed, and the difference between the motor speed and the rated speed is less than the preset speed difference, or the motor speed is not lower than the rated speed, it is determined that the motor output power can meet the pump demand power.

[0075] Exemplarily, the preset speed difference is 100 rpm (100 revolutions per minute).

[0076] Exemplarily, the motor speed is R1, the rated speed corresponding to any current working gear is R2, and the preset speed difference is 100 rpm. If R1 < R2 and R2 - R1 ≥ 100 rpm, it is determined that the motor output power cannot meet the pump demand power, and the initial pump current value is adjusted, specifically, the initial pump current value is lowered. If R1 < R2 but R2 - R1 < 100 rpm, it is determined that the motor output power can meet the pump demand power. If R1 ≥ R2, it is determined that the motor output power can meet the pump demand power.

[0077] In this way, when the initial pump current value is adjusted at least once until the motor output power can meet the pump demand power, and the adjusted pump current value is determined as the pump current value corresponding to any working gear under any grid voltage, the motor speed needs to be monitored during the adjustment of the initial pump current value.

[0078] Specifically, after the first adjustment of the initial pump current value, the new motor speed is obtained. If the new motor speed is not lower than the corresponding rated speed, it is determined that the motor output power can meet the pump demand power, and the initial pump current value after the first adjustment is determined as the adjusted current value.

[0079] Correspondingly, after the first adjustment of the initial pump current value, the new motor speed is obtained. If the new motor speed is lower than the corresponding rated speed, and the difference between them is not less than the preset speed difference, it is determined that the motor output power cannot meet the pump demand power, and the initial pump current value after the first adjustment is continuously adjusted until it is monitored that the motor speed is not lower than the corresponding rated speed. It is determined that the motor output power cannot meet the pump demand power, and the current pump current value is determined as the adjusted current value.

[0080] Exemplarily, the process of calibrating the correspondence table can be as Figure 4As shown, after starting, each grid voltage is simulated. For any operating range under any grid voltage where the corresponding pump current value is not determined, it is determined whether the motor output power can meet the pump's power requirements. If yes, the pump current value corresponding to any operating range under any grid voltage is determined based on the initial pump current value; that is, the initial pump current value is determined as the pump current value corresponding to any operating range under any grid voltage. If not, the initial pump current value is adjusted, and the determination of whether the motor output power can meet the pump's power requirements continues until the motor output power can meet the pump's power requirements. Then, based on the adjusted pump current value, the pump current value corresponding to any operating range under any grid voltage is determined; that is, the adjusted pump current value is determined as the pump current value corresponding to any operating range under any grid voltage. Subsequently, it is determined whether to iterate through each operating range under each grid voltage. If yes, the process ends; otherwise, the process continues to determine the corresponding pump current value for any operating range under any grid voltage where the corresponding pump current value is not determined.

[0081] In this embodiment, when the grid voltage is low, if the motor load's power demand remains unchanged (i.e., the pump's power demand remains unchanged), the motor speed will decrease or even shut down. By judging whether the motor itself can meet the pump's power demand based on the motor speed, a more accurate judgment result can be obtained. This improves the accuracy and reliability of determining the correspondence table between grid voltage, operating gear, and pump current value. Based on the pump current value in this correspondence table, the opening of the pump proportional valve is controlled, achieving automatic adjustment of the pump's power demand. This avoids situations where excessive pump power demand leads to motor speed reduction or even shutdown, affecting the normal operation of the electric excavator.

[0082] In other embodiments, when calibrating the pump current value corresponding to any operating level under any mains voltage, based on motor operating parameters and the initial pump current value, the initial pump power requirement (i.e., the initial power demand of the pump) is first determined based on the initial pump current value, and the motor output power is determined based on the motor operating parameters. Subsequently, it is determined whether the initial pump power requirement is higher than the motor output power, and based on this determination, the pump current value corresponding to any operating level under any mains voltage is determined.

[0083] For example, motor operating parameters include motor (output) speed and motor torque.

[0084] If the initial pump power requirement is not higher than the motor output power, that is, the motor output power can meet the initial pump power requirement, then the initial pump current value is determined to be the pump current value corresponding to any operating level under any grid voltage.

[0085] For example, considering a mains voltage 'a' and operating gear 1, let's take the determination of the corresponding motor operating parameters A1 and the corresponding initial pump current value A2 as an example. Motor operating parameters A1 include motor speed A11 and motor torque A12. When calibrating the pump current value corresponding to operating gear 1 under mains voltage 'a' based on these parameters, the motor output power B1 is first determined based on parameters A11 and A12, and the initial pump demand power B2 is determined based on the initial pump current value A2. Subsequently, if the initial pump demand power B2 is not higher than the motor output power B1, the initial pump current value A2 is determined to be the pump current value corresponding to operating gear 1 under mains voltage 'a'.

[0086] Accordingly, if the initial pump power requirement is higher than the motor output power, the initial pump current value is adjusted at least once to obtain the adjusted pump current value, and the adjusted pump current value is determined to be the pump current value corresponding to any operating gear under any grid voltage.

[0087] For example, in the previous example, if the initial pump power demand B2 is higher than the motor output power B1, the initial pump current value A2 is adjusted at least once to obtain the adjusted pump current value A3, and the adjusted pump current value A3 is determined to be the pump current value corresponding to the working gear 1 under the grid voltage a.

[0088] In this embodiment, since the pump current value is positively correlated with the pump power demand, when the hydraulic pump pressure remains constant, the larger the pump current value, the greater the pump power demand. Based on whether the motor output power can meet the initial pump power demand, the initial pump current value or the adjusted pump current value is determined to be the corresponding pump current value. This ensures the accuracy and reliability of establishing the correspondence table between the grid voltage and operating gear and the pump current value. Based on the pump current value in this correspondence table, the pump power demand can be automatically adjusted, avoiding the situation where the motor speed drops or even stalls due to excessively high pump power demand, which would affect the normal operation of the electric excavator.

[0089] In some embodiments, to ensure that the motor output power can meet the adjusted pump demand power corresponding to the adjusted pump current value, the initial pump current value is adjusted at least once to obtain the adjusted pump current value. The adjusted initial pump demand power is determined based on the adjusted initial pump current value until the adjusted initial pump demand power is not higher than the motor output power, that is, the motor output power can meet the adjusted initial pump demand power. The adjusted initial pump current value is then determined as the adjusted pump current value.

[0090] Specifically, after the initial pump current value is adjusted for the first time, the initial pump demand power after the first adjustment is determined based on the adjusted initial pump current value. If the initial pump demand power after the first adjustment is not higher than the motor output power, then the initial pump current value after the first adjustment is determined as the adjusted pump current value; if the initial pump demand power after the first adjustment is higher than the motor output power, then the initial pump current value after the first adjustment is adjusted again to obtain the second adjusted initial pump current value, until the initial pump demand power after the nth adjustment, determined based on the nth adjusted initial pump current value, is not higher than the motor output power, then the initial pump current value after the nth adjustment is determined as the adjusted current value.

[0091] In this embodiment, the pump current value corresponding to each working level under each grid voltage is determined and adjusted directly based on whether the motor output power can meet the pump's power requirements. This ensures the accuracy and reliability of the correspondence between the obtained grid voltage, working level, and pump current value. Based on the pump current value in the correspondence table, the opening of the pump proportional valve is controlled to achieve automatic adjustment of the pump's power requirements. This avoids situations where the motor speed drops or even stalls due to excessive pump power requirements, thus affecting the normal operation of the electric excavator.

[0092] Exemplary device

[0093] Correspondingly, such as Figure 5 As shown in the figure, this application embodiment also provides a power regulation device, including an acquisition module 501, a lookup table module 502, and a control module 503.

[0094] in,

[0095] Module 501 is used to acquire real-time working parameters;

[0096] The lookup module 502 is used to query a pre-stored correspondence table based on the real-time operating parameters to obtain the target current value; the correspondence table is used to record the correspondence between operating parameters and pump current values, and the target current value is the pump current value in the table corresponding to the real-time operating parameters;

[0097] The control module 503 is used to control the opening degree of the pump proportional valve based on the target current value.

[0098] The power regulation device provided in this embodiment belongs to the same concept as the power regulation method provided in the above embodiments of this application. It can execute the method provided in any of the above embodiments of this application and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in this embodiment can be found in the specific processing content of the power regulation method provided in the above embodiments of this application, and will not be repeated here.

[0099] The functions implemented by the acquisition module 501, the table lookup module 502, and the control module 503 can be implemented by the same or different processors calling software, and this application embodiment does not limit this.

[0100] Exemplary electronic devices

[0101] Another embodiment of this application also provides an electronic device, see [link to relevant documentation] Figure 6 As shown, the electronic device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the steps in the power regulation method according to various embodiments of this specification as described in the above embodiments.

[0102] The internal structure of the electronic device can be as follows: Figure 6 As shown, the electronic device includes a processor, memory, network interface, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory of the central control device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface of the electronic device is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it follows the steps of the power regulation method according to various embodiments of this specification as described in the above embodiments.

[0103] The processor may include the main processor, as well as baseband chips, modems, etc.

[0104] The memory stores a computer program that executes the technical solution of this invention, and may also store an operating system and other key programs. Specifically, the computer program may include program code, which includes computer operation instructions. More specifically, the memory may include read-only memory (ROM), other types of static storage devices capable of storing static information and instructions, random access memory (RAM), other types of dynamic storage devices capable of storing information and instructions, disk storage, flash memory, etc.

[0105] The processor can be a general-purpose processor, such as a general-purpose processor (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present invention. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0106] Input devices may include devices that receive data and information input by the user, such as keyboards, mice, cameras, scanners, light pens, voice input devices, touch screens, pedometers, or gravity sensors.

[0107] Output devices may include devices that allow information to be output to the user, such as displays, printers, speakers, etc.

[0108] The communication interface may include any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0109] The processor executes the computer program stored in the memory and calls other devices, which can be used to implement the various steps of any of the power regulation methods provided in the above embodiments of this application.

[0110] The electronic device may also include a display component and a voice component. The display component may be a liquid crystal display screen or an e-ink display screen. The input device of the electronic device may be a touch layer covering the display component, or a button, trackball or touchpad set on the casing of the electronic device, or an external keyboard, touchpad or mouse, etc.

[0111] Those skilled in the art will understand that Figure 6 The structures shown are merely block diagrams of a portion of the structure related to the scheme described in this specification, and do not constitute a limitation on the electronic devices to which the scheme described in this specification is applied. Specific electronic devices may include more or fewer components than those shown in the figures, or may combine certain components, or may have different component arrangements.

[0112] This application also provides an engineering machinery, which is equipped with a power control system for performing the steps in the power regulation method described above.

[0113] In addition to the methods and apparatus described above, embodiments of this application provide a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps of the power regulation methods according to various embodiments of this application as described in the "Exemplary Methods" section of this specification.

[0114] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0115] Furthermore, embodiments of this application also propose a storage medium having a computer program stored thereon, the computer program being executed by a processor of the steps in the power regulation methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0116] For the foregoing method embodiments, in order to simplify the description, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0117] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For apparatus embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0118] The steps in the methods of the various embodiments of this application can be adjusted, merged, or deleted in order according to actual needs, and the technical features described in each embodiment can be replaced or combined.

[0119] The modules and sub-modules in the various embodiments of the present application's devices and terminals can be merged, divided, and deleted according to actual needs.

[0120] It should be understood that the disclosed terminals, devices, and methods can be implemented in other ways, given the several embodiments provided in this application. For example, the terminal embodiments described above are merely illustrative. For instance, the division of modules or sub-modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple sub-modules or modules may be combined or integrated into another module, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0121] The modules or submodules described as separate components may or may not be physically separate. The components that constitute a module or submodule may or may not be physical modules or submodules; that is, they may be located in one place or distributed across multiple network modules or submodules. Some or all of the modules or submodules can be selected to achieve the purpose of this embodiment's solution, depending on actual needs.

[0122] Furthermore, the functional modules or sub-modules in the various embodiments of this application can be integrated into one processing module, or each module or sub-module can exist physically separately, or two or more modules or sub-modules can be integrated into one module. The integrated modules or sub-modules described above can be implemented in hardware or in the form of software functional modules or sub-modules.

[0123] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0124] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software unit executed by a processor, or a combination of both. The software unit can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0125] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, 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 a process, method, article, or apparatus. Without further limitations, 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 said element.

[0126] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A power regulation method, characterized in that, Applied to a power control system, the method includes: Obtain real-time operating parameters, which include at least one parameter item, including grid voltage and operating speed; For each value of each parameter item in the at least one parameter item, determine the corresponding pump current value, including: simulating each grid voltage; for any operating level under any grid voltage, perform the following operations until traversing each operating level under each grid voltage: determine the motor operating parameters and the corresponding initial pump current value corresponding to the any operating level under any grid voltage; based on the motor operating parameters, determine whether the motor output power meets the pump's power requirements; and based on whether the motor output power meets the pump's power requirements, determine the initial pump current value or the adjusted pump current value, which is the pump current value corresponding to any operating level under any grid voltage. The correspondence between each value of each parameter item in the at least one parameter item and the corresponding pump current value is calibrated and recorded to obtain a correspondence table, and the correspondence table is stored. The target current value is obtained by querying a pre-stored correspondence table based on the real-time operating parameters; the correspondence table is used to record the correspondence between operating parameters and pump current values, and the target current value is the pump current value in the correspondence table that corresponds to the real-time operating parameters. Based on the target current value, the opening degree of the pump proportional valve is controlled.

2. The power regulation method according to claim 1, characterized in that, The step of controlling the opening degree of the pump proportional valve based on the target current value includes: Based on the target current value, a control signal is generated and sent to the pump; The control signal is used to instruct the pump to set the target current value to the pump's maximum current value, and to adjust the opening of the pump's proportional valve based on the maximum current value.

3. The power regulation method according to claim 1 or 2, characterized in that, The step of determining the initial pump current value or the adjusted pump current value based on whether the motor output power can meet the pump's power requirements, which is the pump current value corresponding to any operating level under any mains voltage, includes: If so, then the initial pump current value is determined to be the pump current value corresponding to any operating gear under any grid voltage; If not, the initial pump current value is adjusted at least once until the motor output power can meet the pump's power requirements, and the adjusted pump current value is determined as the pump current value corresponding to any operating level under any grid voltage.

4. The power regulation method according to claim 3, characterized in that, The motor operating parameters include the motor speed; The step of determining whether the motor output power can meet the pump's power requirements based on the motor operating parameters includes: If the motor speed is lower than the rated speed corresponding to any working gear, and the difference between the motor speed and the rated speed is not less than the preset speed difference, then it is determined that the motor output power cannot meet the pump's power requirements. If the motor speed is lower than the rated speed, and the difference between the motor speed and the rated speed is less than a preset speed difference, or if the motor speed is not lower than the rated speed, then it is determined that the motor output power can meet the pump's power requirements.

5. A power regulation device, characterized in that, The device includes: The acquisition module is used to acquire real-time operating parameters, which include at least one parameter item, including grid voltage and operating speed. The acquisition module is further configured to determine the corresponding pump current value for each value of each parameter item in the at least one parameter item, including: simulating each grid voltage; for any operating level under any grid voltage, performing the following operations until traversing each operating level under each grid voltage: determining the motor operating parameters and the corresponding initial pump current value corresponding to the any operating level under any grid voltage; based on the motor operating parameters, determining whether the motor output power meets the pump's power requirements; and based on whether the motor output power meets the pump's power requirements, determining the initial pump current value or the adjusted pump current value, which is the pump current value corresponding to any operating level under any grid voltage. The correspondence between each value of each parameter item in the at least one parameter item and the corresponding pump current value is calibrated and recorded to obtain a correspondence table, and the correspondence table is stored. The lookup module is used to query a pre-stored correspondence table based on the real-time operating parameters to obtain the target current value; the correspondence table is used to record the correspondence between the operating parameters and the pump current value, and the target current value is the pump current value in the correspondence table that corresponds to the real-time operating parameters; The control module is used to control the opening degree of the pump proportional valve based on the target current value.

6. An electronic device, characterized in that, Including memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the power regulation method as described in any one of claims 1 to 4 by running a program in the memory.

7. An engineering machinery, characterized in that, The engineering machinery is equipped with a power control system, which is used to execute the power adjustment method as described in any one of claims 1-4.

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