Control method for a hydraulic system of a working machine, hydraulic system and controller

Abstract

The embodiment of the application provides a control method, a hydraulic system and a controller for a hydraulic system of an engineering machine. The method comprises: receiving a control signal triggered by a user through an input device; determining a target actuator and a target oil amount of the target actuator; generating a first electric signal and a second electric signal, sending the first electric signal to a hydraulic pump, and making the hydraulic pump output a first oil amount of hydraulic oil; sending the second electric signal to a first control valve group; controlling the valve opening degree of the first control valve group to switch to a target valve opening degree corresponding to the first oil amount, and sending the first oil amount of hydraulic oil to a second control valve group, so that the target actuator performs a corresponding action. The above technical solution can realize remote control of the actuator, improve the accuracy of operation of the actuator, reduce the pipeline loss of the hydraulic system, and reduce the cost. In addition, the series connection design of the control valve group in the hydraulic system can accurately distribute the flow of the actuator in the boom, and provides a strong guarantee for the action of the boom.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hydraulic control, in particular to a control method for a hydraulic system of an engineering machine, a storage medium, a hydraulic system and a controller. BACKGROUND

[0002] The concrete pump truck has the advantage of not needing to lay pipes during construction, so it is increasingly widely used in urban construction, especially as the length of the boom is constantly being broken, making its application range more and more extensive. However, when the concrete pump truck is working, the hydraulic line loss increases with the increase in the length of the boom, and the control of the long boom is also more difficult. The current concrete boom system generally uses a load-sensitive variable pump and an integrated multi-way reversing control valve group hydraulic system. Because of the large number of pipes between the load-sensitive variable pump and the multi-way reversing control valve group, and the long pipes, the signal transmission is inaccurate or there is a delay in transmission, and the actuators on each boom cannot be accurately controlled. Moreover, the hydraulic pipes are arranged on each boom, and each hydraulic pipe is in parallel, which results in a large space for pipe arrangement, low control accuracy and high design cost. SUMMARY

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

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a control method for a hydraulic system of an engineering machine, the engineering machine comprising a plurality of booms and a rotating table, each boom being provided with a corresponding actuator, the hydraulic system comprising a hydraulic pump and a control valve group, wherein the control valve group comprises a first control valve group and a second control valve group respectively installed on a first boom and a second boom, wherein the first control valve group and the second control valve group respectively comprise a plurality of control links, each control link being connected in parallel with the corresponding actuator through a supply oil line, wherein the first boom comprises a first number of booms connected in sequence close to the rotating table, and the second boom comprises a second number of booms in the plurality of booms except the first boom, the hydraulic pump, the first control valve group and the second control valve group being connected in series through the supply oil line, and the control method comprising:

[0005] receiving a control signal triggered by a user through an input device;

[0006] determining a target actuator in the plurality of actuators and a target oil amount of the target actuator according to the control signal;

[0007] generating a first electric signal and a second electric signal according to the target oil amount, and sending the first electric signal to the hydraulic pump to make the hydraulic pump output a first oil amount of hydraulic oil according to the first electric signal, wherein the first oil amount is greater than the target oil amount;

[0008] In the case that the control link of the target actuator is in the second control valve group, the second electric signal is sent to the first control valve group;

[0009] The first control valve group is controlled to switch the valve opening degree of the corresponding control link to the target valve opening degree corresponding to the first oil amount according to the second electric signal, so as to deliver the hydraulic oil of the first oil amount to the second control valve group, and make the target actuator perform the corresponding action.

[0010] In the embodiments of the present application, the control method further comprises: after the first control valve group is controlled to switch the valve opening degree of the corresponding control link to the target valve opening degree corresponding to the first oil amount according to the second electric signal, the second electric signal is sent to the second control valve group; the second control valve group is controlled to switch the valve opening degree of the target control link of the target actuator to the first target valve opening degree corresponding to the target oil amount according to the second electric signal, so as to make the hydraulic oil of the target oil amount flow through the target control link and then flow into the target actuator, and make the target actuator perform the corresponding action.

[0011] In the embodiments of the present application, the control method further comprises: receiving the number of target actuators determined by the second control valve group according to the second electric signal; in the case that the number of target actuators is one, the second control valve group is controlled to fully open the valve of the target control link of the target actuator according to the second electric signal, so as to make the hydraulic oil of the first oil amount flow through the target control link of the target actuator and then flow into the target actuator, and make the target actuator perform the corresponding action.

[0012] In the embodiments of the present application, the control method further comprises: in the case that the number of target actuators is multiple, the second control valve group is controlled to determine the second oil amount of each target actuator according to the second electric signal, and switch the valve opening degree of the target control link of each target actuator to the third target valve opening degree matched with the corresponding second oil amount, wherein the second oil amount is less than the first oil amount; for each target actuator, the hydraulic oil of the corresponding second oil amount of the target actuator is controlled to flow through the target control link corresponding to the target actuator and then flow into the target actuator, so as to make the target actuator perform the corresponding action.

[0013] In the embodiment of the present application, the control method further comprises: after the first electric signal is sent to the hydraulic pump, in the case that the control link of the target actuator is located at the first control valve group and the second control valve group, the second electric signal is sent to the first control valve group and the second control valve group respectively, wherein the target actuator comprises a first sub-target actuator and a second sub-target actuator, the first sub-control link of the first sub-target actuator is located at the first control valve group, and the second sub-control link of the second sub-target actuator is located at the second control valve group; the first control valve group is controlled to determine the first sub-oil amount of the first sub-target actuator according to the second electric signal, and the valve opening degree of the first sub-control link is switched to the fourth target valve opening degree corresponding to the first sub-oil amount; the valve opening degree of the first control link is switched to the fifth target valve opening degree corresponding to the hydraulic oil except the first sub-oil amount in the first oil amount, and the hydraulic oil except the first sub-oil amount in the first oil amount is transported to the second control valve group; the second control valve group is controlled to determine the second sub-oil amount of the second sub-target actuator according to the second electric signal, and the valve opening degree of the second sub-control link is switched to the sixth target valve opening degree corresponding to the second sub-oil amount; the hydraulic oil of the first sub-oil amount flows into the first sub-target actuator after flowing through the first sub-control link, so that the first sub-target actuator performs corresponding action; the hydraulic oil of the second sub-oil amount flows into the second sub-target actuator after flowing through the second sub-control link, so that the second sub-target actuator performs corresponding action.

[0014] In the embodiment of the present application, the control method further comprises: after the second electric signal is sent to the first control valve group and the second control valve group respectively, receiving that the first control valve group determines the number of the first sub-target actuators according to the first electric signal; in the case that the number of the first sub-target actuators is multiple, the valve opening degree of the first sub-control link is switched to the fourth target valve opening degree corresponding to the first sub-oil amount comprises: the first control valve group is controlled to determine the first sub-oil amount of each first sub-target actuator according to the second electric signal, and the valve opening degree of the first sub-control link of each first sub-target actuator is switched to the fourth sub-target valve opening degree matched with the corresponding first sub-oil amount.

[0015] In the embodiment of the present application, the control method further comprises: after the second electric signal is sent to the first control valve group and the second control valve group respectively, receiving that the second control valve group determines the number of the second sub-target actuators according to the second electric signal; in the case that the number of the second sub-target actuators is multiple, the valve opening degree of the second sub-control link is switched to the sixth target valve opening degree corresponding to the second sub-oil amount comprises: the second control valve group is controlled to determine the second sub-oil amount of each second sub-target actuator according to the second electric signal, and the valve opening degree of the second sub-control link of each second sub-target actuator is switched to the sixth sub-target valve opening degree matched with the corresponding second sub-oil amount.

[0016] In the embodiment of the present application, the control method further comprises: after the target actuator performs the corresponding action, controlling the hydraulic oil other than the target oil amount in the first oil amount to flow out of the second control valve group.

[0017] The second aspect of the present application provides a controller configured to perform the control method for the hydraulic system of the engineering machinery.

[0018] The third aspect of the present application provides a hydraulic system, comprising:

[0019] The control valve group comprises a first control valve group and a second control valve group connected in series through the oil supply pipeline, the first control valve group comprises a plurality of control links connected in parallel through the oil supply pipeline, and the second control valve group comprises a plurality of control links connected in parallel through the oil supply pipeline.

[0020] The hydraulic pump, the first control valve group and the second control valve group are connected in series through the oil supply pipeline.

[0021] In the embodiment of the present application, the hydraulic system is applied to the engineering machinery, the engineering machinery comprises a plurality of arm supports and a rotary table, a corresponding actuator is installed on each arm support, the first control valve group is installed on the first arm support, and the second control valve group is installed on the second arm support, wherein each control link is connected in parallel with the corresponding actuator through the oil supply pipeline, the first arm support comprises a first number of arm supports connected in sequence close to the rotary table, and the second arm support comprises a second number of arm supports other than the first arm support in the plurality of arm supports.

[0022] In the embodiment of the present application, the hydraulic system further comprises the above-mentioned controller.

[0023] The fourth aspect of the present application provides a machine readable storage medium, the machine readable storage medium has instructions stored thereon, the instructions cause the processor to be configured to perform the control method for the hydraulic system of the engineering machinery when the instructions are executed by the processor.

[0024] The technical scheme is characterized in that: a control signal triggered by a user through an input device is received; a target actuator in a plurality of actuators and a target oil amount of the target actuator are determined according to the control signal; a first electric signal and a second electric signal are generated according to the target oil amount, and the first electric signal is sent to a hydraulic pump, so that the hydraulic pump outputs a first oil amount of hydraulic oil according to the first electric signal, wherein the first oil amount is greater than the target oil amount; in the case that a control link of the target actuator is connected to a second control valve group, the second electric signal is sent to a first control valve group; the first control valve group is controlled to switch a valve opening degree of a first control link corresponding to the first control valve group to a target valve opening degree corresponding to the first oil amount according to the second electric signal, so that the first oil amount of hydraulic oil is delivered to the second control valve group, and the target actuator performs a corresponding action. Through the above technical scheme, remote control of the actuator can be realized, the precision of actuator control is improved, the pipeline loss of the hydraulic system is reduced, and the cost is reduced. Moreover, the series connection design of the control valve group in the hydraulic system can accurately distribute the flow of the actuator in the boom, and provides a strong guarantee for the action of the boom.

[0025] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific implementation to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the drawings:

[0027] Figure 1 A flowchart of a control method for a hydraulic system of a construction machine according to an embodiment of the present application is schematically shown;

[0028] Figure 2 A first schematic diagram of a construction machine according to an embodiment of the present application is schematically shown;

[0029] Figure 3 A second schematic diagram of a construction machine according to an embodiment of the present application is schematically shown;

[0030] Figure 4 An internal structure diagram of a computer device according to an embodiment of the present application is schematically shown.

[0031] REFERENCE NUMERALS

[0032] 1, hydraulic pump 2, first control valve group 3, second control valve group

[0033] 2.1, switch control link 2.2, three-way flow valve 3.1 three-way flow valve

[0034] A0, oil port B0, oil port A1, oil port

[0035] B1, oil port A2, oil port B2, oil port

[0036] A3, oil port B3, oil port A4, oil port

[0037] B4, oil port A5, oil port B5, oil port

[0038] A6, oil port B6, oil port P, oil inlet

[0039] R, oil outlet DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0041] Figure 1 A flowchart of a control method for a hydraulic system of a construction machine according to an embodiment of the present application is schematically shown. As shown in Figure 1 In an embodiment of the present application, a control method for a hydraulic system of a construction machine is provided, the construction machine comprising a plurality of booms and a swing table, each boom being provided with a corresponding actuator, the hydraulic system comprising a hydraulic pump and a control valve group, wherein the control valve group comprises a first control valve group and a second control valve group respectively installed on a first boom and a second boom, wherein the first control valve group and the second control valve group respectively comprise a plurality of control links, each control link being connected in parallel with the corresponding actuator through an oil supply pipeline, wherein the first boom comprises a first number of booms connected in sequence close to the swing table, and the second boom comprises a second number of booms in the plurality of booms except the first boom, the hydraulic pump, the first control valve group and the second control valve group being connected in series through the oil supply pipeline, comprising the following steps:

[0042] Step 101, receiving a control signal triggered by a user through an input device.

[0043] Step 102, determining a target actuator in the plurality of actuators and a target oil amount of the target actuator according to the control signal.

[0044] Step 103, generating a first electric signal and a second electric signal according to the target oil amount, and sending the first electric signal to the hydraulic pump to make the hydraulic pump output a first oil amount of hydraulic oil according to the first electric signal, wherein the first oil amount is greater than the target oil amount.

[0045] Step 104, in the case where the control link of the target actuator is located at the second control valve group, sending a second electric signal to the first control valve group.

[0046] Step 105, controlling the first control valve group to switch the valve opening degree of the corresponding first control link of the first control valve group to the target valve opening degree corresponding to the first oil amount according to the second electric signal, so as to deliver the hydraulic oil of the first oil amount to the second control valve group, so that the target actuator performs the corresponding action.

[0047] Construction machinery is an important part of the equipment industry. In general, the mechanical equipment necessary for comprehensive mechanized construction engineering required by earthwork construction engineering, pavement construction and maintenance, mobile hoisting and unloading operations, and various building engineering is called construction machinery. Hydraulic system is a complete set of devices that uses oil as working medium, utilizes the pressure energy of oil, and controls the work of hydraulic actuators through control valves and other accessories. Actuators include oil cylinders, motors, outriggers and some other components. Hydraulic pump is a hydraulic system power element that converts mechanical energy into hydraulic energy by engine or motor. The control valve group includes multiple control links combined in parallel. The controller is a device that controls the hydraulic pump and the control valve group through an electric signal. The controller can be electrically connected with the hydraulic pump and the control valve group respectively. The controller can receive the control signal triggered by the user through the input device. And determine the target actuator and the target oil amount of the target actuator according to the control signal. After determining the target actuator and the target oil amount, the controller can generate a first electric signal and a second electric signal according to the target oil amount. And send the first electric signal to the hydraulic pump, so that the hydraulic pump outputs the hydraulic oil of the first oil amount according to the first electric signal. Wherein, the first oil amount is greater than the target oil amount. The controller can determine the position of the target actuator. In the case where the control link of the target actuator is located at the second control valve group, the controller can send a second electric signal to the first control valve group. And control the first control valve group to switch the valve opening degree of the corresponding first control link of the first control valve group to the target valve opening degree corresponding to the first oil amount according to the second electric signal, so as to deliver the hydraulic oil of the first oil amount to the second control valve group, so that the target actuator performs the corresponding action.

[0048] For example, as Figure 2As shown, the engineering machine includes six arms, in order, a one-section arm, a two-section arm, a three-section arm, a four-section arm, a five-section arm, and a six-section arm, wherein the one-section arm is the arm closest to the direction of the rotary table. Each arm is provided with a corresponding actuator, which are a one-arm cylinder, a two-arm cylinder, a three-arm cylinder, a four-arm cylinder, a five-arm cylinder, and a six-arm cylinder. The engineering machine also includes a rotary motor. The hydraulic system includes a hydraulic pump 1 and a control valve group. The control valve group includes a first control valve group 2 installed on the first arm and a second control valve group 3 installed on the second arm. The first arm can include the one-section arm, the two-section arm, and the three-section arm. The second arm can include the four-section arm, the five-section arm, and the six-section arm. The first valve control group 2 can include a one-section arm joint, a two-section arm joint, and a three-section arm joint. The second control valve group 3 can include a four-section arm joint, a five-section arm joint, and a six-section arm joint. The hydraulic pump 1, the first control valve group 2, and the second control valve group 3 can be connected in series through the oil supply pipeline. The first control valve group 2 can also include a switching control joint 2.1 and a three-way flow valve 2.2. The second control valve group 3 can also include a three-way flow valve 3.1. The engineering machine also includes oil ports A and B connected between the switching control joint 2.1 and the second control valve group 3, oil ports A0 and B0 connected between the rotary motor and the rotary joint, oil ports A1 and B1 connected between the one-arm cylinder and the one-section arm joint, oil ports A2 and B2 connected between the two-arm cylinder and the two-section arm joint, oil ports A3 and B3 connected between the three-arm cylinder and the three-section arm joint, oil ports A4 and B4 connected between the four-arm cylinder and the four-section arm joint, oil ports A5 and B5 connected between the five-arm cylinder and the five-section arm joint, and oil ports A6 and B6 connected between the six-arm cylinder and the six-section arm joint. The hydraulic system also includes an oil inlet P and an oil outlet R of the first control valve group 2. The hydraulic system also includes an oil inlet P and an oil outlet R of the second control valve group 3.

[0049] The controller can receive a control signal triggered by the user through the input device. And determine the target actuator in the plurality of actuators and the target oil quantity of the target actuator according to the control signal. Assuming that the target actuator is the four-arm cylinder, and the target oil quantity of the four-arm cylinder is 20 L / min. The controller can generate a first electrical signal and a second electrical signal according to the target oil quantity 20 L / min, and send the first electrical signal to the hydraulic pump 1, so that the hydraulic pump 1 outputs a first oil quantity of hydraulic oil according to the first electrical signal, about 25 L / min of hydraulic oil. The control joint of the four-arm cylinder, i.e. the four-section arm joint, is located in the second control valve group 3. The controller can send the second electrical signal to the first control valve group 2. And control the first control valve group 2 to switch the valve opening degree of the switching control joint 2.1 corresponding to the first control valve group 2 to a target valve opening degree corresponding to the first oil quantity 25 L / min according to the second electrical signal, so as to deliver the first oil quantity 25 L / min of hydraulic oil to the second control valve group 3 through the oil port A or the oil port B, so as to make the four-arm cylinder execute corresponding actions.

[0050] Specifically, in one aspect, the controller can control the first oil amount 25L / min hydraulic oil to flow from the switching control link 2.1 to the second control valve group 3. And control the valve opening degree of the four-arm oil cylinder corresponding four-arm link to be in the full open state, so that the first oil amount 25L / min hydraulic oil flows through the four-arm link and then flows into the four-arm oil cylinder, so that the four-arm oil cylinder performs the corresponding action, at this time the four-arm link plays the role of switch. On the other hand, the controller can control the first oil amount 25L / min hydraulic oil to flow from the switching control link 2.1 to the second control valve group 3. And control the valve opening degree of the four-arm oil cylinder corresponding four-arm link to be in the opening degree consistent with the target oil amount of 20L / min of the four-arm oil cylinder, so that the target oil amount 20L / min hydraulic oil flows through the four-arm link and then flows into the four-arm oil cylinder, so that the four-arm oil cylinder performs the corresponding action. In one embodiment, the control method further comprises: after the target actuator performs the corresponding action, controlling the hydraulic oil other than the target oil amount in the first oil amount to flow out of the second control valve group. That is, after the four-arm oil cylinder performs the corresponding action, the controller can control the hydraulic oil other than the target oil amount in the first oil amount 25L / min to flow out of the second control valve group 3.

[0051] In one embodiment, the control method further comprises: after the first control valve group switches the valve opening degree of the control link corresponding to the first control valve group to the target valve opening degree corresponding to the first oil amount according to the second electric signal, sending the second electric signal to the second control valve group; controlling the second control valve group to switch the valve opening degree of the target control link of the target actuator to the first target valve opening degree corresponding to the target oil amount according to the second electric signal, so that the target oil amount of hydraulic oil flows through the target control link and then flows into the target actuator, so that the target actuator performs the corresponding action.

[0052] After the first control valve group switches the valve opening degree of the control link corresponding to the first control valve group to the target valve opening degree corresponding to the first oil amount according to the second electric signal, the controller can send the second electric signal to the second control valve group. And control the second control valve group to switch the valve opening degree of the target control link of the target actuator to the first target valve opening degree corresponding to the target oil amount according to the second electric signal, so that the target oil amount of hydraulic oil flows through the target control link and then flows into the target actuator, so that the target actuator performs the corresponding action.

[0053] For example, the controller can receive a control signal triggered by the user through the input device. And determine the target actuator in the plurality of actuators and the target oil amount of the target actuator according to the control signal. Assuming, for example, Figure 2As shown, the target actuator is a four-arm oil cylinder, and the target oil amount of the four-arm oil cylinder is 20 L / min. The controller can generate the first electric signal and the second electric signal according to the target oil amount 20 L / min, and send the first electric signal to the hydraulic pump 1 to make the hydraulic pump 1 output the hydraulic oil of the first oil amount according to the first electric signal, i.e. the hydraulic oil of about 25 L / min. The control link of the four-arm oil cylinder, i.e. the four-arm link, is located in the second control valve group 3, and the controller can send the second electric signal to the first control valve group 2. The first control valve group 2 is controlled to switch the valve opening degree of the switching control link 2.1 corresponding to the first control valve group 2 to the target valve opening degree corresponding to the first oil amount 25 L / min according to the second electric signal, so as to deliver the hydraulic oil of the first oil amount 25 L / min to the second control valve group 3 through the oil port A or the oil port B. The controller can send the second electric signal to the second control valve group 3. The second control valve group 3 is controlled to switch the valve opening degree of the four-arm link to the first target valve opening degree corresponding to the target oil amount 20 L / min according to the second electric signal, so as to make the hydraulic oil of the target oil amount 20 L / min flow through the four-arm link and then flow into the four-arm oil cylinder, so as to make the four-arm oil cylinder perform the corresponding action. After the four-arm oil cylinder performs the corresponding action, the controller can control the hydraulic oil of 5 L / min in the first oil amount 25 L / min except the target oil amount 20 L / min to flow out of the second control valve group 3 from the three-way flow valve 3.1.

[0054] In one embodiment, the control method further comprises: receiving the number of target actuators determined by the second control valve group according to the second electric signal; in the case that the number of target actuators is one, controlling the second control valve group to completely open the valve of the target control link of the target actuator according to the second electric signal, so as to make the hydraulic oil of the first oil amount flow through the target control link of the target actuator and then flow into the target actuator, so as to make the target actuator perform the corresponding action.

[0055] The controller can receive the number of target actuators determined by the second control valve group according to the second electric signal. In the case that the number of target actuators is one, the controller can control the second control valve group to completely open the valve of the target control link of the target actuator according to the second electric signal, so as to make the hydraulic oil of the first oil amount flow through the target control link of the target actuator and then flow into the target actuator, so as to make the target actuator perform the corresponding action.

[0056] In one embodiment, the control method further includes: when there are multiple target actuators, controlling the second control valve group to determine the second oil quantity of each target actuator according to the second electrical signal, and switching the valve opening of the target control link of each target actuator to a third target valve opening that matches the corresponding second oil quantity, wherein the second oil quantity is less than the first oil quantity; for each target actuator, controlling the hydraulic oil with the second oil quantity corresponding to the target actuator to flow through the target control link corresponding to the target actuator and then into the target actuator, so that the target actuator performs the corresponding action.

[0057] When there are multiple target actuators, the controller can control the second control valve group to determine the second oil quantity for each target actuator based on the second electrical signal. It then switches the valve opening of the target control link for each target actuator to a third target valve opening that matches the corresponding second oil quantity. The second oil quantity is less than the first oil quantity. For each target actuator, the controller can control the hydraulic oil of the second oil quantity corresponding to the target actuator to flow through the target control link and then into the target actuator, so that the target actuator performs the corresponding action.

[0058] For example, such as Figure 2 As shown, assuming there is only one target actuator, and the target actuator is a four-arm hydraulic cylinder with a target oil flow rate of 20 L / min, the controller can generate a first electrical signal and a second electrical signal based on the target oil flow rate of 20 L / min. The first electrical signal is sent to hydraulic pump 1, causing hydraulic pump 1 to output a first quantity of hydraulic oil, approximately 25 L / min. The controller can then send the second electrical signal to the first control valve group 2 and the second control valve group 3. This controls the first control valve group 2 to switch the valve opening of its corresponding switching control link 2.1 to the target valve opening corresponding to the first oil flow rate of 25 L / min, allowing the hydraulic oil at the first quantity of 25 L / min to be delivered to the second control valve group 3 through port A or port B. The controller can then control the second control valve group 3 to fully open the valve of the four-arm linkage based on the second electrical signal, allowing the hydraulic oil at the first quantity of 25 L / min to flow through the four-arm linkage and into the four-arm hydraulic cylinder, thus enabling the four-arm hydraulic cylinder to perform the corresponding action. After the four-arm cylinders perform the corresponding actions, the controller can control the excess 5L / min hydraulic oil to flow out of the second control valve group 3 from the three-way flow valve 3.1.

[0059] In the case where the number of target actuators is multiple. Assuming that the target actuators are four-arm oil cylinders and five-arm oil cylinders. The controller can control the second control valve group 3 to determine the second oil amount of the four-arm oil cylinders as 10 L / min and the second oil amount of the five-arm oil cylinders as 12 L / min according to the second electric signal. The controller can generate the first electric signal and the second electric signal according to the target oil amount 22 L / min, and send the first electric signal to the hydraulic pump 1 to make the hydraulic pump 1 output the first oil amount of hydraulic oil, i.e. 28 L / min of hydraulic oil, according to the first electric signal. The controller can send the second electric signal to the first control valve group 2 and the second control valve group 3. To control the first control valve group 2 to switch the valve opening of the switching control connection 2.1 corresponding to the first control valve group 2 to the target valve opening corresponding to the first oil amount 28 L / min according to the second electric signal, so as to deliver the first oil amount 28 L / min of hydraulic oil to the second control valve group 3 through the oil port A or the oil port B. The controller can switch the valve opening of the target control connection of the four-arm oil cylinders, i.e. the four-arm connection, to the third target valve opening matched with the oil amount of 10 L / min. Switch the valve opening of the target control connection of the five-arm oil cylinders, i.e. the five-arm connection, to the third target valve opening matched with the oil amount of 12 L / min. The controller can control 10 L / min of hydraulic oil to flow into the four-arm oil cylinders after flowing through the four-arm connection, and control 12 L / min of hydraulic oil to flow into the five-arm oil cylinders after flowing through the five-arm connection, so as to make the four-arm oil cylinders and the five-arm oil cylinders perform corresponding actions respectively. After the four-arm oil cylinders and the five-arm oil cylinders perform corresponding actions, the controller can control the remaining 6 L / min of hydraulic oil to flow out of the second control valve group 3 from the three-way flow valve 3.1.

[0060] In one embodiment, the control method further comprises: after the first electrical signal is sent to the hydraulic pump, in the case that the control link of the target actuator is located in the first control valve group and the second control valve group at the same time, sending a second electrical signal to the first control valve group and the second control valve group respectively, wherein the target actuator comprises a first sub-target actuator and a second sub-target actuator, the first sub-control link of the first sub-target actuator is located in the first control valve group, and the second sub-control link of the second sub-target actuator is located in the second control valve group; controlling the first control valve group to determine a first sub-oil amount of the first sub-target actuator according to the second electrical signal, and switching the valve opening degree of the first sub-control link to a fourth target valve opening degree corresponding to the first sub-oil amount; switching the valve opening degree of the first control link to a fifth target valve opening degree corresponding to the hydraulic oil other than the first sub-oil amount in the first oil amount, and conveying the hydraulic oil other than the first sub-oil amount in the first oil amount to the second control valve group; controlling the second control valve group to determine a second sub-oil amount of the second sub-target actuator according to the second electrical signal, and switching the valve opening degree of the second sub-control link to a sixth target valve opening degree corresponding to the second sub-oil amount; controlling the hydraulic oil of the first sub-oil amount to flow into the first sub-target actuator after flowing through the first sub-control link, so that the first sub-target actuator performs a corresponding action; and controlling the hydraulic oil of the second sub-oil amount to flow into the second sub-target actuator after flowing through the second sub-control link, so that the second sub-target actuator performs a corresponding action.

[0061] In one embodiment, the control method further comprises: after the first electrical signal is sent to the hydraulic pump, in the case that the control link of the target actuator is located in the first control valve group and the second control valve group at the same time, sending a second electrical signal to the first control valve group and the second control valve group respectively, wherein the target actuator comprises a first sub-target actuator and a second sub-target actuator, the first sub-control link of the first sub-target actuator is located in the first control valve group, and the second sub-control link of the second sub-target actuator is located in the second control valve group. The controller can control the first control valve group to determine a first sub-oil amount of the first sub-target actuator according to the second electrical signal. And switch the valve opening degree of the first sub-control link to a fourth target valve opening degree corresponding to the first sub-oil amount. The controller can also control the valve opening degree of the first control link to switch to a fifth target valve opening degree corresponding to the hydraulic oil other than the first sub-oil amount in the first oil amount. The controller can control the second control valve group to determine a second sub-oil amount of the second sub-target actuator according to the second electrical signal, and switch the valve opening degree of the second sub-control link to a sixth valve opening degree corresponding to the second sub-oil amount. The controller can control the hydraulic oil of the first sub-oil amount to flow into the first sub-target actuator after flowing through the first sub-control link, so that the first sub-target actuator performs a corresponding action. The controller can control the hydraulic oil of the second sub-oil amount to flow into the second sub-target actuator after flowing through the second sub-control link, so that the second sub-target actuator performs a corresponding action.

[0062] For example, as Figure 2As shown, in the case where the target actuator control link is located in the first control valve group 2 and the second control valve group 3, the controller sends the second electrical signal to the first control valve group 2 and the second control valve group 3, respectively. Assuming that the target actuator is a one-arm oil cylinder and a four-arm oil cylinder. The controller can send the first electrical signal to the hydraulic pump 1 to make the hydraulic pump 1 output the first oil amount of hydraulic oil, i.e. 35 L / min of hydraulic oil, according to the first electrical signal. The controller can determine the oil amount of the one-arm oil cylinder and the four-arm oil cylinder to be the first sub-oil amount 10 L / min and the second sub-oil amount 20 L / min, respectively, according to the second electrical signal. The controller can control the valve opening of the one-arm link to switch to the fourth target valve opening corresponding to the first sub-oil amount 10 L / min. The controller can control 10 L / min of hydraulic oil to flow through the one-arm link and then flow into the one-arm oil cylinder, so that the one-arm oil cylinder performs the corresponding action. The controller can control the valve opening of the switching control link 2.1 to switch to the fifth target valve opening corresponding to 25 L / min of hydraulic oil in the first oil amount 35 L / min excluding the first sub-oil amount 10 L / min, so as to deliver 25 L / min of hydraulic oil to the second control valve group 3 through the oil port A or the oil port B. The controller can also control the valve opening of the four-arm link to switch to the sixth target valve opening corresponding to the second sub-oil amount 20 L / min. The controller can control 20 L / min of hydraulic oil to flow through the four-arm link and then flow into the four-arm oil cylinder, so that the four-arm oil cylinder performs the corresponding action. The controller can also control the remaining 5 L / min of hydraulic oil to flow out of the second control valve group 3 from the three-way flow valve 3.1.

[0063] In one embodiment, the control method further comprises: after sending the second electrical signal to the first control valve group and the second control valve group, respectively, receiving the number of first sub-target actuators determined by the first control valve group according to the first electrical signal; in the case where the number of first sub-target actuators is multiple, the valve opening of the first sub-control link being switched to the fourth target valve opening corresponding to the first sub-oil amount comprises: controlling the first control valve group to determine the first sub-oil amount of each first sub-target actuator according to the second electrical signal, and controlling the valve opening of the first sub-control link of each first sub-target actuator to switch to the fourth sub-target valve opening matched with the corresponding first sub-oil amount.

[0064] After sending the second electrical signal to the first control valve group and the second control valve group, respectively, the controller can receive the number of first sub-target actuators determined by the first control valve group according to the first electrical signal. In the case where the number of first sub-target actuators is multiple, the controller can switch the valve opening of the first sub-control link to the fourth target valve opening corresponding to the first sub-oil amount. Specifically, the controller can control the first control valve group to determine the first sub-oil amount of each first sub-target actuator according to the second electrical signal. And control the valve opening of the first sub-control link of each first sub-target actuator to switch to the fourth sub-target valve opening matched with the corresponding first sub-oil amount.

[0065] In one embodiment, the control method further includes: after sending the second electrical signal to the first control valve group and the second control valve group respectively, receiving the second control valve group to determine the number of second sub-target actuators based on the second electrical signal; when there are multiple second sub-target actuators, switching the valve opening of the second sub-control link to the sixth target valve opening corresponding to the second sub-oil quantity includes: controlling the second control valve group to determine the second sub-oil quantity of each second sub-target actuator based on the second electrical signal, and controlling the valve opening of the second sub-control link of each second sub-target actuator to switch to the sixth sub-target valve opening matching the corresponding second sub-oil quantity.

[0066] After sending the second electrical signal to the first control valve group and the second control valve group respectively, the controller can receive the second control valve group's determination of the number of second sub-target actuators based on the second electrical signal. When there are multiple second sub-target actuators, the controller can switch the valve opening of the second sub-control link to the sixth target valve opening corresponding to the second sub-oil quantity. Specifically, the controller can control the second control valve group to determine the second sub-oil quantity of each second sub-target actuator based on the second electrical signal, and control the valve opening of the second sub-control link of each second sub-target actuator to switch to the sixth sub-target valve opening matching the corresponding second sub-oil quantity.

[0067] For example, such as Figure 2 As shown, the first sub-target actuators are the first-arm cylinder and the second-arm cylinder, and the second sub-target actuators are the fourth-arm cylinder and the fifth-arm cylinder. The controller can send a first electrical signal to the hydraulic pump 1, causing the hydraulic pump 1 to output a first quantity of hydraulic oil, i.e., 60L / min, according to the first electrical signal. The controller can determine the oil flow rates of the first-arm cylinder, the second-arm cylinder, the fourth-arm cylinder, and the fifth-arm cylinder as 10L / min, 20L / min, 15L / min, and 10L / min, respectively, based on the second electrical signal. The controller can control the valve opening of the first-arm linkage to switch to the fourth sub-target valve opening corresponding to 10L / min, and control the valve opening of the second-arm linkage to switch to the fourth sub-target valve opening corresponding to 20L / min. The controller can control the 10L / min hydraulic oil to flow through the first-arm linkage and then into the first-arm cylinder, and control the 20L / min hydraulic oil to flow through the second-arm linkage and then into the second-arm cylinder, so that the first-arm cylinder and the second-arm cylinder perform corresponding actions. The controller can control the valve opening of switching control link 2.1 to switch to the fifth target valve opening corresponding to 27L / min hydraulic oil, so as to deliver 27L / min hydraulic oil to the second control valve group 3 through port A or port B. The controller can also control the remaining 3L / min hydraulic oil in the first control valve group 2 to flow out of the first control valve group 2 through the three-way flow valve 2.1.

[0068] After the control switching control link 2.1 delivers 27 L / min of hydraulic oil to the second control valve group 3, the controller can also control the valve opening of the four-section arm link to switch to the sixth sub-target valve opening corresponding to 15 L / min, and control the valve opening of the five-section arm link to switch to the sixth sub-target valve corresponding to 10 L / min. The controller can control the 15 L / min hydraulic oil to flow through the four-section arm link and into the four-arm cylinder, and control the 10 L / min hydraulic oil to flow through the five-section arm link and into the five-arm cylinder, so that the four-arm cylinder and the five-arm cylinder perform corresponding actions. The controller can also control the remaining 2 L / min of hydraulic oil to flow out of the second control valve group 3 from the three-way flow valve 3.1.

[0069] In one embodiment, such as Figure 3 As shown, the construction machinery includes six booms, sequentially designated as boom section one, boom section two, boom section three, boom section four, boom section five, and boom section six, with boom section one being the boom closest to the turntable. Each boom is equipped with a corresponding actuator, namely, boom cylinders for boom section one, boom section two, boom section three, boom section four, boom section five, and boom section six. Outriggers or other actuators are also included. The construction machinery also includes a slewing motor. The hydraulic system includes a hydraulic pump 1 and a control valve assembly. The control valve assembly includes a first control valve assembly 2 mounted on the first boom and a second control valve assembly 3 mounted on the second boom. The first boom may include boom sections one, two, and three. The second boom may include boom sections four, five, and six. The first control valve assembly 2 may include boom sections one, two, and three. The second control valve assembly 3 may include boom sections four, five, and six. Hydraulic pump 1, first control valve group 2, and second control valve group 3 can be connected in series via oil supply lines. First control valve group 2 may also include a switching control link 2.1 and a three-way flow valve 2.2. Second control valve group 3 may also include a three-way flow valve 3.1. The construction machinery also includes oil ports A and B connecting switching control link 2.1 and second control valve group 3; oil ports A0 and B0 connecting the swing motor and swing link; oil ports A1 and B1 connecting the first-arm cylinder and the first-section arm link; oil ports A2 and B2 connecting the second-arm cylinder and the second-section arm link; oil ports A3 and B3 connecting the third-arm cylinder and the third-section arm link; oil ports A4 and B4 connecting the fourth-arm cylinder and the fourth-section arm link; oil ports A5 and B5 connecting the fifth-arm cylinder and the fifth-section arm link; and oil ports A6 and B6 connecting the sixth-arm cylinder and the sixth-section arm link. It also includes the inlet P and outlet R of first control valve group 2, and the inlet P and outlet R of second control valve group 3. The hydraulic pump 1 can be any one of an electro-proportional displacement pump, a variable speed fixed displacement pump, or a fixed speed fixed displacement pump.

[0070] In the case that the variable pump 1 is an electric proportional displacement pump or a variable speed fixed displacement pump, the controller can receive a control signal triggered by a user through an input device. And determine the target actuator and the target oil quantity of the target actuator among the plurality of actuators according to the control signal. Assuming that the target actuator is a four-arm oil cylinder, and the target oil quantity of the four-arm oil cylinder is 20 L / min. The controller can generate a first electric signal and a second electric signal according to the target oil quantity 20 L / min, and send the first electric signal to the electric proportional displacement pump or the variable speed fixed displacement pump, so that the electric proportional displacement pump or the variable speed fixed displacement pump outputs a first oil quantity of hydraulic oil according to the first electric signal, i.e. 25 L / min of hydraulic oil. The control link of the four-arm oil cylinder, i.e. the four-arm link, is located in the second control valve group 3. The controller can send the second electric signal to the first control valve group 2. And control the first control valve group 2 to switch the valve opening of the switching control link 2.1 corresponding to the first control valve group 2 to a target valve opening corresponding to the first oil quantity 25 L / min according to the second electric signal, so as to deliver the first oil quantity 25 L / min of hydraulic oil to the second control valve group 3 through the oil port A or the oil port B. The controller can control the valve opening of the four-arm link to switch to a valve opening corresponding to 20 L / min, so that 20 L / min of hydraulic oil flows into the four-arm oil cylinder after flowing through the four-arm link, so that the four-arm oil cylinder performs a corresponding action. After the four-arm oil cylinder performs the corresponding action, the controller can control the remaining 5 L / min of hydraulic oil to flow out of the second control valve group 3.

[0071] In the case that the variable pump 1 is a fixed speed fixed displacement pump, the controller can receive a control signal triggered by a user through an input device. And determine the target actuator and the target oil quantity of the target actuator among the plurality of actuators according to the control signal. Assuming that the target actuator is a four-arm oil cylinder, and the target oil quantity of the four-arm oil cylinder is 20 L / min. In the case that the hydraulic oil displacement (25 L / min) of the fixed speed fixed displacement pump is greater than the target oil quantity 20 L / min, the controller can send a second electric signal to the first control valve group 2. And control the first control valve group 2 to switch the valve opening of the switching control link 2.1 corresponding to the first control valve group 2 to a target valve opening corresponding to the hydraulic oil displacement 25 L / min according to the second electric signal, so as to deliver 25 L / min of hydraulic oil to the second control valve group 3 through the oil port A or the oil port B. The controller can control the valve opening of the four-arm link to switch to a target valve opening corresponding to 20 L / min, so that 20 L / min of hydraulic oil flows into the four-arm oil cylinder after flowing through the four-arm link, so that the four-arm oil cylinder performs a corresponding action. After the four-arm oil cylinder performs the corresponding action, the controller can control the remaining 5 L / min of hydraulic oil to flow out of the second control valve group 3.

[0072] In the case that the hydraulic oil displacement (15L / min) of the constant speed constant displacement pump is less than the target oil amount 20L / min, the controller can send the second electric signal to the first control valve group 2. And control the first control valve group 2 to switch the valve opening of the corresponding switching control connection 2.1 of the first control valve group 2 to the target valve opening corresponding to the hydraulic oil displacement 15L / min according to the second electric signal, so as to deliver 15L / min of hydraulic oil to the second control valve group 3 through the oil port A or the oil port B. The controller can control the valve opening of the four-joint connection to switch to the target valve opening corresponding to 20L / min, so that 15L / min of hydraulic oil flows through the four-joint connection and then flows into the four-arm oil cylinder, so that the four-arm oil cylinder slowly performs the corresponding action. On the other hand, the controller can control the valve opening of the four-joint connection to switch to the target valve opening corresponding to 15L / min, so that 15L / min of hydraulic oil flows through the four-joint connection and then flows into the four-arm oil cylinder, so that the four-arm oil cylinder performs the corresponding action.

[0073] The above technical solution, by receiving the control signal triggered by the user through the input device; determine the target actuator in the plurality of actuators and the target oil amount of the target actuator according to the control signal; generate a first electric signal and a second electric signal according to the target oil amount, and send the first electric signal to the hydraulic pump to make the hydraulic pump output the first oil amount of hydraulic oil according to the first electric signal, wherein the first oil amount is greater than the target oil amount; in the case that the control connection of the target actuator is located in the second control valve group, send the second electric signal to the first control valve group; control the first control valve group to switch the valve opening of the corresponding first control connection of the first control valve group to the target valve opening corresponding to the first oil amount according to the second electric signal, so as to deliver the first oil amount of hydraulic oil to the second control valve group, so that the target actuator performs the corresponding action. Through the above technical solution, remote control of the actuator can be realized, the precision of the actuator control is improved, the pipeline loss of the hydraulic system is reduced, and the cost is reduced. And the series design of the control valve group in the hydraulic system can accurately distribute the flow of the actuator in the boom, and provide strong guarantee for the action of the boom.

[0074] Figure 1 The flowchart of the control method for the hydraulic system of the engineering machinery in one embodiment. It should be understood that, although Figure 1 The steps in the flowchart are displayed in sequence according to the direction of the arrow, but these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise stated herein, the execution of these steps has no strict order limitation, and these steps can be executed in other order. Moreover, Figure 1At least one of the steps in the above method can include a plurality of sub-steps or a plurality of stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of the sub-steps or stages is not necessarily sequential, but can be performed alternately or alternately with at least one part of other steps or sub-steps or stages of other steps.

[0075] The embodiment of the present application provides a controller, which is used for running a program, wherein the program is used for executing the control method for the hydraulic system of the engineering machinery.

[0076] The embodiment of the present application provides a hydraulic system, which comprises:

[0077] A control valve group, which comprises a first control valve group and a second control valve group connected in series through an oil supply pipeline, the first control valve group comprises a plurality of control links connected in parallel through the oil supply pipeline, and the second control valve group comprises a plurality of control links connected in parallel through the oil supply pipeline; and

[0078] A hydraulic pump, the hydraulic pump, the first control valve group and the second control valve group are connected in series through the oil supply pipeline.

[0079] In one embodiment, the hydraulic system is applied to engineering machinery, the engineering machinery comprises a plurality of booms and a rotary table, a corresponding actuator is installed on each boom, the first control valve group is installed on a first boom, and the second control valve group is installed on a second boom, wherein each control link is connected in parallel with the corresponding actuator through the oil supply pipeline, the first boom comprises a first number of booms connected in sequence close to the rotary table, and the second boom comprises a second number of booms in the plurality of booms except the first boom.

[0080] In one embodiment, the hydraulic system further comprises the above controller.

[0081] The hydraulic system in which the first control valve group and the second control valve group are connected in series and then connected with the hydraulic pump can realize precise remote control of the actuator, and the series connection mode of the control valve group can effectively reduce the loss of the pipeline. The hydraulic system can be used to accurately distribute the flow of the actuator in the boom, and provide strong guarantee for the action of the boom.

[0082] The embodiment of the present application provides a storage medium, which stores a program, and the program is executed by a processor to realize the control method for the hydraulic system of the engineering machinery.

[0083] In one embodiment, a computer device is provided, which can be a server, and an internal structure diagram of the computer device can be as shown in Figure 4As shown in the figure. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operating system B01 and the computer program B02 in the non-volatile storage medium A04 to run. The database of the computer device is used to store the data of the target oil amount, the first oil amount and the target valve opening. The network interface A02 of the computer device is used to communicate with the external terminal through the network connection. The computer program B02 is executed by the processor A01 to realize a control method for the hydraulic system of the engineering machinery.

[0084] Those skilled in the art can understand that, Figure 4 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0085] The embodiment of the present application provides a device, which comprises a processor, a memory and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: receiving a control signal triggered by a user through an input device; determining a target actuator in a plurality of actuators and a target oil amount of the target actuator according to the control signal; generating a first electric signal and a second electric signal according to the target oil amount, and sending the first electric signal to a hydraulic pump to make the hydraulic pump output hydraulic oil with a first oil amount according to the first electric signal, wherein the first oil amount is greater than the target oil amount; in the case that a control link of the target actuator is connected to a second control valve group, sending the second electric signal to a first control valve group; controlling the first control valve group to switch a valve opening of a first control link corresponding to the first control valve group to a target valve opening corresponding to the first oil amount according to the second electric signal, so as to deliver the hydraulic oil with the first oil amount to the second control valve group, so that the target actuator performs a corresponding action.

[0086] In one embodiment, the control method further comprises: after the first control valve group is controlled to switch the valve opening degree of the target control link of the target actuator to the first target valve opening degree corresponding to the target oil amount according to the second electric signal, sending the second electric signal to the second control valve group; and controlling the second control valve group to switch the valve opening degree of the target control link of the target actuator to the first target valve opening degree corresponding to the target oil amount according to the second electric signal, so that the hydraulic oil of the target oil amount flows through the target control link of the target actuator and then flows into the target actuator, so that the target actuator performs the corresponding action.

[0087] In one embodiment, the control method further comprises: receiving the number of target actuators determined by the second control valve group according to the second electric signal; and in the case that the number of target actuators is one, controlling the second control valve group to fully open the valve of the target control link of the target actuator according to the second electric signal, so that the hydraulic oil of the first oil amount flows through the target control link of the target actuator and then flows into the target actuator, so that the target actuator performs the corresponding action.

[0088] In one embodiment, the control method further comprises: in the case that the number of target actuators is multiple, controlling the second control valve group to determine the second oil amount of each target actuator according to the second electric signal, and switch the valve opening degree of the target control link of each target actuator to a third target valve opening degree matched with the corresponding second oil amount, wherein the second oil amount is less than the first oil amount; and for each target actuator, controlling the hydraulic oil of the corresponding second oil amount to flow through the target control link corresponding to the target actuator and then flow into the target actuator, so that the target actuator performs the corresponding action.

[0089] In one embodiment, the control method further comprises: after sending the first electric signal to the hydraulic pump, sending a second electric signal to the first control valve group and the second control valve group respectively in the case that the control link of the target actuator is located in the first control valve group and the second control valve group, wherein the target actuator comprises a first sub-target actuator and a second sub-target actuator, the first sub-control link of the first sub-target actuator is located in the first control valve group, and the second sub-control link of the second sub-target actuator is located in the second control valve group; controlling the first control valve group to determine the first sub-oil amount of the first sub-target actuator according to the second electric signal, and switching the valve opening degree of the first sub-control link to a fourth target valve opening degree corresponding to the first sub-oil amount; switching the valve opening degree of the first control link to a fifth target valve opening degree corresponding to the hydraulic oil other than the first sub-oil amount in the first oil amount, and conveying the hydraulic oil other than the first sub-oil amount in the first oil amount to the second control valve group; controlling the second control valve group to determine the second sub-oil amount of the second sub-target actuator according to the second electric signal, and switching the valve opening degree of the second sub-control link to a sixth target valve opening degree corresponding to the second sub-oil amount; controlling the hydraulic oil of the first sub-oil amount to flow into the first sub-target actuator after flowing through the first sub-control link, so that the first sub-target actuator performs a corresponding action; and controlling the hydraulic oil of the second sub-oil amount to flow into the second sub-target actuator after flowing through the second sub-control link, so that the second sub-target actuator performs a corresponding action.

[0090] In one embodiment, the control method further comprises: after sending the second electric signal to the first control valve group and the second control valve group respectively, receiving the number of the first sub-target actuators determined by the first control valve group according to the first electric signal; in the case that the number of the first sub-target actuators is multiple, switching the valve opening degree of the first sub-control link to the fourth target valve opening degree corresponding to the first sub-oil amount comprises: controlling the first control valve group to determine the first sub-oil amount of each first sub-target actuator according to the second electric signal, and controlling the valve opening degree of the first sub-control link of each first sub-target actuator to switch to a fourth sub-target valve opening degree matched with the corresponding first sub-oil amount.

[0091] In one embodiment, the control method further comprises: after sending the second electric signal to the first control valve group and the second control valve group respectively, receiving the number of the second sub-target actuators determined by the second control valve group according to the second electric signal; in the case that the number of the second sub-target actuators is multiple, switching the valve opening degree of the second sub-control link to the sixth target valve opening degree corresponding to the second sub-oil amount comprises: controlling the second control valve group to determine the second sub-oil amount of each second sub-target actuator according to the second electric signal, and controlling the valve opening degree of the second sub-control link of each second sub-target actuator to switch to a sixth sub-target valve opening degree matched with the corresponding second sub-oil amount.

[0092] In one embodiment, the control method further comprises: after the target actuator executes the corresponding action, controlling the hydraulic oil other than the target oil amount in the first oil amount to flow out of the second control valve group.

[0093] The application also provides a computer program product adapted to execute a program initialized with steps of a control method, such as for a hydraulic system of a working machine, when executed on a data processing device.

[0094] Those skilled in the art will appreciate that embodiments of the application can be supplied as methods, systems, or computer program products. Accordingly, the application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code.

[0095] The application is described with reference to the flowchart and / or block diagrams of the methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart and / or block diagrams, and combinations of blocks in the flowchart and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing device, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks. Figure 1 means for carrying out each of the one or more functions specified in the flowchart and / or block diagram block or blocks.

[0096] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks. Figure 1 means for carrying out each of the one or more functions specified in the flowchart and / or block diagram block or blocks.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks. Figure 1 means for carrying out each of the one or more functions specified in the flowchart and / or block diagram block or blocks.

[0098] In one typical arrangement, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0099] Memory can include non-persistent memory and / or volatile memory, random access memory (RAM), and / or non-volatile memory, e.g., read only memory (ROM) or flash memory, among others. Memory is an example of computer readable media.

[0100] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile discs (DVDs) or other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0101] It should also be noted that the terms "comprising," "including," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus.

[0102] The above merely provides an embodiment of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A control method for a hydraulic system of engineering machinery, characterized in that, The construction machinery includes multiple booms and a slewing platform. Each boom is equipped with a corresponding actuator. The hydraulic system includes a hydraulic pump and a control valve group. The control valve group includes a first control valve group and a second control valve group respectively installed on a first boom and a second boom. The first and second control valve groups each include multiple control links, each control link being connected in parallel with a corresponding actuator via an oil supply line. The first boom includes a first number of booms located near the slewing platform and connected sequentially. The second boom includes a second number of booms other than the first boom. The hydraulic pump, the first control valve group, and the second control valve group are connected in series via an oil supply line. The control method includes: Receive control signals triggered by the user via an input device; The target actuator and the target oil quantity of the target actuator are determined based on the control signal. A first electrical signal and a second electrical signal are generated based on the target oil quantity, and the first electrical signal is sent to the hydraulic pump so that the hydraulic pump outputs a first oil quantity of hydraulic oil according to the first electrical signal, wherein the first oil quantity is greater than the target oil quantity; When the control linkage of the target actuator is located in the second control valve group, the second electrical signal is sent to the first control valve group; The first control valve group is controlled to switch the valve opening of the first control link corresponding to the first control valve group to the target valve opening corresponding to the first oil quantity according to the second electrical signal, so as to deliver the hydraulic oil of the first oil quantity to the second control valve group, so that the target actuator performs the corresponding action.

2. The control method for a hydraulic system of engineering machinery according to claim 1, characterized in that, The control method further includes: After the first control valve group switches the valve opening of the control link corresponding to the first control valve group to the target valve opening corresponding to the first oil quantity according to the second electrical signal, the second electrical signal is sent to the second control valve group. The second control valve group controls the valve opening of the target control link of the target actuator to switch to the first target valve opening corresponding to the target oil quantity according to the second electrical signal, so that the hydraulic oil of the target oil quantity flows through the target control link and into the target actuator, so that the target actuator performs the corresponding action.

3. The control method for a hydraulic system of engineering machinery according to claim 2, characterized in that, The control method further includes: Receive the number of target actuators determined by the second control valve group based on the second electrical signal; When the number of target actuators is one, the second control valve group is controlled to fully open the valve of the target control link of the target actuator according to the second electrical signal, so that the hydraulic oil of the first amount flows through the target control link of the target actuator and then into the target actuator, so that the target actuator performs the corresponding action.

4. The control method for a hydraulic system of engineering machinery according to claim 3, characterized in that, The control method further includes: When there are multiple target actuators, the second control valve group determines the second oil quantity of each target actuator according to the second electrical signal, and switches the valve opening of the target control link of each target actuator to a third target valve opening that matches the corresponding second oil quantity, wherein the second oil quantity is less than the first oil quantity; For each target actuator, the hydraulic oil corresponding to the second oil volume of the target actuator flows through the target control link corresponding to the target actuator and then into the target actuator, so that the target actuator performs the corresponding action.

5. The control method for a hydraulic system of engineering machinery according to claim 1, characterized in that, The control method further includes: After the first electrical signal is sent to the hydraulic pump, when the control link of the target actuator is simultaneously located in the first control valve group and the second control valve group, the second electrical signal is sent to the first control valve group and the second control valve group respectively. The target actuator includes a first sub-target actuator and a second sub-target actuator. The first sub-control link of the first sub-target actuator is located in the first control valve group, and the second sub-control link of the second sub-target actuator is located in the second control valve group. The first control valve group determines the first sub-oil quantity of the first sub-target actuator based on the second electrical signal, and switches the valve opening of the first sub-control link to the fourth target valve opening corresponding to the first sub-oil quantity; The valve opening of the first control unit is switched to the fifth target valve opening corresponding to the hydraulic oil in the first oil quantity excluding the first sub-oil quantity, and the hydraulic oil in the first oil quantity excluding the first sub-oil quantity is delivered to the second control valve group. The second control valve group determines the second sub-oil quantity of the second sub-target actuator based on the second electrical signal, and switches the valve opening of the second sub-control link to the sixth target valve opening corresponding to the second sub-oil quantity; The hydraulic oil controlling the first sub-oil volume flows through the first sub-control link and then into the first sub-target actuator, so that the first sub-target actuator performs the corresponding action. The hydraulic oil controlling the second sub-oil volume flows through the second sub-control link and then into the second sub-target actuator, so that the second sub-target actuator performs the corresponding action.

6. The control method for a hydraulic system of engineering machinery according to claim 5, characterized in that, The control method further includes: After the second electrical signal is sent to the first control valve group and the second control valve group respectively, the first control valve group determines the number of the first sub-target actuators based on the first electrical signal. When there are multiple first sub-target actuators, switching the valve opening of the first sub-control unit to the fourth target valve opening corresponding to the first sub-oil quantity includes: The first control valve group determines the first sub-oil quantity of each first sub-target actuator based on the second electrical signal, and controls the valve opening of the first sub-control link of each first sub-target actuator to switch to the fourth sub-target valve opening that matches the corresponding first sub-oil quantity.

7. The control method for a hydraulic system of engineering machinery according to claim 5, characterized in that, The control method further includes: After the second electrical signal is sent to the first control valve group and the second control valve group respectively, the second control valve group determines the number of the second sub-target actuators based on the second electrical signal. When there are multiple second sub-target actuators, switching the valve opening of the second sub-control unit to the sixth target valve opening corresponding to the second sub-oil quantity includes: The second control valve group determines the second sub-oil quantity of each second sub-target actuator based on the second electrical signal, and controls the valve opening of the second sub-control link of each second sub-target actuator to switch to the sixth sub-target valve opening that matches the corresponding second sub-oil quantity.

8. The control method for a hydraulic system of engineering machinery according to claim 1, characterized in that, The control method further includes: After the target actuator performs the corresponding action, the hydraulic oil in the first oil quantity, excluding the target oil quantity, is controlled to flow out of the second control valve group.

9. A controller, characterized in that, It is configured to perform the control method for hydraulic systems of engineering machinery according to any one of claims 1 to 8.

10. A hydraulic system, characterized in that, include: A control valve assembly, comprising a first control valve assembly and a second control valve assembly connected in series via an oil supply line, wherein the first control valve assembly comprises multiple control links connected in parallel via the oil supply line, and the second control valve assembly comprises multiple control links connected in parallel via the oil supply line; and A hydraulic pump, the first control valve group, and the second control valve group are connected in series via the oil supply line. The first control valve group is mounted on the first boom, and the second control valve group is mounted on the second boom. Each control valve group is connected in parallel with a corresponding actuator via the oil supply line. The first boom includes a first number of booms located near the slewing platform and connected in series. The second boom includes a second number of booms other than the first boom. The controller according to claim 9.

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

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