A feedforward self-optimizing power matching control method and system

Abstract

This invention discloses a feedforward self-optimizing power matching control method and system, including: acquiring the engine's output torque and output operating speed, and obtaining the engine's maximum output torque at the stated output operating speed from the engine's universal characteristic curve; selecting a control scheme in real time based on the ratio of the output torque to the maximum output torque and the rate of change of the output torque at the current moment; adjusting the engine speed and main pump displacement based on the selected control scheme until the control target of the selected control scheme is achieved, thus completing the power matching control; acquiring the engine's output torque allows for real-time monitoring of changes in engine output torque, and the execution of the power matching strategy in stages, enabling both real-time matching of the optimal power scheme and prediction of adverse operating conditions based on torque change trends, thereby achieving feedforward matching of the optimal control scheme.

Description

Technical Field

[0001] This invention belongs to the technical field of concrete pumping, specifically relating to a feedforward self-optimizing power matching control method and system. Background Technology

[0002] Concrete pumping equipment is a type of construction machinery that uses pipelines to transport concrete to the construction site. Powered by a diesel engine, it drives a hydraulic pump to generate high-pressure oil, which in turn drives the main hydraulic cylinder and two connected concrete conveying cylinders to perform alternating reciprocating motion. With the coordinated operation of the directional valves, concrete is continuously drawn from the hopper into the conveying cylinders and transported to the construction site through the conveying pipes. It plays a vital role in concrete construction in airports, docks, roads, bridges, and buildings.

[0003] The pumping mechanism is the actuator in the pumping process of a concrete pump truck. It consists of a main hydraulic cylinder, water tank, conveying cylinder, concrete piston, hopper, distribution valve, swing cylinder, mixing mechanism, discharge port, and piping. The concrete pump's power unit and control system include a chassis engine, clutch, gearbox, drive shaft, transfer case, axle, hydraulic tandem pump unit, speed sensor, pressure sensor, receiver, and controller. As a high-power, high-fuel-consumption engineering machinery, power matching and energy saving have always been core issues in the development of this type of equipment. In practical applications, given the aforementioned pumping conditions, the load on the concrete pump exhibits periodic disturbances and complex variations, frequently resulting in problems such as momentary power shortages and poor energy-saving effects. The main reasons are as follows: First, during the alternating pumping operation of the dual cylinders, the load experiences a short period of unloading and reloading when the cylinder reaches the end of its stroke and reverses direction (generally a cycle of 3-5 seconds), thus creating periodic load disturbances. Second, the load during pumping exhibits complex and variable characteristics due to factors such as concrete material conditions, pipeline layout, or changes in the internal structure of the delivery pipe (steps or micro-cracks). Especially in the last two years, with the widespread use of manufactured sand, the overall pumpability of concrete has deteriorated, and pumping resistance has increased significantly, often leading to unstable engine speed or even stalling. To ensure stable power output, current solutions include: one, using the constant torque characteristics of the oil pump to limit the maximum power draw of the system by matching the overall power of the concrete pump; two, based on this, adjusting and controlling the speed and oil pump displacement according to different load speeds and pressures, combined with the engine's power characteristics and fuel consumption curves at different speeds. This control strategy can achieve some energy savings, but it clearly does not achieve optimal matching; furthermore, load feedback causes a time lag in the control. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a feedforward self-optimizing power matching control method and system, which can monitor the change of the engine output torque in real time, execute the power matching strategy in stages, not only can match the optimal power scheme in real time, but also can predict the harsh working conditions according to the torque change trend.

[0005] The present invention provides the following technical solutions:

[0006] In the first aspect, a feedforward self-optimizing power matching control method is provided, including:

[0007] Obtain the output torque and output working speed of the engine, and obtain the maximum output torque of the engine at the output working speed in the engine universal characteristic curve;

[0008] Based on the ratio of the output torque to the maximum output torque, and the change rate of the output torque at the current moment, match and select the control scheme in real time;

[0009] Based on the selected control scheme, adjust the speed of the engine and the displacement of the main pump until the control target of the selected control scheme is achieved, and complete the power matching control.

[0010] Preferably, the control scheme includes:

[0011] (i) If 70% ≤ T L(n0) / T max(n0) < 90% and T L(n0) ’ < K1, or if T L(n0) / T max(n0) < 70%, then compare the maximum output torque T k of the engine at the best energy-saving speed n max(nk) and the system取用扭矩T (nk) ;

[0012] If T max(nk) > T (nk) , then adjust the speed of the engine to the best energy-saving speed n k , and adjust the displacement of the main pump through the variable mechanism of the main pump until the constant power value of the main pump is stable;

[0013] If T[[ID=A0]] max(nk) ≤ T (nk) , then reduce the displacement of the main pump through the variable mechanism of the variable pump, and increase the speed of the engine through the throttle actuator until the engine T max(nk) > T (nk) ;

[0014] (ii) If T L(n0) ’ ≥ K1 and 70% ≤ T L(n0) / T max(n0) < 90%, or if TIt should be noted that there is an unclear expression "系统取用扭矩" in the original text, which is marked as "取用扭矩" in the translation for now. You may need to clarify this term for a more accurate translation.L(n0) / T max(n0) If the engine speed is ≥90%, the throttle actuator increases the engine speed while the variable displacement pump mechanism decreases the main pump displacement until the engine speed change rate Δn is reached. e / n e <K2;

[0015] Where K1 is the critical torque rate of change constant, K2 is the critical speed rate of change constant, and T L(n0) ' is the rate of change of output torque, T L(n0) T represents the output torque at the operating speed n0. max(n0) This is the maximum output torque of the engine at an output operating speed of n0, obtained from the engine's universal characteristic curve.

[0016] Preferably, the engine operates at its optimal energy-saving speed n k Maximum output torque T max(nk) The methods for determining this include:

[0017] The engine load characteristics and fuel consumption were collected through step tests, and the actual universal characteristic curve of the engine was plotted. Multiple optimal economic operating points were then identified from the actual universal characteristic curve of the engine and connected to form an energy-saving control target curve.

[0018] Based on the obtained engine output torque, the system power consumption is calculated;

[0019] Based on the system's power consumption, the optimal speed n for energy saving is selected on the energy-saving control target curve. k ;

[0020] The optimal speed n for energy saving is obtained based on the engine's universal characteristic curve. k Maximum output torque T max(nk) .

[0021] Preferably, the power consumed by the system is obtained by formula (1).

[0022] P = T L *n / (9550*η1) (1)

[0023] Where P is the system power draw; n is the engine's output operating speed; T L The engine's output torque; η1 is the power reserve coefficient.

[0024] Preferably, the output torque T of the engine L(n0) It can be obtained through the engine's torque acquisition device, or by the correspondence between the output torque and the power taken by the pump unit.

[0025] Preferably, when the output torque T of the engine L(n0)By output torque T L(n0) When the correspondence between the power drawn by the pump group and the power drawn by the pump group is obtained, the power drawn by the pump group P L It can be obtained using formula (2);

[0026]

[0027] Where, p p p b p j p f The output pressures of the main pump, swing pump, boom pump, and auxiliary pump are respectively; V p V b V j V f These are the displacements of the main pump, swing pump, boom pump, and auxiliary pump, respectively; η P η b η j η f These represent the total efficiency of the main pump, swing pump, boom pump, and auxiliary pump, respectively; i is the transfer case speed ratio; and n is the engine output shaft speed.

[0028] The output torque T L(n0) It can be obtained through formula (3).

[0029] T L(n0) =(9550P) L / n)*η1 (3)

[0030] Among them, P L η1 is the power drawn by the pump unit; η1 is the power reserve coefficient.

[0031] Secondly, a feedforward self-optimizing power matching control system is provided, including an engine, a hydraulic tandem pump group, a controller, and a receiver.

[0032] The engine is used to transmit power to the hydraulic tandem pump assembly;

[0033] The receiver is used to receive the operating parameter data of the hydraulic tandem pump group and the engine, and transmit the operating parameter data to the controller;

[0034] The controller is used to execute the feedforward self-optimizing dynamic matching control method according to any one of the first aspects of the present invention.

[0035] Preferably, the operating parameter data includes engine output torque, engine output speed, and system pressure value; the engine is equipped with a torque acquisition device for obtaining the engine output torque and a speed sensor for obtaining the engine output speed; the hydraulic tandem pump assembly is equipped with a pressure sensor for obtaining the system pressure value.

[0036] Preferably, the operating parameter data includes engine output speed, pressure value of hydraulic tandem pump group, and flow rate value of hydraulic tandem pump group; the engine is equipped with a speed sensor for obtaining engine output speed; the hydraulic tandem pump group is equipped with multiple pressure sensors for obtaining pressure value of hydraulic tandem pump group, and multiple flow sensors for obtaining flow rate value of hydraulic tandem pump group.

[0037] Preferably, the hydraulic tandem pump assembly includes a main pump, a boom pump, a swing pump, and an auxiliary pump; the auxiliary pump drives the agitator motor, oil radiator, and water pump; the engine is sequentially connected to the gearbox, drive shaft, and transfer case via a clutch; the transfer case transmits the engine's power to the hydraulic tandem pump assembly.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] (1) Obtain the output torque of the engine and monitor the changes in the output torque of the engine in real time. Execute the power matching strategy in stages. It can match the optimal power scheme in real time and predict the adverse working conditions based on the torque change trend. Thus, it can match the optimal control scheme in a feedforward manner and solve the time delay problem caused by power matching based on load feedback.

[0040] (2) When the power can meet the load requirements, the power is taken by the engine output torque calculation system, and the engine is adjusted to the optimal energy-saving speed based on the energy-saving control target curve. At the same time, the displacement of the variable pump is adjusted so that the engine works in the optimal energy-saving range in real time, and the energy-saving effect is guaranteed to the maximum extent. When the output torque is large and increases rapidly, that is, when the power tends to be unable to meet the load requirements, the engine speed is actively increased and the displacement of the variable pump is adjusted to prevent the engine from stalling or even turning off under harsh working conditions.

[0041] (3) In this application, the load of the pumping system and the power consumption of other systems are taken into account, so that the power matching is more accurate. The actual universal characteristic curve is plotted by the universal characteristic curve of the engine, thereby finding the energy-saving control target curve and realizing more efficient, accurate and economical power matching. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the feedforward self-optimizing power matching control system in Embodiment 3 of the present invention;

[0043] Figure 2 This is a schematic diagram of the hydraulic tandem pump group and its actuator in the feedforward self-optimizing power matching control system of Embodiment 3 of the present invention;

[0044] Figure 3 This is a schematic diagram of the feedforward self-optimizing power matching control system in Embodiment 4 of the present invention;

[0045] Figure 4 This is a schematic diagram of the hydraulic tandem pump group and its actuator in the feedforward self-optimizing power matching control system of Embodiment 4 of the present invention;

[0046] Figure 5 These are the universal characteristic curves of the engine in the feedforward self-optimizing power matching control method of embodiments 1 and 2 of the present invention.

[0047] Figure 6 This is a schematic diagram showing the position of the energy-saving control target curve of the feedforward self-optimizing power matching control method in embodiments 1 and 2 of the present invention;

[0048] Figure 7 These are characteristic curves of the main pump (constant power variable pump) in embodiments 1-4 of the present invention;

[0049] Figure 8 This is a schematic diagram of the engine output torque variation curve in embodiments 1-4 of the present invention. Detailed Implementation

[0050] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0051] Example 1

[0052] This embodiment provides a feedforward self-optimizing dynamic matching control method, the steps of which are as follows:

[0053] S1: Obtain the engine's output torque T L(n0) and output operating speed n0; and in such Figure 5 The maximum output torque T of the engine at the specified output operating speed n0 is obtained from the engine universal characteristic curve (torque-speed curve) shown. max(n0) .

[0054] Specifically, the engine's output torque T L(n0) Obtained through the engine's torque acquisition device; see [link / reference] Figure 8 As shown, by directly acquiring the engine's output torque through the torque acquisition device, the engine's output torque value can be monitored intuitively, and the load change of the system can be evaluated. This effectively solves the problem in the existing technology that only considers the actual output of the main pump load, while other swing pumps, gear pumps and auxiliary pumps are treated as constant approximations, resulting in inaccurate power matching during actual pumping.

[0055] S2: Based on the output torque T L(n0) The ratio T to the maximum output torque L(n0) / T max(n0) And the rate of change T of the output torque at the current moment.L(n0) ’, select the control scheme through real-time matching.

[0056] Specifically, the control scheme includes scheme (i) and scheme (ii). Which control scheme to select mainly depends on the ratio of T L(n0) / T max(n0) and the change rate of torque T L(n0) ’; the change rate of torque T L(n0) ’ = (T L(n0) -T L(n1) ) / (t0 - t1), where (t0 - t1) is the detection interval time, and T L(n1) is the output torque of the engine at the previous detection moment; using the change rate of torque T L(n0) ’ as an index for selecting the control scheme can match the optimal power control scheme in real time, and can predict bad working conditions according to the change trend of the output torque, so as to achieve the feedforward matching of the optimal control scheme.

[0057] S3: Adjust the speed of the engine and the displacement of the main pump based on the selected control scheme until the control target of the selected control scheme is achieved, and complete the power matching control.

[0058] Specifically, if 70% ≤ T L(n0) / T max(n0) < 90% and T L(n0) ’ < K1, select scheme (i) for control; if T L(n0) / T max(n0) < 70%, select scheme (i) for control; if T L(n0) ’ ≥ K1 and 70% ≤ T L(n0) / T max(n0) < 90%, select scheme (ii) for control; if T L(n0) / T<​​​​​​​​​​​​​​​​​​​​​​​​​​​​​>T (nk) Then adjust the engine speed to the optimal energy-saving speed n. k The displacement of the main pump is adjusted through its variable displacement mechanism until the constant power value of the main pump remains stable. The main pump is a constant power variable displacement pump. (See [reference]). Figure 7 The characteristic curve of the constant power variable pump is shown below;

[0062] If T is satisfied max(nk) ≤T (nk) Then, the displacement of the main pump is reduced by the variable pump mechanism, and the engine speed is increased by the throttle actuator until the engine speed reaches T. max(nk) >T (nk) ;

[0063] Wherein, K1 is the critical torque change rate constant, and the value of K1 can be obtained from experience or experiment.

[0064] Engine at its optimal fuel-saving speed n k Maximum output torque T max(nk) The methods for determining this include:

[0065] D1: Collect engine load characteristics and fuel consumption data through bench testing, and plot as follows: Figure 6 The actual universal characteristic curve of the engine is shown; for a specific selected operating condition, the isopower line of the load power can be used. Figure 6 Multiple optimal economic operating points were found on the white dashed line (in the middle), and the lines were connected to form the energy-saving control target curve (). Figure 6 (White curve in the middle).

[0066] D2: Based on the obtained engine output torque T L(n0) , calculate the power P used by the system.

[0067] Optionally, the power consumed by the system is obtained by formula (1).

[0068] P = T L *n / (9550*η1) (1)

[0069] Where P is the system power draw, n is the engine output speed, and T is the engine speed. L The engine's output torque, η1 is the power reserve coefficient. It's important to note that both the engine's operating speed and output torque can change at any time. The engine's operating speed, whether n0 or n... k Alternatively, other values ​​can be substituted into formula (1) to calculate the system's power consumption. Similarly, the engine's output torque, regardless of T... L(n0) T L(nk) Alternatively, other values ​​can be substituted into formula (1) to calculate the system's power consumption.

[0070] D3: Based on the system's power consumption P, Figure 6 The optimal energy-saving speed n is selected from the energy-saving control target curve shown. k .

[0071] D4: Based on the engine universal characteristic curve ( Figure 5 (As shown) Obtain the optimal energy-saving speed n k Maximum output torque T max(nk) .

[0072] Option (ii) is:

[0073] If T L(n) '≥K1 and 70%≤T L(n0) / T max(n0) <90%; or if T L(n0) / T max(n0) ≥90%; The engine speed is increased by the throttle actuator and the displacement of the main pump is decreased by the variable pump mechanism until the controller calculates the engine speed change rate Δn. e / n e <K2.

[0074] Wherein, K2 is the critical rate of change constant, which is experimentally confirmed to ensure that the engine does not stall, emit black smoke, or stall. When the engine speed increases, each increment can be Δn0, meaning the initial speed is n0, and after increasing the speed, it becomes n... e =n0 + Δn0; If the power matching is unreasonable, the engine will slow down, i.e., n e Decrease to n t At this time, the rate of change of engine speed is (n e -n t ) / n e According to the rate of change of the transmitter speed (n) e -n t ) / n e <K2 can determine whether the power is properly matched. If it is, the adjustment ends; if it is not, the engine speed continues to increase.

[0075] When the power is sufficient to meet the load requirements, the engine is adjusted to the optimal energy-saving speed based on the energy-saving control target curve, and the displacement of the variable pump is adjusted at the same time to ensure that the engine works in the optimal energy-saving range in real time, so as to maximize the energy-saving effect. When the output torque is large and increases rapidly, that is, when the power tends to be insufficient to meet the load requirements, the engine speed is actively increased and the displacement of the variable pump is adjusted to prevent the engine from stalling or even turning off under harsh working conditions.

[0076] Example 2

[0077] This embodiment provides a feedforward self-optimizing power matching control method, which differs from Embodiment 1 in that the engine's output torque T... L(n0) It is obtained by the correspondence between the output torque and the power taken by the pump unit.

[0078] When the engine's output torque T L(n0) By output torque T L(n0) When the correspondence between the power drawn by the pump group and the power drawn by the pump group is obtained, the power drawn by the pump group P L It can be obtained using formula (2);

[0079]

[0080] Where, p p p b p j p f The output pressures of the main pump, swing pump, boom pump, and auxiliary pump are respectively; V p V b V j V f These are the displacements of the main pump, swing pump, boom pump, and auxiliary pump, respectively; η P η b η j η f These represent the total efficiency of the main pump, swing pump, boom pump, and auxiliary pump, respectively; i is the transfer case speed ratio; n is the engine output shaft speed; the displacement of the main pump and boom pump is input by the user, the auxiliary pump is a fixed displacement pump, and the displacement of the swing pump or other hydraulic pumps whose displacement cannot be directly obtained can be obtained through an external flow meter: v = Q. L / n, Q L This refers to the pump's output flow rate.

[0081] The output torque T L(n0) It can be obtained through formula (3).

[0082] T L(n0) =(9550P) L / n)*η1 (3)

[0083] Among them, P L η1 is the power drawn by the pump unit; η1 is the power reserve coefficient.

[0084] Example 3

[0085] like Figure 1 , 2As shown, this embodiment provides a feedforward self-optimizing power matching control system, including an engine, a hydraulic tandem pump group, a controller, and a receiver; the engine is used to transmit power to the hydraulic tandem pump group; the receiver is used to receive the operating parameter data of the hydraulic tandem pump group and the engine, and transmit the operating parameter data to the controller; the controller is used to execute the feedforward self-optimizing power matching control method in embodiment 1 or 2.

[0086] The hydraulic tandem pump unit includes a main pump, a boom pump, a swing pump, and an auxiliary pump. The main pump drives the main pump cylinder to complete the pumping reversing action, the boom pump drives the boom luffing cylinder to complete the boom movement, and the swing pump drives the swing cylinder to complete the swing reversing action. The auxiliary pump drives the pumping auxiliary actuators such as the agitator motor, oil radiator, and water pump. The engine is connected to the gearbox, drive shaft, and transfer case in sequence via a clutch. The transfer case transmits the engine's power to the hydraulic tandem pump unit.

[0087] Specifically, the operating parameter data includes engine output torque, engine output speed, and system pressure value; a torque acquisition device is installed on the engine to acquire the engine output torque; a speed sensor is installed on the engine to acquire the engine output speed; a pressure sensor is installed on the hydraulic tandem pump assembly to acquire the system pressure value. The torque acquisition device is used directly to acquire torque, which facilitates the subsequent phased execution of the power matching scheme and can also predict severe working conditions based on the torque change trend.

[0088] Example 4

[0089] like Figure 3 , 4 As shown, this embodiment provides a feedforward self-optimizing power matching control system. The difference from embodiment 3 is that the engine output torque is obtained through the correspondence between the output torque and the power taken by the pump group.

[0090] The operating parameter data includes engine output speed, hydraulic tandem pump assembly pressure, and hydraulic tandem pump assembly flow rate. A speed sensor is installed on the engine to obtain its output speed. Multiple pressure and flow sensors are installed on the hydraulic tandem pump assembly to obtain multiple pressure and flow rates at different installation locations. These multiple pressure and flow rates are located at different installation positions to monitor pressure and flow rates at different locations. Specific installation locations can be found by referring to [reference needed]. Figure 4 As shown, but it is worth noting that, Figure 4 The installation positions given are only one option. Those skilled in the art can change the positions as needed, as long as the output pressure and displacement of the main pump, swing pump, boom pump, and auxiliary pump can be detected.

[0091] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A feedforward self-optimizing dynamic matching control method, characterized in that, include: acquiring an output torque T of the engine L(n0) and an output operating speed n0, and acquiring a maximum output torque T of the engine at the output operating speed n0 in an engine map max(n0) ; Based on the output torque T L(n0) With maximum output torque T max(n0) The ratio T L(n0) / T max(n0) And the rate of change T of the output torque at the current moment. L(n0) 'Real-time matching and selection of control schemes; The engine speed and main pump displacement are adjusted based on the selected control scheme until the control target of the selected control scheme is achieved, thus completing the power matching control. The control scheme includes: (i) If 70% ≤ T L(n0) / T max(n0) < 90% and T L(n0) ’ < K1, or if T L(n0) / T max(n0) < 70%, then compare the maximum output torque T k of the engine at the optimal energy-saving speed n max(nk) [[ID=S14]] and the system consumption torque T (nk) to determine their magnitudes, where K1 is the critical torque change rate constant; If T max(nk) >T (nk) Then adjust the engine speed to the optimal energy-saving speed n. k The displacement of the main pump is adjusted by the variable mechanism of the main pump until the constant power value of the main pump remains stable. If T max(nk) ≤T (nk) Then, the displacement of the main pump is reduced by the variable pump mechanism, and the engine speed is increased by the throttle actuator until the engine speed reaches T. max(nk) >T (nk) ; (ii) If T L(n0) '≥K1 and 70%≤T L(n0) / T max(n0) <90%, or if T L(n0) / T max(n0) If the engine speed is ≥90%, the throttle actuator increases the engine speed while the variable displacement pump mechanism decreases the main pump displacement until the engine speed change rate Δn is reached. e / n e <K2; where K2 is the critical rate of change constant; when the engine speed increases, the increment is Δn0 each time, that is, the initial speed is n0, and the increased speed is n e =n0+Δn0; If the power matching is not reasonable, the engine will slow down, i.e., n e Decrease to n t The rate of decrease is Δn e = n e -n t .

2. The feedforward self-optimizing dynamic matching control method according to claim 1, characterized in that, The engine operates at its optimal energy-saving speed n k Maximum output torque T max(nk) The methods for determining this include: The load characteristics and fuel consumption of the engine are collected through bench tests, the actual universal characteristic curve of the engine is plotted, and multiple optimal economic operating points are found in the actual universal characteristic curve of the engine and connected to form an energy-saving control target curve. Based on the obtained engine output torque, the system power consumption is calculated; Based on the system's power consumption, the optimal speed n for energy saving is selected on the energy-saving control target curve. k ; The optimal speed n for energy saving is obtained based on the engine's universal characteristic curve. k Maximum output torque T max(nk) .

3. The feedforward self-optimizing dynamic matching control method according to claim 2, characterized in that, The power consumed by the system is obtained by formula (1). P=T L *n / (9550*η1)(1); Where P is the system power draw; n is the engine's output operating speed; T L The engine's output torque; η1 is the power reserve coefficient.

4. The feedforward self-optimizing dynamic matching control method according to claim 1, characterized in that, The engine's output torque T L(n0) It can be obtained through the engine's torque acquisition device, or by the correspondence between the output torque and the power taken by the pump unit.

5. The feedforward self-optimizing dynamic matching control method according to claim 4, characterized in that, When the engine's output torque T L(n0) By output torque T L(n0) When the correspondence between the power drawn by the pump group and the power drawn by the pump group is obtained, the power drawn by the pump group P L It can be obtained using formula (2); （2）； Where, p p p b p j p f The output pressures of the main pump, swing pump, boom pump, and auxiliary pump are respectively; V p V b V j V f These are the displacements of the main pump, swing pump, boom pump, and auxiliary pump, respectively. These represent the total efficiency of the main pump, swing pump, boom pump, and auxiliary pump, respectively; i is the transfer case speed ratio; and n is the engine output shaft speed. The output torque T L(n0) It can be obtained through formula (3). T L(n0) =(9550P L / n)*η1 (3); Among them, P L η1 is the power drawn by the pump unit; η1 is the power reserve coefficient.

6. A feedforward self-optimizing power matching control system, characterized in that, Includes engine, hydraulic tandem pump unit, controller, and receiver; The engine is used to transmit power to the hydraulic tandem pump assembly; The receiver is used to receive the operating parameter data of the hydraulic tandem pump group and the engine, and transmit the operating parameter data to the controller; The controller is used to execute the feedforward self-optimizing dynamic matching control method according to any one of claims 1-5.

7. The feedforward self-optimizing power matching control system according to claim 6, characterized in that, The operating parameter data includes engine output torque, engine output speed, and system pressure value; the engine is equipped with a torque acquisition device for obtaining the engine output torque and a speed sensor for obtaining the engine output speed; the hydraulic tandem pump assembly is equipped with a pressure sensor for obtaining the system pressure value.

8. The feedforward self-optimizing power matching control system according to claim 6, characterized in that, The operating parameter data includes engine output speed, pressure value of hydraulic tandem pump group, and flow rate value of hydraulic tandem pump group; the engine is equipped with a speed sensor for obtaining engine output speed; the hydraulic tandem pump group is equipped with multiple pressure sensors for obtaining pressure value of hydraulic tandem pump group, and multiple flow sensors for obtaining flow rate value of hydraulic tandem pump group.

9. A feedforward self-optimizing dynamic matching control system according to claim 6, characterized in that, The hydraulic tandem pump assembly includes a main pump, a boom pump, a swing pump, and an auxiliary pump; the auxiliary pump drives the agitator motor, oil radiator, and water pump; the engine is connected in sequence to the gearbox, drive shaft, and transfer case via a clutch; the transfer case transmits the engine's power to the hydraulic tandem pump assembly.

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