Method for hydraulic oil flow distribution, storage medium, processor and working machine

Abstract

The embodiment of the application provides a hydraulic oil flow distribution method, a storage medium, a processor and a construction machine. The method comprises the following steps: in the case that a control instruction for a plurality of actuators is received, determining a signal control value of a control valve corresponding to each actuator according to the control instruction; determining a target demand flow of each actuator according to a flow adjustment interval corresponding to the signal control value; determining a target supply flow of a hydraulic pump according to an operating parameter and a rated power of the hydraulic pump; in the case that the target supply flow is less than the target demand flow, determining a hydraulic oil distribution flow of each actuator according to the target supply flow and a current load of each actuator, so that the target supply flow and the target demand flow are more accurate, the hydraulic oil flow can be reasonably distributed, and each actuator runs stably and has higher coordination.

Description

Methods of hydraulic oil flow distribution, storage media, processors, and engineering machinery Technical Field

[0001] This application relates to the field of engineering machinery, specifically to a method for hydraulic oil flow distribution, a storage medium, a processor, and engineering machinery. Background Technology

[0002] Construction machinery typically operates by a power unit driving a hydraulic pump to output hydraulic oil, which is then distributed via a proportional control valve to the cylinders or motors of various actuators. This allows multiple actuators to work together to complete the desired action. For example, a concrete pump truck requires multiple booms to coordinate their movements to place concrete. However, the flow rates required by these actuators may differ, necessitating the allocation of flow rates among them.

[0003] In existing technologies, the load on the actuator has a significant impact on it. Therefore, load-sensitive control can be employed, which uses differential pressure compensation to adjust the flow rate output of the proportional control valve to achieve on-demand proportional control, thus preventing the actuator from being affected by the load. However, when the hydraulic pump supply is insufficient, load-sensitive control fails, and the load still affects the coordination of the actuator's operation. If the flow rate is proportionally reduced according to the original flow rate requirements of each actuator, due to factors such as hydraulic system volumetric efficiency, nonlinearity, and leakage, the actuator with a lighter load will move faster, while the actuator with a heavier load will move slowly or remain stationary. This unreasonable flow distribution still affects the operating speed and coordination of complex actions of each actuator. Summary of the Invention

[0004] The purpose of this application is to provide a method for hydraulic oil flow distribution, a storage medium, a processor, and engineering machinery.

[0005] To achieve the above objectives, the first aspect of this application provides a method for hydraulic oil flow distribution, applied to construction machinery. The construction machinery includes a hydraulic pump, a plurality of control valves connected to the hydraulic pump, and an actuator connected to each control valve, comprising:

[0006] Upon receiving control commands for multiple actuators, determine the signal control value of the control valve corresponding to each actuator based on the control commands.

[0007] The target flow requirement for each actuator is determined based on the flow adjustment range corresponding to the signal control value.

[0008] The target supply flow rate of the hydraulic pump is determined based on its operating parameters and rated power.

[0009] When the target supply flow rate is less than the target demand flow rate, the hydraulic oil distribution flow rate of each actuator is determined based on the target supply flow rate and the current load of each actuator.

[0010] In this embodiment of the application, the flow adjustment range includes a dead zone, a linear zone, and a saturation zone. The method further includes: acquiring multiple historical signal control values ​​of the control valve, and the historical output flow of the control valve under each historical signal control value; determining the range constructed by the historical signal control value corresponding to the minimum historical output flow as the dead zone; determining the range constructed by the historical signal control value corresponding to the maximum historical output flow as the saturation zone; and determining the linear zone based on the maximum historical signal control value in the dead zone and the minimum historical signal control value in the saturation zone.

[0011] In this embodiment of the application, determining the target required flow rate of each actuator based on the flow adjustment range corresponding to the signal control value includes: when the flow adjustment range is a dead zone, determining the target required flow rate of each actuator as the minimum historical output flow rate of the control valve; when the flow adjustment range is a linear zone, determining the target required flow rate of each actuator as the output flow rate corresponding to the signal control value; and when the flow adjustment range is a saturation zone, determining the target required flow rate of each actuator as the maximum historical output flow rate of the control valve.

[0012] In this embodiment of the application, the operating parameters of the hydraulic pump include at least the current speed and current pressure of the hydraulic pump. Determining the target supply flow rate of the hydraulic pump based on the operating parameters and rated power of the hydraulic pump includes: determining the first supply flow rate of the hydraulic pump based on the current speed and the maximum displacement of the hydraulic pump; determining the second supply flow rate of the hydraulic pump based on the current pressure and rated power; and determining the minimum flow rate between the first supply flow rate and the second supply flow rate as the target supply flow rate.

[0013] In this embodiment of the application, the target supply flow rate is determined by formula (1):

[0014] (1)

[0015] in, This refers to the target supply flow rate of the hydraulic pump. This refers to the current speed of the hydraulic pump. This refers to the maximum displacement of the hydraulic pump. This refers to the rated power of the hydraulic pump. This refers to the current pressure of the hydraulic pump.

[0016] In this embodiment of the application, determining the hydraulic oil distribution flow rate of each actuator based on the target supply flow rate and the current load of each actuator includes: determining the flow distribution coefficient between the current load of each actuator and the total load of all actuators; and determining the hydraulic oil distribution flow rate of the hydraulic pump relative to each actuator based on the flow distribution coefficient and the target supply flow rate.

[0017] In this embodiment, the hydraulic oil distribution flow rate of each actuator is determined by formula (2):

[0018] (2)

[0019] in, This refers to granting the implementing agency Hydraulic oil distribution flow rate, This refers to the target supply flow rate of the hydraulic pump. Refers to the implementing agency The current load, This refers to the total load of all actuators.

[0020] A second aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned hydraulic oil flow distribution method.

[0021] A third aspect of this application provides a processor configured to perform the above-described method for hydraulic oil flow distribution.

[0022] The fourth aspect of this application provides an engineering machinery, comprising:

[0023] Hydraulic pump;

[0024] Multiple control valves, each connected to a hydraulic pump;

[0025] Multiple actuators, each connected to a corresponding control valve; and

[0026] The processor mentioned above.

[0027] The above technical solution takes into account the possibility that the hydraulic pump may enter a constant power operating condition, and takes into account the relationship between the control value of the control valve and the valve opening, so that the target supply flow of the hydraulic pump and the target demand flow of the actuator are more accurate. It can reasonably distribute the flow of hydraulic oil when the hydraulic pump supply is insufficient, reduce the impact of the load on the actuator, and make each actuator run smoothly and with higher coordination.

[0028] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0029] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0030] Figure 1 schematically illustrates a flow chart of a hydraulic oil flow distribution method according to an embodiment of this application;

[0031] Figure 2 schematically illustrates the relationship between signal control values ​​and flow rate according to an embodiment of this application;

[0032] Figure 3 schematically illustrates a flow chart of a hydraulic oil flow distribution method according to yet another embodiment of this application;

[0033] Figure 4 schematically illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0035] Figure 1 schematically illustrates a flow chart of a hydraulic oil flow distribution method according to an embodiment of this application. As shown in Figure 1, in one embodiment of this application, a hydraulic oil flow distribution method is provided, applied to construction machinery. The construction machinery includes a hydraulic pump, a plurality of control valves connected to the hydraulic pump, and an actuator connected to each control valve, comprising the following steps:

[0036] Step 101: Upon receiving control commands for multiple actuators, determine the signal control value of the control valve corresponding to each actuator based on the control commands.

[0037] Step 102: Determine the target flow requirement for each actuator based on the flow adjustment range corresponding to the signal control value.

[0038] Step 103: Determine the target supply flow rate of the hydraulic pump based on the operating parameters and rated power of the hydraulic pump.

[0039] Step 104: If the target supply flow rate is less than the target demand flow rate, determine the hydraulic oil distribution flow rate for each actuator based on the target supply flow rate and the current load of each actuator.

[0040] Construction machinery refers to mechanical equipment capable of performing mechanical construction. Examples include pump trucks, cranes, and excavators. Construction machinery includes hydraulic pumps. Hydraulic pumps provide power for the operation of construction machinery. Each hydraulic pump is connected to multiple control valves. These control valves can be valves capable of flow and direction control. For example, a control valve can be a directional control valve, specifically a proportional directional control valve. Each control valve is connected to an actuator. For example, when a pump truck is operating, it requires multiple sections of its boom to work in coordination. The boom itself refers to the actuator.

[0041] Users can send control commands to the processor for multiple actuators as needed. Upon receiving these commands, the processor determines the signal control value of the control valve corresponding to each actuator. This signal control value reflects the valve opening, which in turn reflects the output flow rate of the hydraulic pump. However, in practice, the control valve's signal control value may not have reached its maximum value, even though the corresponding valve opening may have already reached its maximum. In this case, the hydraulic pump will output the flow rate corresponding to the maximum valve opening to the corresponding actuator. That is, the relationship between the control valve's signal control value and valve opening may not be linear, affecting the actuator's required flow rate. Therefore, the processor can determine the target required flow rate for each actuator based on the flow rate adjustment range corresponding to the signal control value, making the determined actuator's required flow rate more accurate.

[0042] Because the load on the actuators may change at any time, the hydraulic pump may also enter a constant power mode as the load changes. Therefore, the processor can obtain the operating parameters and rated power of the hydraulic pump, and determine the target supply flow rate based on the operating parameters and rated power, thereby improving the accuracy of the target supply flow rate. After determining the target supply flow rate and the target demand flow rate, the processor can compare the target supply flow rate with the target demand flow rate. If the target supply flow rate is less than the target demand flow rate, that is, the hydraulic pump is supplying insufficient hydraulic oil, and the hydraulic pump is in an under-flow condition. At this time, the hydraulic oil distribution flow rate for each actuator can be further determined based on the target supply flow rate and the current load of each actuator. The current load value of each actuator can be collected by devices such as pressure sensors or force sensors.

[0043] Through the above technical solution, upon receiving control commands for multiple actuators, the signal control value of the control valve corresponding to each actuator is determined based on the control commands. The target required flow rate for each actuator is determined based on the flow adjustment range corresponding to the signal control value. The target supply flow rate of the hydraulic pump is determined based on the operating parameters and rated power of the hydraulic pump. When the target supply flow rate is less than the target required flow rate, the hydraulic oil distribution flow rate for each actuator is determined based on the target supply flow rate and the current load of each actuator. Considering that the hydraulic pump may enter a constant power operating condition, and taking into account the relationship between the control value of the control valve and the valve opening, the target supply flow rate of the hydraulic pump and the target required flow rate of the actuator are more accurate. This allows for reasonable distribution of hydraulic oil flow when the hydraulic pump supply is insufficient, reducing the impact of the load on the actuators, ensuring smooth operation of each actuator, and improving operational coordination.

[0044] In one embodiment, the flow adjustment range includes a dead zone, a linear zone, and a saturation zone. The method further includes: acquiring multiple historical signal control values ​​of the control valve and the historical output flow of the control valve under each historical signal control value; determining the range constructed with the historical signal control value corresponding to the minimum historical output flow as the dead zone; determining the range constructed with the historical signal control value corresponding to the maximum historical output flow as the saturation zone; and determining the linear zone based on the maximum historical signal control value in the dead zone and the minimum historical signal control value in the saturation zone.

[0045] The flow adjustment range includes a dead zone, a linear zone, and a saturation zone. In the dead zone and saturation zone, the flow rate corresponding to each signal control value is a fixed value. In the linear zone, the flow rate corresponding to each signal control value is proportional to the signal control value. The processor can acquire multiple historical signal control values ​​of the control valve, as well as the historical output flow rate of the control valve under each historical control value. Further, the processor can define the interval constructed with the historical signal control values ​​corresponding to the minimum historical output flow rate as the dead zone. That is, the flow rate corresponding to each signal control value in the dead zone is the minimum historical output flow rate. For example, the minimum historical output flow rate can be zero. The processor can define the interval constructed with the historical signal control values ​​corresponding to the maximum historical output flow rate as the saturation zone. That is, the flow rate corresponding to each signal control value in the saturation zone is the maximum historical output flow rate. The processor can determine the linear zone based on the maximum historical signal control value in the dead zone and the minimum historical signal control value in the saturation zone.

[0046] For example, Figure 2 illustrates the relationship between signal control values ​​and flow rates. The adjustment range corresponding to the control values ​​includes a dead zone, a linear zone, and a saturation zone. The dead zone is the interval formed by the control start value and the linear minimum control value. In the dead zone, each control value corresponds to the minimum flow rate, which is zero. The linear zone is the interval formed by the linear minimum control value and the linear maximum control value. The linear minimum control value is the maximum control value in the dead zone. The linear maximum control value is the minimum control value in the saturation zone. In the linear zone, each controller value is proportional to the flow rate. The saturation zone is the interval formed by the linear maximum control value and the control end value. In the saturation zone, each control value corresponds to the maximum flow rate.

[0047] In one embodiment, determining the target flow requirement of each actuator based on the flow adjustment range corresponding to the signal control value includes: when the flow adjustment range is a dead zone, determining the target flow requirement of each actuator as the minimum historical output flow of the control valve; when the flow adjustment range is a linear zone, determining the target flow requirement of each actuator as the output flow corresponding to the signal control value; and when the flow adjustment range is a saturation zone, determining the target flow requirement of each actuator as the maximum historical output flow of the control valve.

[0048] The processor can determine the target flow requirement for each actuator based on the flow adjustment range corresponding to the signal control value. Specifically, when the flow adjustment range is a dead zone, the processor can determine the target flow requirement for each actuator as the minimum historical output flow of the control valve. When the flow adjustment range is in a linear zone, the processor can determine the target flow requirement for each actuator as the output flow corresponding to the signal control value. When the flow adjustment range is in a saturation zone, the processor can determine the target flow requirement for each actuator as the maximum historical output flow of the control valve. By performing flow conversion for different signal control values, the calculation accuracy of the target flow requirement for the actuator can be significantly improved.

[0049] In one embodiment, the operating parameters of the hydraulic pump include at least the current speed and current pressure of the hydraulic pump. Determining the target supply flow rate of the hydraulic pump based on the operating parameters and rated power of the hydraulic pump includes: determining a first supply flow rate of the hydraulic pump based on the current speed and the maximum displacement of the hydraulic pump; determining a second supply flow rate of the hydraulic pump based on the current pressure and rated power; and determining the minimum flow rate between the first supply flow rate and the second supply flow rate as the target supply flow rate.

[0050] The operating parameters of the hydraulic pump include at least its current speed and current pressure. The current pressure refers to the current outlet pressure of the hydraulic pump. The processor can determine the first supply flow rate of the hydraulic pump based on its current speed and maximum displacement. The processor can determine the second supply flow rate of the hydraulic pump based on its current pressure and rated power. Then, the processor can determine the minimum flow rate between the first and second supply flow rates and set this minimum flow rate as the target supply flow rate of the hydraulic pump. This scheme, considering that load changes may cause the hydraulic pump to operate under constant power conditions, significantly improves the accuracy of determining the target supply flow rate by selecting the minimum flow rate from the first and second supply flow rates.

[0051] Specifically, in one embodiment, the product of the current speed and maximum displacement of the hydraulic pump can be determined as the first supply flow rate, and the quotient between the rated power and current pressure of the hydraulic pump can be determined as the second supply flow rate. In one embodiment, the target supply flow rate is determined by formula (1):

[0052] (1)

[0053] in, This refers to the target supply flow rate of the hydraulic pump. This refers to the current speed of the hydraulic pump. This refers to the maximum displacement of the hydraulic pump. This refers to the rated power of the hydraulic pump. This refers to the current pressure of the hydraulic pump.

[0054] In one embodiment, determining the hydraulic oil distribution flow rate of each actuator based on the target supply flow rate and the current load of each actuator includes: determining a flow distribution coefficient between the current load of each actuator and the total load of all actuators; and determining the hydraulic oil distribution flow rate of the hydraulic pump relative to each actuator based on the flow distribution coefficient and the target supply flow rate.

[0055] The processor can determine the flow distribution coefficient between the current load of each actuator and the total load of all actuators. Specifically, the ratio between the current load of each actuator and the total load can be determined as the flow distribution coefficient for each actuator. Then, the processor can determine the hydraulic oil distribution flow rate of the hydraulic pump relative to each actuator based on the flow distribution coefficient and the target supply flow rate. Specifically, the product of the flow distribution coefficient of each actuator and the target supply flow rate can be determined as the hydraulic oil distribution flow rate of the hydraulic pump relative to each actuator. This scheme distributes the target supply flow rate to each actuator through the flow distribution coefficient, achieving a balance between supply and demand flow rates. Simultaneously, the distributed flow rate of each actuator is adjusted in real time according to changes in the load of each actuator, avoiding situations where light loads receive more flow rate than heavy loads, thus improving the operational coordination of the actuators.

[0056] Specifically, in one embodiment, the hydraulic oil distribution flow rate for each actuator is determined by formula (2):

[0057] (2)

[0058] in, This refers to granting the implementing agency Hydraulic oil distribution flow rate, This refers to the target supply flow rate of the hydraulic pump. Refers to the implementing agency The current load, This refers to the total load of all actuators.

[0059] In one embodiment, Figure 3 illustrates a flowchart of another method for hydraulic oil flow distribution. When determining the hydraulic oil distribution flow rate, the required flow rate of the actuators and the supply flow rate of the hydraulic pump can be determined first. Then, the under-flow value can be calculated based on the required and supplied flow rates. Next, the load size of each actuator (1 to n) can be obtained through sensors. Finally, when the under-flow rate is greater than 0, i.e., the required flow rate is greater than the supplied flow rate, the supply flow can be distributed to each actuator based on the load. This scheme not only compensates for the under-flow gap but also reduces the inconsistency between fast action under light loads and slow action under heavy loads during flow distribution.

[0060] In one embodiment, upon receiving control commands for multiple actuators, the signal control value of the control valve corresponding to each actuator is determined based on the control commands; multiple historical signal control values ​​of the control valve are acquired, along with the historical output flow rate of the control valve at each historical signal control value; the interval constructed from the historical signal control value corresponding to the minimum historical output flow rate is defined as the dead zone; the interval constructed from the historical signal control value corresponding to the maximum historical output flow rate is defined as the saturation zone; a linear zone is determined based on the maximum historical signal control value in the dead zone and the minimum historical signal control value in the saturation zone; if the flow adjustment interval is a dead zone, the target required flow rate for each actuator is determined as the minimum historical output flow rate of the control valve; if the flow adjustment interval is a linear zone... In the case of a flow rate adjustment range that is in the saturation zone, the target flow rate demand for each actuator is determined as the output flow rate corresponding to the signal control value. When the flow rate adjustment range is in the saturation zone, the target flow rate demand for each actuator is determined as the maximum historical output flow rate of the control valve. The first supply flow rate of the hydraulic pump is determined based on the current speed and the maximum displacement of the hydraulic pump. The second supply flow rate of the hydraulic pump is determined based on the current pressure and rated power. The minimum flow rate between the first and second supply flow rates is determined as the target supply flow rate. When the target supply flow rate is less than the target demand flow rate, a flow distribution coefficient is determined between the current load of each actuator and the total load of all actuators. The hydraulic oil distribution flow rate of the hydraulic pump relative to each actuator is determined based on the flow distribution coefficient and the target supply flow rate.

[0061] Construction machinery refers to mechanical equipment capable of performing mechanical construction. Examples include pump trucks, cranes, and excavators. Construction machinery includes hydraulic pumps. Hydraulic pumps provide power for the operation of construction machinery. Each hydraulic pump is connected to multiple control valves. These control valves can be valves capable of flow and direction control. For example, a control valve can be a directional control valve, specifically a proportional directional control valve. Each control valve is connected to an actuator. For example, when a pump truck is operating, it requires multiple sections of its boom to work in coordination. The boom itself refers to the actuator.

[0062] Users can send control commands to the processor for multiple actuators as needed. Upon receiving these commands, the processor determines the signal control value of the control valve corresponding to each actuator. This signal control value reflects the valve opening, which in turn reflects the output flow rate of the hydraulic pump. However, in practice, the control valve's signal control value may not have reached its maximum value, even though the corresponding valve opening may have already reached its maximum. In this case, the hydraulic pump will output the flow rate corresponding to the maximum valve opening to the corresponding actuator. That is, the relationship between the control valve's signal control value and valve opening may not be linear, affecting the actuator's required flow rate. Therefore, the processor can determine the target required flow rate for each actuator based on the flow rate adjustment range corresponding to the signal control value, making the determined actuator's required flow rate more accurate.

[0063] Specifically, the flow adjustment range includes a dead zone, a linear zone, and a saturation zone. In the dead zone and saturation zone, the flow rate corresponding to each signal control value is a fixed value. In the linear zone, the flow rate corresponding to each signal control value is proportional to the signal control value. The processor can acquire multiple historical signal control values ​​of the control valve, as well as the historical output flow rate of the control valve under each historical control value. Further, the processor can define the interval constructed with the historical signal control values ​​corresponding to the minimum historical output flow rate as the dead zone. That is, the flow rate corresponding to each signal control value in the dead zone is the minimum historical output flow rate. For example, the minimum historical output flow rate can be zero. The processor can define the interval constructed with the historical signal control values ​​corresponding to the maximum historical output flow rate as the saturation zone. That is, the flow rate corresponding to each signal control value in the saturation zone is the maximum historical output flow rate. The processor can determine the linear zone based on the maximum historical signal control value in the dead zone and the minimum historical signal control value in the saturation zone.

[0064] When the flow adjustment range is a dead zone, the processor can determine the target flow requirement of each actuator as the minimum historical output flow of the control valve. When the flow adjustment range is in a linear zone, the processor can determine the target flow requirement of each actuator as the output flow corresponding to the signal control value. When the flow adjustment range is in a saturation zone, the processor can determine the target flow requirement of each actuator as the maximum historical output flow of the control valve. By performing flow conversion for different signal control values, the accuracy of the target flow requirement calculation for the actuators can be significantly improved.

[0065] Since the load on the actuator may change at any time, the hydraulic pump may also operate in a constant power mode depending on the load. Therefore, the processor can obtain the operating parameters and rated power of the hydraulic pump, and determine the target supply flow rate of the hydraulic pump based on the operating parameters and rated power. Specifically, the operating parameters of the hydraulic pump include at least the current speed and current pressure of the hydraulic pump. The current pressure refers to the current outlet pressure of the hydraulic pump. The processor can determine the first supply flow rate of the hydraulic pump based on the current speed and maximum displacement of the hydraulic pump. The processor can determine the second supply flow rate of the hydraulic pump based on the current pressure and rated power of the hydraulic pump. Then, the processor can determine the minimum flow rate between the first and second supply flow rates and set this minimum flow rate as the target supply flow rate of the hydraulic pump. This scheme, considering that load changes may cause the hydraulic pump to operate in a constant power mode, significantly improves the accuracy of determining the target supply flow rate by determining the minimum flow rate between the first and second supply flow rates.

[0066] Given a target supply flow rate and a target demand flow rate, the processor can compare the target supply flow rate with the target demand flow rate. If the target supply flow rate is less than the target demand flow rate, meaning the hydraulic pump is supplying insufficient hydraulic oil, the hydraulic pump is in an under-flow condition. In this case, the hydraulic oil distribution flow rate for each actuator can be further determined based on the target supply flow rate and the current load of each actuator. The current load value of each actuator can be collected by devices such as pressure sensors or force sensors. Specifically, the processor can determine the flow distribution coefficient between the current load of each actuator and the total load of all actuators. Specifically, the ratio between the current load of each actuator and the total load can be determined as the flow distribution coefficient for each actuator. Then, the processor can determine the hydraulic oil distribution flow rate of the hydraulic pump relative to each actuator based on the flow distribution coefficient and the target supply flow rate. Specifically, the product of the flow distribution coefficient of each actuator and the target supply flow rate can be determined as the hydraulic oil distribution flow rate of the hydraulic pump relative to each actuator. This scheme, by distributing the supply flow rate under the under-flow condition to each actuator, reduces the demand flow rate of each actuator, achieving a balance between supply and demand flow rates. At the same time, the flow rate of each actuator is adjusted in real time according to the load changes of each actuator to reduce the flow rate, so as to avoid the flow rate being too high under light load and too low under heavy load, thereby improving the operational coordination of the actuators.

[0067] The above technical solution takes into account the possibility that the hydraulic pump may enter a constant power operating condition, and takes into account the relationship between the control value of the control valve and the valve opening, so that the target supply flow of the hydraulic pump and the target demand flow of the actuator are more accurate. It can reasonably distribute the flow of hydraulic oil when the hydraulic pump supply is insufficient, reduce the impact of the load on the actuator, and make each actuator run smoothly and with higher coordination.

[0068] Figures 1 and 3 are schematic flowcharts of a hydraulic oil flow distribution method in one embodiment. It should be understood that although the steps in the flowcharts of Figures 1 and 3 are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Furthermore, at least some of the steps in Figures 1 and 3 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0069] In one embodiment, a storage medium is provided on which a program is stored, which, when executed by a processor, implements the above-described method for hydraulic oil flow distribution.

[0070] In one embodiment, a processor is provided for running a program, wherein the program executes the above-described method for hydraulic oil flow distribution.

[0071] In one embodiment, a hydraulic oil flow distribution device is provided, including the processor described above.

[0072] In one embodiment, an engineering machine is provided, comprising:

[0073] Hydraulic pump;

[0074] Multiple control valves, each connected to a hydraulic pump;

[0075] Multiple actuators, each connected to a corresponding control valve; and

[0076] The processor mentioned above.

[0077] Construction machinery refers to mechanical equipment capable of performing mechanical construction. Examples include pump trucks, cranes, and excavators. Construction machinery includes hydraulic pumps. Hydraulic pumps provide power for the operation of construction machinery. Each hydraulic pump is connected to multiple control valves. These control valves can be valves capable of flow and direction control. For example, a control valve can be a directional control valve, specifically a proportional directional control valve. Each control valve is connected to an actuator. For example, when a pump truck is operating, it requires a boom to assist in the operation. The boom is the actuator.

[0078] In one embodiment, a computer device, which may be a server, is provided, and its internal structure is shown in Figure 4. 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 via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores data such as the hydraulic oil distribution flow rate of each actuator. The network interface A02 communicates with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a method for hydraulic oil flow distribution.

[0079] Those skilled in the art will understand that the structure shown in Figure 4 is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or may combine certain components, or may have different component arrangements.

[0080] This application provides an apparatus including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: upon receiving control commands for multiple actuators, it determines the signal control value of the control valve corresponding to each actuator based on the control commands; it determines the target required flow rate of each actuator based on the flow adjustment range corresponding to the signal control value; it determines the target supply flow rate of the hydraulic pump based on the operating parameters and rated power of the hydraulic pump; and when the target supply flow rate is less than the target required flow rate, it determines the hydraulic oil distribution flow rate of each actuator based on the target supply flow rate and the current load of each actuator.

[0081] In one embodiment, the flow adjustment range includes a dead zone, a linear zone, and a saturation zone. The method further includes: acquiring multiple historical signal control values ​​of the control valve and the historical output flow of the control valve under each historical signal control value; determining the range constructed with the historical signal control value corresponding to the minimum historical output flow as the dead zone; determining the range constructed with the historical signal control value corresponding to the maximum historical output flow as the saturation zone; and determining the linear zone based on the maximum historical signal control value in the dead zone and the minimum historical signal control value in the saturation zone.

[0082] In one embodiment, determining the target flow requirement of each actuator based on the flow adjustment range corresponding to the signal control value includes: when the flow adjustment range is a dead zone, determining the target flow requirement of each actuator as the minimum historical output flow of the control valve; when the flow adjustment range is a linear zone, determining the target flow requirement of each actuator as the output flow corresponding to the signal control value; and when the flow adjustment range is a saturation zone, determining the target flow requirement of each actuator as the maximum historical output flow of the control valve.

[0083] In one embodiment, the operating parameters of the hydraulic pump include at least the current speed and current pressure of the hydraulic pump. Determining the target supply flow rate of the hydraulic pump based on the operating parameters and rated power of the hydraulic pump includes: determining a first supply flow rate of the hydraulic pump based on the current speed and the maximum displacement of the hydraulic pump; determining a second supply flow rate of the hydraulic pump based on the current pressure and rated power; and determining the minimum flow rate between the first supply flow rate and the second supply flow rate as the target supply flow rate.

[0084] In one embodiment, the target supply flow rate is determined by formula (1):

[0085] (1)

[0086] in, This refers to the target supply flow rate of the hydraulic pump. This refers to the current speed of the hydraulic pump. This refers to the maximum displacement of the hydraulic pump. This refers to the rated power of the hydraulic pump. This refers to the current pressure of the hydraulic pump.

[0087] In one embodiment, determining the hydraulic oil distribution flow rate of each actuator based on the target supply flow rate and the current load of each actuator includes: determining a flow distribution coefficient between the current load of each actuator and the total load of all actuators; and determining the hydraulic oil distribution flow rate of the hydraulic pump relative to each actuator based on the flow distribution coefficient and the target supply flow rate.

[0088] In one embodiment, the hydraulic oil distribution flow rate for each actuator is determined by formula (2):

[0089] (2)

[0090] in, This refers to granting the implementing agency Hydraulic oil distribution flow rate, This refers to the target supply flow rate of the hydraulic pump. Refers to the implementing agency The current load, This refers to the total load of all actuators.

[0091] This application also provides a computer program product that, when executed on a data processing device, is adapted to perform a program that initializes a method step involving hydraulic oil flow distribution.

[0092] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0093] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0094] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0095] These computer program instructions may 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 functions specified in one or more flowcharts and / or one or more block diagrams.

[0096] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0097] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0098] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0099] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0100] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for distributing hydraulic oil flow, characterized in that, This method, applied to construction machinery, includes a hydraulic pump, multiple control valves connected to the hydraulic pump, and actuators connected to each control valve. The method comprises: upon receiving a control command for multiple actuators, determining a signal control value for the control valve corresponding to each actuator based on the control command; determining a target required flow rate for each actuator based on a flow adjustment range corresponding to the signal control value; determining a target supply flow rate for the hydraulic pump based on the operating parameters and rated power of the hydraulic pump; and, if the target supply flow rate is less than the target required flow rate, determining the hydraulic pressure of each actuator based on the target supply flow rate and the current load of each actuator. The method further includes: distributing hydraulic oil flow; wherein the flow adjustment range includes a dead zone, a linear zone, and a saturation zone; and the method further includes: before determining the target required flow of each actuator based on the flow adjustment range corresponding to the signal control value, acquiring multiple historical signal control values ​​of the control valve, and the historical output flow of the control valve under each historical signal control value; defining the interval constructed with the historical signal control value corresponding to the minimum historical output flow as the dead zone; defining the interval constructed with the historical signal control value corresponding to the maximum historical output flow as the saturation zone; and determining the linear zone based on the maximum historical signal control value in the dead zone and the minimum historical signal control value in the saturation zone.

2. The method for hydraulic oil flow distribution according to claim 1, characterized in that, The step of determining the target required flow rate for each actuator based on the flow adjustment range corresponding to the signal control value includes: when the flow adjustment range is the dead zone, determining the target required flow rate for each actuator as the minimum historical output flow rate of the control valve; when the flow adjustment range is the linear zone, determining the target required flow rate for each actuator as the output flow rate corresponding to the signal control value; and when the flow adjustment range is the saturation zone, determining the target required flow rate for each actuator as the maximum historical output flow rate of the control valve.

3. The method for hydraulic oil flow distribution according to claim 1, characterized in that, The operating parameters of the hydraulic pump include at least the current speed and current pressure of the hydraulic pump. Determining the target supply flow rate of the hydraulic pump based on the operating parameters and rated power of the hydraulic pump includes: determining a first supply flow rate of the hydraulic pump based on the current speed and the maximum displacement of the hydraulic pump; determining a second supply flow rate of the hydraulic pump based on the current pressure and the rated power; and determining the minimum flow rate between the first supply flow rate and the second supply flow rate as the target supply flow rate.

4. The method for hydraulic oil flow distribution according to claim 3, characterized in that, The target supply flow rate is determined by formula (1): (1) Among them, This refers to the target supply flow rate of the hydraulic pump. This refers to the current speed of the hydraulic pump. This refers to the maximum displacement of the hydraulic pump. This refers to the rated power of the hydraulic pump. This refers to the current pressure of the hydraulic pump.

5. The method for hydraulic oil flow distribution according to claim 1, characterized in that, The step of determining the hydraulic oil distribution flow rate of each actuator based on the target supply flow rate and the current load of each actuator includes: determining the flow distribution coefficient between the current load of each actuator and the total load of all actuators; and determining the hydraulic oil distribution flow rate of the hydraulic pump relative to each actuator based on the flow distribution coefficient and the target supply flow rate.

6. The method for hydraulic oil flow distribution according to claim 5, characterized in that, The hydraulic oil distribution flow rate for each actuator is determined by formula (2): (2) Among them, This refers to granting the implementing agency Hydraulic oil distribution flow rate, This refers to the target supply flow rate of the hydraulic pump. Refers to the implementing agency The current load, This refers to the total load of all actuators.

7. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, this instruction causes the processor to be configured to perform the method of hydraulic oil flow distribution according to any one of claims 1 to 6.

8. A processor, characterized in that, It is configured to perform the method of hydraulic oil flow distribution according to any one of claims 1 to 6.

9. An engineering machinery, characterized in that, include: Hydraulic pump; Multiple control valves, each connected to the hydraulic pump; Multiple actuators, each connected to a corresponding control valve; And the processor according to claim 8.

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