A control method, device and medium for lowering the boom of a fully electric excavator

Abstract

The present application discloses a control method, device, and medium for lowering the boom of a fully electronically controlled excavator, wherein the method comprises: determining the action type of the target boom as a boom lowering action based on a received driver handle signal; determining a first regeneration flow value from the boom large chamber to the boom small chamber based on the boom large chamber pressure value, the boom small chamber pressure value, and the hydraulic oil density of the target boom; determining a first valve core pressure corresponding to the boom valve core of the target boom according to the first regeneration flow value; determining a valve core drive current corresponding to the boom valve core, and driving the boom valve core based on the valve core drive current. Two regeneration channels are added as parallel circuits from the boom large chamber to the boom small chamber and from the boom large chamber to the pump to reduce the amount of oil in the boom large chamber returning to the oil tank during the boom lowering action; a model-based control method is added to calculate the flow values ​​of the two regeneration channels using the Bernoulli equation to achieve precise flow distribution, save energy, and make the boom lowering action more stable.

Description

Technical Field

[0001] The present application relates to a field, and in particular to a control method, equipment and medium for lowering the boom of a fully electric-controlled excavator. Background Art

[0002] When the boom of the fully electronic excavator is lowered, the hydraulic oil flows from the large chamber of the boom back to the oil tank, and then from the oil tank to the small chamber of the boom.

[0003] Most of the current technical solutions directly control the oil inlet and return of large and small cavities when the boom is in motion. No regeneration control method is proposed, or precise flow distribution control based on the model is not performed. As a result, most of the oil flows back to the tank during motion and then is supplied from the tank, resulting in energy waste. Summary of the Invention

[0004] In order to solve the above problems, the present application proposes a control method, device and medium for lowering the boom of a fully electric excavator, wherein the method includes:

[0005] Based on the received driver handle signal, the action type of the target boom is determined to be a boom lowering action; based on the boom large chamber pressure value, the boom small chamber pressure value and the hydraulic oil density of the target boom, the first regeneration flow value from the boom large chamber to the boom small chamber is determined; the first regeneration flow value is the hydraulic oil flow value regenerated from the boom large chamber to the boom small chamber; according to the first regeneration flow value, the first valve core pressure corresponding to the boom valve core of the target boom is determined; according to the first valve core pressure, the valve core driving current corresponding to the boom valve core is determined, and based on the valve core driving current, the boom valve core is driven.

[0006] In one example, the action type of the target boom is determined to be a boom lowering action based on the received driver handle signal, specifically including: determining the lowering pilot pressure of the target boom based on the driver handle signal; if the lowering pilot pressure is higher than a preset threshold, the action type of the target boom is a boom lowering action.

[0007] In one example, the first regeneration flow value from the boom large cavity to the boom small cavity is determined based on the boom large cavity pressure value, the boom small cavity pressure value and the hydraulic oil density of the target boom, specifically including: determining the regeneration flow calculation formula of the target boom based on the Bernoulli equation and the flow calculation formula; determining the first regeneration flow value from the boom large cavity to the boom small cavity based on the boom large cavity pressure value, the boom small cavity pressure value, the hydraulic oil density and the regeneration flow calculation formula.

[0008] In one example, the first regeneration flow value from the large boom cavity to the small boom cavity is determined by the following formula: Among them, Q is the first regeneration flow value, C is a constant, A is the flow cross-sectional area, ρ is the hydraulic oil density, and Δp1 is the pressure difference between the large chamber and the small chamber of the boom.

[0009] In one example, the method also includes: determining, based on the received driver handle signal, that the action type of the target boom is a compound action including boom lowering; determining the intersection pressure value based on the boom large chamber pressure value of the target boom; determining the second regeneration flow value from the boom large chamber to the boom small chamber, and the third regeneration flow value from the boom large chamber to the target pump based on the intersection pressure value, the boom small chamber pressure value and the pump pressure value; determining the second valve core pressure corresponding to the boom valve core based on the second regeneration flow value and the third regeneration flow value.

[0010] In one example, based on the received driver handle signal, the action type of the target boom is determined to be a compound action including boom lowering, specifically including: based on the driver handle signal, determining multiple pilot pressures of the target boom; judging whether there is a descending pilot pressure among the multiple pilot pressures, if so, and the descending pilot pressure is higher than a preset threshold, then the action type of the target boom is a compound action including boom lowering.

[0011] In one example, the intersection pressure value is determined based on the boom large cavity pressure value of the target boom, specifically including: obtaining the pipe length from the boom large cavity to the intersection, the pipe inner diameter and the flow rate of the hydraulic oil in the pipe; determining the intersection pressure value of the hydraulic oil at the intersection through the pressure loss calculation formula, as well as the pipe length, the pipe inner diameter and the flow rate.

[0012] In one example, the crossover point pressure value of the hydraulic oil at the crossover point is determined by the following formula: Among them, Δp2 is the pressure difference between the boom cavity and the intersection, K is the preset coefficient, L is the pipeline length, V is the flow rate of the hydraulic oil, and D is the inner diameter of the pipeline.

[0013] The present application also provides a control device for lowering the boom of a fully electric excavator, characterized in that it includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute: based on the received driver handle signal, determining that the action type of the target boom is a boom lowering action; based on the boom large chamber pressure value, the boom small chamber pressure value and the hydraulic oil density of the target boom, determining the first regeneration flow value from the boom large chamber to the boom small chamber; the first regeneration flow value is the hydraulic oil flow value regenerated from the boom large chamber to the boom small chamber; according to the first regeneration flow value, determining the first valve core pressure corresponding to the boom valve core of the target boom; according to the first valve core pressure, determining the valve core drive current corresponding to the boom valve core, and driving the boom valve core based on the valve core drive current.

[0014] The present application also provides a non-volatile computer storage medium storing computer executable instructions, wherein the computer executable instructions are configured to: determine, based on a received driver handle signal, the action type of the target boom as a boom lowering action; determine, based on the boom large chamber pressure value, the boom small chamber pressure value and the hydraulic oil density of the target boom, a first regeneration flow value from the boom large chamber to the boom small chamber; the first regeneration flow value is the hydraulic oil flow value regenerated from the boom large chamber to the boom small chamber; determine, based on the first regeneration flow value, a first valve core pressure corresponding to the boom valve core of the target boom; determine, based on the first valve core pressure, a valve core drive current corresponding to the boom valve core, and drive the boom valve core based on the valve core drive current.

[0015] The method proposed in this application can bring the following beneficial effects: on the basis of the valve core control of the boom lowering action, two regeneration channels of parallel circuits from the boom large chamber to the boom small chamber and from the boom large chamber to the pump are added to reduce the large amount of oil returning to the oil tank in the boom large chamber during the boom lowering action; at the same time, a model-based control method is added to calculate the flow values ​​of the two regeneration channels through the Bernoulli equation to achieve accurate distribution of the flow, save energy and make the boom lowering and its compound action more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 This is a flow chart of a method for controlling the lowering of a fully electric excavator boom in an embodiment of the present application;

[0018] Figure 2 Schematic diagram of a method for controlling the lowering of a boom in a composite motion of a fully electronically controlled excavator according to an embodiment of the present application;

[0019] Figure 3 This is a structural schematic diagram of a control device for lowering the boom of a fully electric excavator in an embodiment of the present application. DETAILED DESCRIPTION

[0020] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0021] The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0022] Figure 1 This is a flow chart illustrating a method for controlling the boom lowering of a fully electric excavator, as provided in one or more embodiments of this specification. This method can be applied to the boom lowering process of a fully electric excavator. This process can be executed by a computing device, and certain input parameters or intermediate results within the process can be manually adjusted to improve accuracy.

[0023] The analysis method involved in the embodiments of the present application can be implemented by a terminal device or a server, and the present application does not impose any special restrictions on this. For ease of understanding and description, the following embodiments are described in detail using a server as an example.

[0024] It should be noted that the server can be a single device or a system composed of multiple devices, that is, a distributed server, and this application does not make any specific restrictions on this.

[0025] like Figure 1 As shown, the embodiment of the present application provides a method for controlling the lowering of a fully electric excavator boom, comprising:

[0026] S101: Based on the received driver handle signal, determine that the action type of the target boom is a boom lowering action.

[0027] When the driver operates the fully electric excavator, a driver handle signal is generated. After the server receives the driver handle signal, it can determine the type of action the driver performs on the fully electric excavator based on the driver handle signal, such as boom lowering or boom raising operations.

[0028] Specifically, when determining the action type, after obtaining the driver's handle signal, the target boom's lowering pilot pressure is determined based on the driver's handle signal. If the lowering pilot pressure is higher than a preset threshold, the target boom's action type is a boom lowering action. It should be noted that when the driver operates the handle, a handle signal is generated, and different operations correspond to different lowering pilot pressures. Therefore, personnel can set a preset threshold based on the lowering pilot pressure value corresponding to the boom lowering action.

[0029] S102: Based on the boom large chamber pressure value, boom small chamber pressure value and hydraulic oil density of the target boom, determine the first regeneration flow value from the boom large chamber to the boom small chamber; the first regeneration flow value is the hydraulic oil flow value regenerated from the boom large chamber to the boom small chamber.

[0030] Assuming that the fluid is a constant flow and an incompressible fluid with no friction, the cross-section through which the hydraulic oil passes is a uniform flow section or a gradual flow section. At this time, the first regeneration flow value from the large boom cavity to the small boom cavity can be determined by detecting the boom large cavity pressure value, the boom small cavity pressure value and the hydraulic oil density of the target boom. The first regeneration flow value here is the hydraulic oil flow value regenerated from the large boom cavity to the small boom cavity.

[0031] Specifically, when the boom is descending, the flow direction of the hydraulic oil is from the boom's large chamber back to the oil tank, and from the oil tank to the boom's small chamber. In order to save the oil tank, the hydraulic oil is pumped to the boom's small chamber through the oil pump, and the regeneration channel between the boom's large chamber and the boom's small chamber can be connected. At this time, it is necessary to obtain the regeneration flow from the boom's large chamber to the boom's small chamber. When solving the regeneration flow value, it is necessary to determine the regeneration flow calculation formula of the target boom based on the Bernoulli equation and the flow calculation formula, and determine the first regeneration flow value from the boom's large chamber to the boom's small chamber based on the boom's large chamber pressure value, the boom's small chamber pressure value, the hydraulic oil density and the regeneration flow calculation formula. The hydraulic oil flow rate is obtained by looking up the characteristic curve according to the pilot pressure of the boom's descent. According to the cross-sectional areas of the large and small chambers of the boom cylinder, the maximum flow value available for regeneration of the large chamber can be calculated by Q=Av.

[0032] By Bernoulli equation The calculation formula for the regeneration flow of the regeneration channel can be deduced: Among them, Q is the first regeneration flow value, C is a constant, A is the flow cross-sectional area, ρ is the hydraulic oil density, and Δp1 is the pressure difference between the large chamber and the small chamber of the boom.

[0033] S103: Determine a first valve core pressure corresponding to the boom valve core of the target boom according to the first regeneration flow value.

[0034] After the first regeneration flow rate value is determined, the flow rate of the hydraulic oil at the boom valve core can be determined, thereby determining the valve core pressure corresponding to the boom valve core.

[0035] S104: Determine a valve core driving current corresponding to the boom valve core according to the first valve core pressure, and drive the boom valve core based on the valve core driving current.

[0036] After the spool pressure is determined, a spool driving current of the boom spool may be determined based on the spool pressure to drive the boom spool.

[0037] In one embodiment, Figure 2 As shown, since the boom lowering action is often accompanied by other actions, known as a compound action, the pump also needs to supply oil to the main valve for other actions besides the boom. At this point, the regeneration channel in the parallel oil circuit from the boom's large chamber to the pump is opened. The hydraulic oil in the boom's large chamber then flows through the valve core and is distributed to the boom's small chamber and the pump's parallel oil circuit. First, based on the received operator's handle signal, the target boom's action type is determined to be a compound action including boom lowering. Then, based on the boom's large chamber pressure value for the target boom, the crosspoint pressure value is determined. The crosspoint here refers to the bifurcation point in the oil circuit from the boom's large chamber to the boom's small chamber and the pump. Similarly, based on the crosspoint pressure value, the boom's small chamber pressure value, and the pump pressure value, a second regeneration flow rate from the boom's large chamber to the boom's small chamber and a third regeneration flow rate from the boom's large chamber to the target pump are determined. Based on the second and third regeneration flow rates, the second spool pressure corresponding to the boom's spool is determined. Finally, the spool drive current is determined based on the spool pressure.

[0038] Furthermore, when determining whether it is a compound action, it is necessary to first determine the multiple pilot pressures of the target boom based on the driver's handle signal, and judge whether there is a descending pilot pressure among the multiple pilot pressures. If so, and the descending pilot pressure is higher than the preset threshold, then the action type of the target boom is a compound action including boom descending.

[0039] In one embodiment, when determining the intersection pressure value, it is necessary to obtain the length of the pipeline from the boom chamber to the intersection, the inner diameter of the pipeline, and the flow rate of the hydraulic oil in the pipeline. Then, using the pressure loss calculation formula, the pipeline length, the inner diameter of the pipeline, and the flow rate, the intersection pressure value of the hydraulic oil at the intersection is determined. Specifically, the intersection pressure value of the hydraulic oil at the intersection is determined using the following formula:

[0040]

[0041] Among them, Δp2 is the pressure difference between the boom cavity and the intersection, K is the preset coefficient, L is the pipeline length, V is the flow rate of the hydraulic oil, and D is the inner diameter of the pipeline.

[0042] By proposing regenerative control for the boom lowering action, the two regenerative channels of the parallel circuits from the boom large chamber to the boom small chamber and from the boom large chamber to the pump are opened, and the flow rates of the parallel circuits from the large chamber to the small chamber and from the large chamber to the pump under the current working conditions are calculated according to the fluid Bernoulli equation, thereby achieving the purpose of energy saving.

[0043] like Figure 3 As shown, the embodiment of the present application further provides a control device for lowering the boom of a fully electric excavator, comprising:

[0044] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so as to enable the at least one processor to: determine, based on the received driver handle signal, the action type of the target boom as a boom lowering action; determine, based on the boom large chamber pressure value, the boom small chamber pressure value and the hydraulic oil density of the target boom, a first regeneration flow value from the boom large chamber to the boom small chamber; the first regeneration flow value is a hydraulic oil flow value regenerated from the boom large chamber to the boom small chamber; determine, based on the first regeneration flow value, a first valve core pressure corresponding to the boom valve core of the target boom; determine, based on the first valve core pressure, a valve core drive current corresponding to the boom valve core, and drive the boom valve core based on the valve core drive current.

[0045] The embodiment of the present application further provides a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to:

[0046] Based on the received driver handle signal, the action type of the target boom is determined to be a boom lowering action; based on the boom large chamber pressure value, the boom small chamber pressure value and the hydraulic oil density of the target boom, the first regeneration flow value from the boom large chamber to the boom small chamber is determined; the first regeneration flow value is the hydraulic oil flow value regenerated from the boom large chamber to the boom small chamber; according to the first regeneration flow value, the first valve core pressure corresponding to the boom valve core of the target boom is determined; according to the first valve core pressure, the valve core driving current corresponding to the boom valve core is determined, and based on the valve core driving current, the boom valve core is driven.

[0047] The various embodiments in this application are described in a progressive manner. Similar portions between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device and medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simple. For relevant portions, refer to the descriptions of the method embodiments.

[0048] The devices and media provided in the embodiments of the present application correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects to their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0049] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0050] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0051] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0052] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0053] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0054] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0055] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be 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 disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0056] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0057] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for controlling the lowering of a fully electric excavator boom, characterized in that: include: Based on the received driver handle signal, determining the action type of the target boom is a boom lowering action; Determining a first regeneration flow rate from the boom large cavity to the boom small cavity based on a boom large cavity pressure value, a boom small cavity pressure value, and a hydraulic oil density of the target boom; the first regeneration flow rate being a hydraulic oil flow rate regenerated from the boom large cavity back to the boom small cavity; determining a first valve core pressure corresponding to a boom valve core of a target boom according to the first regeneration flow value; determining a valve core driving current corresponding to the boom valve core according to the first valve core pressure, and driving the boom valve core based on the valve core driving current; The method further comprises: determining, based on the received driver handle signal, that the motion type of the target boom is a compound motion including boom lowering; Determining a cross-point pressure value based on the boom large cavity pressure value of the target boom; Determining a second regeneration flow value from the boom large cavity to the boom small cavity and a third regeneration flow value from the boom large cavity to a target pump based on the intersection pressure value, the boom small cavity pressure value, and the pump pressure value; determining a second valve core pressure corresponding to the boom valve core based on the second regeneration flow value and the third regeneration flow value; The determining of the intersection pressure value based on the boom large cavity pressure value of the target boom specifically includes: Obtain the length of the pipeline from the boom large cavity to the intersection, the inner diameter of the pipeline, and the flow rate of the hydraulic oil in the pipeline; The intersection pressure value of the hydraulic oil at the intersection is determined by a pressure loss calculation formula, the pipeline length, the pipeline inner diameter, and the flow rate.

2. The method according to claim 1, characterized in that The step of determining the target boom action type as a boom lowering action based on the received driver handle signal specifically includes: determining a lowering pilot pressure of the target boom based on the driver handle signal; If the descending pilot pressure is higher than a preset threshold, the action type of the target boom is a boom descending action.

3. The method according to claim 1, characterized in that The determining of the first regeneration flow value from the boom large cavity to the boom small cavity based on the boom large cavity pressure value, the boom small cavity pressure value, and the hydraulic oil density of the target boom specifically includes: Determine a regeneration flow calculation formula of the target boom based on the Bernoulli equation and the flow calculation formula; Based on the boom large chamber pressure value, the boom small chamber pressure value, the hydraulic oil density and the regeneration flow calculation formula, a first regeneration flow value from the boom large chamber to the boom small chamber is determined.

4. The method according to claim 3, characterized in that The first regeneration flow value from the large boom cavity to the small boom cavity is determined by the following formula: Among them, Q is the first regeneration flow value, C is a constant, A is the flow cross-sectional area, ρ is the hydraulic oil density, and Δp1 is the pressure difference between the large chamber and the small chamber of the boom.

5. The method according to claim 1, wherein The determining, based on the received driver handle signal, that the action type of the target boom is a compound action including boom lowering, specifically includes: determining a plurality of pilot pressures of the target boom based on the driver handle signal; It is determined whether there is a descending pilot pressure among the multiple pilot pressures. If so, and the descending pilot pressure is higher than a preset threshold, the action type of the target boom is a compound action including boom descending.

6. The method according to claim 1, characterized in that The crossover pressure value of the hydraulic oil at the crossover point is determined by the following formula: Among them, Δp2 is the pressure difference between the boom cavity and the intersection, K is the preset coefficient, L is the pipeline length, V is the flow rate of the hydraulic oil, and D is the inner diameter of the pipeline.

7. A fully electric excavator boom lowering control device, characterized in that: include: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform: the steps of the method according to any one of claims 1 to 6.

8. A non-volatile computer storage medium storing computer-executable instructions, characterized in that: The computer executable instructions are configured to perform the steps of the method according to any one of claims 1 to 6.

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