Energy-saving control method, device and system for hoisting operation and engineering machinery

Abstract

The application discloses a kind of energy-saving control method, device, system and engineering machinery of hoisting operation, comprising when carrying out hoisting action, obtaining motor speed, the flow required for hoisting is obtained by motor displacement and speed ratio;Combining pump efficiency optimal working state, adjust motor parameter, adjust to current efficiency optimal value;When carrying out amplitude action, obtain amplitude angle, the flow required for amplitude operation is obtained;Adjust motor speed, meet current flow demand, adjust to current efficiency optimal value;When carrying out boom action, obtain the change of boom length, the flow required for telescopic operation is obtained;Ensure current flow demand, adjust motor speed, meet current flow demand, adjust to current efficiency optimal value;When rotating action, obtain rotation speed, the flow required for rotation is obtained;Adjust motor speed, meet current flow demand, adjust to current efficiency optimal value.The application meets the demand for operation speed, reduces energy consumption, improves continuous operation time.

Description

Technical Field

[0001] This invention relates to energy-saving control of hydraulic systems, and more particularly to an energy-saving control method, device, system, and engineering machinery for lifting operations. Background Technology

[0002] Currently, the operating systems of new energy electric vehicles generally use an electric motor to drive a hydraulic pump, which provides high-pressure oil to power the system. To reduce energy consumption, vehicles typically have an energy-saving mode, aiming to control the motor to operate within its optimal speed range. However, this sometimes fails to meet users' requirements for operating speed, making it difficult to balance power and economy.

[0003] like Figure 1 As shown, the existing operating systems of electric vehicles in the industry generally consist of a drive motor 1 driving a hydraulic pump 2. The hydraulic pump 2 outputs high-pressure oil, which passes through a main valve 3 to control four main actions: luffing, telescopic, slewing, and hoisting. The speed of the drive motor is adjusted via the throttle, and the opening of the main valve is controlled by a handle, thus regulating the operating speed to meet the operator's requirements.

[0004] Current technology cannot provide feedback on the actual flow demand of the operating system to ensure the vehicle operates in the optimal economic condition. For example, if the throttle is fully depressed during operation, but the main valve controlled by the lever is not opened to the corresponding degree, the excess flow output by the pump will result in significant throttling losses in the hydraulic system, leading to energy waste.

[0005] Therefore, it is urgent to solve the above problems. Summary of the Invention

[0006] Purpose of the invention: The first purpose of this invention is to provide an energy-saving control method for lifting operations. This invention estimates the required flow rate, combines it with the optimal working state of the pump efficiency, and adjusts the parameters of the drive motor so that the entire operating system not only meets the current driver's demand for operating speed, but is also in an optimal economic state, reducing energy consumption and increasing continuous operating time.

[0007] The second objective of this invention is to provide an energy-saving control device for lifting operations.

[0008] The third objective of this invention is to provide an energy-saving control system for lifting operations.

[0009] The fourth objective of this invention is to provide an engineering machine.

[0010] Technical solution: To achieve the above objectives, this invention discloses an energy-saving control method for lifting operations, comprising the following steps:

[0011] When the lifting action is performed, the motor speed n is obtained. 马速 The required flow rate for lifting operations is obtained by determining the motor displacement and speed ratio; when the required power (UI) is lower than the set value (UI)...定 In the case of motor speed n 马速 And with the relevant first proportionality coefficient K1, the current required system flow K1n is obtained. 马速 To allow the pump to operate at its maximum displacement Vpump, adjust the motor speed n to achieve the optimal efficiency value while meeting the current flow demand; when the required power UI is higher than the set value UIpump. 定 In this case, the operational requirements must be met first. Based on the motor control current I and the relevant second proportional coefficient k2, the required system flow rate k2I is obtained. The throttle controls the motor speed, and based on the current motor speed, the variable pump is matched with the displacement V. 泵 Adjust to the current optimal efficiency value;

[0012] When performing the luffing operation, the luffing angle is obtained, and the change in the length of the luffing cylinder, dx(t), is calculated. Based on the relevant third proportional coefficient μ, the luffing operation time t is introduced and integrated to obtain the flow rate required for the luffing operation. While ensuring the current flow rate requirement, the pump is allowed to operate at its maximum displacement V. 泵 If so, adjust the motor speed n to meet the current flow demand and adjust it to the current optimal efficiency value;

[0013] When the boom extends, the change in boom length DL(t) is obtained. Combined with the relevant fourth proportionality coefficient θ, and incorporating the extension / retraction time dt, the result is integrated to obtain the flow rate required for the extension / retraction operation. To ensure the current flow rate requirement is met, and to allow the pump to operate at its maximum displacement V, the following steps are taken. 泵 If so, adjust the motor speed n to meet the current flow demand and adjust it to the current optimal efficiency value;

[0014] When performing the rotational motion, obtain the rotational speed n. 回转 Combining this with the relevant fifth proportionality coefficient Π, the flow rate required for the rotary operation is obtained; under the premise of ensuring the current flow rate requirement, in order to allow the pump to operate at its maximum displacement V... 泵 Then adjust the motor speed n to meet the current flow demand and adjust it to the current optimal efficiency value.

[0015] This includes:

[0016] During the lifting operation, if the required power UI is lower than the set value UI, the formula for adjusting to the current optimal efficiency value is:

[0017] n = K1n 马速 / V 泵

[0018] Among them, V 泵 Where n is the hydraulic pump displacement, n is the drive motor speed, and K1 is the proportional coefficient. 马速 Motor speed;

[0019] When the power demand (UI) is higher than the set value (UI_fixed), the formula for adjusting to the current optimal efficiency value is:

[0020] n = k2I / V 泵

[0021] Where k2 is the second proportional coefficient and I is the motor control current.

[0022] Preferred, including:

[0023] During amplitude adjustment, the formula for adjusting to the current optimal efficiency value is:

[0024]

[0025] Where μ is the third proportional coefficient, dx(t) is the change in length of the variable-amplitude cylinder, and dt is the variable-amplitude time.

[0026] Furthermore, including:

[0027] The formula for adjusting to the current optimal efficiency value during the arm extension movement is:

[0028]

[0029] Where θ is the fourth proportionality coefficient, dL(t) is the change in boom length, and dt is the extension / retraction time.

[0030] Furthermore, including:

[0031] During the slewing motion, the formula for adjusting to the current optimal efficiency value is:

[0032] n = Пn 回转 / V 泵

[0033] Where Π is the fifth proportionality coefficient, n 回转 This refers to the rotational speed of the rotary motor.

[0034] This invention provides an energy-saving control device for lifting operations, comprising:

[0035] The hoisting efficiency optimization module is used to obtain the motor speed n during hoisting operations. 马速 The required flow rate for lifting operations is obtained by determining the motor displacement and speed ratio; when the required power (UI) is lower than the set value (UI)... 定 In the case of motor speed n 马速 And with the relevant first proportionality coefficient K1, the current required system flow K1n is obtained. 马速 To allow the pump to operate at its maximum displacement Vpump, adjust the motor speed n to achieve the optimal efficiency value while meeting the current flow demand; when the required power UI is higher than the set value UIpump. 定In this case, the operational requirements must be met first. Based on the motor control current I and the relevant second proportional coefficient k2, the required system flow rate k2I is obtained. The throttle controls the motor speed, and based on the current motor speed, the variable pump is matched with the displacement V. 泵 Adjust to the current optimal efficiency value;

[0036] The luffing efficiency optimization module is used to acquire the luffing angle and calculate the change in length of the luffing cylinder, dx(t), during luffing operations. Based on the relevant third proportional coefficient μ, and incorporating the luffing operation time t, it integrates to obtain the flow rate required for the luffing operation. While ensuring the current flow rate requirement, it optimizes the pump's maximum displacement V. 泵 If so, adjust the motor speed n to meet the current flow demand and adjust it to the current optimal efficiency value;

[0037] The boom extension efficiency optimization module is used to obtain the boom length change DL(t) during the boom extension operation, combine it with the relevant fourth proportional coefficient θ, introduce the extension time dt, and integrate it to obtain the flow rate required for the extension operation; while ensuring the current flow rate requirement, it aims to maximize the pump's displacement V. 泵 If so, adjust the motor speed n to meet the current flow demand and adjust it to the current optimal efficiency value;

[0038] The slewing efficiency optimization module is used to obtain the slewing speed n when performing a slewing motion. 回转 Combining this with the relevant fifth proportionality coefficient Π, the flow rate required for the rotary operation is obtained; under the premise of ensuring the current flow rate requirement, in order to allow the pump to operate at its maximum displacement V... 泵 Then adjust the motor speed n to meet the current flow demand and adjust it to the current optimal efficiency value.

[0039] Among them, the lifting efficiency optimization module uses the following formula to adjust to the current optimal efficiency value when the required power UI is lower than the set value UI:

[0040] n = K1n 马速 / V 泵

[0041] Among them, V 泵 Where n is the hydraulic pump displacement, n is the drive motor speed, and K1 is the proportional coefficient. 马速 Motor speed;

[0042] When the power demand (UI) is higher than the set value (UI_fixed), the formula for adjusting to the current optimal efficiency value is:

[0043] n = k2I / V 泵

[0044] Where k2 is the second proportional coefficient, and I is the motor control current;

[0045] In the amplitude efficiency optimization module, the formula for adjusting to the current optimal efficiency value is:

[0046]

[0047] Where μ is the third proportional coefficient, dx(t) is the change in length of the variable-amplitude cylinder, and dt is the variable-amplitude time;

[0048] In the arm reach efficiency optimization module, the formula for adjusting to the current optimal efficiency value is:

[0049]

[0050] Where θ is the fourth proportionality coefficient, dL(t) is the change in boom length, and dt is the extension / retraction time;

[0051] In the slewing efficiency optimization module, the formula for adjusting to the current optimal efficiency value is:

[0052] n = Пn 回转 / V 泵

[0053] Where Π is the fifth proportionality coefficient, n 回转 This refers to the rotational speed of the rotary motor.

[0054] The present invention provides an energy-saving control system for lifting operations, including an energy-saving control device for lifting operations.

[0055] Preferably, it also includes a force limiter for detecting the boom length and elevation angle, and a motor speed sensor for detecting the hoisting speed.

[0056] The present invention relates to an engineering machinery, including a lifting operation energy-saving control device, or a lifting operation energy-saving control system.

[0057] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: By monitoring the operating parameters and estimating the required flow rate, the present invention adjusts the motor parameters in combination with the optimal working state of the pump efficiency, so that the entire operating system can not only meet the current driver's demand for operating speed, but also be in the optimal economic state, reduce energy consumption, and increase continuous operating time. Attached Figure Description

[0058] Figure 1 This is a hydraulic schematic diagram in the prior art of this invention;

[0059] Figure 2 This is a hydraulic schematic diagram of the present invention. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0061] It should be understood that the invention can be embodied in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, for clarity, the dimensions and relative dimensions of the parts may be exaggerated. The same reference numerals denote the same parts throughout.

[0062] Variable pump efficiency factor:

[0063] a) Efficiency increases with increasing pump speed, and tends to reach its maximum value in the medium-to-high speed range;

[0064] b) Efficiency increases with the increase of pump displacement, reaching its maximum value at maximum displacement;

[0065] c) Pump displacement has a greater impact on efficiency than pump speed.

[0066] Motor efficiency factor:

[0067] a) Efficiency gradually increases with increasing load rate, and is highest at rated load rate;

[0068] b) Efficiency gradually increases with increasing rotational speed, and is highest at rated rotational speed.

[0069] This invention discloses an energy-saving control method for lifting operations, comprising the following steps:

[0070] During the lifting operation, the installed motor speed sensor detects the motor speed and obtains the motor speed n. 马速 The required flow rate for lifting operations is obtained by considering the motor displacement and speed ratio. In a variable displacement pump system, generally, the larger the pump displacement, the higher the efficiency. The system flow rate is directly proportional to the product of the pump displacement and the motor speed. Therefore, when the required power UI is lower than the set value UI... 定 In the case of motor speed n 马速 And with the relevant first proportionality coefficient K1, the current required system flow K1n is obtained. 马速 Generally, the larger the pump displacement, the higher the system efficiency. To allow the pump to operate at its maximum displacement Vpump, the motor speed n is adjusted. Under the current flow demand, i.e., in the current state, even if the throttle is fully depressed, the motor speed will not increase further. The formula for adjusting to the current optimal efficiency value is:

[0071] n = K1n 马速 / V 泵

[0072] Among them, V 泵 Where n is the hydraulic pump displacement, n is the drive motor speed, and K1 is the first proportional coefficient, which is related to the motor displacement and speed ratio parameters; 马速 Motor speed;

[0073] Existing systems generally do not regulate the speed of the motor controlled by the throttle. If the throttle is pressed too hard and the system's flow demand is not high, the variable pump will be automatically adjusted to reduce its displacement to adapt to the current system flow, resulting in low system efficiency.

[0074] When the required power UI is higher than the set value UI 定 In this case, the operational requirements must be met first. Based on the motor control current I and the relevant second proportional coefficient k2, the required system flow rate k2I is obtained. The throttle controls the motor speed, and based on the current motor speed, the variable pump is matched with the displacement V. 泵 The formula for adjusting to the current optimal efficiency value is:

[0075] n = k2I / V 泵

[0076] Where k2 is the second proportional coefficient, which is related to the system pressure and motor control voltage; I is the motor control current.

[0077] When luffing is performed, the luffing angle is detected by an installed angle sensor, such as the length angle sensor in the force limiter system. The luffing angle is then acquired, and the change in length dx(t) of the luffing cylinder is calculated based on the structural parameters of the crane's three hinge points. Using the relevant third proportional coefficient μ, the luffing operation time t is introduced and integrated to obtain the flow rate required for the luffing operation. While ensuring the current flow rate requirement, the pump is allowed to operate at its maximum displacement V. 泵 If the motor speed n is adjusted to meet the current flow demand, then even if the throttle is fully depressed, the motor speed will not increase further. Instead, it will be adjusted to the current optimal efficiency value according to the formula:

[0078]

[0079] Where μ is the third proportional coefficient, dx(t) is the change in length of the variable-amplitude cylinder, and dt is the variable-amplitude time;

[0080] When the boom extends, the change in boom length DL(t) is detected by an installed length sensor, such as the length angle sensor in the force limiter system. This change in boom length DL(t) is then acquired, and combined with the relevant fourth proportional coefficient θ, the extension / retraction time dt is introduced, and the result is integrated to obtain the flow rate required for the extension / retraction operation. To ensure the current flow rate requirement is met, and to allow the pump to operate at its maximum displacement V, the following steps are taken. 泵 If the motor speed n is adjusted to meet the current flow demand, then even if the throttle is fully depressed, the motor speed will not increase further. Instead, it will be adjusted to the current optimal efficiency value according to the formula:

[0081]

[0082] Where θ is the fourth proportional coefficient, which is related to parameters such as the cylinder diameter and rod diameter of the telescopic cylinder; dL(t) is the change in boom length, and dt is the telescopic time.

[0083] During the slewing motion, the slewing speed is detected by the installed slewing angle encoder, and the slewing speed n is obtained. 回转 Combining this with the relevant fifth proportionality coefficient Π, the flow rate required for the rotary operation is obtained; under the premise of ensuring the current flow rate requirement, in order to allow the pump to operate at its maximum displacement V... 泵 If the motor speed n is adjusted to meet the current flow demand, then even if the throttle is fully depressed, the motor speed will not increase further; instead, it will be adjusted to the current optimal efficiency value according to the formula:

[0084] n = Πn 回转 / V 泵

[0085] Wherein, Π is the fifth proportionality coefficient, which is related to the number of gear teeth, speed ratio parameters, etc.; n 回转 This refers to the rotational speed of the rotary motor.

[0086] This invention provides an energy-saving control device for lifting operations, comprising:

[0087] The hoisting efficiency optimization module is used to detect the motor speed (n) using an installed motor speed sensor during hoisting operations. 马速 The required flow rate for lifting operations is obtained by determining the motor displacement and speed ratio; when the required power (UI) is lower than the set value (UI)... 定 In the case of motor speed n 马速 And with the relevant first proportionality coefficient K1, the current required system flow K1n is obtained. 马速 To allow the pump to operate at its maximum displacement Vpump, adjust the motor speed n to achieve the optimal efficiency value while meeting the current flow demand; when the required power UI is higher than the set value UIpump.定 In this case, the operational requirements must be met first. Based on the motor control current I and the relevant second proportional coefficient k2, the required system flow rate k2I is obtained. The throttle controls the motor speed, and based on the current motor speed, the variable pump is matched with the displacement V. 泵 The lifting efficiency optimization module adjusts to the current optimal efficiency value when the required power UI is lower than the set value UI. The formula for adjusting to the current optimal efficiency value is as follows:

[0088] n = K1n 马速 / V 泵

[0089] Among them, V 泵 Where n is the hydraulic pump displacement, n is the drive motor speed, and K1 is the proportional coefficient. 马速 Motor speed;

[0090] When the power demand (UI) is higher than the set value (UI_fixed), the formula for adjusting to the current optimal efficiency value is:

[0091] n = k2I / V 泵

[0092] Where k2 is the second proportional coefficient, and I is the motor control current;

[0093] The luffing efficiency optimization module is used to acquire the luffing angle and calculate the change in length of the luffing cylinder, dx(t), during luffing operations. Based on the relevant third proportional coefficient μ, and incorporating the luffing operation time t, it integrates to obtain the flow rate required for the luffing operation. While ensuring the current flow rate requirement, it optimizes the pump's maximum displacement V. 泵 If so, adjust the motor speed n to meet the current flow demand and adjust it to the current optimal efficiency value;

[0094] In the amplitude efficiency optimization module, the formula for adjusting to the current optimal efficiency value is:

[0095]

[0096] Where μ is the third proportional coefficient, dx(t) is the change in length of the variable-amplitude cylinder, and dt is the variable-amplitude time;

[0097] The boom extension efficiency optimization module is used to obtain the boom length change DL(t) during the boom extension operation, combine it with the relevant fourth proportional coefficient θ, introduce the extension time dt, and integrate it to obtain the flow rate required for the extension operation; while ensuring the current flow rate requirement, it aims to maximize the pump's displacement V. 泵 If so, adjust the motor speed n to meet the current flow demand and adjust it to the current optimal efficiency value;

[0098] In the arm reach efficiency optimization module, the formula for adjusting to the current optimal efficiency value is:

[0099]

[0100] Where θ is the fourth proportionality coefficient, dL(t) is the change in boom length, and dt is the extension / retraction time;

[0101] The slewing efficiency optimization module is used to obtain the slewing speed n when performing a slewing motion. 回转 Combining this with the relevant fifth proportionality coefficient Π, the flow rate required for the rotary operation is obtained; under the premise of ensuring the current flow rate requirement, in order to allow the pump to operate at its maximum displacement V... 泵 If so, adjust the motor speed n to meet the current flow demand and adjust it to the current optimal efficiency value;

[0102] In the slewing efficiency optimization module, the formula for adjusting to the current optimal efficiency value is:

[0103] n = Πn 回转 / V 泵

[0104] Where Π is the fifth proportionality coefficient, n 回转 This refers to the rotational speed of the rotary motor.

[0105] This invention discloses an energy-saving control system for lifting operations, comprising an energy-saving control device for lifting operations, a force limiter for detecting the boom length and elevation angle, and a motor speed sensor for detecting the hoisting speed; alternatively, it may also include a length sensor for detecting the boom length, an angle sensor for detecting the boom elevation angle, and a motor speed sensor for detecting the hoisting speed. The hoisting speed can also be detected by a sensor mounted on the hoist. This invention applies not only to variable displacement pumps but also to gear pump systems.

[0106] The present invention relates to an engineering machinery, characterized in that it includes an energy-saving control device for lifting operations, or an energy-saving control system for lifting operations.

Claims

1. An energy-saving control method for lifting operations, characterized in that, Includes the following steps: When the lifting action is performed, the motor speed n is obtained. 马速 The flow rate required for the lifting operation is obtained by determining the motor displacement and speed ratio. When the required power UI is lower than the set value UI 定 In the case of motor speed n 马速 And with the relevant first proportionality coefficient K1, the current required system flow K1n is obtained. 马速 To allow the pump to operate at its maximum displacement Vpump, adjust the motor speed n to achieve the optimal efficiency value while meeting the current flow demand; when the required power UI is higher than the set value UIpump. 定 In this case, the operational requirements must be met first. Based on the motor control current I and the relevant second proportional coefficient k2, the required system flow rate k2I is obtained. The throttle controls the motor speed, and based on the current motor speed, the variable pump is matched with the displacement V. 泵 Adjust to the current optimal efficiency value; When performing the luffing operation, the luffing angle is obtained, and the change in the length of the luffing cylinder, dx(t), is calculated. Based on the relevant third proportional coefficient μ, the luffing operation time t is introduced and integrated to obtain the flow rate required for the luffing operation. While ensuring the current flow rate requirement, the pump is allowed to operate at its maximum displacement V. 泵 If so, adjust the motor speed n to meet the current flow demand and adjust it to the current optimal efficiency value; When the boom extends, the change in boom length DL(t) is obtained. Combined with the relevant fourth proportionality coefficient θ, and incorporating the extension / retraction time dt, the result is integrated to obtain the flow rate required for the extension / retraction operation. To ensure the current flow rate requirement is met, and to allow the pump to operate at its maximum displacement V, the following steps are taken. 泵 If so, adjust the motor speed n to meet the current flow demand and adjust it to the current optimal efficiency value; When performing the rotational motion, obtain the rotational speed n. 回转 Combining this with the relevant fifth proportionality coefficient Π, the flow rate required for the rotary operation is obtained; under the premise of ensuring the current flow rate requirement, in order to allow the pump to operate at its maximum displacement V... 泵 Then adjust the motor speed n to meet the current flow demand and adjust it to the current optimal efficiency value.

2. The energy-saving control method for lifting operations according to claim 1, characterized in that, include: During the lifting operation, if the required power UI is lower than the set value UI, the formula for adjusting to the current optimal efficiency value is: n=K1n 马速 / V 泵 Among them, V 泵 Where n is the hydraulic pump displacement, n is the drive motor speed, and K1 is the first proportional coefficient. 马速 Motor speed; When the power demand (UI) is higher than the set value (UI_fixed), the formula for adjusting to the current optimal efficiency value is: n=k2I / V 泵 Where k2 is the second proportional coefficient and I is the motor control current.

3. The energy-saving control method for lifting operations according to claim 1, characterized in that, include: During amplitude adjustment, the formula for adjusting to the current optimal efficiency value is: Where μ is the third proportional coefficient, dx(t) is the change in length of the variable-amplitude cylinder, and dt is the variable-amplitude time.

4. The energy-saving control method for lifting operations according to claim 1, characterized in that, include: The formula for adjusting to the current optimal efficiency value during the arm extension movement is: Where θ is the fourth proportionality coefficient, dL(t) is the change in boom length, and dt is the extension / retraction time.

5. The energy-saving control method for lifting operations according to claim 1, characterized in that, include: During the slewing motion, the formula for adjusting to the current optimal efficiency value is: n = Πn 回转 / V 泵 Where Π is the fifth proportionality coefficient, n 回转 This refers to the rotational speed of the rotary motor.

6. An energy-saving control device for lifting operations, characterized in that, include: The hoisting efficiency optimization module is used to obtain the motor speed n during hoisting operations. 马速 The flow rate required for the lifting operation is obtained by determining the motor displacement and speed ratio. When the required power UI is lower than the set value UI 定 In the case of motor speed n 马速 And with the relevant first proportionality coefficient K1, the current required system flow K1n is obtained. 马速 To allow the pump to operate at its maximum displacement Vpump, adjust the motor speed n to achieve the optimal efficiency value while meeting the current flow demand; when the required power UI is higher than the set value UIpump. 定 In this case, the operational requirements must be met first. Based on the motor control current I and the relevant second proportional coefficient k2, the required system flow rate k2I is obtained. The throttle controls the motor speed, and based on the current motor speed, the variable pump is matched with the displacement V. 泵 Adjust to the current optimal efficiency value; The luffing efficiency optimization module is used to acquire the luffing angle and calculate the change in length of the luffing cylinder, dx(t), during luffing operations. Based on the relevant third proportional coefficient μ, and incorporating the luffing operation time t, it integrates to obtain the flow rate required for the luffing operation. While ensuring the current flow rate requirement, it optimizes the pump's maximum displacement V. 泵 If so, adjust the motor speed n to meet the current flow demand and adjust it to the current optimal efficiency value; The boom extension efficiency optimization module is used to obtain the boom length change DL(t) during the boom extension operation, combine it with the relevant fourth proportional coefficient θ, introduce the extension time dt, and integrate it to obtain the flow rate required for the extension operation; while ensuring the current flow rate requirement, it aims to maximize the pump's displacement V. 泵 If so, adjust the motor speed n to meet the current flow demand and adjust it to the current optimal efficiency value; The slewing efficiency optimization module is used to obtain the slewing speed n when performing a slewing motion. 回转 Combining this with the relevant fifth proportionality coefficient Π, the flow rate required for the rotary operation is obtained; under the premise of ensuring the current flow rate requirement, in order to allow the pump to operate at its maximum displacement V... 泵 Then adjust the motor speed n to meet the current flow demand and adjust it to the current optimal efficiency value.

7. The energy-saving control device for lifting operations according to claim 6, characterized in that, The lifting efficiency optimization module adjusts to the current optimal efficiency value using the following formula when the required power UI is lower than the set value UI: n=K1n 马速 / V 泵 Among them, V 泵 Where n is the hydraulic pump displacement, n is the drive motor speed, and K1 is the proportional coefficient. 马速 Motor speed; When the power demand (UI) is higher than the set value (UI_fixed), the formula for adjusting to the current optimal efficiency value is: n=k2I / V 泵 Where k2 is the second proportional coefficient, and I is the motor control current; In the amplitude efficiency optimization module, the formula for adjusting to the current optimal efficiency value is: Where μ is the third proportional coefficient, dx(t) is the change in length of the variable-amplitude cylinder, and dt is the variable-amplitude time; In the arm reach efficiency optimization module, the formula for adjusting to the current optimal efficiency value is: Where θ is the fourth proportionality coefficient, dL(t) is the change in boom length, and dt is the extension / retraction time; In the slewing efficiency optimization module, the formula for adjusting to the current optimal efficiency value is: n = Πn 回转 / V 泵 Where Π is the fifth proportionality coefficient, n 回转 This refers to the rotational speed of the rotary motor.

8. An energy-saving control system for lifting operations, characterized in that, Includes the energy-saving control device for lifting operations as described in any one of claims 6 or 7.

9. The energy-saving control system for lifting operations according to claim 8, characterized in that, It also includes a force limiter for detecting boom length and elevation angle, and a motor speed sensor for detecting winch speed.

10. An engineering machinery, characterized in that, It includes the energy-saving control device for lifting operations as described in any one of claims 6 or 7, or the energy-saving control system for lifting operations as described in any one of claims 8 or 9.

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