Control method, controller and boom-type construction machine for power matching

Abstract

This application discloses a power matching control method, controller, and boom-type construction machinery. The control method includes: acquiring the initial boom angle; determining the target movement speed and working mode of the boom-type construction machinery; determining the current actual power consumption of the hydraulic system based on the working mode; predicting the target boom angle based on the initial boom angle and target movement speed; determining the target actual power consumption of the hydraulic system by combining the target boom angle and the current actual power consumption of the hydraulic system; and adjusting the engine's energy output curve using the target actual power consumption of the hydraulic system as a feedforward control quantity, so that the engine's actual output power matches the target actual power consumption of the hydraulic system. This application improves the accuracy of power matching for boom-type construction machinery by using the target actual power consumption of the hydraulic system as a feedforward control quantity to adjust the engine's energy output curve.

Description

Technical Field

[0001] This application relates to the field of boom-type construction machinery technology, specifically to a power matching control method, controller, and boom-type construction machinery. Background Technology

[0002] In the operating environment of boom-type construction machinery, the load is highly random. As the boom length and angle change, the engine output power required to reach the target speed also changes in real time. Most boom-type construction machinery adopts a full-power matching scheme, which ensures that the engine output power meets the power demand under full load limit conditions by controlling the engine output power via a handle or pedal. However, due to the actual working characteristics of boom-type construction machinery, adopting a full-power scheme inevitably leads to power waste. To solve this problem, existing technologies detect cylinder pressure and control the engine speed based on the cylinder pressure to achieve power matching between the engine and the hydraulic system. However, this power matching method has a large error, resulting in a mismatch between the engine output power and the actual power consumption of the hydraulic system, causing a loss of overall vehicle performance or energy consumption. Therefore, existing power matching methods suffer from low matching accuracy. Summary of the Invention

[0003] The purpose of this application is to provide a power matching control method, controller, and boom-type engineering machinery to solve the problem of low matching accuracy in existing power matching methods.

[0004] To achieve the above objectives, the first aspect of this application provides a power matching control method applied to a controller of a boom-type construction machinery. The boom-type construction machinery also includes an engine and a hydraulic system, and the controller communicates with both the engine and the hydraulic system. The control method includes:

[0005] Obtain the initial boom angle;

[0006] Determine the target movement speed and working mode of the boom-type construction machinery;

[0007] Based on the operating mode, determine the current actual power consumption of the hydraulic system;

[0008] Predict the target boom angle based on the initial boom angle and the target's movement speed;

[0009] By combining the target boom angle and the current actual power consumption of the hydraulic system, the target actual power consumption of the hydraulic system is determined;

[0010] The target actual power consumption of the hydraulic system is used as a feedforward control variable to adjust the engine's energy output curve, so that the engine's actual output power matches the target actual power consumption of the hydraulic system.

[0011] In this embodiment, the operating modes include boom luffing and raising mode and boom luffing and lowering mode. The hydraulic system includes a luffing cylinder. When the operating mode is boom luffing and raising mode or boom luffing and lowering mode, the current actual power consumption of the hydraulic system is determined based on the operating mode, including:

[0012] Obtain the cylinder angle and force-bearing area of ​​the variable amplitude hydraulic cylinder;

[0013] Determine the effective working support force of the boom during boom luffing;

[0014] The actual working pressure of the luffing cylinder is determined based on the effective working support force of the boom luffing and the cylinder angle of the luffing cylinder.

[0015] The cylinder pressure of the luffing cylinder is determined based on the actual working pressure and the force-bearing area of ​​the luffing cylinder.

[0016] The actual power consumption of the hydraulic system is determined based on the cylinder pressure of the luffing cylinder.

[0017] In this embodiment of the application, when the working mode is boom luffing mode, the current actual power consumption of the hydraulic system satisfies formula (1):

[0018]

[0019] When the working mode is boom luffing mode, the actual power consumption of the hydraulic system currently satisfies formula (2):

[0020]

[0021] Among them, P 升 P represents the current actual power consumption of the hydraulic system in boom luffing mode. 降 V represents the current actual power consumption of the hydraulic system in boom luffing mode, where V is the displacement of the fixed displacement pump, n is the engine speed, K is the load proportionality coefficient, m is the weight of the load, g is the gravity coefficient, θ1 is the initial boom angle, K1 is the proportionality coefficient for the first boom section, K2 is the proportionality coefficient for the second boom section, L1 is the length of the first boom section, L2 is the length of the second boom section, m1 is the weight of the first boom section, m2 is the weight of the second boom section, and L... max L is the full extension length of the boom. real To effectively support the lever arm, S 1有 S is the force-bearing area of ​​the rod chamber of the luffing cylinder. 1无 This refers to the force-bearing area of ​​the rodless chamber in the variable amplitude hydraulic cylinder.

[0022] In this embodiment, the operating modes include boom luffing mode and boom descent mode. When the operating mode is boom luffing mode or boom descent mode, the current actual power consumption of the hydraulic system is determined based on the operating mode, including:

[0023] Determine the effective working support force of the boom during boom luffing;

[0024] The effective power consumption of the hydraulic system is determined based on the effective working support force of the boom luffing mechanism.

[0025] The current actual power consumption of the hydraulic system is determined based on the effective power consumption of the hydraulic system and the initial boom angle.

[0026] In this embodiment, the operating modes include boom extension mode and boom retraction mode. The hydraulic system includes a telescopic cylinder. When the operating mode is boom extension mode or boom retraction mode, the current actual power consumption of the hydraulic system is determined based on the operating mode, including:

[0027] Determine the effective force of the boom's telescopic movement;

[0028] The cylinder pressure of the telescopic cylinder is determined based on the effective force of the boom's telescopic movement.

[0029] The actual power consumption of the hydraulic system is determined based on the cylinder pressure of the telescopic cylinder and the target movement speed.

[0030] In this embodiment of the application, when the working mode is boom extension mode, the current actual power consumption of the hydraulic system satisfies formula (3):

[0031]

[0032] When the working mode is boom retraction mode, the current actual power consumption of the hydraulic system satisfies formula (4):

[0033]

[0034] Among them, P 伸 P represents the current actual power consumption of the hydraulic system in boom extension mode. 缩 V represents the current actual power consumption of the hydraulic system in boom retraction mode, where V is the displacement of the fixed displacement pump and n is the engine speed. i Let K be the target velocity, m be the load ratio coefficient, m2 be the load weight, g be the gravity coefficient, θ1 be the initial boom angle, K2 be the boom ratio coefficient, f be the friction coefficient, and S be the target velocity. 2有 S is the force-bearing area of ​​the rod chamber of the telescopic hydraulic cylinder. 2无 This refers to the force-bearing area of ​​the rodless chamber of the telescopic hydraulic cylinder.

[0035] In this embodiment of the application, the working mode includes a combined working mode. When the working mode is a combined working mode, determining the current actual power consumption of the hydraulic system based on the working mode includes:

[0036] Determine the first and second working modes of the combined working modes;

[0037] Determine the first actual power consumption corresponding to the first operating mode, and determine the second actual power consumption corresponding to the second operating mode;

[0038] The first actual power consumption is added to the second actual power consumption to obtain the current actual power consumption of the hydraulic system.

[0039] A second aspect of this application provides a controller, comprising:

[0040] The memory is configured to store instructions; and

[0041] The processor is configured to retrieve instructions from memory and to implement the aforementioned power matching control method when executing instructions.

[0042] A third aspect of this application provides a boom-type engineering machinery, comprising:

[0043] engine;

[0044] The hydraulic system is connected to the engine.

[0045] The controller communicates with both the engine and the hydraulic system.

[0046] In this embodiment of the application, the hydraulic system includes:

[0047] The luffing cylinder is configured to drive the boom to luff;

[0048] The telescopic cylinder is configured to drive the boom to extend and retract.

[0049] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the power matching control method described above.

[0050] The above technical solution obtains the initial boom angle and determines the target movement speed and working mode of the boom-type construction machinery. Based on the working mode, the current actual power consumption of the hydraulic system is determined. Then, the target boom angle is predicted based on the initial boom angle and the target movement speed. Furthermore, combining the target boom angle and the current actual power consumption of the hydraulic system, the target actual power consumption of the hydraulic system is determined. Finally, the target actual power consumption of the hydraulic system is used as a feedforward control variable to adjust the engine's energy output curve, ensuring that the engine's actual output power matches the target actual power consumption of the hydraulic system. This application improves the accuracy of power matching for boom-type construction machinery by using the target actual power consumption of the hydraulic system as a feedforward control variable to adjust the engine's energy output curve.

[0051] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0052] 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:

[0053] Figure 1 The schematic diagram shows a partial structural view of a boom-type construction machinery according to an embodiment of this application;

[0054] Figure 2 A flowchart illustrating a power matching control method according to an embodiment of this application is shown schematically.

[0055] Figure 3 This schematic diagram illustrates a boom-type construction machinery in a boom luffing mode according to an embodiment of this application;

[0056] Figure 4 This schematic diagram illustrates a boom-type construction machinery in a boom luffing mode according to an embodiment of this application;

[0057] Figure 5 This schematic diagram illustrates a boom-type construction machinery in a boom extension mode according to an embodiment of this application;

[0058] Figure 6 This schematic diagram illustrates a boom-type construction machinery in a boom retraction mode according to an embodiment of this application;

[0059] Figure 7 A schematic block diagram of a controller according to an embodiment of this application is shown.

[0060] Explanation of reference numerals in the attached figures

[0061] 101 boom, 102 attachments, load cell

[0062] 103 Boom length sensor; 104 Hydraulic cylinder angle sensor

[0063] 105 Boom Angle Sensor 106 Hydraulic System

[0064] 107 controller 108 handle Detailed Implementation

[0065] 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.

[0066] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0067] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0068] Figure 1 A partial structural diagram of a boom-type construction machinery according to an embodiment of this application is schematically shown. Figure 1As shown, the boom-type construction machinery includes, but is not limited to, a boom 101, an attachment weighing sensor 102, a boom length sensor 103, a cylinder angle sensor 104, a boom angle sensor 105, a hydraulic system 106, a controller 107, a handle 108, and an engine (not shown in the figure). The controller 107 can obtain the initial boom angle of the boom 101 through the boom angle sensor 105. The controller 107 can obtain the cylinder angle through the cylinder angle sensor 104. The controller 107 can determine the length of each boom section through the boom length sensor 103. By determining the pushing amplitude and maximum pushing amplitude of the handle 108, the controller 107 can determine the target movement speed of the boom-type construction machinery, and, based on the signal sent by the handle 108, the controller 107 can determine the operating mode of the boom-type construction machinery. Thus, through the aforementioned components and the multiple parameters obtained through these components, the controller 107 can control the power of the hydraulic system to match the engine power.

[0069] Figure 2 A flowchart illustrating a power matching control method according to an embodiment of this application is shown schematically. Figure 2 As shown in the figure, this application provides a power matching control method applied to the controller of a boom-type construction machinery. The boom-type construction machinery also includes an engine and a hydraulic system. The controller communicates with the engine and the hydraulic system respectively. The control method may include the following steps:

[0070] Step 201: Obtain the initial boom angle;

[0071] Step 202: Determine the target movement speed and working mode of the boom-type construction machinery;

[0072] Step 203: Determine the current actual power consumption of the hydraulic system based on the working mode;

[0073] Step 204: Predict the target boom angle based on the initial boom angle and the target's movement speed;

[0074] Step 205: Determine the target actual power consumption of the hydraulic system by combining the target boom angle and the current actual power consumption of the hydraulic system;

[0075] Step 206: Use the target actual power consumption of the hydraulic system as a feedforward control quantity to adjust the engine's energy output curve so that the engine's actual output power matches the target actual power consumption of the hydraulic system.

[0076] In this embodiment, through feedforward control, the controller can control the power matching between the engine and the hydraulic system. First, the controller can receive the initial boom angle sent by the boom angle sensor. The initial boom angle refers to the angle between the boom and the horizontal plane at the current moment. Furthermore, based on the structural and engine power parameters, the controller can determine the maximum operating speed that the vehicle can achieve at any position and under any load. The maximum operating speed satisfies formula (5):

[0077] V max =Q(m,L,θ1); (5)

[0078] Among them, V max Q is the maximum working speed, which is a set function of the maximum working speed under a certain load, boom length, and initial boom angle. m is the weight of the load, L is the boom length, and θ1 is the initial boom angle.

[0079] By determining the pushing amplitude and maximum pushing amplitude of the handle, the controller can determine the target movement speed of the boom-type construction machinery. The target movement speed satisfies formula (6):

[0080]

[0081] Among them, V i For the target velocity, C i To drive the magnitude, C max For maximum thrust, V max This is the maximum operating speed.

[0082] Simultaneously, based on the signals sent by the handle, the controller can determine the operating mode of the boom-type construction machinery. Operating modes include boom luffing mode, boom lowering mode, boom extension mode, boom retraction mode, and a combination of these modes. The actual power consumption of the hydraulic system differs under different operating modes. Therefore, based on the operating mode of the boom-type construction machinery, the controller can determine the actual power consumption of the hydraulic system by combining parameters such as the initial boom angle, cylinder angle, boom length, load, and target movement speed.

[0083] Furthermore, since the target's velocity is constant during boom movement, the controller can predict the target boom angle based on the initial boom angle and the target's velocity. The target boom angle refers to the predicted boom angle for the next sampling period. The target boom angle satisfies formula (7):

[0084] θ=θ1+V i △t; (7)

[0085] Where θ is the target boom angle, θ1 is the initial boom angle, and V i Let be the target velocity, and Δt be the sampling period.

[0086] By combining the target boom angle and the current actual power consumption of the hydraulic system, the controller can determine the target actual power consumption of the hydraulic system. The target actual power consumption of the hydraulic system refers to the predicted power consumption of the hydraulic system in the next sampling period. When the target speed is constant, based on the relationship between the current actual power consumption of the hydraulic system and the target boom angle, the power required by the hydraulic system in the next stage can be directly predicted, that is, the target actual power consumption of the hydraulic system can be predicted. In other words, when the working mode is boom luffing mode, the target actual power consumption of the hydraulic system satisfies formula (8):

[0087]

[0088] When the working mode is boom luffing mode, the target actual power consumption of the hydraulic system satisfies formula (9):

[0089]

[0090] Among them, P real升 (θ,t,C i P(n) represents the target actual power consumption of the hydraulic system in the boom luffing mode. real降 (θ,t,C i (n) represents the target actual power consumption of the hydraulic system in boom luffing mode, V is the displacement of the fixed displacement pump, and n is the engine speed. i Let K be the target motion speed, K be the load proportionality coefficient, m be the load weight, g be the gravity coefficient, θ be the target boom angle, L be the boom length, K1 be the proportionality coefficient for one boom section, K2 be the proportionality coefficient for two boom sections, L1 be the length of one boom section, L2 be the length of two boom sections, m1 be the weight of one boom section, m2 be the weight of two boom sections, and L be the weight of two boom sections. max L is the full extension length of the boom. real To effectively support the lever arm, C i To drive the magnitude, C max For maximum thrust, V max1 S represents the maximum operating speed in boom luffing or boom descent modes. 1无 S is the force-bearing area of ​​the rodless chamber of the luffing cylinder. 1有 This refers to the force-bearing area of ​​the rod chamber in the variable amplitude hydraulic cylinder.

[0091] When the working mode is boom extension mode or boom retraction mode, since the effective force of boom extension and retraction is equal to the actual driving force of the hydraulic system during the boom extension and retraction movement, the controller can determine the target actual power consumption of the hydraulic system based on the target movement speed and the target boom angle.

[0092] Finally, the controller can use the target actual power consumption of the hydraulic system as a feedforward control variable to adjust the engine's energy output curve, ensuring that the engine's actual output power matches the hydraulic system's target actual power consumption. The controller can preset a matching difference value, which can be determined based on actual conditions. During the adjustment of the engine's energy output curve, if the difference between the engine's actual output power and the hydraulic system's target actual power consumption is less than the preset matching difference value, power matching between the engine and the hydraulic system can be confirmed.

[0093] The above technical solution obtains the initial boom angle and determines the target movement speed and working mode of the boom-type construction machinery. Based on the working mode, the current actual power consumption of the hydraulic system is determined. Then, the target boom angle is predicted based on the initial boom angle and the target movement speed. Furthermore, combining the target boom angle and the current actual power consumption of the hydraulic system, the target actual power consumption of the hydraulic system is determined. Finally, the target actual power consumption of the hydraulic system is used as a feedforward control variable to adjust the engine's energy output curve, ensuring that the engine's actual output power matches the target actual power consumption of the hydraulic system. This application improves the accuracy of power matching for boom-type construction machinery by using the target actual power consumption of the hydraulic system as a feedforward control variable to adjust the engine's energy output curve.

[0094] In this embodiment, the operating modes include boom luffing and raising mode and boom luffing and lowering mode. The hydraulic system includes a luffing cylinder. When the operating mode is boom luffing and raising mode or boom luffing and lowering mode, determining the current actual power consumption of the hydraulic system based on the operating mode may include:

[0095] Obtain the cylinder angle and force-bearing area of ​​the variable amplitude hydraulic cylinder;

[0096] Determine the effective working support force of the boom during boom luffing;

[0097] The actual working pressure of the luffing cylinder is determined based on the effective working support force of the boom luffing and the cylinder angle of the luffing cylinder.

[0098] The cylinder pressure of the luffing cylinder is determined based on the actual working pressure and the force-bearing area of ​​the luffing cylinder.

[0099] The actual power consumption of the hydraulic system is determined based on the cylinder pressure of the luffing cylinder.

[0100] In this embodiment, the operating modes include boom luffing raising mode, boom luffing lowering mode, boom extension mode, boom retraction mode, and a combination of operating modes. When the operating mode is boom luffing raising mode or boom luffing lowering mode, the controller can determine the actual cylinder pressure acting on the luffing cylinder, thereby determining the current actual power consumption of the hydraulic system. The controller can acquire the cylinder angle and force-bearing area of ​​the luffing cylinder and determine the effective working support force of the boom luffing. Thus, the controller can determine the actual working pressure of the luffing cylinder based on the effective working support force of the boom luffing and the cylinder angle, and then determine the cylinder pressure of the luffing cylinder based on the actual working pressure and the force-bearing area of ​​the luffing cylinder. The controller can acquire the engine speed and the displacement of the hydraulic system's fixed displacement pump. Combining the engine speed, fixed displacement pump displacement, and cylinder pressure of the luffing cylinder, the controller can determine the current actual power consumption of the hydraulic system. Thus, the controller can determine the current actual power consumption of the hydraulic system to further determine the target actual power consumption of the hydraulic system.

[0101] Figure 3 This schematically illustrates a boom-type construction machinery in a boom luffing mode according to an embodiment of this application. Figure 3 As shown in this embodiment, when the working mode is boom luffing mode, the current actual power consumption of the hydraulic system satisfies formula (1):

[0102]

[0103] Figure 4 This schematically illustrates a boom-type construction machinery in a boom luffing mode according to an embodiment of this application. Figure 4 As shown, when the working mode is boom luffing mode, the current actual power consumption of the hydraulic system satisfies formula (2):

[0104]

[0105] Among them, P 升 P represents the current actual power consumption of the hydraulic system in boom luffing mode. 降 V represents the current actual power consumption of the hydraulic system in boom luffing mode, where V is the displacement of the fixed displacement pump, n is the engine speed, K is the load proportionality coefficient, m is the weight of the load, g is the gravity coefficient, θ1 is the initial boom angle, K1 is the proportionality coefficient for the first boom section, K2 is the proportionality coefficient for the second boom section, L1 is the length of the first boom section, L2 is the length of the second boom section, m1 is the weight of the first boom section, m2 is the weight of the second boom section, and L... max L is the full extension length of the boom. real To effectively support the lever arm, S 1有 S is the force-bearing area of ​​the rod chamber of the luffing cylinder.1无 This refers to the force-bearing area of ​​the rodless chamber in the variable amplitude hydraulic cylinder.

[0106] In this embodiment of the application, when the working mode is boom luffing mode, the force analysis of the boom-type construction machinery can be performed to derive formula (10):

[0107] F k1 ·L+Fb2 k1 ·L b2 +Fb1 k1 ·L b1 =F real1 ·L real (10)

[0108] Among them, F k1 The force perpendicular to the boom direction can be obtained through the attachment load cell, where L is the boom length obtained by the boom length sensor, and Fb2 is the force. k1 L is the component of the weight of the two-section boom perpendicular to the boom direction. b2 Fb1 is the length of the lever arm from the center of gravity of the two-section arm to the moment support point. k1 L is the component of the weight of a boom section perpendicular to the boom direction. b1 F is the length of the lever arm from the center of gravity of one arm segment to the moment support point. real1 L is the effective working support force for boom luffing in boom luffing mode. real To effectively support the lever arm.

[0109] Therefore, the effective working support force of the boom in the boom luffing mode can be obtained by formula (11):

[0110]

[0111] Since the effective working support force of the boom luffing system and the actual working pressure of the luffing cylinder have a certain quantitative relationship, and this quantitative relationship is related to the cylinder angle, the controller can determine the actual working pressure of the luffing cylinder based on the effective working support force of the boom luffing system and the cylinder angle. The actual working pressure of the luffing cylinder satisfies formula (12):

[0112]

[0113] When the working mode is boom luffing mode, since the force-bearing area of ​​the luffing cylinder is a constant value, the controller can determine the cylinder pressure of the luffing cylinder based on the force-bearing area of ​​the rodless chamber and the actual working pressure of the luffing cylinder. The cylinder pressure of the luffing cylinder satisfies formula (13):

[0114]

[0115] Among them, Freal1 F is the effective working support force for boom luffing in boom luffing mode. k1 The force perpendicular to the boom direction can be obtained through the attachment load cell, where L is the boom length obtained by the boom length sensor, and Fb2 is the force. k1 L is the component of the weight of the two-section boom perpendicular to the boom direction. b2 Fb1 is the length of the lever arm from the center of gravity of the two-section arm to the moment support point. k1 L is the component of the weight of a boom section perpendicular to the boom direction. b1 L is the length of the lever arm from the center of gravity of one arm segment to the moment support point. real To effectively support the lever arm, F 油 Where P is the actual working pressure of the luffing cylinder, K is the proportional coefficient of the load, m is the weight of the load, g is the gravity coefficient, θ1 is the initial boom angle, θ2 is the cylinder angle of the luffing cylinder, L is the boom length, K1 is the proportional coefficient of the first boom section, K2 is the proportional coefficient of the second boom section, L1 is the length of the first boom section, L2 is the length of the second boom section, m1 is the weight of the first boom section, m2 is the weight of the second boom section, and L... max L is the full extension length of the boom. real To effectively support the lever arm, S 1无 This refers to the force-bearing area of ​​the rodless chamber in the variable amplitude hydraulic cylinder.

[0116] Each initial boom angle corresponds to the cylinder angle of the luffing cylinder. Through actual testing, the matching relationship between the initial boom angle and the cylinder angle under all working conditions can be obtained. Therefore, the cylinder angle of the luffing cylinder can be replaced by f(θ1). Furthermore, since the actual power consumption of the hydraulic system in boom luffing or boom lowering modes satisfies formula (14), the controller can determine the actual power consumption of the hydraulic system based on the cylinder pressure of the luffing cylinder. Thus, the controller can ultimately determine that the actual power consumption of the hydraulic system satisfies formula (1).

[0117]

[0118] Among them, P real The current actual power consumption P of the hydraulic system in boom luffing mode. 升 Or the current actual power consumption P of the hydraulic system in boom luffing mode 降 V is the displacement of the fixed displacement pump, n is the engine speed, and P is the cylinder pressure of the variable amplitude cylinder.

[0119] When the working mode is boom luffing mode, analysis of the entire motion process shows that the driving force for boom luffing is the hydraulic driving force received by the rod chamber of the luffing cylinder and the gravity load borne by the luffing cylinder. The boom luffing process is essentially a manifestation of the luffing process of the luffing cylinder. Therefore, based on the fact that the pressure on the rodless chamber during the luffing process is the same as the pressure on the rod chamber during the luffing process, the actual power consumption of the hydraulic system in boom luffing mode satisfies formula (14).

[0120] From the structure of the luffing cylinder, it can be seen that when the luffing cylinder moves at a certain speed, the pressure in the rod chamber is the same as the pressure in the rodless chamber. However, since the effective working area of ​​the rod chamber is smaller than that of the rodless chamber, the flow rate pumped by the hydraulic system is not the same. Therefore, in the case of boom luffing mode, compared with boom lifting mode, only a small amount of hydraulic oil needs to be pumped to the rod chamber to achieve the same pressure as the rodless chamber. Based on the above analysis, it can be concluded that when the target speed is constant, the current actual power consumption of the hydraulic system satisfies formula (2). In this way, the controller can determine the current actual power consumption of the hydraulic system so as to further determine the target actual power consumption of the hydraulic system.

[0121] In this embodiment, the operating modes include boom luffing mode and boom descent mode. When the operating mode is boom luffing mode or boom descent mode, determining the current actual power consumption of the hydraulic system based on the operating mode may include:

[0122] Determine the effective working support force of the boom during boom luffing;

[0123] The effective power consumption of the hydraulic system is determined based on the effective working support force of the boom luffing mechanism.

[0124] The current actual power consumption of the hydraulic system is determined based on the effective power consumption of the hydraulic system and the initial boom angle.

[0125] In this embodiment, when the working mode is boom luffing or boom descent, the controller can determine the current actual power consumption of the hydraulic system based on the effective power consumption and the initial boom angle. When the working mode is boom luffing, the controller can determine the effective working support force of the boom luffing and, based on that force, determine the effective power consumption of the hydraulic system. Therefore, the effective power consumption of the hydraulic system satisfies formula (15):

[0126]

[0127] Among them, P 有Where K is the effective power consumption of the hydraulic system, m is the load proportionality coefficient, g is the gravity coefficient, θ1 is the initial boom angle, L is the boom length, K1 is the proportionality coefficient for the first boom section, K2 is the proportionality coefficient for the second boom section, L1 is the length of the first boom section, L2 is the length of the second boom section, m1 is the weight of the first boom section, m2 is the weight of the second boom section, and L... max L is the full extension length of the boom. real To effectively support the lever arm, C i To drive the magnitude, C max For maximum thrust, V max1 This refers to the maximum operating speed in boom luffing or boom lowering modes.

[0128] Since there is a quantitative relationship between the current actual power consumption of the hydraulic system, the effective power consumption of the hydraulic system, and the initial boom angle, the controller can determine the current actual power consumption of the hydraulic system based on the effective power consumption of the hydraulic system and the initial boom angle. The quantitative relationship between the current actual power consumption of the hydraulic system, the effective power consumption of the hydraulic system, and the initial boom angle satisfies formula (16):

[0129]

[0130] Among them, P real The current actual power consumption P of the hydraulic system in boom luffing mode. 升 Or the current actual power consumption P of the hydraulic system in boom luffing mode 降 P 有 θ1 represents the effective power consumption of the hydraulic system, and θ1 represents the initial boom angle.

[0131] When the working mode is boom luffing mode, the relationship between the effective power consumption of the hydraulic system and the effective working support force of the boom luffing mode satisfies formula (17):

[0132] P 有 =F 拉 ·V i ·sinθ2; (17)

[0133] Among them, P 有 For the effective power consumption of the hydraulic system, F 拉 V is the effective working support force for boom luffing in boom luffing mode. i Let θ be the target velocity, and θ2 be the cylinder angle of the variable amplitude cylinder.

[0134] At this point, the effective power consumption of the hydraulic system satisfies formula (18):

[0135]

[0136] Combining formula (17), the controller can obtain the current actual power consumption of the hydraulic system in the boom luffing mode based on the effective power consumption of the hydraulic system and the initial boom angle.

[0137] In this embodiment, the operating modes include boom extension mode and boom retraction mode. The hydraulic system includes a telescopic cylinder. When the operating mode is boom extension mode or boom retraction mode, determining the current actual power consumption of the hydraulic system based on the operating mode may include:

[0138] Determine the effective force of the boom's telescopic movement;

[0139] The cylinder pressure of the telescopic cylinder is determined based on the effective force of the boom's telescopic movement.

[0140] The actual power consumption of the hydraulic system is determined based on the cylinder pressure of the telescopic cylinder and the target movement speed.

[0141] In this embodiment, the operating modes include boom luffing mode, boom lowering mode, boom extension mode, boom retraction mode, and a combination of operating modes. When the operating mode is boom extension or boom retraction mode, analysis of the boom extension / retraction motion reveals that the effective force of the boom extension / retraction motion consists of the component of the telescopic cylinder's own weight perpendicular to the boom direction and the component of the load's weight perpendicular to the boom direction. Based on force balance, the controller can determine the cylinder pressure of the telescopic cylinder according to the effective force of the boom extension / retraction motion, thereby obtaining the current actual power consumption of the hydraulic system when the boom extends / retracts at the target speed. In this way, the controller can determine the current actual power consumption of the hydraulic system in boom extension or boom retraction mode.

[0142] Figure 5 This schematically illustrates a boom-type construction machinery in a boom extension mode according to an embodiment of this application. Figure 5 As shown in this embodiment, when the working mode is boom extension mode, the current actual power consumption of the hydraulic system can satisfy formula (3):

[0143]

[0144] Figure 6 This schematically illustrates a boom-type construction machinery in a boom-retracted mode according to an embodiment of this application. Figure 6 As shown, when the working mode is boom retraction mode, the current actual power consumption of the hydraulic system can satisfy formula (4):

[0145]

[0146] Among them, P 伸P represents the current actual power consumption of the hydraulic system in boom extension mode. 缩 V represents the current actual power consumption of the hydraulic system in boom retraction mode, where V is the displacement of the fixed displacement pump and n is the engine speed. i Let K be the target velocity, m be the load ratio coefficient, m2 be the load weight, g be the gravity coefficient, θ1 be the initial boom angle, K2 be the boom ratio coefficient, f be the friction coefficient, and S be the target velocity. 2有 S is the force-bearing area of ​​the rod chamber of the telescopic hydraulic cylinder. 2无 This refers to the force-bearing area of ​​the rodless chamber of the telescopic hydraulic cylinder.

[0147] In this embodiment, when the operating mode is boom extension mode or boom retraction mode, analysis of the boom extension and retraction motion process reveals that the effective force of the boom extension and retraction motion consists of the component of the telescopic cylinder's own weight perpendicular to the boom direction and the component of the load's weight perpendicular to the boom direction. Based on force balance, the controller can determine the cylinder pressure of the telescopic cylinder according to the effective force of the boom extension and retraction motion, and thus obtain the current actual power consumption of the hydraulic system when the boom extends and retracts at the target speed. In this way, the controller can determine the current actual power consumption of the hydraulic system in boom extension mode or boom retraction mode.

[0148] In this application embodiment, the working mode includes a combined working mode. When the working mode is a combined working mode, determining the current actual power consumption of the hydraulic system based on the working mode may include:

[0149] Determine the first and second working modes of the combined working modes;

[0150] Determine the first actual power consumption corresponding to the first operating mode, and determine the second actual power consumption corresponding to the second operating mode;

[0151] The first actual power consumption is added to the second actual power consumption to obtain the current actual power consumption of the hydraulic system.

[0152] In this embodiment, the combined operating modes may include boom extension combined with boom luffing, boom retraction combined with boom luffing, boom extension combined with boom descent, and boom retraction combined with boom descent. The controller can determine a first operating mode and a second operating mode of the combined operating modes, and further determine a first actual power consumption corresponding to the first operating mode and a second actual power consumption corresponding to the second operating mode. By adding the first actual power consumption and the second actual power consumption, the controller can obtain the current actual power consumption of the hydraulic system. In one example, if the operating mode is boom extension combined with boom luffing, then the first operating mode can be determined as boom luffing mode, the second operating mode as boom extension mode, and the current actual power consumption of the hydraulic system in boom luffing mode and boom extension mode can be further determined. Subsequently, by adding the current actual power consumption of the hydraulic system in boom luffing mode and boom extension mode, the current actual power consumption of the hydraulic system can be determined. Thus, the controller can determine the current actual power consumption of the hydraulic system in the combined operating modes.

[0153] Figure 7 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 7 As shown in the figure, this application provides a controller that may include:

[0154] Memory 710 is configured to store instructions; and

[0155] The processor 720 is configured to retrieve instructions from the memory 710 and to implement the aforementioned power matching control method when executing instructions.

[0156] Specifically, in this embodiment of the application, the processor 720 can be configured to:

[0157] Obtain the initial boom angle;

[0158] Determine the target movement speed and working mode of the boom-type construction machinery;

[0159] Based on the operating mode, determine the current actual power consumption of the hydraulic system;

[0160] Predict the target boom angle based on the initial boom angle and the target's movement speed;

[0161] By combining the target boom angle and the current actual power consumption of the hydraulic system, the target actual power consumption of the hydraulic system is determined;

[0162] The target actual power consumption of the hydraulic system is used as a feedforward control variable to adjust the engine's energy output curve, so that the engine's actual output power matches the target actual power consumption of the hydraulic system.

[0163] Furthermore, the processor 720 can also be configured as follows:

[0164] Obtain the cylinder angle and force-bearing area of ​​the variable amplitude hydraulic cylinder;

[0165] Determine the effective working support force of the boom during boom luffing;

[0166] The actual working pressure of the luffing cylinder is determined based on the effective working support force of the boom luffing and the cylinder angle of the luffing cylinder.

[0167] The cylinder pressure of the luffing cylinder is determined based on the actual working pressure and the force-bearing area of ​​the luffing cylinder.

[0168] The actual power consumption of the hydraulic system is determined based on the cylinder pressure of the luffing cylinder.

[0169] In this embodiment of the application, when the working mode is boom luffing mode, the current actual power consumption of the hydraulic system satisfies formula (1):

[0170]

[0171] When the working mode is boom luffing mode, the actual power consumption of the hydraulic system currently satisfies formula (2):

[0172]

[0173] Among them, P 升 P represents the current actual power consumption of the hydraulic system in boom luffing mode. 降 V represents the current actual power consumption of the hydraulic system in boom luffing mode, where V is the displacement of the fixed displacement pump, n is the engine speed, K is the load proportionality coefficient, m is the weight of the load, g is the gravity coefficient, θ1 is the initial boom angle, K1 is the proportionality coefficient for the first boom section, K2 is the proportionality coefficient for the second boom section, L1 is the length of the first boom section, L2 is the length of the second boom section, m1 is the weight of the first boom section, m2 is the weight of the second boom section, and L... max L is the full extension length of the boom. real To effectively support the lever arm, S 1有 S is the force-bearing area of ​​the rod chamber of the luffing cylinder. 1无 This refers to the force-bearing area of ​​the rodless chamber in the variable amplitude hydraulic cylinder.

[0174] Furthermore, the processor 720 can also be configured as follows:

[0175] Determine the effective working support force of the boom during boom luffing;

[0176] The effective power consumption of the hydraulic system is determined based on the effective working support force of the boom luffing mechanism.

[0177] The current actual power consumption of the hydraulic system is determined based on the effective power consumption of the hydraulic system and the initial boom angle.

[0178] Furthermore, the processor 720 can also be configured as follows:

[0179] Determine the effective force of the boom's telescopic movement;

[0180] The cylinder pressure of the telescopic cylinder is determined based on the effective force of the boom's telescopic movement.

[0181] The actual power consumption of the hydraulic system is determined based on the cylinder pressure of the telescopic cylinder and the target movement speed.

[0182] In this embodiment of the application, when the working mode is boom extension mode, the current actual power consumption of the hydraulic system satisfies formula (3):

[0183]

[0184] When the working mode is boom retraction mode, the current actual power consumption of the hydraulic system satisfies formula (4):

[0185]

[0186] Among them, P 伸 P represents the current actual power consumption of the hydraulic system in boom extension mode. 缩 V represents the current actual power consumption of the hydraulic system in boom retraction mode, where V is the displacement of the fixed displacement pump and n is the engine speed. i Let K be the target velocity, m be the load ratio coefficient, m2 be the load weight, g be the gravity coefficient, θ1 be the initial boom angle, K2 be the boom ratio coefficient, f be the friction coefficient, and S be the target velocity. 2有 S is the force-bearing area of ​​the rod chamber of the telescopic hydraulic cylinder. 2无 This refers to the force-bearing area of ​​the rodless chamber of the telescopic hydraulic cylinder.

[0187] Furthermore, the processor 720 can also be configured as follows:

[0188] Determine the first and second working modes of the combined working modes;

[0189] Determine the first actual power consumption corresponding to the first operating mode, and determine the second actual power consumption corresponding to the second operating mode;

[0190] The first actual power consumption is added to the second actual power consumption to obtain the current actual power consumption of the hydraulic system.

[0191] The above technical solution obtains the initial boom angle and determines the target movement speed and working mode of the boom-type construction machinery. Based on the working mode, the current actual power consumption of the hydraulic system is determined. Then, the target boom angle is predicted based on the initial boom angle and the target movement speed. Furthermore, combining the target boom angle and the current actual power consumption of the hydraulic system, the target actual power consumption of the hydraulic system is determined. Finally, the target actual power consumption of the hydraulic system is used as a feedforward control variable to adjust the engine's energy output curve, ensuring that the engine's actual output power matches the target actual power consumption of the hydraulic system. This application improves the accuracy of power matching for boom-type construction machinery by using the target actual power consumption of the hydraulic system as a feedforward control variable to adjust the engine's energy output curve.

[0192] like Figure 1 As shown, a third aspect of this application provides a boom-type construction machinery, which may include:

[0193] engine;

[0194] Hydraulic system 106, connected to the engine;

[0195] The controller 107 communicates with the engine and the hydraulic system 106 respectively.

[0196] In this embodiment, the boom-type construction machinery includes an engine (not shown), a hydraulic system 106, and a controller 107. The hydraulic system 106 is connected to the engine. The controller 107 communicates with both the engine and the hydraulic system 106. The controller 107 can predict the target actual power consumption of the hydraulic system 106 and use this target actual power consumption as a feedforward control quantity to adjust the engine's energy output curve, thereby matching the engine's actual output power with the hydraulic system 106's target actual power consumption. This achieves power matching between the engine and the hydraulic system 106, thus meeting the operational requirements of the boom-type construction machinery.

[0197] In this embodiment of the application, the hydraulic system may include:

[0198] The luffing cylinder is configured to drive the boom to luff;

[0199] The telescopic cylinder is configured to drive the boom to extend and retract.

[0200] In this embodiment, the hydraulic system may include a luffing cylinder and a telescopic cylinder. The luffing cylinder is used to drive the boom to luff, and the telescopic cylinder is used to drive the boom to extend or retract.

[0201] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the power matching control method described above.

[0202] 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.

[0203] 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, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0204] 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, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0205] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0206] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0207] 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.

[0208] 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 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.

[0209] 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.

[0210] 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 power matching control method, characterized in that, A controller for boom-type construction machinery, the boom-type construction machinery further including an engine and a hydraulic system, the controller communicating with the engine and the hydraulic system respectively, the control method including: Obtain the initial boom angle; Determine the target movement speed and working mode of the boom-type construction machinery; Based on the aforementioned working mode, and in conjunction with the initial boom angle, boom length, load weight, and cylinder parameters of the hydraulic system, the current actual power consumption of the hydraulic system is determined. Predict the target boom angle based on the initial boom angle and the target movement speed; The target actual power consumption of the hydraulic system is determined by combining the target boom angle and the current actual power consumption of the hydraulic system. The target actual power consumption of the hydraulic system is used as a feedforward control quantity to adjust the energy output curve of the engine, so that the actual output power of the engine matches the target actual power consumption of the hydraulic system.

2. The control method according to claim 1, characterized in that, The operating modes include boom luffing mode and boom lowering mode. The hydraulic system includes a luffing cylinder. When the operating mode is either boom luffing mode or boom lowering mode, determining the current actual power consumption of the hydraulic system based on the operating mode includes: Obtain the cylinder angle and force-bearing area of ​​the variable amplitude cylinder; Determine the effective working support force of the boom during boom luffing; The actual working pressure of the luffing cylinder is determined based on the effective working support force of the boom luffing and the cylinder angle of the luffing cylinder. The cylinder pressure of the luffing cylinder is determined based on the actual working pressure of the luffing cylinder and the force-bearing area of ​​the luffing cylinder. The actual power consumption of the hydraulic system is determined based on the cylinder pressure of the variable amplitude cylinder.

3. The control method according to claim 2, characterized in that, When the operating mode is the boom luffing mode, the current actual power consumption of the hydraulic system satisfies formula (1): ； （1） When the operating mode is the boom luffing mode, the current actual power consumption of the hydraulic system satisfies formula (2): ；（2） in, This represents the current actual power consumption of the hydraulic system in boom luffing mode. This represents the current actual power consumption of the hydraulic system in boom luffing mode. For the displacement of a fixed displacement pump, Engine speed, The load proportionality factor, The weight of the load. The gravitational coefficient, The initial boom angle, For boom length, The angle function of the luffing cylinder corresponds to the initial boom angle. The scaling factor for one arm segment. This is the scaling factor for the two-section boom. The length of one arm segment, The length of the two-section arm. The weight of one arm segment, The weight of the two-section arm. This refers to the full extension length of the boom. To effectively support the lever arm, This refers to the force-bearing area of ​​the rod chamber of the variable amplitude cylinder. This refers to the force-bearing area of ​​the rodless chamber of the variable amplitude cylinder.

4. The control method according to claim 1, characterized in that, The operating modes include boom luffing mode and boom descent mode. When the operating mode is boom luffing mode or boom descent mode, determining the current actual power consumption of the hydraulic system based on the operating mode includes: Determine the effective working support force of the boom during boom luffing; The effective power consumption of the hydraulic system is determined based on the effective working support force of the boom luffing. The current actual power consumption of the hydraulic system is determined based on the effective power consumption of the hydraulic system and the initial boom angle.

5. The control method according to claim 1, characterized in that, The operating modes include boom extension mode and boom retraction mode. The hydraulic system includes a telescopic cylinder. When the operating mode is either boom extension mode or boom retraction mode, determining the current actual power consumption of the hydraulic system based on the operating mode includes: Determine the effective force of the boom's telescopic movement; The cylinder pressure of the telescopic cylinder is determined based on the effective force of the boom telescopic movement; The actual power consumption of the hydraulic system is determined based on the cylinder pressure of the telescopic cylinder and the target movement speed.

6. The control method according to claim 5, characterized in that, When the operating mode is the boom extension mode, the current actual power consumption of the hydraulic system satisfies formula (3): ；（3） When the operating mode is the boom retraction mode, the current actual power consumption of the hydraulic system satisfies formula (4): ；（4） in, This represents the current actual power consumption of the hydraulic system in boom extension mode. This represents the current actual power consumption of the hydraulic system in boom retraction mode. For the displacement of a fixed displacement pump, Engine speed, The target speed is... The load proportionality factor, The weight of the load. The weight of the two-section arm. The gravitational coefficient, The initial boom angle, This is the scaling factor for the two-section boom. The coefficient of friction, The force-bearing area of ​​the rod-side chamber of the telescopic cylinder. The force-bearing area of ​​the rodless cavity of the telescopic cylinder is given.

7. The control method according to claim 1, characterized in that, The operating mode includes a combined operating mode. When the operating mode is the combined operating mode, determining the current actual power consumption of the hydraulic system based on the operating mode includes: Determine the first and second working modes of the combined working modes; Determine the first actual power consumption corresponding to the first operating mode, and determine the second actual power consumption corresponding to the second operating mode; The first actual power consumption is added to the second actual power consumption to obtain the current actual power consumption of the hydraulic system.

8. A controller, characterized in that, include: The memory is configured to store instructions; as well as A processor configured to retrieve the instructions from the memory and, when executing the instructions, to implement the power matching control method according to any one of claims 1 to 7.

9. A boom-type engineering machinery, characterized in that, include: engine; A hydraulic system connected to the engine; The controller according to claim 8 communicates with both the engine and the hydraulic system.

10. The boom-type engineering machinery according to claim 9, characterized in that, The hydraulic system includes: The luffing cylinder is configured to drive the boom to luff; The telescopic cylinder is configured to drive the boom to extend and retract.

11. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the power matching control method according to any one of claims 1 to 7.

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