A control method and device for deviation of a walking excavator

Abstract

The application discloses a control method and device for walking deviation of an excavator, and the control method comprises the following steps: acquiring a first pilot pressure of a left walking pedal and a second pilot pressure of a right walking pedal when the left walking pedal and the right walking pedal are simultaneously stepped to the maximum depth; when it is determined that the excavator is walking in a straight line, calculating reference current setting values of a first main pump electromagnetic valve and a second main pump electromagnetic valve according to the first pilot pressure and the second pilot pressure; controlling the excavator to walk based on the reference current setting values, and acquiring output pressures of the first main pump and the second main pump; judging whether the excavator deviates during walking according to the output pressures of the first main pump and the second main pump, and adjusting final current setting values of the first main pump electromagnetic valve or the second main pump electromagnetic valve when it is determined that the excavator deviates during walking. The above technical scheme is used to solve the problem of walking deviation of the excavator, the control logic is simple and accurate, the labor cost is reduced, and the working efficiency of the excavator is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of excavators, and particularly relates to a control method and device for walking deviation of an excavator. BACKGROUND

[0002] An excavator is a multifunctional machine and is widely used in water conservancy projects, transportation, power engineering and mine excavation and other mechanical construction. The excavator is prone to walking deviation during walking, which affects the working efficiency of the excavator.

[0003] The existing technical solution usually adjusts the current set value according to the experience of an engineer on site according to the walking deviation degree of the excavator in the actual walking process, which not only easily leads to poor system control stability and reduces the working efficiency of the excavator, but also greatly wastes human resources. SUMMARY

[0004] The present application provides a control method and device for walking deviation of an excavator to solve the walking deviation problem caused by poor consistency of hydraulic components, has simple and accurate control logic, reduces labor costs, and improves the working efficiency of the excavator.

[0005] In a first aspect, an embodiment of the present application provides a control method for walking deviation of an excavator, comprising:

[0006] obtaining a first pilot pressure of a left walking pedal and a second pilot pressure of a right walking pedal when the left walking pedal and the right walking pedal are simultaneously stepped to the maximum depth;

[0007] when it is determined that the excavator is walking in a straight line, calculating a reference current set value of a first main pump electromagnetic valve and a second main pump electromagnetic valve according to the first pilot pressure and the second pilot pressure;

[0008] controlling the excavator to walk based on the reference current set value, and obtaining an output pressure of a first main pump and an output pressure of a second main pump, wherein the first main pump drives a left walking motor to realize left walking of the excavator, and the second main pump drives a right walking motor to realize right walking of the excavator;

[0009] judging whether the excavator walks deviated according to the output pressure of the first main pump and the output pressure of the second main pump, and adjusting a final current set value of the first main pump electromagnetic valve or the second main pump electromagnetic valve when it is determined that the excavator walks deviated.

[0010] Optionally, calculating the reference current set value of the first main pump electromagnetic valve and the second main pump electromagnetic valve according to the first pilot pressure and the second pilot pressure comprises:

[0011] determining a maximum pilot pressure from the first pilot pressure and the second pilot pressure, and determining the reference current setting value according to the maximum pilot pressure.

[0012] Optionally, determining whether the excavator is running off-center according to the output pressure of the first main pump and the output pressure of the second main pump comprises:

[0013] obtaining m1 output pressures of the first main pump and m2 output pressures of the second main pump, wherein m1 and m2 are both integers greater than 1;

[0014] calculating a first main pump output pressure average from the m1 output pressures of the first main pump, and calculating a second main pump output pressure average from the m2 output pressures of the second main pump;

[0015] determining whether an absolute value of a difference between the first main pump output pressure average and the second main pump output pressure average is greater than a first preset threshold value, and if so, determining that the excavator is running off-center, and if not, determining that the excavator is not running off-center.

[0016] Optionally, when it is determined that the excavator is running off-center, adjusting a final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve comprises:

[0017] when it is determined that the excavator is running off-center, continuing to determine whether the first main pump output pressure average is greater than the second main pump output pressure average;

[0018] if the first main pump output pressure average is greater than the second main pump output pressure average, adjusting the final current setting value of the first main pump electromagnetic valve to a difference between the reference current setting value and a correction current;

[0019] if the first main pump output pressure average is less than the second main pump output pressure average, adjusting the final current setting value of the second main pump electromagnetic valve to a difference between the reference current setting value and the correction current.

[0020] Optionally, before adjusting the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve, the method further comprises:

[0021] obtaining the correction current according to a first functional relationship, the first functional relationship being a change curve of the correction current with respect to an absolute value of a difference between the first main pump output pressure average and the second main pump output pressure average and a hydraulic oil temperature.

[0022] Optionally, after adjusting the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve, the method further comprises:

[0023] calculating an absolute value of a difference between the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve and the reference current setting value as a first difference value;

[0024] comparing the first difference value with a second preset threshold value, and determining that the first main pump or the second main pump has a fault when it is determined that the first difference value is greater than the second preset threshold value.

[0025] Optionally, the control method of the running deviation of the excavator further comprises:

[0026] comparing the first difference value with a third preset threshold value, and determining that the volumetric efficiency of the first main pump or the second main pump is low when it is determined that the first difference value is greater than the third preset threshold value and less than the second preset threshold value.

[0027] Optionally, the final current setting value of the first main pump electromagnetic valve is a first final current setting value, and the final current setting value of the second main pump electromagnetic valve is a second final current setting value.

[0028] After adjusting the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve, the method further comprises:

[0029] calculating an absolute value of a difference between the first final current setting value and the second final current setting value as a second difference value;

[0030] comparing the second difference value with a fourth preset threshold value, and determining that the volumetric efficiency of the main pump or the motor corresponding to the larger one of the first final current setting value and the second final current setting value is low when it is determined that the second difference value is greater than the fourth preset threshold value.

[0031] Optionally, before calculating the reference current setting values of the first main pump electromagnetic valve and the second main pump electromagnetic valve according to the first pilot pressure and the second pilot pressure when it is determined that the excavator runs in a straight line, the method comprises:

[0032] calculating an absolute value of a difference between the first pilot pressure and the second pilot pressure as a third difference value;

[0033] comparing the third difference value with a fifth preset threshold value, and determining that the excavator runs in a straight line when it is determined that the third difference value is less than the fifth preset threshold value.

[0034] In a second aspect, an embodiment of the present application provides a control device for running deviation of an excavator, comprising:

[0035] The first acquisition module is configured to acquire a first pilot pressure of the left walking pedal and a second pilot pressure of the right walking pedal when the left walking pedal and the right walking pedal are simultaneously depressed to the maximum depth.

[0036] The data processing module is configured to determine reference current setting values of the first main pump electromagnetic valve and the second main pump electromagnetic valve according to the first pilot pressure and the second pilot pressure.

[0037] The second acquisition module is configured to control the walking of the excavator based on the reference current setting values and acquire output pressures of the first main pump and the second main pump, wherein the first main pump drives a left walking motor to realize left walking of the excavator, and the second main pump drives a right walking motor to realize right walking of the excavator.

[0038] The current adjustment module is configured to determine whether the excavator deviates during walking according to the output pressures of the first main pump and the second main pump, and adjust final current setting values of the first main pump electromagnetic valve or the second main pump electromagnetic valve when it is determined that the excavator deviates during walking.

[0039] The scheme provided by the present application acquires the first pilot pressure of the left walking pedal and the second pilot pressure of the right walking pedal when the left walking pedal and the right walking pedal are simultaneously depressed to the maximum depth, determines reference current setting values of the first main pump electromagnetic valve and the second main pump electromagnetic valve according to the first pilot pressure and the second pilot pressure when the excavator walks in a straight line, controls the walking of the excavator based on the reference current setting values, acquires the output pressures of the first main pump and the second main pump when the excavator normally walks and the output pressures of the main pumps are stable, determines whether the excavator deviates during walking according to the output pressures of the first main pump and the second main pump, and adjusts the final current setting values of the first main pump electromagnetic valve or the second main pump electromagnetic valve when it is determined that the excavator deviates during walking. Through the self-learning process of the excavator, the first main pump electromagnetic valve and the second main pump electromagnetic valve of the excavator can control the excavator to walk in a straight line according to the adjusted final current setting values, the problem of walking deviation caused by poor consistency of hydraulic components is solved, the control logic is simple and accurate, the labor cost is reduced, and the working efficiency of the excavator is improved.

[0040] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to make the technical solutions of the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some specific embodiments of the present application. Based on the basic concepts of the device structure, driving method and manufacturing method disclosed and suggested by the various embodiments of the present application, other structures and drawings can be derived and extended by those skilled in the art, which should be within the scope of the claims of the present application.

[0042] Figure 1 A flow chart of a control method for walking deviation of an excavator according to an embodiment of the present application is shown in FIG. 1.

[0043] Figure 2 A control structure diagram of an excavator according to an embodiment of the present application is shown in FIG. 2.

[0044] Figure 3 A flow chart of another control method for walking deviation of an excavator according to an embodiment of the present application is shown in FIG. 3.

[0045] Figure 4 A flow chart of still another control method for walking deviation of an excavator according to an embodiment of the present application is shown in FIG. 4.

[0046] Figure 5 A flow chart of still another control method for walking deviation of an excavator according to an embodiment of the present application is shown in FIG. 5.

[0047] Figure 6 A flow chart of still another control method for walking deviation of an excavator according to an embodiment of the present application is shown in FIG. 6.

[0048] Figure 7 A flow chart of still another control method for walking deviation of an excavator according to an embodiment of the present application is shown in FIG. 7.

[0049] Figure 8 A structure diagram of a control device for walking deviation of an excavator according to an embodiment of the present application is shown in FIG. 8. DETAILED DESCRIPTION

[0050] In order to make the technical solutions of the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some specific embodiments of the present application. Based on the basic concepts of the device structure, driving method and manufacturing method disclosed and suggested by the various embodiments of the present application, other structures and drawings can be derived and extended by those skilled in the art, which should be within the scope of the claims of the present application.

[0051] Figure 1 A flow chart of a control method for walking deviation of an excavator according to an embodiment of the present application is shown in FIG. 1. Figure 1As shown, the control method specifically comprises the following steps:

[0052] S101, obtaining a first pilot pressure of the left walking pedal and a second pilot pressure of the right walking pedal when the left walking pedal and the right walking pedal are simultaneously stepped to the maximum depth.

[0053] Wherein, stepping the left walking pedal and the right walking pedal to the maximum depth can be understood as stepping the left walking pedal and the right walking pedal to the limit, so as to ensure that the walking pilot pressure generated by the left walking pedal and the right walking pedal of the excavator is maximum, so that the valve port of the walking valve core is fully opened, so as to exclude the possibility of running deviation caused by different opening degrees of the valve port of the walking valve core when judging whether the excavator runs deviation in the subsequent.

[0054] S102, when it is determined that the excavator runs straight, calculating the reference current setting value of the first main pump electromagnetic valve and the second main pump electromagnetic valve according to the first pilot pressure and the second pilot pressure.

[0055] Specifically, the displacement of the first main pump and the second main pump can be calculated according to the first pilot pressure and the second pilot pressure, and then the corresponding reference current setting value is calculated according to the corresponding relationship between the main pump displacement and the current, and the reference current setting value is output to the corresponding first main pump electromagnetic valve and the second main pump electromagnetic valve, so as to control the output power of the corresponding first main pump and the second main pump.

[0056] It should be noted that, whether the first pilot pressure and the second pilot pressure are the same when the left walking pedal and the right walking pedal are simultaneously stepped to the maximum depth, the initial current setting value of the first main pump electromagnetic valve and the second main pump electromagnetic valve is the same and is the reference current setting value when calculating the current setting value of the first main pump electromagnetic valve and the second main pump electromagnetic valve.

[0057] S103, controlling the excavator to run based on the reference current setting value, and obtaining the output pressure of the first main pump and the output pressure of the second main pump, wherein the first main pump drives the left walking motor to realize the left walking of the excavator, and the second main pump drives the right walking motor to realize the right walking of the excavator.

[0058] Specifically, the output pressure of the first main pump and the output pressure of the second main pump can be obtained when the excavator runs normally and the output pressure of the main pump is stable.

[0059] S104, judging whether the excavator runs deviation according to the output pressure of the first main pump and the output pressure of the second main pump, and adjusting the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve when it is determined that the excavator runs deviation.

[0060] It can be understood that, Figure 2 A control structure schematic diagram of the excavator provided by the embodiment of the present application is shown in the figure, Figure 2As shown, the excavator comprises a main controller 10, a left travel motor 20, a right travel motor 30, a first main pump 40, a second main pump 50, a first main pump solenoid valve 60, a second main pump solenoid valve 70, a left travel pedal 80 and a right travel pedal 90. The first main pump 40 can drive the left travel motor 20 to realize left travel of the excavator, the second main pump 50 can drive the right travel motor to realize right travel of the excavator, the first main pump solenoid valve 60 can control the output power of the first main pump 40, the second main pump solenoid valve 70 can control the output power of the second main pump 50, in addition, the left travel pedal 80 can control the control current of the first main pump solenoid valve 60, and the right travel pedal 90 can control the control current of the second main pump solenoid valve 70. Specifically, during travel of the excavator, the main controller can collect the pilot pressure of the left travel pedal and the pilot pressure of the right travel pedal, then calculate the required displacement according to the pilot pressure of the left travel pedal 80 and the pilot pressure of the right travel pedal 90, then calculate the corresponding current setting value according to the main pump displacement and current correspondence, and output to the corresponding main pump solenoid valve to control the output power of the corresponding main pump. However, when the consistency of the hydraulic components (such as the main pump or the main pump solenoid valve) is poor, it is easy to cause the problem of travel deviation.

[0061] Based on this, by acquiring the first pilot pressure of the left walking pedal and the second pilot pressure of the right walking pedal when the left walking pedal and the right walking pedal are simultaneously stepped to the maximum depth, the maximum walking pilot pressure generated by the left walking pedal and the right walking pedal of the excavator can be ensured, so that the valve port of the walking valve core is fully opened, and then the first main pump and the second main pump can be calculated according to the first pilot pressure and the second pilot pressure. The corresponding reference current setting value is calculated by the main pump displacement and the current corresponding relationship, the reference current setting value is output to the first main pump solenoid valve and the second main pump solenoid valve, and then the first main pump and the second main pump are controlled to drive the left walking motor and the right walking motor under the same output power, so as to make the excavator run. Further, when the excavator normally runs to the stable pressure output by the main pump, the output pressure of the first main pump and the output pressure of the second main pump can be continuously acquired, and whether the excavator runs off track can be judged according to the output pressure of the first main pump and the output pressure of the second main pump. If the excavator does not run off track, the control current of the first main pump solenoid valve and the second main pump solenoid valve can continue to be kept as the reference current setting value. If the current setting value of the first main pump solenoid valve or the second main pump solenoid valve needs to be adjusted when it is determined that the excavator runs off track, until the output pressure of the first main pump and the output pressure of the second main pump acquired satisfy the requirement of keeping the excavator running straight, at this time, the current setting value of the first main pump solenoid valve or the second main pump solenoid valve adjusted is the final current setting value. The final current setting value of the first main pump solenoid valve or the second main pump solenoid valve adjusted can be stored, so as to output the adjusted final current setting value to the first main pump solenoid valve or the second main pump solenoid valve when the excavator is restarted for straight running next time.

[0062] It should be noted that, since the current setting values of the first main pump solenoid valve and the second main pump solenoid valve are both reference current setting values when the excavator runs off track, by adjusting the current setting value of the first main pump solenoid valve or the second main pump solenoid valve, the final current setting value of the first main pump solenoid valve and the final current setting value of the second main pump solenoid valve after adjustment will be different. Among the final current setting value of the first main pump solenoid valve and the final current setting value of the second main pump solenoid valve, one of them may remain as the reference current setting value, or both of them may not equal to the reference current setting value. The adjustment and determination can be made according to the actual situation.

[0063] In the embodiment, the first pilot pressure of the left walking pedal and the second pilot pressure of the right walking pedal are obtained when the left walking pedal and the right walking pedal are stepped to the maximum depth, the reference current setting values of the first main pump electromagnetic valve and the second main pump electromagnetic valve are calculated according to the first pilot pressure and the second pilot pressure when it is determined that the excavator is in straight walking, and then the excavator is controlled based on the reference current setting values. When the excavator is in normal driving and the output pressure of the main pump is stable, the output pressure of the first main pump and the output pressure of the second main pump are obtained, and then it is determined whether the excavator is deviated according to the output pressure of the first main pump and the output pressure of the second main pump. When it is determined that the excavator is deviated, the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve is adjusted. Through the self-learning process of the excavator, the first main pump electromagnetic valve and the second main pump electromagnetic valve of the excavator can control the excavator to keep straight walking according to the adjusted final current setting value, the problem of walking deviation caused by poor consistency of hydraulic components is solved, the control logic is simple and accurate, the labor cost is reduced, and the working efficiency of the excavator is improved.

[0064] Optionally, with reference back to Figure 1 In step S102, the reference current setting values of the first main pump electromagnetic valve and the second main pump electromagnetic valve are calculated according to the first pilot pressure and the second pilot pressure, including: determining the maximum pilot pressure in the first pilot pressure and the second pilot pressure, and determining the reference current setting value according to the maximum pilot pressure.

[0065] Specifically, when the left walking pedal and the right walking pedal are stepped to the maximum depth, the first pilot pressure and the second pilot pressure are not necessarily the same due to the difference of the devices themselves. At this time, the first pilot pressure and the second pilot pressure collected can be compared with each other to determine the maximum pilot pressure therebetween. Thus, the displacement of the first main pump and the second main pump can be determined according to the maximum pilot pressure, the displacements of the two main pumps are the same, and then the corresponding reference current setting value can be calculated according to the displacement, and the reference current setting value is output to the first main pump electromagnetic valve and the second main pump electromagnetic valve respectively. In this way, the reference current setting value is determined by the maximum pilot pressure, which can avoid the deviation of the excavator caused by the difference in the depth of the left walking pedal and the right walking pedal.

[0066] Optionally, Figure 3 Another flowchart of the control method for excavator walking deviation provided by the embodiment is shown in Figure 3 as shown, in Figure 1On the basis, according to the output pressure of the first master pump and the output pressure of the second master pump, it is judged whether the excavator is running deviation, comprising: obtaining m1 output pressure of the first master pump and m2 output pressure of the second master pump, wherein m1 and m2 are both integers greater than 1;The output pressure average of the first master pump is calculated according to the output pressure of the first master pump, and the output pressure average of the second master pump is calculated according to the output pressure of the second master pump;It is judged whether the absolute value of the difference between the output pressure average of the first master pump and the output pressure average of the second master pump is greater than the first preset threshold value, if yes, it is determined that the excavator is running deviation, if not, it is determined that the excavator is not running deviation.

[0067] Therefore, the control method specifically comprises the following steps:

[0068] S201, the first pilot pressure of the left travel pedal and the second pilot pressure of the right travel pedal are obtained when the left travel pedal and the right travel pedal are simultaneously stepped to the maximum depth.

[0069] S202, when it is determined that the excavator is running straight, the reference current setting value of the first master pump solenoid valve and the second master pump solenoid valve is calculated according to the first pilot pressure and the second pilot pressure.

[0070] S203, the reference current setting value is used to control the excavator to run, and the output pressure of the first master pump and the output pressure of the second master pump are obtained, wherein the first master pump drives the left travel motor to realize the left travel of the excavator, and the second master pump drives the right travel motor to realize the right travel of the excavator.

[0071] S204, m1 output pressure of the first master pump and m2 output pressure of the second master pump are obtained, wherein m1 and m2 are both integers greater than 1.

[0072] Wherein, the value of m1 and m2 can be the same or different, which can be set according to actual demand.

[0073] S205, the output pressure average of the first master pump is calculated according to the output pressure of the first master pump, and the output pressure average of the second master pump is calculated according to the output pressure of the second master pump.

[0074] Specifically, the output pressure average of the first master pump is equal to the ratio of the sum of the output pressure of the first master pump to m1, and the output pressure average of the second master pump is equal to the ratio of the sum of the output pressure of the second master pump to m2.

[0075] S206, it is judged whether the absolute value of the difference between the output pressure average of the first master pump and the output pressure average of the second master pump is greater than the first preset threshold value, if yes, it is determined that the excavator is running deviation, if not, it is determined that the excavator is not running deviation.

[0076] The first preset threshold value can be set according to actual needs, and is not limited herein, for example, the first preset value is a value close to zero.

[0077] S207, when determining that the walking of the excavator is deviated, adjusting the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve.

[0078] In the embodiment, the output pressure average of the first main pump can be calculated by obtaining the output pressure of the m1 first main pumps, the output pressure average of the second main pump can be calculated by obtaining the output pressure of the m2 second main pumps, and then the absolute value of the difference between the output pressure average of the first main pump and the output pressure average of the second main pump is calculated. If the absolute value of the difference between the output pressure average of the first main pump and the output pressure average of the second main pump is greater than the first preset threshold value, it indicates that there is a large difference between the output pressure average of the first main pump and the output pressure average of the second main pump, that is, the control of the first main pump driving the left walking motor and the second main pump driving the right walking motor is unbalanced, thereby causing the walking of the excavator to be deviated. In this way, the current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve can be adjusted, and the output pressure average of the first main pump and the output pressure average of the second main pump can be recalculated until the absolute value of the difference between the output pressure average of the first main pump and the output pressure average of the second main pump is less than the first preset threshold value, it can be determined that the walking of the excavator is not deviated, and the adjustment of the current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve is stopped, and the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve is stored. On the contrary, if the absolute value of the difference between the output pressure average of the first main pump and the output pressure average of the second main pump is less than or equal to the first preset threshold value, it is determined that the walking of the excavator is not deviated, and the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve does not need to be adjusted, that is, the final current setting value of the first main pump electromagnetic valve and the second main pump electromagnetic valve remains the reference current setting value.

[0079] Optionally, Figure 4 The flow chart of another control method for excavator walking deviation provided by the embodiment of the present application is as follows: Figure 4The method comprises: adjusting the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve when it is determined that the excavator is running off-center, including: when it is determined that the excavator is running off-center, continuously determining whether the average value of the output pressure of the first main pump is greater than the average value of the output pressure of the second main pump; if the average value of the output pressure of the first main pump is greater than the average value of the output pressure of the second main pump, adjusting the final current setting value of the first main pump electromagnetic valve to be the difference between the reference current setting value and the correction current; and if the average value of the output pressure of the first main pump is less than the average value of the output pressure of the second main pump, adjusting the final current setting value of the second main pump electromagnetic valve to be the difference between the reference current setting value and the correction current. Therefore, the control method specifically comprises the following steps:

[0080] S301, acquiring the first pilot pressure of the left travel pedal and the second pilot pressure of the right travel pedal when the left travel pedal and the right travel pedal are simultaneously stepped to the maximum depth.

[0081] S302, when it is determined that the excavator is running in a straight line, calculating the reference current setting value of the first main pump electromagnetic valve and the second main pump electromagnetic valve according to the first pilot pressure and the second pilot pressure.

[0082] S303, controlling the excavator to run based on the reference current setting value, and acquiring the output pressure of the first main pump and the output pressure of the second main pump, wherein the first main pump drives the left travel motor to realize left travel of the excavator, and the second main pump drives the right travel motor to realize right travel of the excavator.

[0083] S304, acquiring m1 output pressures of the first main pump and m2 output pressures of the second main pump, wherein m1 and m2 are both integers greater than 1.

[0084] S305, calculating the average value of the output pressure of the first main pump according to the m1 output pressures of the first main pump, and calculating the average value of the output pressure of the second main pump according to the m2 output pressures of the second main pump.

[0085] S306, determining whether the absolute value of the difference between the average value of the output pressure of the first main pump and the average value of the output pressure of the second main pump is greater than a first preset threshold value, and if yes, determining that the excavator is running off-center, and if no, determining that the excavator is not running off-center.

[0086] S307, when it is determined that the excavator is running off-center, continuously determining whether the average value of the output pressure of the first main pump is greater than the average value of the output pressure of the second main pump.

[0087] S308, if the average value of the output pressure of the first main pump is greater than the average value of the output pressure of the second main pump, adjusting the final current setting value of the first main pump electromagnetic valve to be the difference between the reference current setting value and the correction current.

[0088] S309, if the output pressure average value of the first main pump is less than the output pressure average value of the second main pump, adjusting the final setting current of the second main pump electromagnetic valve to be the difference between the reference current setting value and the correction current.

[0089] In the embodiment, when it is determined that the excavator deviates from the straight line, the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve needs to be adjusted, so that the difference between the output pressure average value of the first main pump and the output pressure average value of the second main pump is reduced, and the excavator can walk in a straight line. In this way, by comparing the output pressure average value of the first main pump with the output pressure average value of the second main pump, for the one with larger output pressure average value, the final current setting value of the corresponding main pump electromagnetic valve can be adjusted to be equal to the reference current setting value minus the correction current. Specifically, if the output pressure average value of the first main pump is greater than the output pressure average value of the second main pump, the final setting current of the first main pump electromagnetic valve is adjusted to be the difference between the reference current setting value and the correction current. Conversely, if the output pressure average value of the first main pump is less than the output pressure average value of the second main pump, the final setting current of the second main pump electromagnetic valve is adjusted to be the difference between the reference current setting value and the correction current. In this way, the difference between the output pressure average value of the first main pump and the output pressure average value of the second main pump can be reduced, so that the excavator can walk in a straight line.

[0090] Optionally, with reference to the above Figure 4 Before adjusting the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve, the method further includes: obtaining the correction current according to a first function relationship, the first function relationship being a change curve of the correction current with respect to the absolute value of the difference between the output pressure average value of the first main pump and the output pressure average value of the second main pump and the hydraulic oil temperature.

[0091] Specifically, the specific size of the correction current is not only related to the absolute value of the difference between the output pressure average value of the first main pump and the output pressure average value of the second main pump, but also related to the hydraulic oil temperature. For example, the first function relationship can be represented as Δi=a*Δp+b / T, wherein Δi is the correction current, Δp is the absolute value of the difference between the output pressure average value of the first main pump and the output pressure average value of the second main pump, T is the hydraulic oil temperature, a and b are correction coefficients, and the change curve of the first function relationship can be fitted according to test data, and the specific values of a and b can be set according to actual conditions. According to the first function relationship, without considering the influence of the hydraulic oil temperature, the greater the absolute value Δp of the difference between the output pressure average value of the first main pump and the output pressure average value of the second main pump, the greater the value of the correction current required. Similarly, without considering the influence of the absolute value of the difference between the output pressure average value of the first main pump and the output pressure average value of the second main pump, the higher the hydraulic oil temperature, the smaller the value of the correction current. In this way, the absolute value of the difference between the output pressure average value of the first main pump and the output pressure average value of the second main pump calculated at the current time and the hydraulic oil temperature can be obtained, and then the correction current can be obtained according to the first function relationship, and then the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve can be adjusted when the excavator deviates.

[0092] Optionally, Figure 5 A flow chart of another control method for excavator walking deviation provided by an embodiment of the present application is shown in Figure 5 After adjusting the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve, the control method further comprises: calculating the absolute value of the difference between the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve and the reference current setting value as a first difference; comparing the first difference with a second preset threshold value, and determining that the first main pump or the second main pump has a fault when it is determined that the first difference is greater than the second preset threshold value. The control method specifically comprises the following steps:

[0093] S401, obtaining the first pilot pressure of the left walking pedal and the second pilot pressure of the right walking pedal when the left walking pedal and the right walking pedal are simultaneously stepped to the maximum depth.

[0094] S402, when it is determined that the excavator is walking in a straight line, calculating the reference current setting value of the first main pump electromagnetic valve and the second main pump electromagnetic valve according to the first pilot pressure and the second pilot pressure.

[0095] S403, controlling the excavator to walk based on the reference current setting value, and obtaining the output pressure of the first main pump and the output pressure of the second main pump, wherein the first main pump drives the left walking motor to realize left walking of the excavator, and the second main pump drives the right walking motor to realize right walking of the excavator.

[0096] S404, determining whether the excavator is running deviation according to the output pressure of the first main pump and the output pressure of the second main pump, and adjusting the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve when it is determined that the excavator is running deviation.

[0097] S405, calculating the absolute value of the difference between the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve and the reference current setting value as the first difference value.

[0098] S406, comparing the first difference value with the second preset threshold value, and determining that the first main pump or the second main pump has a fault when it is determined that the first difference value is greater than the second preset threshold value.

[0099] The specific value of the second preset threshold value can be set according to actual needs, which is not limited here. For example, the second preset threshold value is 30mA.

[0100] Specifically, after adjusting the final current setting value of the first main pump electromagnetic valve or the final current setting value of the second main pump electromagnetic valve, the absolute value of the difference between the final current setting value of each main pump electromagnetic valve and the reference current setting value is calculated, and then the calculation result is compared with the second preset threshold value to determine whether the corresponding main pump of the first main pump electromagnetic valve and the second main pump electromagnetic valve has a fault, thereby ensuring the reliability of the entire system.

[0101] For example, if it is determined that the excavator is running deviation, for example, the excavator is running deviation to the right, and the output pressure of the first main pump is greater than the output pressure of the second main pump, the current setting value of the first main pump electromagnetic valve can be adjusted to the final current setting value, that is, the final current setting value of the first main pump electromagnetic valve is no longer equal to the reference current setting value. Then the absolute value of the difference between the final current setting value of the first main pump electromagnetic valve and the reference current setting value is calculated as the first difference value, which is compared with the second preset threshold value. If the first difference value is greater than the second preset threshold value, it is considered that the first main pump has a fault, and the first main pump can be repaired to ensure the reliability of the entire system.

[0102] Optionally, with reference to Figure 5 The control method further includes the following steps:

[0103] S407, comparing the first difference value with the third preset threshold value, and determining that the volumetric efficiency of the first main pump or the second main pump is low when it is determined that the first difference value is greater than the third preset threshold value and less than the second preset threshold value.

[0104] The specific value of the third preset threshold value can be set according to actual conditions, which is not limited here. The value of the third preset threshold value is less than the second preset threshold value, for example, the third preset threshold value is 10mA.

[0105] Specifically, when the absolute value of the difference between the final current setting value of the first main pump solenoid valve or the second main pump solenoid valve and the reference current setting value (i.e. the first difference value) is less than the second preset threshold value, it can be determined that the first main pump or the second main pump does not fail, at this time, the first difference value can be continuously compared with the third preset threshold value, if the first difference value is greater than the third preset threshold value and less than the second preset threshold value, it can be considered that the volumetric efficiency of the first main pump or the second main pump is low, at this time, only the new main pump device needs to be replaced. On the contrary, if the first difference value is less than the third preset threshold value, it is considered that the final current setting value of the adjusted first main pump solenoid valve or the second main pump solenoid valve is not a problem, and the final current setting value can be stably output to the corresponding main pump solenoid valve to ensure that the excavator maintains straight walking.

[0106] Optionally, Figure 6 The flow chart of another excavator walking deviation control method provided by the embodiment of the present application is shown in Figure 6 The final current setting value of the first main pump solenoid valve is the first final current setting value, and the final current setting value of the second main pump solenoid valve is the second final current setting value. After adjusting the final current setting value of the first main pump solenoid valve or the second main pump solenoid valve, it further includes: calculating the absolute value of the difference between the first final current setting value and the second final current setting value as a second difference value; comparing the second difference value with the fourth preset threshold value, and determining that the volumetric efficiency of the main pump or the motor corresponding to the larger one of the first final current setting value and the second final current setting value is low when it is determined that the second difference value is greater than the fourth preset threshold value. Therefore, the control method specifically includes the following steps:

[0107] S501, acquiring the first pilot pressure of the left walking pedal and the second pilot pressure of the right walking pedal when the left walking pedal and the right walking pedal are simultaneously stepped to the maximum depth.

[0108] S502, when it is determined that the excavator is walking in a straight line, calculating the reference current setting value of the first main pump solenoid valve and the second main pump solenoid valve according to the first pilot pressure and the second pilot pressure.

[0109] S503, controlling the excavator to walk based on the reference current setting value, and acquiring the output pressure of the first main pump and the output pressure of the second main pump, wherein the first main pump drives the left walking motor to realize the left walking of the excavator, and the second main pump drives the right walking motor to realize the right walking of the excavator.

[0110] S504, judging whether the excavator walks deviation according to the output pressure of the first main pump and the output pressure of the second main pump, and adjusting the final current setting value of the first main pump solenoid valve or the second main pump solenoid valve when it is determined that the excavator walks deviation.

[0111] S505, calculate the absolute value of the difference between the first final current setting value and the second final current setting value as a second difference value.

[0112] S506, compare the second difference value with a fourth preset threshold value, and determine that the volumetric efficiency of the main pump or motor corresponding to the larger one of the first final current setting value and the second final current setting value is low when it is determined that the second difference value is greater than the fourth preset threshold value.

[0113] The specific value of the fourth preset threshold value can be set according to actual conditions, which is not limited here.

[0114] Specifically, after adjusting the current setting value of the first main pump electromagnetic valve and the current setting value of the second main pump electromagnetic valve, the first final current setting value and the second final current setting value are obtained, and the absolute value of the difference between the first final current setting value and the second final current setting value is calculated as a second difference value. Then, the second difference value is compared with the fourth preset threshold value. If the second difference value is greater than the fourth preset threshold value, it indicates that the current difference between the main pump electromagnetic valve and the second main pump electromagnetic valve is large. Therefore, the corresponding main pump and motor can be determined according to the larger one of the first final current setting value and the second final current setting value. Thus, it can be determined that the main pump or motor has a problem of low volumetric efficiency. The device can be replaced to improve the utilization rate of the hydraulic device, so that the two oil supply paths of the excavator are relatively balanced when maintaining straight walking, and the reliability of the entire system is ensured.

[0115] Optionally, Figure 7 A flowchart of another control method for excavator walking deviation provided by the embodiment of the present application is shown in Figure 7 Before determining that the excavator is walking in a straight line, the method comprises: calculating the absolute value of the difference between the first pilot pressure and the second pilot pressure as a third difference value; and comparing the third difference value with a fifth preset threshold value, and determining that the excavator is walking in a straight line when it is determined that the third difference value is less than the fifth preset threshold value. Therefore, the control method specifically comprises the following steps:

[0116] S601, obtaining the first pilot pressure of the left walking pedal and the second pilot pressure of the right walking pedal when the left walking pedal and the right walking pedal are simultaneously stepped to the maximum depth.

[0117] S602, calculating the absolute value of the difference between the first pilot pressure and the second pilot pressure as a third difference value; comparing the third difference value with a fifth preset threshold value, and determining that the excavator is walking in a straight line when it is determined that the third difference value is less than the fifth preset threshold value.

[0118] Among them, the specific value of the fifth preset threshold can be set according to actual conditions and is not specifically limited here.

[0119] S603: When it is determined that the excavator is moving in a straight line, calculate reference current setting values ​​of the first main pump solenoid valve and the second main pump solenoid valve according to the first pilot pressure and the second pilot pressure.

[0120] S604. Control the excavator's movement based on the reference current setting value, and obtain the output pressure of the first main pump and the output pressure of the second main pump, wherein the first main pump drives the left travel motor to realize the excavator's movement on the left side, and the second main pump drives the right travel motor to realize the excavator's movement on the right side.

[0121] S605. Determine whether the excavator is running off the track based on the output pressure of the first main pump and the output pressure of the second main pump, and adjust the final current setting value of the solenoid valve of the first main pump or the solenoid valve of the second main pump when it is determined that the excavator is running off the track.

[0122] In this embodiment, when the left walking pedal and the right walking pedal are stepped on to the maximum depth at the same time, the first pilot pressure of the left walking pedal and the second pilot pressure of the right walking pedal are obtained respectively, and it is judged whether the absolute value of the difference between the first pilot pressure and the second pilot pressure (i.e., the third difference) is less than the fifth preset threshold value. If the third difference is less than the fifth preset threshold value, it means that the excavator is about to walk in a straight line, but due to the difference in device consistency, the excavator may deviate during the walking process, and then the output pressure of the first main pump and the output pressure of the second main pump can be continuously obtained to accurately judge whether the excavator deviates according to the output pressure of the first main pump and the output pressure of the second main pump. If it deviates, the final current setting value of the first main pump or the first solenoid valve or the second main pump solenoid valve can be adjusted to ensure that the excavator maintains straight line walking. On the contrary, if the third difference is greater than or equal to the fifth preset threshold, it means that the excavator is not walking in a straight line, that is, the difference between the first pilot pressure and the second pilot pressure is large. At this time, it can be checked whether there is a large difference between the depth value corresponding to the maximum depth of the left walking pedal and the depth value corresponding to the maximum depth of the right walking pedal. The left walking pedal and the right walking pedal can be further inspected to ensure the reliability and safety of the entire system.

[0123] Based on the same inventive concept, an embodiment of the present invention further provides a control device for an excavator running off track. Figure 8 A schematic diagram of a control device for an excavator running off track provided by an embodiment of the present invention is shown in FIG. Figure 8As shown, the control device comprises: a first acquisition module 100, configured to acquire a first pilot pressure of a left walking pedal and a second pilot pressure of a right walking pedal when the left walking pedal and the right walking pedal are simultaneously stepped to the maximum depth; a data processing module 200, configured to determine a reference current setting value of a first main pump electromagnetic valve and a second main pump electromagnetic valve according to the first pilot pressure and the second pilot pressure; a second acquisition module 300, configured to control the walking of the excavator based on the reference current setting value, and acquire an output pressure of the first main pump and an output pressure of the second main pump, wherein the first main pump drives a left walking motor to realize the left walking of the excavator, and the second main pump drives a right walking motor to realize the right walking of the excavator; and a current adjustment module 400, configured to judge whether the excavator deviates during walking according to the output pressure of the first main pump and the output pressure of the second main pump, and adjust a final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve when it is determined that the excavator deviates during walking.

[0124] In this embodiment, the first acquisition module 100 is configured to acquire the first pilot pressure of the left walking pedal and the second pilot pressure of the right walking pedal when the left walking pedal and the right walking pedal are simultaneously stepped to the maximum depth, and the data processing module 200 is configured to calculate the reference current setting value of the first main pump electromagnetic valve and the second main pump electromagnetic valve according to the first pilot pressure and the second pilot pressure when it is determined that the excavator walks in a straight line, and then control the walking of the excavator based on the reference current setting value. When the pressure output by the main pump is stable during the normal driving of the excavator, the second acquisition module 300 is configured to acquire the output pressure of the first main pump and the output pressure of the second main pump, and then the current adjustment module 400 is configured to judge whether the excavator deviates during walking according to the output pressure of the first main pump and the output pressure of the second main pump, and adjust the final current setting value of the first main pump electromagnetic valve or the second main pump electromagnetic valve when it is determined that the excavator deviates during walking. In this way, through the self-learning process of the excavator, the first main pump electromagnetic valve and the second main pump electromagnetic valve of the excavator can control the excavator to walk in a straight line according to the respective adjusted final current setting values, the problem of walking deviation caused by poor consistency of hydraulic components is solved, the control logic is simple and accurate, the labor cost is reduced, and the working efficiency of the excavator is improved.

[0125] Note that the above are only preferred embodiments of the present application and the principles of technology applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments herein, and those skilled in the art can make various obvious changes, re-adjustments, mutual combinations and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A control method of a running deviation of a shovel, characterized by, The method comprises the following steps: obtaining a first pilot pressure of a left travel pedal and a second pilot pressure of a right travel pedal when the left travel pedal and the right travel pedal are simultaneously depressed to the maximum depth; when it is determined that the excavator is traveling in a straight line, calculating a reference current setting value of a first main pump solenoid valve and a second main pump solenoid valve according to the first pilot pressure and the second pilot pressure; controlling the excavator to travel based on the reference current setting value, and obtaining an output pressure of the first main pump and an output pressure of the second main pump, wherein the first main pump drives a left travel motor to enable the excavator to travel to the left, and the second main pump drives a right travel motor to enable the excavator to travel to the right; judging whether the excavator is running off track according to the output pressure of the first main pump and the output pressure of the second main pump, and adjusting a final current setting value of the first main pump solenoid valve or the second main pump solenoid valve when it is determined that the excavator is running off track; judging whether the excavator is running off track according to the output pressure of the first main pump and the output pressure of the second main pump, comprising: obtaining m1 output pressures of the first main pump and m2 output pressures of the second main pump, wherein m1 and m2 are both integers greater than 1; calculating an average value of the output pressure of the first main pump according to the m1 output pressures of the first main pump, and calculating an average value of the output pressure of the second main pump according to the m2 output pressures of the second main pump; judging whether an absolute value of a difference between the average value of the output pressure of the first main pump and the average value of the output pressure of the second main pump is greater than a first preset threshold value, and determining that the excavator is running off track if the absolute value is greater than the first preset threshold value, and determining that the excavator is not running off track if the absolute value is not greater than the first preset threshold value; adjusting the final current setting value of the first main pump solenoid valve or the second main pump solenoid valve when it is determined that the excavator is running off track, comprising: continuing to judge whether the average value of the output pressure of the first main pump is greater than the average value of the output pressure of the second main pump when it is determined that the excavator is running off track; adjusting the final current setting value of the first main pump solenoid valve to a difference between the reference current setting value and a correction current if the average value of the output pressure of the first main pump is greater than the average value of the output pressure of the second main pump; adjusting the final current setting value of the second main pump solenoid valve to a difference between the reference current setting value and the correction current if the average value of the output pressure of the first main pump is less than the average value of the output pressure of the second main pump; before adjusting the final current setting value of the first main pump solenoid valve or the second main pump solenoid valve, further comprising: obtaining the correction current according to a first functional relationship, wherein the first functional relationship is a change curve of the correction current with respect to an absolute value of a difference between the average value of the output pressure of the first main pump and the average value of the output pressure of the second main pump and a hydraulic oil temperature; after adjusting the final current setting value of the first main pump solenoid valve or the second main pump solenoid valve, further comprising: calculating an absolute value of a difference between the final current setting value of the first main pump solenoid valve or the second main pump solenoid valve and the reference current setting value as a first difference value; The first difference value is compared with a second preset threshold value, and when it is determined that the first difference value is greater than the second preset threshold value, it is determined that the first main pump or the second main pump has a fault; The control method for the walking deviation of the excavator further comprises: The first difference value is compared with a third preset threshold value, and when it is determined that the first difference value is greater than the third preset threshold value and less than the second preset threshold value, it is determined that the volumetric efficiency of the first main pump or the second main pump is low.

2. The control method of the running deviation of the excavator according to claim 1, characterized by, The reference current set value of the first main pump electromagnetic valve and the second main pump electromagnetic valve is calculated according to the first pilot pressure and the second pilot pressure, comprising: The maximum pilot pressure is determined from the first pilot pressure and the second pilot pressure, and the reference current set value is determined according to the maximum pilot pressure.

3. The control method of the excavator running deviation according to claim 1, characterized by, The final current set value of the first main pump electromagnetic valve is a first final current set value, and the final current set value of the second main pump electromagnetic valve is a second final current set value; After adjusting the final current set value of the first main pump electromagnetic valve or the second main pump electromagnetic valve, further comprising: The absolute value of the difference between the first final current set value and the second final current set value is calculated as a second difference value; The second difference value is compared with a fourth preset threshold value, and when it is determined that the second difference value is greater than the fourth preset threshold value, it is determined that the volumetric efficiency of the main pump or the motor corresponding to the larger one of the first final current set value and the second final current set value is low.

4. The control method of the excavator running deviation according to claim 1, characterized by, Before the reference current set value of the first main pump electromagnetic valve and the second main pump electromagnetic valve is calculated according to the first pilot pressure and the second pilot pressure when it is determined that the excavator is walking in a straight line, comprising: The absolute value of the difference between the first pilot pressure and the second pilot pressure is calculated as a third difference value; The third difference value is compared with a fifth preset threshold value, and when it is determined that the third difference value is less than the fifth preset threshold value, it is determined that the excavator is walking in a straight line.

5. A control device for an excavator running off track, characterized in that: The control method for the walking deviation of the excavator for executing any one of claims 1-4, comprising: The first acquisition module is configured to acquire a first pilot pressure of a left walking pedal and a second pilot pressure of a right walking pedal when the left walking pedal and the right walking pedal are simultaneously stepped to the maximum depth; The data processing module is configured to determine a reference current set value of a first main pump electromagnetic valve and a second main pump electromagnetic valve according to the first pilot pressure and the second pilot pressure; The second acquisition module is configured to control the excavator to walk based on the reference current set value, and acquire an output pressure of a first main pump and an output pressure of a second main pump, wherein the first main pump drives a left walking motor to realize left walking of the excavator, and the second main pump drives a right walking motor to realize right walking of the excavator; The current adjustment module is configured to determine whether the excavator is walking deviated according to the output pressure of the first main pump and the output pressure of the second main pump, and adjust a final current set value of the first main pump electromagnetic valve or the second main pump electromagnetic valve when it is determined that the excavator is walking deviated.

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