Constant torque working condition determination method and device and electronic equipment

Abstract

The application provides a constant torque working condition determination method and device and electronic equipment. The method comprises the following steps: in the case that the differential pressure threshold of a load-sensitive hydraulic system is automatically calibrated, and in the case that the opening degree of a multi-way valve is less than a preset opening degree and the load of the load-sensitive hydraulic system is empty load, the opening degree of the multi-way valve, the inlet pressure and the outlet pressure of the multi-way valve are obtained; the opening degree of the multi-way valve, the inlet pressure and the outlet pressure of the multi-way valve are analyzed by using a machine learning model, the differential pressure of the load-sensitive hydraulic system is determined, and the differential pressure is determined as a first differential pressure threshold; the outlet pressure of a hydraulic pump and a starting pressure regulating pressure are obtained, and the difference between the outlet pressure of the multi-way valve and the inlet pressure of the multi-way valve is calculated to obtain a target differential pressure; in the case that the target differential pressure is less than the first differential pressure threshold and the outlet pressure of the hydraulic pump is greater than the starting pressure regulating pressure, it is determined that the load-sensitive hydraulic system is in a constant torque working condition. Through the application, the problem of high cost of the detection method of the constant torque working condition is solved.

Description

Technical Field

[0001] This application relates to the field of load-sensitive hydraulic systems, and more specifically, to a method, apparatus, computer-readable storage medium, and electronic device for determining constant torque conditions. Background Technology

[0002] For load-sensitive hydraulic systems that alternate between load-sensitive and constant torque operation, especially systems where power settings can be adjusted according to operating conditions, service personnel need to determine whether different valve openings are in a constant torque state during intelligent fault diagnosis or engine fuel economy calibration. This is crucial for pinpointing system fault causes or accurately calibrating engine parameters. Existing technologies employ a flow sensor connected in series at the hydraulic pump outlet to collect flow data at different valve openings. The power output is then calculated based on the pump outlet pressure and flow rate to determine if the power is constant or has reached the set power. However, this approach requires clarification of whether the hydraulic system is actually under load-sensitive or constant torque conditions during engine fuel economy calibration or hydraulic system fault diagnosis. In some real-time applications, connecting the flow sensor in series in the hydraulic circuit takes a considerable amount of time, and adding a flow sensor significantly increases costs for normal monitoring systems. Another approach involves collecting engine data to determine constant torque operation. However, this requires specialized equipment, and even with bus-based data acquisition, auxiliary hydraulic system consumption cannot be excluded, leading to data inaccuracies. In short, existing technologies cannot accurately and in real-time detect whether a load-sensitive hydraulic system is in a constant torque state at a low cost. Summary of the Invention

[0003] The main objective of this application is to provide a method, apparatus, computer-readable storage medium, and electronic device for determining constant torque conditions, so as to at least solve the problem of high cost in existing methods for detecting constant torque conditions.

[0004] To achieve the above objectives, according to one aspect of this application, a method for determining a constant torque operating condition is provided. This method is applied to a load-sensitive hydraulic system, which includes at least a multi-way valve and a hydraulic pump. The method for determining the constant torque operating condition includes: controlling the opening of the multi-way valve to be less than a preset opening and the load of the load-sensitive hydraulic system to be unloaded when the differential pressure threshold of the load-sensitive hydraulic system is automatically calibrated; and acquiring the opening of the multi-way valve, the inlet pressure of the multi-way valve, and the outlet pressure of the multi-way valve when the opening of the multi-way valve is less than the preset opening and the load of the load-sensitive hydraulic system is unloaded; and analyzing the opening of the multi-way valve, the inlet pressure, and the outlet pressure using a machine learning model to determine the load-sensitive hydraulic system. The pressure difference is defined as a first pressure difference threshold. The machine learning model is trained using multiple sets of data, each set including: the opening degree of the multi-way valve, the inlet pressure of the multi-way valve, the outlet pressure of the multi-way valve, and the pressure difference of the load-sensitive hydraulic system. The hydraulic pump outlet pressure and starting pressure are obtained, and the difference between the outlet pressure and the inlet pressure of the multi-way valve is calculated to obtain the target pressure difference. If the target pressure difference is less than the first pressure difference threshold and the hydraulic pump outlet pressure is greater than the starting pressure, the load-sensitive hydraulic system is determined to be in a constant torque condition. The starting pressure is the minimum outlet pressure of the hydraulic pump under the constant torque condition, where the constant torque condition represents a condition where the torque remains constant.

[0005] Optionally, the determination method further includes: determining the load-sensitive hydraulic system as a non-load-sensitive operating condition when the target differential pressure is less than or greater than the first differential pressure threshold, wherein the non-load-sensitive operating condition indicates that the flow rate of the load-sensitive hydraulic system is less than the required flow rate of the multi-way valve; and determining the load-sensitive hydraulic system as a load-sensitive operating condition when the target differential pressure is equal to the first differential pressure threshold, wherein the load-sensitive operating condition indicates that the flow rate of the load-sensitive hydraulic system is only related to the opening degree of the multi-way valve.

[0006] Optionally, the determination method further includes: when the target differential pressure is less than the first differential pressure threshold and the hydraulic pump outlet pressure is less than or equal to the starting pressure, acquiring the back pressure of the load-sensitive hydraulic system, wherein the back pressure represents the outlet pressure of the hydraulic pump when only the relief valve acts as a safety valve; and when the back pressure is less than a preset threshold, generating a hydraulic pump troubleshooting signal, wherein the hydraulic pump troubleshooting signal is a signal used to indicate whether leakage has occurred in the hydraulic pump and the outlet pipeline of the hydraulic pump.

[0007] Optionally, the load-sensitive hydraulic system further includes a prime mover, and the determination method further includes: generating a control method check signal and a hydraulic pump check signal for the load-sensitive hydraulic system when it is determined that the load-sensitive hydraulic system is in a non-load-sensitive operating condition and the target differential pressure is greater than the first differential pressure threshold and the load-sensitive hydraulic system is malfunctioning; wherein the control method check signal is a signal used to indicate whether the control method of the load-sensitive hydraulic system is correct, and the malfunction of the load-sensitive hydraulic system includes at least a sudden change in the speed of the prime mover; and generating a hydraulic pump check signal and a prime mover check signal when it is determined that the load-sensitive hydraulic system is in a load-sensitive operating condition and the load-sensitive hydraulic system is malfunctioning, wherein the prime mover check signal is a signal used to indicate whether the prime mover is faulty.

[0008] Optionally, the determination method further includes: when the differential pressure threshold of the load-sensitive hydraulic system is not automatically calibrated, obtaining a preset differential pressure of the load-sensitive hydraulic system and determining the preset differential pressure as a second differential pressure threshold, wherein the preset differential pressure is a differential pressure obtained by manual calibration in advance; when the target differential pressure is less than the second differential pressure threshold and the outlet pressure of the hydraulic pump is greater than the starting pressure, determining that the load-sensitive hydraulic system is in the constant torque condition.

[0009] Optionally, the determination method further includes: when the differential pressure threshold is automatically calibrated and the load-sensitive hydraulic system is in a load-sensitive operating condition, controlling the speed of the prime mover to an economical speed, wherein the economical speed is the speed at which the prime mover saves the most fuel under normal operating conditions.

[0010] Optionally, the determination method further includes: when the differential pressure threshold is not automatically calibrated, acquiring the historical rotational speeds of multiple prime movers, the historical opening degree of the multi-way valve corresponding to the historical rotational speed of each prime mover, the historical inlet pressure and historical outlet pressure of the multi-way valve corresponding to the historical rotational speed of each prime mover, and the historical differential pressure of the corresponding load-sensitive hydraulic system to obtain a differential pressure mapping relationship; acquiring the current rotational speed of the prime mover, the current opening degree of the corresponding multi-way valve, and the current inlet pressure and historical outlet pressure of the multi-way valve, and determining the differential pressure of the corresponding multi-way valve according to the differential pressure mapping relationship; when the differential pressure is equal to the second differential pressure threshold, controlling the rotational speed of the prime mover to the economical rotational speed.

[0011] According to another aspect of this application, a device for determining a constant torque operating condition is provided. The device is included in a load-sensitive hydraulic system, which includes at least a multi-way valve and a hydraulic pump. The device for determining the constant torque operating condition includes: a first acquisition unit, configured to, when the differential pressure threshold of the load-sensitive hydraulic system is automatically calibrated, control the opening of the multi-way valve to be less than a preset opening and the load of the load-sensitive hydraulic system to be unloaded, and acquire the opening of the multi-way valve, the inlet pressure of the multi-way valve, and the outlet pressure of the multi-way valve when the opening of the multi-way valve is less than the preset opening and the load of the load-sensitive hydraulic system is unloaded; and a first determination unit, configured to analyze the opening of the multi-way valve, the inlet pressure, and the outlet pressure using a machine learning model to determine the load-sensitive hydraulic system. The pressure difference is defined as a first pressure difference threshold. The machine learning model is trained using multiple sets of data, each set including: the opening degree of the multi-way valve, the inlet pressure of the multi-way valve, the outlet pressure of the multi-way valve, and the pressure difference of the load-sensitive hydraulic system. A second determining unit is used to acquire the hydraulic pump outlet pressure and the starting pressure, and calculate the difference between the outlet pressure and the inlet pressure of the multi-way valve to obtain a target pressure difference. If the target pressure difference is less than the first pressure difference threshold and the hydraulic pump outlet pressure is greater than the starting pressure, the load-sensitive hydraulic system is determined to be in a constant torque condition. The starting pressure is the minimum outlet pressure of the hydraulic pump under the constant torque condition, where the constant torque condition represents a condition where the torque remains constant.

[0012] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the determination methods described above.

[0013] According to another aspect of this application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any of the aforementioned determining methods.

[0014] By applying the technical solution of this application, the opening degree of the multi-way valve, its inlet pressure, and its outlet pressure are obtained when the opening degree of the multi-way valve is less than a preset opening degree and the load of the load-sensitive hydraulic system is unloaded. A machine learning model is used to analyze the opening degree, inlet pressure, and outlet pressure of the multi-way valve to determine a first differential pressure threshold. The difference between the outlet pressure and the inlet pressure of the multi-way valve is then calculated to obtain the target differential pressure. When the target differential pressure is less than the first differential pressure threshold and the outlet pressure of the hydraulic pump is greater than the starting pressure, the load-sensitive hydraulic system is determined to be in a constant torque condition. Compared with existing technologies that require connecting flow sensors and dedicated equipment to determine whether the engine hydraulic system is in a constant torque condition, this application does not require additional sensors. It automatically determines the differential pressure threshold through a machine learning model, and then compares the target differential pressure with the differential pressure threshold to determine whether the hydraulic system is in a constant torque condition. This reduces costs and improves the system's response speed. Therefore, it solves the problem of high cost in existing constant torque detection methods, achieving rapid detection of constant torque conditions while saving costs. Attached Figure Description

[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for performing a method for determining a constant torque condition, according to an embodiment of this application, is shown.

[0017] Figure 2 A flowchart illustrating a method for determining a constant torque condition according to an embodiment of this application is shown.

[0018] Figure 3 The diagram shows a structural schematic of a load-sensitive hydraulic system in a specific method for determining constant torque conditions provided in an embodiment of this application.

[0019] Figure 4 The illustration shows a flowchart of a specific method for determining a constant torque operating condition according to an embodiment of this application;

[0020] Figure 5 The diagram illustrates a flowchart for fault diagnosis in a specific method for determining constant torque operating conditions provided by an embodiment of this application;

[0021] Figure 6 The flowchart shown is a specific method for determining constant torque operating conditions provided in an embodiment of this application, used for energy-saving control of the prime mover;

[0022] Figure 7A structural block diagram of a device for determining constant torque conditions provided in an embodiment of this application is shown.

[0023] The above figures include the following reference numerals:

[0024] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device; 1. Prime mover; 2. Hydraulic pump; 3. Constant torque control valve; 4. Load-sensitive control valve; 5. First pressure sensor; 6. Multi-way valve pressure compensator; 7. Multi-way valve main valve core; 8. Actuator; 9. Second pressure sensor. Detailed Implementation

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] For ease of description, the following explains some of the nouns or terms used in the embodiments of this application:

[0029] Actuating element: A general term for hydraulic components used to convert hydraulic energy into mechanical energy, such as hydraulic motors and hydraulic cylinders.

[0030] Hydraulic motor: A hydraulic actuator that uses hydraulic oil to rotate the motor clockwise or counterclockwise.

[0031] Hydraulic cylinder: a hydraulic actuator in which hydraulic oil enters the cylinder to achieve the extension and retraction of the cylinder.

[0032] Prime mover: converting other forms of energy into mechanical energy; in this application, the converted mechanical energy is specifically referred to as torque.

[0033] Pressure sensor: A type of sensor that detects pressure signals in a system.

[0034] Directional control valve: It changes the direction of hydraulic oil flow by changing the valve's direction, and changes the flow rate by changing the valve opening.

[0035] Starting pressure: The minimum hydraulic pump outlet pressure required when the hydraulic pump changes from variable to constant torque operation.

[0036] As described in the background section, existing methods for detecting constant torque conditions are costly. To address this issue, embodiments of this application provide a method, apparatus, computer-readable storage medium, and electronic device for determining constant torque conditions.

[0037] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0038] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a method of determining a constant torque operating condition according to an embodiment of the present invention. (See diagram below.) Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0039] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the constant torque operating condition determination method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0040] This embodiment provides a method for determining a constant torque condition operating on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0041] Figure 2 This is a flowchart of a method for determining a constant torque operating condition according to an embodiment of this application. For example... Figure 2 As shown, the above determination method is applied to a load-sensitive hydraulic system, which includes at least a multi-way valve and a hydraulic pump. The method includes the following steps:

[0042] Step S201: When the differential pressure threshold of the load-sensitive hydraulic system is automatically calibrated, control the opening of the multi-way valve to be less than the preset opening and the load of the load-sensitive hydraulic system to be unloaded. When the opening of the multi-way valve is less than the preset opening and the load of the load-sensitive hydraulic system is unloaded, obtain the opening of the multi-way valve, the inlet pressure and the outlet pressure of the multi-way valve.

[0043] Specifically, the flow rate through the valve core in a valve-controlled hydraulic system can be approximately calculated using the following equation. Q is the flow rate through the main valve core, C is the flow coefficient (a constant), A is the main valve core opening (the operator directly or indirectly controls the flow rate via hydraulics or current), Δp is the inlet and outlet pressure difference of the multi-way valve main valve core, and ρ is the hydraulic medium density (a constant value under constant pressure and temperature). The main difference between load-sensitive and constant torque conditions lies in the inlet and outlet pressure difference Δp of the multi-way valve. In load-sensitive conditions, the pressure difference is the load-sensitive pressure difference. In constant torque conditions, the pressure difference is lower than the load-sensitive pressure difference, and the pump outlet pressure is higher than the starting pressure. Therefore, the working status of the hydraulic system can be detected by the pressure difference and outlet pressure. The above steps use automatic calibration, i.e., machine learning, to automatically determine the pressure difference threshold. The relationship between the pressure difference and the pressure difference threshold is used to determine whether it is a constant torque condition. Under automatic calibration, the multi-way valve opening is set to a small opening (less than the preset opening), and the load is selected as no-load or light-load. Under these conditions, the opening of the multi-way valve and the inlet and outlet pressures of the multi-way valve are obtained to determine the pressure difference threshold.

[0044] Step S202 involves analyzing the opening degree of the multi-way valve, the inlet pressure, and the outlet pressure using a machine learning model to determine the differential pressure of the load-sensitive hydraulic system. This differential pressure is then defined as a first differential pressure threshold. The machine learning model is trained using multiple sets of data, each set including: the opening degree of the multi-way valve, the inlet pressure of the multi-way valve, the outlet pressure of the multi-way valve, and the differential pressure of the load-sensitive hydraulic system. Specifically, after obtaining the opening degree and inlet / outlet pressures of the multi-way valve, machine learning is used to analyze these parameters, and the resulting differential pressure is used as the first differential pressure threshold. In other words, the differential pressure threshold in the above step is determined through machine learning. The hydraulic pump outlet pressure is approximately equal to the multi-way valve inlet pressure, differing only by a differential pressure. Therefore, the hydraulic pump outlet pressure can be used to replace the multi-way valve inlet pressure when calculating the target differential pressure.

[0045] Step S203: Obtain the hydraulic pump outlet pressure and the starting pressure, and calculate the difference between the outlet pressure of the multi-way valve and the inlet pressure of the multi-way valve to obtain the target pressure difference. If the target pressure difference is less than the first pressure difference threshold and the hydraulic pump outlet pressure is greater than the starting pressure, determine that the load-sensitive hydraulic system is in constant torque condition. The starting pressure is the minimum outlet pressure of the hydraulic pump under constant torque condition. The constant torque condition means a condition in which the torque remains unchanged.

[0046] Specifically, after determining the differential pressure threshold, the inlet pressure and starting pressure of the multi-way valve are obtained during the normal operation of the hydraulic system, and the difference between the outlet pressure and the inlet pressure of the multi-way valve is calculated to obtain the target differential pressure. The target differential pressure is compared with the differential pressure threshold. If the target differential pressure is less than the first differential pressure threshold and the pump outlet pressure is greater than the starting pressure, then the load-sensitive hydraulic system can be determined to be in constant torque condition.

[0047] This embodiment obtains the opening degree of the multi-way valve and the inlet and outlet pressures of the multi-way valve when the opening degree is less than a preset opening degree and the load of the load-sensitive hydraulic system is unloaded. A machine learning model is used to analyze the opening degree and inlet / outlet pressures of the multi-way valve to determine a first differential pressure threshold. The difference between the outlet pressure and the inlet pressure of the multi-way valve is calculated to obtain the target differential pressure. When the target differential pressure is less than the first differential pressure threshold and the pump outlet pressure is greater than the starting pressure, the load-sensitive hydraulic system is determined to be in a constant torque condition. Compared with existing technologies that require connecting flow sensors and dedicated equipment to determine whether the engine hydraulic system is in a constant torque condition, this application does not require additional sensors. The differential pressure threshold is automatically determined by a machine learning model, and the hydraulic system's constant torque condition is determined by comparing the target differential pressure with the differential pressure threshold. This reduces costs and improves the system's response speed. Therefore, it solves the problem of high cost in existing constant torque detection methods, achieving rapid detection of constant torque conditions and cost savings.

[0048] In its specific implementation, the above-mentioned determination method further includes the following steps: When the target pressure difference is less than or greater than the first pressure difference threshold, the load-sensitive hydraulic system is determined to be in a non-load-sensitive operating condition, where the non-load-sensitive operating condition indicates that the flow rate of the load-sensitive hydraulic system is less than the required flow rate of the multi-way valve; when the target pressure difference is equal to the first pressure difference threshold, the load-sensitive hydraulic system is determined to be in a load-sensitive operating condition, where the load-sensitive operating condition indicates that the flow rate of the load-sensitive hydraulic system is only related to the opening degree of the multi-way valve. This method further determines the operating condition of the load-sensitive hydraulic system by comparing the target pressure difference with the first pressure difference threshold, thus enabling rapid and accurate determination of the operating condition. This facilitates understanding the system's operating status, further pinpointing the cause of system failures, or accurately calibrating engine parameters. Specifically, the above steps further diagnose the fault conditions of the hydraulic system by comparing the target differential pressure with the first differential pressure threshold. If the target differential pressure is greater than the first differential pressure threshold, it indicates that the hydraulic pump is in a non-load-sensitive condition and the target differential pressure is greater than the first differential pressure threshold. Under this condition, the instantaneous impact is too large, and it is necessary to check the control methods and strategies as well as the settings of the hydraulic pump. If the target differential pressure is equal to or near the first differential pressure threshold, it indicates that the hydraulic pump is in a load-sensitive condition. When the system is abnormal, it is necessary to check the settings of the hydraulic pump and the characteristics of the prime mover.

[0049] To achieve a more comprehensive diagnosis of hydraulic system faults, in some optional embodiments, the determination method further includes the following steps: When the target differential pressure is less than the first differential pressure threshold and the hydraulic pump outlet pressure is less than or equal to the starting pressure, acquire the back pressure of the load-sensitive hydraulic system, where the back pressure represents the outlet pressure of the hydraulic pump when only the relief valve acts as a safety valve; when the back pressure is less than a preset threshold, generate a hydraulic pump troubleshooting signal, where the hydraulic pump troubleshooting signal is used to indicate whether leakage has occurred in the hydraulic pump and its outlet pipeline. This method, under the aforementioned conditions, further investigates whether leakage has occurred in the hydraulic pump and its outlet pipeline, thus providing a more comprehensive response to various fault conditions in the hydraulic system for fault diagnosis and handling.

[0050] Specifically, when the target differential pressure is less than the first differential pressure threshold and the pump outlet pressure is less than or equal to the starting pressure, the movement of the actuator is further restricted or the pump outlet is closed to check for back pressure. This involves obtaining the back pressure value. If the back pressure value is low, i.e., less than the preset threshold, the hydraulic pump, control valve, and hydraulic pump outlet pipeline are checked for leaks based on the hydraulic pump check signal. In this case, if the prime mover malfunctions, the power matching of the prime mover needs to be checked.

[0051] In some optional embodiments, the load-sensitive hydraulic system further includes a prime mover, and the determination method further includes the following steps: When the load-sensitive hydraulic system is determined to be in a non-load-sensitive operating condition, the target differential pressure is greater than the first differential pressure threshold, and the load-sensitive hydraulic system malfunctions, a control method troubleshooting signal and a hydraulic pump troubleshooting signal are generated for the load-sensitive hydraulic system. The control method troubleshooting signal is used to indicate whether the control method of the load-sensitive hydraulic system is correct, and the malfunction of the load-sensitive hydraulic system includes at least a sudden change in the speed of the prime mover. When the load-sensitive hydraulic system is determined to be in a load-sensitive operating condition and the load-sensitive hydraulic system malfunctions, a hydraulic pump troubleshooting signal and a prime mover troubleshooting signal are generated. The prime mover troubleshooting signal is used to indicate whether the prime mover is faulty. This method generates corresponding fault troubleshooting signals under the various operating conditions to perform fault troubleshooting based on each fault troubleshooting signal.

[0052] In practical implementation, when the hydraulic pump is in a non-load-sensitive operating condition and the target differential pressure is greater than the first differential pressure threshold, the instantaneous impact is too large, requiring investigation of the control method and strategy, as well as the hydraulic pump settings. Therefore, the aforementioned control method investigation signal for the load-sensitive hydraulic system and the aforementioned hydraulic pump investigation signal are generated, and troubleshooting is performed based on these two signals. When the target differential pressure is equal to or near the first differential pressure threshold, it indicates that the hydraulic pump is in a load-sensitive operating condition. At this time, it is necessary to investigate the hydraulic pump settings and prime mover characteristics. Therefore, the aforementioned hydraulic pump investigation signal and prime mover investigation signal are generated for fault diagnosis. The aforementioned investigation signals can be generated to the hydraulic system's human-machine interface to prompt operators to perform corresponding fault diagnosis, or other feasible signal representation methods can be used.

[0053] To diversify troubleshooting methods and meet the needs of different users, the aforementioned determination method further includes the following steps: When the differential pressure threshold of the load-sensitive hydraulic system is not automatically calibrated, a preset differential pressure of the load-sensitive hydraulic system is obtained, and this preset differential pressure is determined as the second differential pressure threshold. This preset differential pressure is obtained through manual calibration. When the target differential pressure is less than the second differential pressure threshold and the hydraulic pump outlet pressure is greater than the starting pressure, the load-sensitive hydraulic system is determined to be in a constant torque condition. This method determines the differential pressure threshold, i.e., the second differential pressure threshold, through manual calibration. This allows for further determination of whether the hydraulic system is in a constant torque condition.

[0054] Specifically, before troubleshooting begins, the differential pressure threshold can be calibrated automatically or manually. In manual calibration, the system's preset differential pressure can be used directly; this can be pre-stored in the system or set manually on-site. After determining the second differential pressure threshold, the target differential pressure and the second differential pressure threshold are compared. If the target differential pressure is less than the second differential pressure threshold and the hydraulic pump outlet pressure is greater than the starting pressure, the system is determined to be in constant torque operation.

[0055] In some optional embodiments, the above determination method further includes the following step: when the differential pressure threshold is automatically calibrated and the load-sensitive hydraulic system is in a load-sensitive operating condition, controlling the speed of the prime mover to an economical speed, wherein the economical speed is the speed at which the prime mover saves the most fuel under normal operating conditions. This method further controls the speed of the prime mover, so that it can be further applied to the prime mover after fault diagnosis to ensure that the hydraulic system can operate normally.

[0056] In the specific implementation process, if the differential pressure threshold is automatically calibrated and the current condition is load-sensitive, then the prime mover speed will be changed to the economic speed under differential pressure conditions, which is the engine speed at which fuel is most economical under normal operating conditions.

[0057] To further control the speed of the prime mover, the above determination method further includes the following steps: When the differential pressure threshold is not automatically calibrated, acquire the historical speeds of multiple prime movers, the historical opening degree of the multi-way valve corresponding to each historical speed of the prime mover, the historical inlet and outlet pressures of the multi-way valve corresponding to each historical speed of the prime mover, and the historical differential pressure of the corresponding load-sensitive hydraulic system to obtain a differential pressure mapping relationship; acquire the current speed of the prime mover, the current opening degree of the corresponding multi-way valve, and the current inlet and historical outlet pressures of the multi-way valve, and determine the differential pressure of the corresponding multi-way valve based on the differential pressure mapping relationship; when the differential pressure is equal to the second differential pressure threshold, control the speed of the prime mover to the economic speed. This method, when the differential pressure threshold is not automatically calibrated, determines the differential pressure mapping relationship and determines the differential pressure based on the differential pressure mapping relationship. This allows the differential pressure to be determined by collecting multiple historical speeds, historical opening degrees, and other data, and further controls the speed of the prime mover based on the differential pressure.

[0058] Specifically, multiple historical speeds of the prime mover, the corresponding pressure and opening degree of each historical speed, and the corresponding historical pressure difference are collected. The pressure difference mapping relationship can be in the form of a Map to generate a historical database. Then, the current speed, pressure, and opening degree are detected. By looking up the pressure difference mapping relationship, the pressure difference corresponding to the current speed, pressure, and opening degree is determined. If the pressure difference is equal to or near the second pressure difference threshold, the speed of the prime mover is controlled to the economic speed. If the opening degree of the multi-way valve changes and reaches the constant torque point of the maximum economic speed, it is determined whether to change the speed according to the requirements of the high efficiency and economic mode. It can also be determined whether to change the speed of the prime mover according to the user's needs.

[0059] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the method for determining constant torque working conditions of this application will be described in detail below with reference to specific embodiments.

[0060] This embodiment relates to a specific method for determining constant torque operating conditions. Figure 3This is a schematic diagram of a load-sensitive hydraulic system, including a prime mover 1, which provides power to the system; a hydraulic pump 2, which converts mechanical energy into hydraulic energy; a constant torque control valve 3, which limits the required torque of the pump to a fixed value; a load-sensitive control valve 4, which limits the pressure difference of the multi-way valve main spool 7 to a fixed value during load-sensitive operation; a first pressure sensor 5, which detects the pump outlet pressure (or the inlet pressure of the multi-way valve main spool 7); a second pressure sensor 9, which detects the maximum pressure of the actuator 8; a multi-way valve pressure compensator 6, which filters the maximum pressure of the actuator 8; the multi-way valve main spool 7, which controls the direction of movement of the actuator 8; the actuator 8, which performs the action; and a length signal of the actuator 8, which is obtained through a proximity sensor. A specific method for determining the constant torque condition is as follows: Figure 4 As shown, it includes the following steps:

[0061] Step S1: System constant torque state detection, main valve calibration activation;

[0062] Step S2: Automatically learn to determine the differential pressure threshold of the LS (load-sensitive hydraulic system) (in the case of automatic calibration, the first differential pressure threshold is determined by a machine learning model) or use the existing value of the system (in the case of non-automatic calibration, the second differential pressure threshold is obtained);

[0063] Step S3: The pressure sensor calculates the pressure difference between the pump (hydraulic pump) outlet pressure and the LS feedback pressure (inlet pressure), and compares it with the LS pressure difference threshold and the starting adjustment pressure to determine the hydraulic system operating condition;

[0064] Step S4: When the LS pressure difference is less than or greater than the threshold, the hydraulic system is in a non-load-sensitive operating condition;

[0065] Step S5: Further, if the pressure difference of LS is greater than the threshold, the hydraulic pump is in an abnormal technical condition or in standby mode.

[0066] Step S6: Further, if the LS pressure difference is less than the threshold and the pump outlet pressure is less than the constant torque starting pressure, the hydraulic system is in a flow undersaturation condition (maintaining the flow required for load-sensitive conditions is greater than the maximum value that the pump can provide).

[0067] Step S7: Further, if the LS pressure difference is less than the threshold and the pump outlet pressure is greater than the constant torque starting pressure, then the hydraulic system is in constant torque operation.

[0068] Step S8: When the LS pressure difference equals the threshold (within the error range), the hydraulic system is in a load-sensitive condition.

[0069] Figure 5 The flowchart for applying the method for determining constant torque operating conditions to fault diagnosis includes the following steps:

[0070] Step S11: Troubleshooting system malfunctions;

[0071] Step S12: Determine whether the automatic calibration problem speed LS pressure difference threshold is the one. If yes, proceed to step S13; otherwise, proceed to step S14.

[0072] Step S13: With the main valve at a small opening, under no-load or light-load conditions, after the speed and pressure of the actuator stabilize, calculate and obtain the LS differential pressure threshold.

[0073] Step S14: Use the LS differential pressure threshold stored in the system or set manually;

[0074] Step S15: Compare the differential pressure under the detected problem condition with the LS differential pressure threshold;

[0075] Step S16: When the LS pressure difference is less than or greater than the threshold, the hydraulic system is in a non-load-sensitive operating condition;

[0076] Step S17: Further, if the LS pressure difference is greater than the threshold, then the hydraulic system pressure or the prime mover speed is abnormal during operation;

[0077] Step S18: Inspect the technical condition of the hydraulic pump, system control methods, and control strategies;

[0078] Step S19: Further, if the LS pressure difference is less than the threshold and the pump outlet pressure is less than the constant torque starting pressure, then the hydraulic system is in a flow undersaturation condition.

[0079] Step S20: If the pressure is low, check for leaks in the pump and pump control valve; if the prime mover is abnormal, check for power mismatch.

[0080] Step S21: Further, if the LS pressure difference is less than the threshold and the pump outlet pressure is greater than the constant torque starting pressure, then the hydraulic system is in constant torque operation.

[0081] Step S22: If the prime mover speed is abnormal, check the technical condition of the hydraulic pump and the output characteristics of the prime mover;

[0082] Step S23: When the LS pressure difference equals the threshold (within the error range), the hydraulic system is in a load-sensitive condition;

[0083] Step S24: The system is under load-sensitive conditions. Check the hydraulic pump settings and prime mover characteristics.

[0084] Figure 6 The flowchart for applying the method for determining constant torque operating conditions to the energy-saving control of the prime mover includes the following steps:

[0085] Step S25: System constant torque state detection, main valve calibration activation, prime mover speed calibration activation;

[0086] Step S26: Determine whether the problem speed LS differential pressure threshold is automatically calibrated. If yes, proceed to step S27; otherwise, proceed to step S28.

[0087] Step S27: With the main valve at a small opening, under no-load or light-load conditions, after the speed and pressure of the actuator stabilize, calculate and obtain the LS differential pressure threshold.

[0088] Step S28: Use the LS differential pressure threshold stored in the system or set manually;

[0089] Step S29: Determine whether to use dynamic calibration. If yes, proceed to step S30; otherwise, proceed to step S31.

[0090] Step S30: Measure the LS pressure difference when multiple valves are open, and combine it with the pump outlet pressure and starting pressure. If the load is sensitive, change the prime mover speed to the economic speed while ensuring the pressure difference.

[0091] Step S31: Division of constant speed sampling value, division of pressure sampling value, and division of main valve opening value: Measure the LS pressure difference at different speeds, pressures, and valve openings, and generate a database by combining the pump outlet pressure and the starting pressure;

[0092] Step S32: Detect the engine speed and main valve opening at this time. If the LS pressure difference is near the threshold, automatically change the prime mover speed to the economic speed according to the database. If the main valve opening changes and reaches the constant torque point of the maximum economic speed, determine whether to change the speed according to the requirements of high efficiency and economic mode.

[0093] This application also provides a device for determining a constant torque operating condition. It should be noted that this device can be used to execute the method for determining a constant torque operating condition provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0094] The following describes the device for determining constant torque conditions provided in the embodiments of this application.

[0095] Figure 7 This is a schematic diagram of a device for determining constant torque operating conditions according to an embodiment of this application. Figure 7 As shown, the aforementioned determining device is included in a load-sensitive hydraulic system, which at least includes a multi-way valve and a hydraulic pump. The device includes:

[0096] The first acquisition unit 10 is used to control the opening degree of the multi-way valve to be less than the preset opening degree and the load of the load-sensitive hydraulic system to be unloaded when the differential pressure threshold of the load-sensitive hydraulic system is automatically calibrated, and to acquire the opening degree of the multi-way valve, the inlet pressure and the outlet pressure of the multi-way valve when the opening degree of the multi-way valve is less than the preset opening degree and the load of the load-sensitive hydraulic system is unloaded.

[0097] Specifically, the flow rate through the valve core in a valve-controlled hydraulic system can be approximately calculated using the following equation. Q is the flow rate through the main valve core, C is the flow coefficient (a constant), A is the main valve core opening (the operator directly or indirectly controls the flow rate via hydraulics or current), Δp is the inlet and outlet pressure difference of the multi-way valve main valve core, and ρ is the density of the hydraulic medium (a constant value under constant pressure and temperature). The main difference between load-sensitive and constant torque operating conditions lies in the pressure difference Δp between the inlet and outlet of the multi-way valve. In load-sensitive conditions, the pressure difference is the load-sensitive pressure difference. In constant torque conditions, the pressure difference is lower than the load-sensitive pressure difference, and the pump outlet pressure is higher than the starting pressure. Therefore, the operating status of the hydraulic system can be detected by the pressure difference and the outlet pressure. The above steps use an automatic calibration device, i.e., machine learning, to automatically determine the differential pressure threshold. The relationship between the differential pressure and the differential pressure threshold is used to determine whether it is a constant torque condition. Under automatic calibration, the opening of the multi-way valve is set to a small opening, i.e., the opening is less than the preset opening. The load is selected as no load or light load. Under the above conditions, the opening of the multi-way valve and the inlet and outlet pressures of the multi-way valve are obtained at this time, so as to determine the differential pressure threshold based on the opening and inlet and outlet pressures at this time.

[0098] The first determining unit 20 is used to analyze the opening degree of the multi-way valve, the inlet pressure, and the outlet pressure of the multi-way valve through a machine learning model, determine the pressure difference of the load-sensitive hydraulic system, and determine the pressure difference as a first pressure difference threshold. The machine learning model is obtained by training multiple sets of data through machine learning. Each set of data includes: the opening degree of the multi-way valve, the inlet pressure of the multi-way valve, the outlet pressure of the multi-way valve, and the pressure difference of the load-sensitive hydraulic system.

[0099] Specifically, after obtaining the opening degree of the multi-way valve and the inlet and outlet pressures of the multi-way valve, the opening degree of the multi-way valve and the inlet and outlet pressures of the multi-way valve are analyzed by machine learning, and the obtained pressure difference is used as the first pressure difference threshold. That is, the pressure difference threshold in the above steps is determined by machine learning.

[0100] The second determining unit 30 is used to obtain the hydraulic pump outlet pressure and the starting adjustment pressure, and calculate the difference between the outlet pressure of the multi-way valve and the inlet pressure of the multi-way valve to obtain the target pressure difference. When the target pressure difference is less than the first pressure difference threshold and the hydraulic pump outlet pressure is greater than the starting adjustment pressure, the load-sensitive hydraulic system is determined to be in constant torque condition. The starting adjustment pressure is the minimum outlet pressure of the hydraulic pump under the constant torque condition. The constant torque condition means a condition in which the torque remains unchanged.

[0101] Specifically, after determining the differential pressure threshold, the inlet pressure and starting pressure of the multi-way valve are acquired during normal operation of the hydraulic system. The difference between the outlet pressure and inlet pressure of the multi-way valve is calculated to obtain the target differential pressure. The target differential pressure is then compared with the differential pressure threshold. If the target differential pressure is less than the first sub-differential threshold and the pump outlet pressure is greater than the starting pressure, the load-sensitive hydraulic system can be determined to be in constant torque operation. In this case, further investigation of the hydraulic pump settings is required.

[0102] This embodiment obtains the opening degree of the multi-way valve and the inlet and outlet pressures of the multi-way valve when the opening degree is less than a preset opening degree and the load of the load-sensitive hydraulic system is unloaded. A machine learning model is used to analyze the opening degree and inlet and outlet pressures of the multi-way valve to determine a first differential pressure threshold. The difference between the outlet pressure and the inlet pressure of the multi-way valve is calculated to obtain the target differential pressure. When the target differential pressure is less than the first differential pressure threshold and the pump outlet pressure is greater than the starting pressure, the load-sensitive hydraulic system is determined to be in a constant torque condition. Compared with existing technologies that require a flow sensor and dedicated equipment to determine whether the engine hydraulic system is in a constant torque condition, this application does not require additional sensors. The differential pressure threshold is automatically determined by a machine learning model, and the hydraulic system is determined to be in a constant torque condition by comparing the target differential pressure with the differential pressure threshold. This reduces costs and improves the system's response speed. Therefore, it solves the problem of high cost of existing constant torque detection devices, achieving rapid detection of constant torque conditions and cost savings.

[0103] In its specific implementation, the aforementioned determining device further includes a third determining unit and a fourth determining unit. The third determining unit is used to determine that the load-sensitive hydraulic system is in a non-load-sensitive operating condition when the target pressure difference is less than or greater than the first pressure difference threshold. The non-load-sensitive operating condition indicates that the flow rate of the load-sensitive hydraulic system is less than the required flow rate of the multi-way valve. The fourth determining unit is used to determine that the load-sensitive hydraulic system is in a load-sensitive operating condition when the target pressure difference is equal to the first pressure difference threshold. The load-sensitive operating condition indicates that the flow rate of the load-sensitive hydraulic system is only related to the opening degree of the multi-way valve. This device further determines the operating condition of the load-sensitive hydraulic system by comparing the target pressure difference with the first pressure difference threshold. This allows for rapid and accurate determination of the operating condition, facilitating understanding of the system's working status and further pinpointing the cause of system failures or accurately calibrating engine parameters.

[0104] Specifically, the above steps further diagnose the fault conditions of the hydraulic system by comparing the target differential pressure with the first differential pressure threshold. When the target differential pressure is greater than the first differential pressure threshold, it indicates that the hydraulic pump is in a non-load-sensitive condition. Under this condition, the instantaneous impact is too large, and it is necessary to check the control device and strategy as well as the settings of the hydraulic pump. When the target differential pressure is equal to or near the first differential pressure threshold, it indicates that the hydraulic pump is in a load-sensitive condition. At this time, it is necessary to check the settings of the hydraulic pump and the characteristics of the prime mover.

[0105] To perform more comprehensive fault diagnosis of the hydraulic system, in some optional embodiments, the determining device further includes an acquisition unit and a first generation unit. The acquisition unit is used to acquire the back pressure of the load-sensitive hydraulic system when the target pressure difference is less than the first pressure difference threshold and the hydraulic pump outlet pressure is less than or equal to the starting pressure. The back pressure represents the outlet pressure of the hydraulic pump when only the relief valve acts as a safety valve. The first generation unit is used to generate a hydraulic pump troubleshooting signal when the back pressure is less than a preset threshold. This signal indicates whether leakage has occurred in the hydraulic pump and its outlet pipeline. Under these conditions, the device further investigates whether leakage has occurred in the hydraulic pump and its outlet pipeline, thus providing a more comprehensive response to various fault conditions in the hydraulic system for fault diagnosis and handling.

[0106] Specifically, if the target differential pressure is less than the first differential pressure threshold and the hydraulic pump outlet pressure is less than or equal to the starting pressure, further investigation is conducted to check for back pressure. Specifically, if the back pressure is low (less than the preset threshold), the hydraulic pump, control valve, and hydraulic pump outlet pipeline are checked for leaks based on the hydraulic pump troubleshooting signal. In this case, if the prime mover malfunctions, it is necessary to check whether the prime mover's power matching is normal.

[0107] In some optional embodiments, the load-sensitive hydraulic system further includes a prime mover, and the determining device further includes a second generating unit and a third generating unit. The second generating unit generates a control method check signal and a hydraulic pump check signal for the load-sensitive hydraulic system when the load-sensitive hydraulic system is determined to be in a non-load-sensitive operating condition, the target differential pressure is greater than the first differential pressure threshold, or an abnormality has occurred in the load-sensitive hydraulic system. The control method check signal is used to indicate whether the control method of the load-sensitive hydraulic system is correct, and the abnormality in the load-sensitive hydraulic system includes at least a sudden change in the speed of the prime mover. The third generating unit generates a hydraulic pump check signal and a prime mover check signal when the load-sensitive hydraulic system is determined to be in a load-sensitive operating condition and an abnormality has occurred. The prime mover check signal is used to indicate whether the prime mover is faulty. This device generates corresponding fault check signals under various operating conditions to perform fault troubleshooting based on each fault check signal.

[0108] In practice, when the hydraulic pump is in a non-load-sensitive operating condition and the target differential pressure is greater than the first differential pressure threshold, the instantaneous impact is too large, requiring investigation of the control device, strategy, and hydraulic pump settings. Therefore, the aforementioned control device investigation signal and hydraulic pump investigation signal for the load-sensitive hydraulic system are generated, and troubleshooting is performed based on these two signals. When the target differential pressure is equal to or near the first differential pressure threshold, it indicates that the hydraulic pump is in a load-sensitive operating condition. At this time, it is necessary to investigate the hydraulic pump settings and prime mover characteristics. Therefore, the aforementioned hydraulic pump investigation signal and prime mover investigation signal are generated for fault diagnosis. The above investigation signals can be generated to the hydraulic system's human-machine interface to prompt operators to perform corresponding fault diagnosis, or other feasible signal representation methods can be used.

[0109] To diversify the fault diagnosis devices and meet the needs of different users, the aforementioned determining device further includes a fifth determining unit and a sixth determining unit. The fifth determining unit is used to acquire a preset differential pressure of the load-sensitive hydraulic system when the differential pressure threshold of the load-sensitive hydraulic system is not automatically calibrated, and to determine this preset differential pressure as the second differential pressure threshold. This preset differential pressure is a differential pressure obtained through pre-calibration by hand. The sixth determining unit is used to determine that the load-sensitive hydraulic system is in the constant torque operating condition when the target differential pressure is less than the second differential pressure threshold and the hydraulic pump outlet pressure is greater than the starting pressure. This device determines the differential pressure threshold, i.e., the second differential pressure threshold, through manual calibration. This allows for the determination of the differential pressure threshold using a manually calibrated device, further confirming whether the hydraulic system is in a constant torque operating condition.

[0110] Specifically, before troubleshooting begins, the differential pressure threshold can be calibrated automatically or manually. In manual calibration, the system's preset differential pressure can be used directly; this can be pre-stored in the system or set manually on-site. After determining the second differential pressure threshold, the target differential pressure and the second differential pressure threshold are compared. If the target differential pressure is less than the second differential pressure threshold and the hydraulic pump outlet pressure is greater than the starting pressure, the system is determined to be in constant torque operation.

[0111] In some optional embodiments, the determining device further includes a first control unit, used to control the speed of the prime mover to an economical speed when the differential pressure threshold is automatically calibrated and the load-sensitive hydraulic system is in a load-sensitive operating condition, wherein the economical speed is the speed at which the prime mover saves the most fuel under normal operating conditions. This device further controls the speed of the prime mover, so that it can be applied to the prime mover after fault diagnosis to ensure the normal operation of the hydraulic system.

[0112] In the specific implementation process, if the differential pressure threshold is automatically calibrated and the current condition is load-sensitive, then the prime mover speed will be changed to the economic speed under differential pressure conditions, which is the engine speed at which fuel is most economical under normal operating conditions.

[0113] To further control the speed of the prime mover, the aforementioned determining device further includes a second acquisition unit, a third acquisition unit, and a second control unit. The second acquisition unit, when the differential pressure threshold is not automatically calibrated, acquires the historical speeds of multiple prime movers, the historical opening degree of the multi-way valve corresponding to each historical speed of the prime mover, the historical inlet and outlet pressures of the multi-way valve corresponding to each historical speed of the prime mover, and the historical differential pressure of the corresponding load-sensitive hydraulic system, thus obtaining a differential pressure mapping relationship. The third acquisition unit acquires the current speed of the prime mover, the current opening degree of the corresponding multi-way valve, and the current inlet and historical outlet pressures of the multi-way valve, and determines the differential pressure of the corresponding multi-way valve based on the differential pressure mapping relationship. The second control unit controls the speed of the prime mover to the economic speed when the differential pressure equals the second differential pressure threshold. This device determines the differential pressure mapping relationship when the differential pressure threshold is not automatically calibrated, and determines the differential pressure based on the differential pressure mapping relationship. This allows the differential pressure to be determined by collecting multiple historical speeds, historical opening degrees, and other data, and further controls the speed of the prime mover based on the differential pressure.

[0114] Specifically, multiple historical speeds of the prime mover, the corresponding pressure and opening degree of each historical speed, and the corresponding historical pressure difference are collected. The pressure difference mapping relationship can be in the form of a Map to generate a historical database. Then, the current speed, pressure, and opening degree are detected. By looking up the pressure difference mapping relationship, the pressure difference corresponding to the current speed, pressure, and opening degree is determined. If the pressure difference is equal to or near the second pressure difference threshold, the speed of the prime mover is controlled to the economic speed. If the opening degree of the multi-way valve changes and reaches the constant torque point of the maximum economic speed, it is determined whether to change the speed according to the requirements of the high efficiency and economic mode. It can also be determined whether to change the speed of the prime mover according to the user's needs.

[0115] The aforementioned constant torque operating condition determination device includes a processor and a memory. The first acquisition unit, the first determination unit, and the second determination unit, etc., are all stored as program units in the memory. The processor executes these program units stored in the memory to achieve the corresponding functions. All of the above modules are located in the same processor; alternatively, the modules may be located in different processors in any combination.

[0116] The processor contains a core, which retrieves the corresponding program unit from memory. One or more cores can be configured, and the constant torque operating condition is determined by adjusting the core parameters.

[0117] The memory may include non-permanent 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, and the memory includes at least one memory chip.

[0118] This invention provides a computer-readable storage medium including a stored program, wherein the program, when running, controls the device containing the computer-readable storage medium to perform the method for determining the constant torque condition.

[0119] Specifically, the methods for determining constant torque operating conditions include:

[0120] Step S201: When the differential pressure threshold of the load-sensitive hydraulic system is automatically calibrated, control the opening of the multi-way valve to be less than the preset opening and the load of the load-sensitive hydraulic system to be unloaded. When the opening of the multi-way valve is less than the preset opening and the load of the load-sensitive hydraulic system is unloaded, obtain the opening of the multi-way valve, the inlet pressure and the outlet pressure of the multi-way valve.

[0121] Specifically, the flow rate through the valve core in a valve-controlled hydraulic system can be approximately calculated using the following equation. Q is the flow rate through the main valve core, C is the flow coefficient (a constant), A is the main valve core opening (the operator directly or indirectly controls the flow rate via hydraulics or current), Δp is the inlet and outlet pressure difference of the multi-way valve main valve core, and ρ is the hydraulic medium density (a constant value under constant pressure and temperature). The main difference between load-sensitive and constant torque conditions lies in the inlet and outlet pressure difference Δp of the multi-way valve. In load-sensitive conditions, the pressure difference is the load-sensitive pressure difference. In constant torque conditions, the pressure difference is lower than the load-sensitive pressure difference, and the pump outlet pressure is higher than the starting pressure. Therefore, the working status of the hydraulic system can be detected by the pressure difference and outlet pressure. The above steps use automatic calibration, i.e., machine learning, to automatically determine the pressure difference threshold. The relationship between the pressure difference and the pressure difference threshold is used to determine whether it is a constant torque condition. Under automatic calibration, the multi-way valve opening is set to a small opening (less than the preset opening), and the load is selected as no-load or light-load. Under these conditions, the opening of the multi-way valve and the inlet and outlet pressures of the multi-way valve are obtained to determine the pressure difference threshold.

[0122] Step S202 involves analyzing the opening degree of the multi-way valve, the inlet pressure, and the outlet pressure using a machine learning model to determine the differential pressure of the load-sensitive hydraulic system. This differential pressure is then defined as a first differential pressure threshold. The machine learning model is trained using multiple sets of data, each set including: the opening degree of the multi-way valve, the inlet pressure of the multi-way valve, the outlet pressure of the multi-way valve, and the differential pressure of the load-sensitive hydraulic system. Specifically, after obtaining the opening degree and inlet / outlet pressures of the multi-way valve, machine learning is used to analyze these parameters, and the resulting differential pressure is used as the first differential pressure threshold. In other words, the differential pressure threshold in the above step is determined through machine learning. The hydraulic pump outlet pressure is approximately equal to the multi-way valve inlet pressure, differing only by a differential pressure. Therefore, the hydraulic pump outlet pressure can be used to replace the multi-way valve inlet pressure when calculating the target differential pressure.

[0123] Step S203: Obtain the hydraulic pump outlet pressure and the starting pressure, and calculate the difference between the outlet pressure of the multi-way valve and the inlet pressure of the multi-way valve to obtain the target pressure difference. If the target pressure difference is less than the first pressure difference threshold and the hydraulic pump outlet pressure is greater than the starting pressure, determine that the load-sensitive hydraulic system is in constant torque condition. The starting pressure is the minimum outlet pressure of the hydraulic pump under constant torque condition. The constant torque condition means a condition in which the torque remains unchanged.

[0124] Specifically, after determining the differential pressure threshold, the inlet pressure and starting pressure of the multi-way valve are obtained during the normal operation of the hydraulic system, and the difference between the outlet pressure and the inlet pressure of the multi-way valve is calculated to obtain the target differential pressure. The target differential pressure is compared with the differential pressure threshold. If the target differential pressure is less than the first differential pressure threshold and the pump outlet pressure is greater than the starting pressure, then the load-sensitive hydraulic system can be determined to be in constant torque condition.

[0125] Optionally, the determination method further includes: determining the load-sensitive hydraulic system as a non-load-sensitive operating condition when the target differential pressure is less than or greater than the first differential pressure threshold, wherein the non-load-sensitive operating condition indicates that the flow rate of the load-sensitive hydraulic system is less than the required flow rate of the multi-way valve; and determining the load-sensitive hydraulic system as a load-sensitive operating condition when the target differential pressure is equal to the first differential pressure threshold, wherein the load-sensitive operating condition indicates that the flow rate of the load-sensitive hydraulic system is only related to the opening degree of the multi-way valve.

[0126] Optionally, the determination method further includes: when the target differential pressure is less than the first differential pressure threshold and the outlet pressure of the hydraulic pump is less than or equal to the starting pressure, obtaining the back pressure of the load-sensitive hydraulic system, wherein the back pressure represents the outlet pressure of the hydraulic pump when only the relief valve acts as a safety valve; and when the back pressure is less than a preset threshold, generating a hydraulic pump troubleshooting signal, wherein the hydraulic pump troubleshooting signal is a signal used to indicate whether leakage has occurred in the hydraulic pump and the outlet pipeline of the hydraulic pump.

[0127] Optionally, the load-sensitive hydraulic system further includes a prime mover, and the determination method further includes: generating a control method troubleshooting signal and a hydraulic pump troubleshooting signal for the load-sensitive hydraulic system when the load-sensitive hydraulic system is determined to be in a non-load-sensitive operating condition, the target differential pressure is greater than the first differential pressure threshold, and the load-sensitive hydraulic system malfunctions; wherein the control method troubleshooting signal is a signal used to indicate whether the control method of the load-sensitive hydraulic system is correct, and the malfunction of the load-sensitive hydraulic system includes at least a sudden change in the speed of the prime mover; and generating a hydraulic pump troubleshooting signal and a prime mover troubleshooting signal when the load-sensitive hydraulic system is determined to be in a load-sensitive operating condition and the load-sensitive hydraulic system malfunctions, wherein the prime mover troubleshooting signal is a signal used to indicate whether the prime mover is faulty.

[0128] Optionally, the above determination method further includes: when the differential pressure threshold of the load-sensitive hydraulic system is not automatically calibrated, obtaining the preset differential pressure of the load-sensitive hydraulic system and determining the preset differential pressure as the second differential pressure threshold, wherein the preset differential pressure is a differential pressure obtained by manual calibration in advance; when the target differential pressure is less than the second differential pressure threshold and the outlet pressure of the hydraulic pump is greater than the starting pressure, determining that the load-sensitive hydraulic system is in the constant torque condition.

[0129] Optionally, the above determination method further includes: when the differential pressure threshold is automatically calibrated and the load-sensitive hydraulic system is in a load-sensitive operating condition, controlling the speed of the prime mover to an economical speed, wherein the economical speed is the speed at which the prime mover saves the most fuel under normal operating conditions.

[0130] Optionally, the above determination method further includes: when the differential pressure threshold is not automatically calibrated, acquiring the historical speeds of multiple prime movers, the historical opening degree of the multi-way valve corresponding to the historical speed of each prime mover, the historical inlet pressure and historical outlet pressure of the multi-way valve corresponding to the historical speed of each prime mover, and the historical differential pressure of the corresponding load-sensitive hydraulic system to obtain a differential pressure mapping relationship; acquiring the current speed of the prime mover, the current opening degree of the corresponding multi-way valve, and the current inlet pressure and historical outlet pressure of the multi-way valve, and determining the differential pressure of the corresponding multi-way valve according to the differential pressure mapping relationship; when the differential pressure is equal to the second differential pressure threshold, controlling the speed of the prime mover to the economic speed.

[0131] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0132] Step S201: When the differential pressure threshold of the load-sensitive hydraulic system is automatically calibrated, control the opening of the multi-way valve to be less than the preset opening and the load of the load-sensitive hydraulic system to be unloaded. When the opening of the multi-way valve is less than the preset opening and the load of the load-sensitive hydraulic system is unloaded, obtain the opening of the multi-way valve, the inlet pressure and the outlet pressure of the multi-way valve.

[0133] Specifically, the flow rate through the valve core in a valve-controlled hydraulic system can be approximately calculated using the following equation. Q is the flow rate through the main valve core, C is the flow coefficient (a constant), A is the main valve core opening (the operator directly or indirectly controls the flow rate via hydraulics or current), Δp is the inlet and outlet pressure difference of the multi-way valve main valve core, and ρ is the hydraulic medium density (a constant value under constant pressure and temperature). The main difference between load-sensitive and constant torque conditions lies in the inlet and outlet pressure difference Δp of the multi-way valve. In load-sensitive conditions, the pressure difference is the load-sensitive pressure difference. In constant torque conditions, the pressure difference is lower than the load-sensitive pressure difference, and the pump outlet pressure is higher than the starting pressure. Therefore, the working status of the hydraulic system can be detected by the pressure difference and outlet pressure. The above steps use automatic calibration, i.e., machine learning, to automatically determine the pressure difference threshold. The relationship between the pressure difference and the pressure difference threshold is used to determine whether it is a constant torque condition. Under automatic calibration, the multi-way valve opening is set to a small opening (less than the preset opening), and the load is selected as no-load or light-load. Under these conditions, the opening of the multi-way valve and the inlet and outlet pressures of the multi-way valve are obtained to determine the pressure difference threshold.

[0134] Step S202 involves analyzing the opening degree of the multi-way valve, the inlet pressure, and the outlet pressure using a machine learning model to determine the differential pressure of the load-sensitive hydraulic system. This differential pressure is then defined as a first differential pressure threshold. The machine learning model is trained using multiple sets of data, each set including: the opening degree of the multi-way valve, the inlet pressure of the multi-way valve, the outlet pressure of the multi-way valve, and the differential pressure of the load-sensitive hydraulic system. Specifically, after obtaining the opening degree and inlet / outlet pressures of the multi-way valve, machine learning is used to analyze these parameters, and the resulting differential pressure is used as the first differential pressure threshold. In other words, the differential pressure threshold in the above step is determined through machine learning. The hydraulic pump outlet pressure is approximately equal to the multi-way valve inlet pressure, differing only by a differential pressure. Therefore, the hydraulic pump outlet pressure can be used to replace the multi-way valve inlet pressure when calculating the target differential pressure.

[0135] Step S203: Obtain the hydraulic pump outlet pressure and the starting pressure, and calculate the difference between the outlet pressure of the multi-way valve and the inlet pressure of the multi-way valve to obtain the target pressure difference. If the target pressure difference is less than the first pressure difference threshold and the hydraulic pump outlet pressure is greater than the starting pressure, determine that the load-sensitive hydraulic system is in constant torque condition. The starting pressure is the minimum outlet pressure of the hydraulic pump under constant torque condition. The constant torque condition means a condition in which the torque remains unchanged.

[0136] Specifically, after determining the differential pressure threshold, the inlet pressure and starting pressure of the multi-way valve are obtained during the normal operation of the hydraulic system, and the difference between the outlet pressure and the inlet pressure of the multi-way valve is calculated to obtain the target differential pressure. The target differential pressure is compared with the differential pressure threshold. If the target differential pressure is less than the first differential pressure threshold and the pump outlet pressure is greater than the starting pressure, then the load-sensitive hydraulic system can be determined to be in constant torque condition.

[0137] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0138] Optionally, the determination method further includes: determining the load-sensitive hydraulic system as a non-load-sensitive operating condition when the target differential pressure is less than or greater than the first differential pressure threshold, wherein the non-load-sensitive operating condition indicates that the flow rate of the load-sensitive hydraulic system is less than the required flow rate of the multi-way valve; and determining the load-sensitive hydraulic system as a load-sensitive operating condition when the target differential pressure is equal to the first differential pressure threshold, wherein the load-sensitive operating condition indicates that the flow rate of the load-sensitive hydraulic system is only related to the opening degree of the multi-way valve.

[0139] Optionally, the determination method further includes: when the target differential pressure is less than the first differential pressure threshold and the outlet pressure of the hydraulic pump is less than or equal to the starting pressure, obtaining the back pressure of the load-sensitive hydraulic system, wherein the back pressure represents the outlet pressure of the hydraulic pump when only the relief valve acts as a safety valve; and when the back pressure is less than a preset threshold, generating a hydraulic pump troubleshooting signal, wherein the hydraulic pump troubleshooting signal is a signal used to indicate whether leakage has occurred in the hydraulic pump and the outlet pipeline of the hydraulic pump.

[0140] Optionally, the load-sensitive hydraulic system further includes a prime mover, and the determination method further includes: generating a control method troubleshooting signal and a hydraulic pump troubleshooting signal for the load-sensitive hydraulic system when the load-sensitive hydraulic system is determined to be in a non-load-sensitive operating condition, the target differential pressure is greater than the first differential pressure threshold, and the load-sensitive hydraulic system malfunctions; wherein the control method troubleshooting signal is a signal used to indicate whether the control method of the load-sensitive hydraulic system is correct, and the malfunction of the load-sensitive hydraulic system includes at least a sudden change in the speed of the prime mover; and generating a hydraulic pump troubleshooting signal and a prime mover troubleshooting signal when the load-sensitive hydraulic system is determined to be in a load-sensitive operating condition and the load-sensitive hydraulic system malfunctions, wherein the prime mover troubleshooting signal is a signal used to indicate whether the prime mover is faulty.

[0141] Optionally, the above determination method further includes: when the differential pressure threshold of the load-sensitive hydraulic system is not automatically calibrated, obtaining the preset differential pressure of the load-sensitive hydraulic system and determining the preset differential pressure as the second differential pressure threshold, wherein the preset differential pressure is a differential pressure obtained by manual calibration in advance; when the target differential pressure is less than the second differential pressure threshold and the outlet pressure of the hydraulic pump is greater than the starting pressure, determining that the load-sensitive hydraulic system is in the constant torque condition.

[0142] Optionally, the above determination method further includes: when the differential pressure threshold is automatically calibrated and the load-sensitive hydraulic system is in a load-sensitive operating condition, controlling the speed of the prime mover to an economical speed, wherein the economical speed is the speed at which the prime mover saves the most fuel under normal operating conditions.

[0143] Optionally, the above determination method further includes: when the differential pressure threshold is not automatically calibrated, acquiring the historical speeds of multiple prime movers, the historical opening degree of the multi-way valve corresponding to the historical speed of each prime mover, the historical inlet pressure and historical outlet pressure of the multi-way valve corresponding to the historical speed of each prime mover, and the historical differential pressure of the corresponding load-sensitive hydraulic system to obtain a differential pressure mapping relationship; acquiring the current speed of the prime mover, the current opening degree of the corresponding multi-way valve, and the current inlet pressure and historical outlet pressure of the multi-way valve, and determining the differential pressure of the corresponding multi-way valve according to the differential pressure mapping relationship; when the differential pressure is equal to the second differential pressure threshold, controlling the speed of the prime mover to the economic speed.

[0144] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0145] Step S201: When the differential pressure threshold of the load-sensitive hydraulic system is automatically calibrated, control the opening of the multi-way valve to be less than the preset opening and the load of the load-sensitive hydraulic system to be unloaded. When the opening of the multi-way valve is less than the preset opening and the load of the load-sensitive hydraulic system is unloaded, obtain the opening of the multi-way valve, the inlet pressure and the outlet pressure of the multi-way valve.

[0146] Step S202 involves analyzing the opening degree of the multi-way valve, the inlet pressure, and the outlet pressure using a machine learning model to determine the differential pressure of the load-sensitive hydraulic system. This differential pressure is then defined as a first differential pressure threshold. The machine learning model is trained using multiple sets of data, each set including: the opening degree of the multi-way valve, the inlet pressure of the multi-way valve, the outlet pressure of the multi-way valve, and the differential pressure of the load-sensitive hydraulic system. Specifically, after obtaining the opening degree and inlet / outlet pressures of the multi-way valve, machine learning is used to analyze these parameters, and the resulting differential pressure is used as the first differential pressure threshold. In other words, the differential pressure threshold in the above step is determined through machine learning. The hydraulic pump outlet pressure is approximately equal to the multi-way valve inlet pressure, differing only by a differential pressure. Therefore, the hydraulic pump outlet pressure can be used to replace the multi-way valve inlet pressure when calculating the target differential pressure.

[0147] Step S203: Obtain the hydraulic pump outlet pressure and the starting pressure, and calculate the difference between the outlet pressure of the multi-way valve and the inlet pressure of the multi-way valve to obtain the target pressure difference. If the target pressure difference is less than the first pressure difference threshold and the hydraulic pump outlet pressure is greater than the starting pressure, determine that the load-sensitive hydraulic system is in constant torque condition. The starting pressure is the minimum outlet pressure of the hydraulic pump under constant torque condition. The constant torque condition means a condition in which the torque remains unchanged.

[0148] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0154] 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.

[0155] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0156] 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.

[0157] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0158] 1) In the constant torque operating condition determination method of this application, the opening degree of the multi-way valve, the inlet pressure, and the outlet pressure of the multi-way valve are obtained when the opening degree of the multi-way valve is less than the preset opening degree and the load of the load-sensitive hydraulic system is unloaded. A machine learning model is used to analyze the opening degree, inlet pressure, and outlet pressure of the multi-way valve to determine a first differential pressure threshold. The difference between the outlet pressure and the inlet pressure of the multi-way valve is calculated to obtain the target differential pressure. When the target differential pressure is less than the first differential pressure threshold and the outlet pressure of the hydraulic pump is greater than the starting pressure, the load-sensitive hydraulic system is determined to be in a constant torque operating condition. Compared with the prior art, which requires connecting a flow sensor and dedicated equipment to determine whether the engine hydraulic system is in a constant torque operating condition, this application does not require connecting additional sensors. The differential pressure threshold is automatically determined by the machine learning model, and the hydraulic system is determined to be in a constant torque condition by comparing the target differential pressure with the differential pressure threshold. This reduces costs and improves the system's response speed. Therefore, it can solve the problem of high cost in existing constant torque detection methods, achieving the goal of rapid detection of constant torque operating conditions and cost savings.

[0159] 2) In the constant torque condition determination device of this application, the opening degree of the multi-way valve, the inlet pressure, and the outlet pressure of the multi-way valve are obtained when the opening degree of the multi-way valve is less than the preset opening degree and the load of the load-sensitive hydraulic system is unloaded. A machine learning model is used to analyze the opening degree, inlet pressure, and outlet pressure of the multi-way valve to determine a first differential pressure threshold. The difference between the outlet pressure and the inlet pressure of the multi-way valve is calculated to obtain the target differential pressure. When the target differential pressure is less than the first differential pressure threshold and the outlet pressure of the hydraulic pump is greater than the starting pressure, the load-sensitive hydraulic system is determined to be in a constant torque condition. Compared with the prior art, which requires connecting a flow sensor and dedicated equipment to determine whether the engine hydraulic system is in a constant torque condition, this application does not require connecting additional sensors. The differential pressure threshold is automatically determined by the machine learning model, and the hydraulic system is determined to be in a constant torque condition by comparing the target differential pressure with the differential pressure threshold. This reduces costs and improves the system's response speed. Therefore, it can solve the problem of high cost in existing constant torque detection methods, achieving the goal of rapid detection of constant torque conditions and cost savings.

[0160] The above description is merely a preferred embodiment of this application and is not intended to limit 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 protection scope of this application.

Claims

1. A method for determining a constant torque operating condition, characterized in that, The determination method is applied to a load-sensitive hydraulic system, which includes at least a multi-way valve and a hydraulic pump. The method for determining the constant torque condition includes: When the differential pressure threshold of the load-sensitive hydraulic system is automatically calibrated, the opening degree of the multi-way valve is controlled to be less than the preset opening degree and the load of the load-sensitive hydraulic system is unloaded. When the opening degree of the multi-way valve is less than the preset opening degree and the load of the load-sensitive hydraulic system is unloaded, the opening degree of the multi-way valve, the inlet pressure and the outlet pressure of the multi-way valve are obtained. The opening degree of the multi-way valve, the inlet pressure, and the outlet pressure are analyzed by a machine learning model to determine the pressure difference of the load-sensitive hydraulic system. The pressure difference is then determined as a first pressure difference threshold. The machine learning model is obtained by training multiple sets of data. Each set of data includes: the opening degree of the multi-way valve, the inlet pressure of the multi-way valve, the outlet pressure of the multi-way valve, and the pressure difference of the load-sensitive hydraulic system. The hydraulic pump outlet pressure and starting pressure are obtained, and the difference between the outlet pressure and the inlet pressure of the multi-way valve is calculated to obtain the target pressure difference. When the target pressure difference is less than the first pressure difference threshold and the hydraulic pump outlet pressure is greater than the starting pressure, the load-sensitive hydraulic system is determined to be in constant torque condition. The starting pressure is the minimum outlet pressure of the hydraulic pump under constant torque condition, and the constant torque condition means the condition in which the torque remains unchanged.

2. The determination method according to claim 1, characterized in that, The determination method further includes: If the target differential pressure is less than or greater than the first differential pressure threshold, the load-sensitive hydraulic system is determined to be in a non-load-sensitive operating condition, wherein the non-load-sensitive operating condition means that the flow rate of the load-sensitive hydraulic system is less than the required flow rate of the multi-way valve. When the target differential pressure is equal to the first differential pressure threshold, the load-sensitive hydraulic system is determined to be in a load-sensitive operating condition, wherein the load-sensitive operating condition indicates that the flow rate of the load-sensitive hydraulic system is only related to the opening degree of the multi-way valve.

3. The determination method according to claim 1, characterized in that, The determination method further includes: When the target differential pressure is less than the first differential pressure threshold and the hydraulic pump outlet pressure is less than or equal to the starting pressure, the back pressure of the load-sensitive hydraulic system is obtained, wherein the back pressure represents the outlet pressure of the hydraulic pump when only the relief valve acts as a safety valve; If the back pressure is less than a preset threshold, a hydraulic pump troubleshooting signal is generated, wherein the hydraulic pump troubleshooting signal is used to indicate whether there is a leak in the hydraulic pump and the outlet pipeline of the hydraulic pump.

4. The determination method according to claim 2, characterized in that, The load-sensitive hydraulic system further includes a prime mover, and the determination method further includes: When it is determined that the load-sensitive hydraulic system is in a non-load-sensitive operating condition, the target differential pressure is greater than the first differential pressure threshold, and the load-sensitive hydraulic system is abnormal, a control method troubleshooting signal and a hydraulic pump troubleshooting signal for the load-sensitive hydraulic system are generated. The control method troubleshooting signal is used to indicate whether the control method of the load-sensitive hydraulic system is correct. The abnormality of the load-sensitive hydraulic system includes at least a sudden change in the speed of the prime mover. The hydraulic pump troubleshooting signal is used to indicate whether the hydraulic pump and the outlet pipeline of the hydraulic pump are leaking. When it is determined that the load-sensitive hydraulic system is in a load-sensitive operating condition and an abnormality occurs in the load-sensitive hydraulic system, a hydraulic pump troubleshooting signal and a prime mover troubleshooting signal are generated, wherein the prime mover troubleshooting signal is used to indicate whether the prime mover is faulty.

5. The determination method according to claim 4, characterized in that, The determination method further includes: If the differential pressure threshold of the load-sensitive hydraulic system is not automatically calibrated, a preset differential pressure of the load-sensitive hydraulic system is obtained, and the preset differential pressure is determined as the second differential pressure threshold. The preset differential pressure is a differential pressure obtained by manual calibration in advance. When the target differential pressure is less than the second differential pressure threshold and the hydraulic pump outlet pressure is greater than the starting pressure, the load-sensitive hydraulic system is determined to be in the constant torque condition.

6. The determining method according to any one of claims 1 to 5, characterized in that, The determination method further includes: When the differential pressure threshold is automatically calibrated and the load-sensitive hydraulic system is in a load-sensitive operating condition, the speed of the prime mover is controlled to be the economic speed, wherein the economic speed is the speed at which the prime mover saves the most fuel under normal operating conditions.

7. The determination method according to claim 6, characterized in that, The determination method further includes: When the differential pressure threshold is not automatically calibrated, the historical speeds of multiple prime movers, the historical opening degree of the multi-way valve corresponding to the historical speed of each prime mover, the historical inlet pressure and historical outlet pressure of the multi-way valve corresponding to the historical speed of each prime mover, and the historical differential pressure of the corresponding load-sensitive hydraulic system are obtained to obtain the differential pressure mapping relationship. The current speed of the prime mover, the current opening degree of the corresponding multi-way valve, and the current inlet pressure and historical outlet pressure of the multi-way valve are obtained, and the pressure difference of the corresponding multi-way valve is determined according to the pressure difference mapping relationship. When the pressure difference is equal to the second pressure difference threshold, the rotational speed of the prime mover is controlled to the economical rotational speed.

8. A device for determining constant torque operating conditions, characterized in that, The determining device is included in a load-sensitive hydraulic system, which includes at least a multi-way valve and a hydraulic pump. The determining device for the constant torque condition includes: The first acquisition unit is used to control the opening degree of the multi-way valve to be less than the preset opening degree and the load of the load-sensitive hydraulic system to be unloaded when the differential pressure threshold of the load-sensitive hydraulic system is automatically calibrated, and to acquire the opening degree of the multi-way valve, the inlet pressure and the outlet pressure of the multi-way valve when the opening degree of the multi-way valve is less than the preset opening degree and the load of the load-sensitive hydraulic system is unloaded. The first determining unit is used to analyze the opening degree of the multi-way valve, the inlet pressure, and the outlet pressure of the multi-way valve through a machine learning model, determine the pressure difference of the load-sensitive hydraulic system, and determine the pressure difference as a first pressure difference threshold. The machine learning model is obtained by training multiple sets of data through machine learning. Each set of data includes: the opening degree of the multi-way valve, the inlet pressure of the multi-way valve, the outlet pressure of the multi-way valve, and the pressure difference of the load-sensitive hydraulic system. The second determining unit is used to acquire the hydraulic pump outlet pressure and the starting adjustment pressure, and calculate the difference between the outlet pressure of the multi-way valve and the inlet pressure of the multi-way valve to obtain the target pressure difference. When the target pressure difference is less than the first pressure difference threshold and the hydraulic pump outlet pressure is greater than the starting adjustment pressure, the load-sensitive hydraulic system is determined to be in constant torque condition. The starting adjustment pressure is the minimum outlet pressure of the hydraulic pump under constant torque condition, and the constant torque condition means a condition in which the torque remains unchanged.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the determination method according to any one of claims 1 to 7.

10. An electronic device, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing the determination method according to any one of claims 1 to 7.

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