Torque control method and arrangement, engineering machinery and storage medium

Abstract

The present disclosure provides a torque control method and device, a construction machine and a storage medium. The torque control method comprises: reading a torque ratio of an engine in the construction machine at a first predetermined frequency; obtaining a current use torque of the engine according to the torque ratio; and adjusting a torque of a hydraulic main pump in the construction machine so that the torque of the hydraulic main pump is less than a torque that the engine can provide.

Description

Technical Field

[0001] This disclosure relates to the field of control, and in particular to a torque control method and apparatus, engineering machinery, and storage medium. Background Technology

[0002] A concrete pump is a type of construction machinery used to transport ready-mixed concrete to a designated location. Currently, the main power source for concrete pumps is an engine, and the load primarily includes a hydraulic main pump, a swing pump, and a gear pump. Since the loads of the swing pump and gear pump are not adjustable, are relatively stable, and account for a small proportion, their power can be matched to the engine's power by adjusting the power of the main pump.

[0003] To ensure that the load torque is less than the upper limit of the engine's torque capacity, hydraulic master pumps are generally constant torque pumps. It's important to note that a constant torque pump, also known as a constant power variable pump, refers to a variable pump where the product of the hydraulic pump's outlet pressure p and output flow rate q is approximately constant. The function of a constant power variable pump is to ensure that the master pump does not exceed its power limit, increasing the flow rate at low pressures and decreasing the flow rate at high pressures. Summary of the Invention

[0004] The inventors noted that in related technologies, the main pump uses constant torque control. Therefore, the upper limit of torque required by the main pump is constant under different speed conditions, but the torque that the engine can provide varies at different speeds. For example, when the main pump operates at a low speed, the load torque may exceed the maximum torque provided by the engine, resulting in insufficient power. Therefore, the operating range of the main pump is relatively small, and engine overload and speed drop are prone to occur at low engine speeds.

[0005] Accordingly, this disclosure provides a torque control scheme that can effectively achieve torque matching at different speeds and avoid engine overload and speed drop issues.

[0006] According to a first aspect of the present disclosure, a torque control method is provided, comprising: reading the torque percentage of an engine in construction machinery at a first predetermined frequency; obtaining the current operating torque of the engine based on the torque percentage; and adjusting the torque of a hydraulic main pump in the construction machinery such that the torque of the hydraulic main pump is less than the torque that the engine can provide.

[0007] In some embodiments, adjusting the torque of the hydraulic main pump in the engineering machinery includes: adjusting the outlet flow rate value of the hydraulic main pump using an electronically controlled proportional valve to adjust the torque of the hydraulic main pump.

[0008] In some embodiments, the engine speed value is read at a second preset frequency; when the engine speed value switches from a state not less than a predetermined speed value to a state less than a predetermined speed value, the maximum speed drop value of the engine within the predetermined time range is determined; it is determined whether the maximum speed drop value is greater than a preset speed drop threshold; if the maximum speed drop value is greater than the preset speed drop threshold, the current torque ratio of the engine is reduced.

[0009] In some embodiments, reducing the current torque percentage of the engine includes: determining whether the current torque percentage of the engine is greater than a lower limit of torque percentage; if the current torque percentage of the engine is greater than the lower limit of torque percentage, then reducing the current torque percentage of the engine by a first predetermined percentage.

[0010] In some embodiments, reducing the current torque percentage of the engine by a first predetermined percentage includes: reducing the current torque of the hydraulic main pump by a first preset value, so as to reduce the current torque percentage of the engine by the first predetermined percentage.

[0011] In some embodiments, if the current torque percentage of the engine is not greater than the lower limit of the torque percentage, an alarm is triggered.

[0012] In some embodiments, if the maximum speed drop value is not greater than the preset speed drop threshold, the current torque ratio of the engine is increased.

[0013] In some embodiments, increasing the current torque percentage of the engine includes: determining whether the current torque percentage of the engine is less than the upper limit of the torque percentage; if the current torque percentage of the engine is less than the upper limit of the torque percentage, then increasing the current torque percentage of the engine by a second predetermined percentage.

[0014] In some embodiments, increasing the current torque percentage of the engine by a second predetermined ratio includes: increasing the current torque of the hydraulic main pump by a second preset value, so as to increase the current torque percentage of the engine by the second predetermined ratio.

[0015] In some embodiments, if the current torque percentage of the engine is not less than the upper limit of the torque percentage, then the current torque percentage of the engine is kept unchanged.

[0016] According to a second aspect of the present disclosure, a torque control device is provided, comprising: a first processing module configured to read the torque percentage of an engine in construction machinery at a first predetermined frequency, and to obtain the current operating torque of the engine based on the torque percentage; and a second processing module configured to adjust the torque of a hydraulic main pump in the construction machinery such that the torque of the hydraulic main pump is less than the torque that the engine can provide.

[0017] In some embodiments, the second processing module is configured to adjust the outlet flow rate of the hydraulic main pump using an electronically controlled proportional valve to adjust the torque of the hydraulic main pump.

[0018] In some embodiments, the first processing module is configured to read the engine speed value at a second preset frequency; the second processing module is configured to determine the maximum speed drop value of the engine within a predetermined time range when the engine speed value switches from a state not less than a predetermined speed value to a state less than a predetermined speed value, determine whether the maximum speed drop value is greater than a preset speed drop threshold, and if the maximum speed drop value is greater than the preset speed drop threshold, reduce the current torque ratio of the engine.

[0019] In some embodiments, the second processing module is configured to determine whether the current torque percentage of the engine is greater than the lower limit of the torque percentage; if the current torque percentage of the engine is greater than the lower limit of the torque percentage, then the current torque percentage of the engine is reduced by a first predetermined ratio.

[0020] In some embodiments, the second processing module is configured to reduce the current torque of the hydraulic master pump by a first preset value, so as to reduce the current torque percentage of the engine by the first predetermined ratio.

[0021] In some embodiments, the second processing module is configured to perform an alarm if the current torque percentage of the engine is not greater than the lower limit of the torque percentage.

[0022] In some embodiments, the second processing module is configured to increase the current torque percentage of the engine if the maximum speed drop value is not greater than the preset speed drop threshold.

[0023] In some embodiments, the second processing module is configured to determine whether the current torque percentage of the engine is less than the upper limit of the torque percentage. If the current torque percentage of the engine is less than the upper limit of the torque percentage, the current torque percentage of the engine is increased by a second predetermined percentage.

[0024] In some embodiments, the second processing module is configured to increase the current torque of the hydraulic master pump by a second preset value, so as to increase the current torque percentage of the engine by the second predetermined ratio.

[0025] In some embodiments, the second processing module is configured to keep the current torque percentage of the engine unchanged if the current torque percentage of the engine is not less than the upper limit of the torque percentage.

[0026] According to a third aspect of the present disclosure, a torque control device is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute instructions stored in the memory to implement the method as described in any of the above embodiments.

[0027] According to a fourth aspect of the present disclosure, an engineering machine is provided, including the torque control device described in any of the above embodiments.

[0028] In some embodiments, the construction machinery is a concrete pump.

[0029] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method as described in any of the above embodiments.

[0030] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the torque curves of an engine and a main pump according to an embodiment of this disclosure;

[0033] Figure 2 This is a schematic flowchart of a torque control method according to an embodiment of the present disclosure;

[0034] Figure 3 A schematic diagram of the torque curves of the engine and main pump according to another embodiment of this disclosure;

[0035] Figure 4 This is a schematic diagram of engine speed fluctuation according to an embodiment of the present disclosure;

[0036] Figure 5 This is a schematic flowchart of a torque control method according to another embodiment of the present disclosure;

[0037] Figure 6 This is a schematic diagram of the structure of a torque control device according to an embodiment of the present disclosure;

[0038] Figure 7 This is a schematic diagram of the structure of a torque control device according to another embodiment of the present disclosure;

[0039] Figure 8 This is a schematic diagram of the structure of an engineering machine according to an embodiment of the present disclosure. Detailed Implementation

[0040] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0041] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this disclosure.

[0042] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0043] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0044] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0045] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0046] The inventors noted that the main pump uses constant torque control, therefore the upper limit of torque required by the main pump is constant at different speeds, but the torque that the engine can provide varies at different speeds. For example... Figure 1 As shown, when the main pump operates at speeds below approximately 1200 rpm, the load torque exceeds the maximum torque provided by the engine, resulting in insufficient power. Therefore, the operating range of the main pump is relatively small, approximately 1200–2000 rpm. To increase the operating speed range without speed drop, the constant torque value must be lowered overall, causing a decrease in power performance at each speed. This can easily lead to engine overload and speed drop at lower engine speeds.

[0047] Accordingly, this disclosure provides a torque control scheme that can effectively achieve torque matching at different speeds and avoid engine overload and speed drop issues.

[0048] Figure 2 This is a schematic flowchart illustrating a torque control method according to an embodiment of the present disclosure. In some embodiments, the following torque control method is executed by a torque control device.

[0049] In step 201, the torque percentage of the engine in the construction machinery is read at a first predetermined frequency.

[0050] In step 202, the current operating torque of the engine is obtained based on the torque ratio.

[0051] It should be noted that torque percentage refers to the percentage of engine output torque; it represents the engine's output capability relative to its maximum torque. Therefore, the engine's torque T1 can be obtained from the torque percentage.

[0052] In step 203, the torque of the hydraulic main pump in the construction machinery is adjusted so that the torque of the hydraulic main pump is less than the torque that the engine can provide.

[0053] In some embodiments, the torque of the hydraulic master pump is determined by the outlet pressure (MPa) and outlet flow rate (ml / r) of the hydraulic master pump.

[0054] In some embodiments, the torque of the hydraulic master pump is positively correlated with the product of the hydraulic master pump's outlet pressure and outlet flow rate (ml / r).

[0055] For example, the torque of the hydraulic main pump is T2 = P * Q / 2π, where P is the outlet pressure of the hydraulic main pump (MPa) and Q is the outlet flow rate (ml / r).

[0056] In other words, through the above processing, the torque ratio is made no greater than 100%. Assuming the expected ratio is 92%, T2 is adjusted so that T2 < (T1 * 92%).

[0057] In some embodiments, the outlet flow rate of the hydraulic main pump is adjusted using an electronically controlled proportional valve to adjust the torque of the hydraulic main pump.

[0058] like Figure 3 As mentioned above, by adjusting the torque of the hydraulic main pump in the construction machinery, the maximum torque of the hydraulic main pump is always less than the engine torque. This ensures that the construction machinery will not be overloaded at various speeds, thus enabling a wider range of operating speeds.

[0059] In the torque control method provided in the above embodiments of this disclosure, the current operating torque of the engine is obtained based on the torque ratio of the engine in the construction machinery, and the torque of the hydraulic main pump in the construction machinery is adjusted so that the torque of the hydraulic main pump is less than the torque that the engine can provide. This effectively achieves torque matching at different speeds, avoiding the problem of engine overload and speed drop.

[0060] It should be noted that the engine will experience a speed drop after each direction change. For example... Figure 4 As shown, the engine's set speed is 1600 rpm. The engine experiences a speed drop after the reversing operation, with the maximum speed drop value as shown below. Figure 4 The speed drop point is shown in point 41.

[0061] Accordingly, this disclosure also provides a torque control method that enables the engine to remain within an allowable speed drop range.

[0062] Figure 5 This is a schematic flowchart illustrating a torque control method according to another embodiment of the present disclosure. In some embodiments, the following torque control method is performed by a torque control device.

[0063] In step 501, the engine speed value is read at a second preset frequency.

[0064] In step 502, when the engine speed changes from a state not less than a predetermined speed value to a state less than a predetermined speed value, the maximum speed drop value of the engine within a predetermined time range is determined.

[0065] In step 503, it is determined whether the maximum speed drop value is greater than the preset speed drop threshold.

[0066] If the maximum speed drop value is greater than the preset speed drop threshold, proceed to step 504; if the maximum speed drop value is not greater than the preset speed drop threshold, proceed to step 505.

[0067] For example, if the preset speed drop threshold is 80, and the maximum speed drop of the engine within a predetermined time range is 100, then step 504 is executed to reduce the engine's torque proportion. Conversely, if the maximum speed drop of the engine within a predetermined time range is 50, then step 505 is executed to increase the engine's torque proportion.

[0068] In step 504, the current torque percentage of the engine is reduced.

[0069] In some embodiments, it is first determined whether the current torque percentage of the engine is greater than the lower limit of the torque percentage. If the current torque percentage of the engine is greater than the lower limit of the torque percentage, the current torque percentage of the engine is reduced by a first predetermined percentage.

[0070] In some embodiments, the current torque of the hydraulic master pump is reduced by a first preset value in order to reduce the current torque percentage of the engine by a first predetermined proportion.

[0071] For example, if the current torque percentage of the engine is 92% and the preset lower limit of the torque percentage is 80%, the current torque percentage of the engine can be adjusted to 90% by reducing the current torque of the hydraulic master pump by a first preset value.

[0072] In addition, if the current torque percentage of the engine is not greater than the lower limit of the torque percentage, an alarm will be triggered, indicating that there is a fault in the engine power system.

[0073] For example, if the current torque ratio of the engine has reached 80%, and the current torque ratio of the engine is further reduced, the current torque ratio of the engine will fall below the lower limit of the torque ratio. Therefore, in this case, the current operating torque of the engine will no longer be reduced, and an alarm will be triggered to effectively avoid malfunctions caused by abnormal engine operation.

[0074] In step 505, the current torque percentage of the engine is increased.

[0075] In some embodiments, it is first determined whether the current torque percentage of the engine is less than the upper limit of the torque percentage. If the current torque percentage of the engine is less than the upper limit of the torque percentage, the current torque percentage of the engine is increased by a second predetermined percentage.

[0076] In some embodiments, the current torque of the hydraulic master pump is increased by a second preset value to increase the proportion of the current torque of the engine by a second predetermined ratio.

[0077] For example, if the current torque percentage of the engine is 92% and the preset upper limit of torque percentage is 95%, the current torque percentage of the engine can be adjusted to 93% by increasing the current torque of the hydraulic master pump by a second preset value.

[0078] Furthermore, if the current torque percentage of the engine is not less than the upper limit of the torque percentage, then the current torque percentage of the engine will remain unchanged.

[0079] For example, if the current torque ratio of the engine has reached 95%, further increasing the current torque ratio will result in the current torque ratio exceeding the upper limit. Therefore, in this case, the current operating torque of the engine should not be increased to effectively avoid malfunctions caused by abnormal engine operation.

[0080] Through the above processing, the engine can always be kept within the allowable speed reduction range, thereby effectively achieving adaptive matching between the engine and the main pump.

[0081] Figure 6This is a schematic diagram of the structure of a torque control device according to an embodiment of this disclosure. Figure 6 As shown, the torque control device includes a first processing module 61 and a second processing module 62.

[0082] The first processing module 61 is configured to read the torque percentage of the engine in the construction machinery at a first predetermined frequency, and obtain the current operating torque of the engine based on the torque percentage.

[0083] It should be noted that torque percentage refers to the percentage of engine output torque; it represents the engine's output capability relative to its maximum torque. Therefore, the engine's torque T1 can be obtained from the torque percentage.

[0084] The second processing module 62 is configured to adjust the torque of the hydraulic main pump in the construction machinery so that the torque of the hydraulic main pump is less than the torque that the engine can provide.

[0085] In some embodiments, the torque of the hydraulic master pump is determined by the outlet pressure (MPa) and outlet flow rate (ml / r) of the hydraulic master pump.

[0086] In some embodiments, the torque of the hydraulic master pump is positively correlated with the product of the hydraulic master pump's outlet pressure and outlet flow rate (ml / r).

[0087] For example, the torque of the hydraulic main pump is T2 = P * Q / 2π, where P is the outlet pressure of the hydraulic main pump (MPa) and Q is the outlet flow rate (ml / r).

[0088] In some embodiments, the second processing module 62 is configured to adjust the outlet flow rate of the hydraulic main pump using an electronically controlled proportional valve to adjust the torque of the hydraulic main pump.

[0089] like Figure 3 As mentioned above, by adjusting the torque of the hydraulic main pump in the construction machinery, the maximum torque of the hydraulic main pump is always less than the engine torque. This ensures that the construction machinery will not be overloaded at various speeds, thus enabling a wider range of operating speeds.

[0090] In some embodiments, the first processing module 61 is configured to read the engine speed value at a second preset frequency. The second processing module 62 is configured to determine the maximum speed drop value of the engine within a predetermined time range when the engine speed value switches from a state not less than a predetermined speed value to a state less than a predetermined speed value, determine whether the maximum speed drop value is greater than a preset speed drop threshold, and if the maximum speed drop value is greater than the preset speed drop threshold, reduce the current torque ratio of the engine.

[0091] For example, if the preset speed drop threshold is 80, and the maximum speed drop of the engine within a predetermined time range is 100, then the engine's torque percentage will be reduced.

[0092] In some embodiments, the second processing module 62 is configured to determine whether the current torque percentage of the engine is greater than the lower limit of the torque percentage; if the current torque percentage of the engine is greater than the lower limit of the torque percentage, then the current torque percentage of the engine is reduced by a first predetermined ratio.

[0093] In some embodiments, the second processing module 62 reduces the current torque of the hydraulic master pump by a first preset value, thereby reducing the current torque percentage of the engine by a first predetermined proportion.

[0094] For example, if the current torque percentage of the engine is 92% and the preset lower limit of the torque percentage is 80%, the current torque percentage of the engine can be adjusted to 90% by reducing the current torque of the hydraulic master pump by a first preset value.

[0095] In addition, if the current torque percentage of the engine is not greater than the lower limit of the torque percentage, the second processing module 62 will perform an alarm.

[0096] For example, if the current torque ratio of the engine has reached 80%, and the current torque ratio of the engine is further reduced, the current torque ratio of the engine will fall below the lower limit of the torque ratio. Therefore, in this case, the current operating torque of the engine will no longer be reduced, and an alarm will be triggered to effectively avoid malfunctions caused by abnormal engine operation.

[0097] In some embodiments, the second processing module 62 is configured to increase the current torque percentage of the engine if the maximum speed drop value is not greater than a preset speed drop threshold.

[0098] For example, if the maximum speed drop of the engine within a predetermined time range is 50, and the preset speed drop threshold is 80, then the engine's torque ratio will be increased.

[0099] In some embodiments, the second processing module 62 is configured to determine whether the current torque percentage of the engine is less than the upper limit of the torque percentage. If the current torque percentage of the engine is less than the upper limit of the torque percentage, the current torque percentage of the engine is increased by a second predetermined percentage.

[0100] In some embodiments, the second processing module 62 is configured to increase the current torque of the hydraulic master pump by a second preset value in order to increase the current torque percentage of the engine by a second predetermined ratio.

[0101] For example, if the current torque percentage of the engine is 92% and the preset upper limit of torque percentage is 95%, the current torque percentage of the engine can be adjusted to 93% by increasing the current torque of the hydraulic master pump by a second preset value.

[0102] Furthermore, if the current torque percentage of the engine is not less than the upper limit of the torque percentage, the second processing module 62 keeps the current torque percentage of the engine unchanged.

[0103] For example, if the current torque ratio of the engine has reached 95%, further increasing the current torque ratio will result in the current torque ratio exceeding the upper limit. Therefore, in this case, the current operating torque of the engine should not be increased to effectively avoid malfunctions caused by abnormal engine operation.

[0104] Through the above processing, the engine can always be kept within the allowable speed reduction range, thereby effectively achieving adaptive matching between the engine and the main pump.

[0105] Figure 7 This is a schematic diagram of the structure of a torque control device according to another embodiment of this disclosure. Figure 7 As shown, the torque control device includes a memory 71 and a processor 72.

[0106] Memory 71 is used to store instructions, and processor 72 is coupled to memory 71. Processor 72 is configured to execute instructions based on memory storage, as shown in the example below. Figure 2 , 5 The method involved in any of the embodiments.

[0107] like Figure 7 As shown, the torque control device also includes a communication interface 73 for exchanging information with other devices. Additionally, the torque control device includes a bus 74, through which the processor 72, communication interface 73, and memory 71 communicate with each other.

[0108] The memory 71 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk drive. The memory 71 may also be a memory array. The memory 71 may also be divided into blocks, and the blocks may be combined into virtual volumes according to certain rules.

[0109] Furthermore, processor 72 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present disclosure.

[0110] This disclosure also relates to a computer-readable storage medium storing computer instructions that, when executed by a processor, implement... Figure 2 , 5 The method involved in any of the embodiments.

[0111] Figure 8 This is a schematic diagram of the structure of an engineering machine according to an embodiment of this disclosure. Figure 8 As shown, the engineering machinery 80 includes a torque control device 81, wherein the torque control device 81 is... Figure 6 or Figure 7 The torque control device involved in any of the embodiments.

[0112] In some embodiments, the construction machinery includes a concrete pump.

[0113] In some embodiments, the functional units described above may be implemented as general-purpose processors, programmable logic controllers (PLCs), digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any suitable combination thereof for performing the functions described herein.

[0114] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0115] The description in this disclosure is provided for illustrative and descriptive purposes only and is not intended to be exhaustive or to limit the disclosure to its forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of this disclosure and to enable those skilled in the art to understand this disclosure and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A torque control method, comprising: Read the torque percentage of the engine in the construction machinery at a first predetermined frequency; The current operating torque of the engine is obtained based on the torque percentage. Adjust the torque of the hydraulic main pump in the construction machinery so that the torque of the hydraulic main pump is less than the torque that the engine can provide; The engine speed is read at a second preset frequency; When the engine speed changes from a state not less than a predetermined speed value to a state less than a predetermined speed value, the maximum speed drop value of the engine within the predetermined time range is determined. Determine whether the maximum speed drop value is greater than a preset speed drop threshold; If the maximum speed drop value is not greater than the preset speed drop threshold, then determine whether the current torque percentage of the engine is less than the upper limit of the torque percentage. If the current torque percentage of the engine is less than the upper limit of the torque percentage, then the current torque percentage of the engine is increased by a second predetermined percentage. If the current torque percentage of the engine is not less than the upper limit of the torque percentage, then the current torque percentage of the engine remains unchanged.

2. The method of claim 1, wherein, Adjusting the torque of the hydraulic main pump in the construction machinery includes: The torque of the hydraulic main pump is adjusted by regulating the outlet flow rate of the hydraulic main pump using an electronically controlled proportional valve.

3. The method according to any one of claims 1-2, further comprising: If the maximum speed drop value is greater than the preset speed drop threshold, then the current torque percentage of the engine is reduced.

4. The method according to claim 3, wherein, Reducing the current torque percentage of the engine includes: Determine whether the current torque percentage of the engine is greater than the lower limit of the torque percentage; If the current torque percentage of the engine is greater than the lower limit of the torque percentage, then the current torque percentage of the engine is reduced by a first predetermined percentage.

5. The method according to claim 4, wherein, Reducing the current torque percentage of the engine by a first predetermined ratio includes: The current torque of the hydraulic main pump is reduced by a first preset value, so as to reduce the current torque percentage of the engine by the first predetermined ratio.

6. The method according to claim 4, further comprising: If the current torque percentage of the engine is not greater than the lower limit of the torque percentage, an alarm will be triggered.

7. The method according to claim 1 or 2, wherein, Increasing the current torque percentage of the engine by a second predetermined ratio includes: The current torque of the hydraulic main pump is increased by a second preset value so as to increase the current torque ratio of the engine by the second predetermined proportion.

8. A torque control device, comprising: The first processing module is configured to read the torque ratio of the engine in the construction machinery at a first predetermined frequency, and obtain the current operating torque of the engine based on the torque ratio; it is also configured to read the engine speed value at a second predetermined frequency. The second processing module is configured to adjust the torque of the hydraulic main pump in the construction machinery so that the torque of the hydraulic main pump is less than the torque that the engine can provide; it is also configured to determine the maximum speed drop value of the engine within a predetermined time range when the engine speed value switches from a state not less than a predetermined speed value to a state less than a predetermined speed value, determine whether the maximum speed drop value is greater than a preset speed drop threshold, if the maximum speed drop value is not greater than the preset speed drop threshold, determine whether the current torque percentage of the engine is less than the upper limit of torque percentage, if the current torque percentage of the engine is less than the upper limit of torque percentage, increase the current torque percentage of the engine by a second predetermined ratio, if the current torque percentage of the engine is not less than the upper limit of torque percentage, keep the current torque percentage of the engine unchanged.

9. The apparatus according to claim 8, wherein, The second processing module is configured to adjust the outlet flow rate of the hydraulic main pump using an electronically controlled proportional valve, thereby adjusting the torque of the hydraulic main pump.

10. The apparatus according to any one of claims 8-9, wherein, The second processing module is configured to reduce the current torque percentage of the engine if the maximum speed drop value is greater than the preset speed drop threshold.

11. The apparatus according to claim 10, wherein, The second processing module is configured to determine whether the current torque percentage of the engine is greater than the lower limit of the torque percentage. If the current torque percentage of the engine is greater than the lower limit of the torque percentage, the current torque percentage of the engine is reduced by a first predetermined ratio.

12. The apparatus according to claim 11, wherein, The second processing module is configured to reduce the current torque of the hydraulic main pump by a first preset value, so as to reduce the current torque percentage of the engine by the first predetermined ratio.

13. The apparatus according to claim 11, wherein, The second processing module is configured to perform an alarm if the current torque percentage of the engine is not greater than the lower limit of the torque percentage.

14. The apparatus according to claim 8 or 9, wherein, The second processing module is configured to increase the current torque of the hydraulic main pump by a second preset value, so as to increase the current torque ratio of the engine by the second predetermined ratio.

15. A torque control device, comprising: Memory; A processor, coupled to a memory, is configured to implement the method as described in any one of claims 1-7 based on memory-stored instruction execution.

16. An engineering machine, comprising a torque control device as described in any one of claims 8-15.

17. The engineering machinery according to claim 16, wherein, The construction machinery in question is a concrete pump.

18. A computer-readable storage medium, wherein, A computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method as described in any one of claims 1-7.

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