Method for matching flow of oil cylinder, controller, engineering machine and storage medium

Abstract

The application discloses a matching method for oil cylinder flow, a controller, a construction machine and a storage medium. The method comprises the following steps: obtaining the rotating speed of an engine, the current value of an electric proportional main valve, the pressure difference of the throttle port of the electric proportional main valve, the current value of a variable amplitude balance valve and the pressure difference of the throttle port of the variable amplitude balance valve; determining the oil inlet amount of the rod cavity of the variable amplitude oil cylinder according to the rotating speed of the engine, the current value of the electric proportional main valve and the pressure difference of the throttle port of the electric proportional main valve; determining the actual oil return amount of the rodless cavity of the variable amplitude oil cylinder according to the current value of the variable amplitude balance valve and the pressure difference of the throttle port of the variable amplitude balance valve; determining the maximum allowed oil return amount of the rodless cavity of the variable amplitude oil cylinder according to the oil inlet amount of the rod cavity; and adjusting the current value of the electric proportional main valve or the current value of the variable amplitude balance valve until the actual oil return amount of the rodless cavity is not greater than the maximum allowed oil return amount of the rodless cavity, in the case that the actual oil return amount of the rodless cavity is greater than the maximum allowed oil return amount of the rodless cavity. The application can reduce the possibility of hydraulic oil overflow from the oil tank.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a method for matching cylinder flow, a controller, engineering machinery, and a storage medium. Background Technology

[0002] During the luffing and lowering process of the boom in construction machinery, the boom angle continuously decreases, the pressure in the rodless chamber of the luffing cylinder continuously increases, and the retraction speed of the luffing cylinder continuously accelerates, resulting in a larger actual oil return volume in the rodless chamber. If the retraction speed of the luffing cylinder is not limited, or the oil flow in the rod chamber is not increased accordingly, excessive hydraulic oil flowing into the tank and insufficient hydraulic oil flowing out will cause hydraulic oil to overflow from the tank. Therefore, due to the mismatch in hydraulic oil flow between the rodless and rod chambers of the luffing cylinder, existing construction machinery suffers from the problem of hydraulic oil easily overflowing from the tank. Summary of the Invention

[0003] The purpose of this application is to provide a method for matching cylinder flow rate, a controller, engineering machinery, and a storage medium to solve the problem in the prior art where hydraulic oil in engineering machinery easily overflows from the oil tank due to the mismatch in hydraulic oil flow rates between the rodless and rod chambers of the luffing cylinder.

[0004] To achieve the above objectives, the first aspect of this application provides a method for matching cylinder flow rate, applied to a controller of construction machinery. The construction machinery also includes an engine, a variable displacement cylinder, an electro-proportional main valve, and a variable displacement balance valve. The controller communicates with the electro-proportional main valve and the variable displacement balance valve respectively. The matching method includes:

[0005] When the construction machinery is performing luffing and lowering operations, the engine speed, the current value of the electro-proportional main valve, the pressure difference at the throttle port of the electro-proportional main valve, the current value of the luffing balance valve, and the pressure difference at the throttle port of the luffing balance valve are obtained.

[0006] The oil intake of the rod chamber of the luffing cylinder is determined based on the engine speed, the current value of the electro-proportional main valve, and the pressure difference at the throttle port of the electro-proportional main valve.

[0007] The actual oil return volume of the rodless chamber of the luffing cylinder is determined based on the current value of the luffing balance valve and the pressure difference at the throttle port of the luffing balance valve.

[0008] The maximum allowable return flow rate of the rodless chamber of the luffing cylinder is determined based on the oil inlet flow rate of the rod chamber.

[0009] Compare the actual oil return volume in the rodless chamber with the maximum allowable oil return volume in the rodless chamber;

[0010] If the actual return oil volume of the rodless chamber is greater than the maximum allowable return oil volume of the rodless chamber, adjust the current value of the electro-proportional main valve or the current value of the amplitude balance valve until the actual return oil volume of the rodless chamber is not greater than the maximum allowable return oil volume of the rodless chamber, so as to match the actual return oil volume of the rodless chamber with the oil inlet volume of the rod chamber.

[0011] In this embodiment of the application, when the actual return oil volume of the rodless chamber is greater than the maximum allowable return oil volume of the rodless chamber, adjusting the current value of the electro-proportional main valve or the current value of the amplitude balance valve includes:

[0012] When the actual oil return volume of the rodless chamber is greater than the maximum allowable oil return volume of the rodless chamber, compare the current value of the electro-proportional main valve with the maximum current value of the electro-proportional main valve.

[0013] If the current value of the electro-proportional main valve is less than the maximum current value of the electro-proportional main valve, increase the current value of the electro-proportional main valve.

[0014] When the current value of the electro-proportional main valve is equal to the maximum current value of the electro-proportional main valve, reduce the current value of the amplitude balance valve.

[0015] In this embodiment of the application, the construction machinery also includes a hydraulic pump, which determines the oil inlet quantity of the rod chamber of the luffing cylinder based on the engine speed, the current value of the electro-proportional main valve, and the pressure difference at the throttle port of the electro-proportional main valve, including:

[0016] Determine the hydraulic pump's displacement and volumetric efficiency;

[0017] The flow area of ​​the throttling orifice of the electro-proportional main valve is determined based on the current value of the electro-proportional main valve.

[0018] The flow rate of the electro-proportional main valve is determined based on the flow coefficient of the electro-proportional main valve, the flow area of ​​the throttling orifice of the electro-proportional main valve, and the pressure difference at the throttling orifice of the electro-proportional main valve.

[0019] The flow rate of the hydraulic pump is determined based on the engine speed, hydraulic pump displacement, and volumetric efficiency.

[0020] The smaller value between the flow rate of the electro-proportional main valve and the flow rate of the hydraulic pump is determined as the oil inlet flow rate of the rod chamber.

[0021] In this embodiment, the flow rate of the electro-proportional main valve satisfies formula (1):

[0022] q1=C1A1(Δp1) 1 / 2 (1)

[0023] Where q1 is the flow rate of the electro-proportional main valve, C1 is the flow coefficient of the electro-proportional main valve, A1 is the flow area of ​​the throttling orifice of the electro-proportional main valve, and Δp1 is the pressure difference at the throttling orifice of the electro-proportional main valve.

[0024] The flow rate of the hydraulic pump satisfies formula (2):

[0025] q2=V p *n*η v (2)

[0026] Where q2 is the flow rate of the hydraulic pump, V p η is the hydraulic pump displacement, n is the engine speed, and η is the hydraulic pump displacement. v For volumetric efficiency.

[0027] In this embodiment of the application, determining the actual oil return volume of the rodless chamber of the luffing cylinder based on the current value of the luffing balance valve and the pressure difference at the throttle port of the luffing balance valve includes:

[0028] The flow area of ​​the throttling orifice of the amplitude balancing valve is determined based on the current value of the amplitude balancing valve.

[0029] The actual oil return volume of the rodless chamber is determined based on the flow coefficient of the amplitude balancing valve, the flow area of ​​the throttle orifice of the amplitude balancing valve, and the pressure difference at the throttle orifice of the amplitude balancing valve.

[0030] In this embodiment, the actual return oil volume of the rodless chamber satisfies formula (3):

[0031] Q = C²A²(Δp²) 1 / 2 (3)

[0032] Where Q is the actual return oil volume of the rodless chamber, C2 is the flow coefficient of the variable amplitude balance valve, A2 is the flow area of ​​the throttle port of the variable amplitude balance valve, and Δp2 is the pressure difference of the throttle port of the variable amplitude balance valve.

[0033] In this embodiment of the application, the construction machinery also includes a fuel tank, in which a liquid level sensor is installed. The controller also communicates with the liquid level sensor, and the matching method further includes:

[0034] Receives oil tank level data sent by the level sensor;

[0035] Determine if the fuel tank level is greater than the preset warning level.

[0036] If the fuel tank level is determined to be greater than the preset warning level, determine whether the fuel tank level is greater than the preset maximum level.

[0037] If the oil tank level is determined to be no greater than the preset maximum level, a level warning signal will be sent.

[0038] If the oil tank level is determined to be higher than the preset maximum level, the control system will stop the luffing and lowering action of the construction machinery.

[0039] In this embodiment of the application, determining the maximum allowable return flow of the rodless chamber of the luffing cylinder based on the oil inlet flow of the rod chamber includes:

[0040] Obtain the area of ​​the rodless chamber and the area of ​​the rod chamber of the variable amplitude cylinder;

[0041] Based on the ratio of the area of ​​the rodless chamber to the area of ​​the rod chamber, the maximum allowable return oil volume of the rodless chamber of the luffing cylinder is determined according to the oil inlet volume of the rod chamber.

[0042] In this embodiment of the application, the maximum allowable return oil volume of the rodless chamber satisfies formula (4):

[0043]

[0044] Among them, Q max q is the maximum allowable return flow rate of the rodless chamber, q is the oil inlet flow rate of the rod chamber, s1 is the area of ​​the rod chamber, and s2 is the area of ​​the rodless chamber.

[0045] A second aspect of this application provides a controller, comprising:

[0046] The memory is configured to store instructions; and

[0047] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned method for matching cylinder flow.

[0048] A third aspect of this application provides an engineering machinery, characterized in that it comprises:

[0049] engine;

[0050] Luffing cylinder, including rod chamber and rodless chamber;

[0051] An electro-proportional main valve, connected to the rod chamber, is configured to regulate the oil inlet flow rate to the rod chamber;

[0052] The variable amplitude balance valve, connected to the rodless chamber, is configured to regulate the actual oil return volume of the rodless chamber;

[0053] The controller communicates with the electro-proportional main valve and the amplitude-changing balance valve, respectively.

[0054] In this embodiment of the application, the construction machinery also includes:

[0055] A hydraulic pump, connected to the luffing cylinder, is configured to pump hydraulic oil into the luffing cylinder;

[0056] The fuel tank contains a level sensor that communicates with the controller and is configured to send fuel tank level data.

[0057] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned cylinder flow matching method.

[0058] Through the above technical solution, when the engineering machinery is performing a luffing and lowering operation, the engine speed, the current value of the electro-proportional main valve, the pressure difference at the throttle orifice of the electro-proportional main valve, the current value of the luffing balance valve, and the pressure difference at the throttle orifice of the luffing balance valve are obtained. Then, based on the engine speed, the current value of the electro-proportional main valve, and the pressure difference at the throttle orifice of the electro-proportional main valve, the oil inlet volume of the rod chamber of the luffing cylinder is determined, and based on the current value of the luffing balance valve and the pressure difference at the throttle orifice of the luffing balance valve, the actual oil return volume of the rodless chamber of the luffing cylinder is determined. Subsequently, the maximum allowable oil return volume of the rodless chamber of the luffing cylinder is determined based on the oil inlet volume of the rod chamber. Then, the actual oil return volume of the rodless chamber is compared with the maximum allowable oil return volume of the rodless chamber. If the actual oil return volume of the rodless chamber is greater than the maximum allowable oil return volume, the current value of the electro-proportional main valve or the current value of the luffing balance valve is adjusted until the actual oil return volume of the rodless chamber is not greater than the maximum allowable oil return volume of the rodless chamber, thus matching the actual oil return volume of the rodless chamber with the oil inlet volume of the rod chamber. This application reduces the possibility of hydraulic oil overflowing from the oil tank by adjusting the current value of the electro-proportional main valve or the current value of the amplitude balance valve when the actual return oil volume of the rodless chamber exceeds the maximum allowable return oil volume of the rodless chamber.

[0059] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0060] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0061] Figure 1 A schematic diagram of a hydraulic system according to an embodiment of this application is shown.

[0062] Figure 2 A flowchart illustrating a method for matching hydraulic cylinder flow rate according to an embodiment of this application is shown schematically.

[0063] Figure 3 The flowchart illustrating a method for matching hydraulic cylinder flow rate according to a specific embodiment of this application is shown in the illustration.

[0064] Figure 4 A schematic block diagram of a controller according to an embodiment of this application is shown.

[0065] Explanation of reference numerals in the attached figures

[0066] 1. Left luffing cylinder; 2. Lower left chamber luffing balance valve

[0067] 3. Fuel tank 4. Engine

[0068] 5. Hydraulic pump; 6. Electro-proportional main valve

[0069] 7. Amplitude balancing valve; 8. Lower right chamber amplitude balancing valve

[0070] 9. Right luffing cylinder Detailed Implementation

[0071] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0072] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0073] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0074] Figure 1 A schematic diagram illustrating the structure of a hydraulic system according to an embodiment of this application is shown. Figure 1As shown, the hydraulic system of the construction machinery includes a luffing cylinder, a left lower chamber luffing balance valve 2, an oil tank 3, an engine 4, a hydraulic pump 5, an electro-proportional main valve 6, a luffing balance valve 7, and a right lower chamber luffing balance valve 8. The luffing cylinder includes a left luffing cylinder 1 and a right luffing cylinder 9. The engine 4 drives the hydraulic pump 5 to draw hydraulic oil from the oil tank 3 and output hydraulic oil. The hydraulic oil passes through the electro-proportional main valve 6 and enters the luffing cylinder, while the return oil from the luffing cylinder flows back into the oil tank 3. When the construction machinery performs the luffing action, the electro-proportional main valve 6 is energized, and the hydraulic oil passes through the electro-proportional main valve 6 into the rod chamber of the left luffing cylinder 1 and the rod chamber of the right luffing cylinder 9, respectively. The luffing balance valve 7 is energized, and the hydraulic oil in the rodless chamber of the left luffing cylinder 1 and the rodless chamber of the right luffing cylinder 9 passes through the left lower chamber luffing balance valve 2 and the right lower chamber luffing balance valve 8, respectively, and then flows back to the oil tank 3 through the luffing balance valve 7. This allows for the variable-amplitude lowering action of construction machinery.

[0075] Figure 2 A flowchart illustrating a method for matching hydraulic cylinder flow rate according to an embodiment of this application is shown schematically. Figure 2 As shown in the figure, this application provides a method for matching cylinder flow rate, applied to the controller of construction machinery. The construction machinery also includes an engine, a luffing cylinder, an electro-proportional main valve, and a luffing balance valve. The controller communicates with the electro-proportional main valve and the luffing balance valve respectively. The matching method may include the following steps:

[0076] Step 201: When the construction machinery is performing the luffing and lowering action, obtain the engine speed, the current value of the electro-proportional main valve, the pressure difference at the throttle port of the electro-proportional main valve, the current value of the luffing balance valve, and the pressure difference at the throttle port of the luffing balance valve.

[0077] Step 202: Determine the oil intake of the rod chamber of the luffing cylinder based on the engine speed, the current value of the electro-proportional main valve, and the pressure difference at the throttle port of the electro-proportional main valve.

[0078] Step 203: Determine the actual oil return volume of the rodless chamber of the luffing cylinder based on the current value of the luffing balance valve and the pressure difference at the throttle port of the luffing balance valve.

[0079] Step 204: Determine the maximum allowable return oil volume of the rodless chamber of the luffing cylinder based on the oil inlet volume of the rod chamber;

[0080] Step 205: Compare the actual return oil volume of the rodless chamber with the maximum allowable return oil volume of the rodless chamber;

[0081] Step 206: When the actual return oil volume of the rodless chamber is greater than the maximum allowable return oil volume of the rodless chamber, adjust the current value of the electro-proportional main valve or the current value of the amplitude balance valve until the actual return oil volume of the rodless chamber is not greater than the maximum allowable return oil volume of the rodless chamber, so as to match the actual return oil volume of the rodless chamber with the oil inlet volume of the rod chamber.

[0082] The construction machinery can be a crane or other construction machinery equipped with a boom, and there is no limitation herein. In the embodiments of this application, the construction machinery includes, but is not limited to, a controller, an engine, a luffing cylinder, an electro-proportional main valve, and a luffing balance valve. The controller communicates with both the electro-proportional main valve and the luffing balance valve. To reduce the possibility of hydraulic oil overflowing from the tank when the construction machinery performs a luffing action, the controller can acquire the engine speed, the current value of the electro-proportional main valve, the pressure difference at the throttle port of the electro-proportional main valve, the current value of the luffing balance valve, and the pressure difference at the throttle port of the luffing balance valve when the construction machinery performs a luffing action. Subsequently, the controller can determine the oil inlet volume of the rod chamber of the luffing cylinder based on the engine speed, the current value of the electro-proportional main valve, and the pressure difference at the throttle port of the electro-proportional main valve, and determine the actual oil return volume of the rodless chamber of the luffing cylinder based on the current value of the luffing balance valve and the pressure difference at the throttle port of the luffing balance valve. Furthermore, the controller can determine the maximum allowable return flow of the rodless chamber of the luffing cylinder based on the oil inlet flow of the rod chamber, and then compare the actual return flow of the rodless chamber with the maximum allowable return flow. If the actual return flow of the rodless chamber is greater than the maximum allowable return flow, the controller can compare the current value of the electro-proportional main valve with its maximum current value. The maximum current value of the electro-proportional main valve is the current value when the main valve core is fully open, and can be determined by the specifications of the electro-proportional main valve. If the current value of the electro-proportional main valve is less than its maximum current value, the controller can increase the current value of the electro-proportional main valve. If the current value of the electro-proportional main valve is equal to its maximum current value, the controller can decrease the current value of the luffing balance valve to increase the maximum allowable return flow of the rodless chamber. Thus, by adjusting the current value of the electro-proportional main valve or the luffing balance valve until the actual return flow of the rodless chamber is not greater than the maximum allowable return flow, the actual return flow of the rodless chamber and the oil inlet flow of the rod chamber can be matched.

[0083] Through the above technical solution, when the engineering machinery is performing a luffing and lowering operation, the engine speed, the current value of the electro-proportional main valve, the pressure difference at the throttle orifice of the electro-proportional main valve, the current value of the luffing balance valve, and the pressure difference at the throttle orifice of the luffing balance valve are obtained. Then, based on the engine speed, the current value of the electro-proportional main valve, and the pressure difference at the throttle orifice of the electro-proportional main valve, the oil inlet volume of the rod chamber of the luffing cylinder is determined, and based on the current value of the luffing balance valve and the pressure difference at the throttle orifice of the luffing balance valve, the actual oil return volume of the rodless chamber of the luffing cylinder is determined. Subsequently, the maximum allowable oil return volume of the rodless chamber of the luffing cylinder is determined based on the oil inlet volume of the rod chamber. Then, the actual oil return volume of the rodless chamber is compared with the maximum allowable oil return volume of the rodless chamber. If the actual oil return volume of the rodless chamber is greater than the maximum allowable oil return volume, the current value of the electro-proportional main valve or the current value of the luffing balance valve is adjusted until the actual oil return volume of the rodless chamber is not greater than the maximum allowable oil return volume of the rodless chamber, thus matching the actual oil return volume of the rodless chamber with the oil inlet volume of the rod chamber. This application reduces the possibility of hydraulic oil overflowing from the oil tank by adjusting the current value of the electro-proportional main valve or the current value of the amplitude balance valve when the actual return oil volume of the rodless chamber exceeds the maximum allowable return oil volume of the rodless chamber.

[0084] In this embodiment of the application, the construction machinery also includes a hydraulic pump. Step 202, determining the oil inlet quantity of the rod chamber of the luffing cylinder based on the engine speed, the current value of the electro-proportional main valve, and the pressure difference at the throttle port of the electro-proportional main valve, may include:

[0085] Determine the hydraulic pump's displacement and volumetric efficiency;

[0086] The flow area of ​​the throttling orifice of the electro-proportional main valve is determined based on the current value of the electro-proportional main valve.

[0087] The flow rate of the electro-proportional main valve is determined based on the flow coefficient of the electro-proportional main valve, the flow area of ​​the throttling orifice of the electro-proportional main valve, and the pressure difference at the throttling orifice of the electro-proportional main valve.

[0088] The flow rate of the hydraulic pump is determined based on the engine speed, hydraulic pump displacement, and volumetric efficiency.

[0089] The smaller value between the flow rate of the electro-proportional main valve and the flow rate of the hydraulic pump is determined as the oil inlet flow rate of the rod chamber.

[0090] In this embodiment, the controller can determine the oil intake of the rod chamber of the luffing cylinder based on the engine speed, the current value of the electro-proportional main valve, and the pressure difference at the throttle port of the electro-proportional main valve. First, the controller can determine the hydraulic pump displacement and volumetric efficiency. The hydraulic pump displacement and volumetric efficiency are determined by the specifications of the hydraulic pump. Subsequently, the controller can determine the flow area of ​​the throttle port of the electro-proportional main valve based on the current value of the electro-proportional main valve. The flow area of ​​the throttle port of the electro-proportional main valve satisfies formula (5):

[0091] A1 = K1I1; (5)

[0092] Where A1 is the flow area of ​​the throttling orifice of the electro-proportional main valve, K1 is the proportional coefficient of the electro-proportional main valve, which is determined by the specifications of the electro-proportional main valve, and I1 is the current value of the electro-proportional main valve.

[0093] Furthermore, the controller can determine the flow rate of the electro-proportional main valve based on its flow coefficient, the orifice area, and the pressure difference. The flow coefficient can be determined by the valve's specifications. Simultaneously, the controller can determine the hydraulic pump flow rate based on the engine speed, hydraulic pump displacement, and volumetric efficiency. After determining the flow rates of the electro-proportional main valve and the hydraulic pump, the controller can define the smaller of these two flow rates as the rod chamber inlet flow rate. This facilitates the subsequent determination of the maximum permissible return flow rate in the rodless chamber based on the rod chamber inlet flow rate.

[0094] In this embodiment, the flow rate of the electro-proportional main valve can satisfy formula (1):

[0095] q1=C1A1(Δp1) 1 / 2 (1)

[0096] Where q1 is the flow rate of the electro-proportional main valve, C1 is the flow coefficient of the electro-proportional main valve, A1 is the flow area of ​​the throttling orifice of the electro-proportional main valve, and Δp1 is the pressure difference at the throttling orifice of the electro-proportional main valve.

[0097] The flow rate of the hydraulic pump can satisfy formula (2):

[0098] q2=V p *n*η v (2)

[0099] Where q2 is the flow rate of the hydraulic pump, and Vp p η is the hydraulic pump displacement, n is the engine speed, and η is the hydraulic pump displacement. v For volumetric efficiency.

[0100] In this embodiment, the controller can determine the flow rate of the electro-proportional main valve based on its flow coefficient, the throttle port area, and the pressure difference at the throttle port. The flow rate of the electro-proportional main valve satisfies formula (1). The flow coefficient of the electro-proportional main valve can be determined by its specifications. Simultaneously, the controller can determine the flow rate of the hydraulic pump based on the engine speed, hydraulic pump displacement, and volumetric efficiency. The flow rate of the hydraulic pump satisfies formula (2). This allows the controller to determine the oil intake volume in the rod chamber.

[0101] In this embodiment, step 203, determining the actual return oil volume of the rodless chamber of the luffing cylinder based on the current value of the luffing balance valve and the pressure difference at the throttle port of the luffing balance valve, may include:

[0102] The flow area of ​​the throttling orifice of the amplitude balancing valve is determined based on the current value of the amplitude balancing valve.

[0103] The actual oil return volume of the rodless chamber is determined based on the flow coefficient of the amplitude balancing valve, the flow area of ​​the throttle orifice of the amplitude balancing valve, and the pressure difference at the throttle orifice of the amplitude balancing valve.

[0104] In this embodiment, the controller can determine the actual return oil volume of the rodless chamber of the luffing cylinder based on the current value of the luffing balance valve and the pressure difference at the throttle port of the luffing balance valve. First, the controller can determine the flow area of ​​the throttle port of the luffing balance valve based on the current value of the luffing balance valve. The flow area of ​​the throttle port of the luffing balance valve satisfies formula (6):

[0105] A2 = K2I2; (6)

[0106] Where A2 is the flow area of ​​the throttling orifice of the variable amplitude balancing valve, K2 is the proportional coefficient of the variable amplitude balancing valve, which is determined by the specifications of the variable amplitude balancing valve, and I2 is the current value of the variable amplitude balancing valve.

[0107] Furthermore, the controller can determine the actual oil return volume of the rodless chamber based on the flow coefficient of the luffing balance valve, the flow area of ​​the luffing balance valve's throttling orifice, and the pressure difference at the luffing balance valve's throttling orifice. The flow coefficient of the luffing balance valve can be determined by the specifications of the electro-proportional main valve. In this way, the controller can determine the actual oil return volume of the rodless chamber of the luffing cylinder.

[0108] In this embodiment, the actual return oil volume of the rodless chamber can satisfy formula (3):

[0109] Q = C²A²(Δp²) 1 / 2 (3)

[0110] Where Q is the actual return oil volume of the rodless chamber, C2 is the flow coefficient of the variable amplitude balance valve, A2 is the flow area of ​​the throttle port of the variable amplitude balance valve, and Δp2 is the pressure difference of the throttle port of the variable amplitude balance valve.

[0111] In this embodiment, the controller can determine the actual return oil volume of the rodless chamber based on the flow coefficient of the luffing balance valve, the flow area of ​​the luffing balance valve's throttle orifice, and the pressure difference at the luffing balance valve's throttle orifice. Therefore, the actual return oil volume of the rodless chamber satisfies formula (3). The pressure difference at the luffing balance valve's throttle orifice can be approximated by the pressure of the rodless chamber. The flow coefficient of the luffing balance valve can be determined by the specifications of the electro-proportional main valve. Thus, the controller can determine the actual return oil volume of the rodless chamber of the luffing cylinder.

[0112] In this embodiment of the application, step 204, determining the maximum allowable return oil volume of the rodless chamber of the luffing cylinder based on the oil inlet volume of the rod chamber, may include:

[0113] Obtain the area of ​​the rodless chamber and the area of ​​the rod chamber of the variable amplitude cylinder;

[0114] Based on the ratio of the area of ​​the rodless chamber to the area of ​​the rod chamber, the maximum allowable return oil volume of the rodless chamber of the luffing cylinder is determined according to the oil inlet volume of the rod chamber.

[0115] In this embodiment, the controller can determine the maximum allowable return oil volume of the rodless chamber of the luffing cylinder based on the oil inlet volume of the rod chamber. The controller can obtain the area of ​​the rodless chamber and the area of ​​the rod chamber of the luffing cylinder, and combine the ratio of the rodless chamber area to the rod chamber area to determine the maximum allowable return oil volume of the rodless chamber based on the oil inlet volume of the rod chamber. In this way, the controller can determine the maximum allowable return oil volume of the rodless chamber so as to subsequently match the actual return oil volume of the rodless chamber with the oil inlet volume of the rod chamber.

[0116] In this embodiment of the application, the maximum allowable return oil volume of the rodless chamber satisfies formula (4):

[0117]

[0118] Among them, Q max q is the maximum allowable return flow rate of the rodless chamber, q is the oil inlet flow rate of the rod chamber, s1 is the area of ​​the rod chamber, and s2 is the area of ​​the rodless chamber.

[0119] In this embodiment, the controller can determine the maximum allowable return oil volume of the rodless chamber of the luffing cylinder based on the oil inlet volume of the rod chamber. The controller can obtain the area of ​​the rodless chamber and the area of ​​the rod chamber of the luffing cylinder, and combine the ratio of the rodless chamber area to the rod chamber area to determine the maximum allowable return oil volume of the rodless chamber based on the oil inlet volume of the rod chamber. In this way, the controller can determine the maximum allowable return oil volume of the rodless chamber so as to subsequently match the actual return oil volume of the rodless chamber with the oil inlet volume of the rod chamber.

[0120] In this embodiment of the application, when the actual return oil volume of the rodless chamber is greater than the maximum allowable return oil volume of the rodless chamber, adjusting the current value of the electro-proportional main valve or the current value of the amplitude balance valve may include:

[0121] When the actual oil return volume of the rodless chamber is greater than the maximum allowable oil return volume of the rodless chamber, compare the current value of the electro-proportional main valve with the maximum current value of the electro-proportional main valve.

[0122] If the current value of the electro-proportional main valve is less than the maximum current value of the electro-proportional main valve, increase the current value of the electro-proportional main valve.

[0123] When the current value of the electro-proportional main valve is equal to the maximum current value of the electro-proportional main valve, reduce the current value of the amplitude balance valve.

[0124] In this embodiment, the controller can compare the actual return oil volume of the rodless chamber with the maximum allowable return oil volume of the rodless chamber. When the actual return oil volume of the rodless chamber is greater than the maximum allowable return oil volume, the controller can compare the current value of the electro-proportional main valve with the maximum current value of the electro-proportional main valve. When the current value of the electro-proportional main valve is less than the maximum current value, the controller can increase the current value of the electro-proportional main valve. When the current value of the electro-proportional main valve is equal to the maximum current value, the controller can decrease the current value of the amplitude-changing balance valve to increase the maximum allowable return oil volume of the rodless chamber. Simultaneously, when adjusting the current value of the amplitude-changing balance valve, the controller can determine the current value of the amplitude-changing balance valve in real time. The current value of the amplitude-changing balance valve satisfies formula (7):

[0125]

[0126] Where I2 is the current value of the variable amplitude balance valve, Q is the actual oil return volume of the rodless chamber, C2 is the flow coefficient of the variable amplitude balance valve, K2 is the proportional coefficient of the variable amplitude balance valve, and Δp2 is the pressure difference at the throttle port of the variable amplitude balance valve.

[0127] In this way, by adjusting the current value of the electro-proportional main valve or the current value of the amplitude balance valve until the actual oil return volume of the rodless chamber is not greater than the maximum allowable oil return volume of the rodless chamber, the actual oil return volume of the rodless chamber and the oil inlet volume of the rod chamber can be matched.

[0128] In this embodiment of the application, the construction machinery also includes a fuel tank, in which a liquid level sensor is installed. The controller also communicates with the liquid level sensor. The matching method may further include:

[0129] Receives oil tank level data sent by the level sensor;

[0130] Determine if the fuel tank level is greater than the preset warning level.

[0131] If the fuel tank level is determined to be greater than the preset warning level, determine whether the fuel tank level is greater than the preset maximum level.

[0132] If the oil tank level is determined to be no greater than the preset maximum level, a level warning signal will be sent.

[0133] If the oil tank level is determined to be higher than the preset maximum level, the control system will stop the luffing and lowering action of the construction machinery.

[0134] In this embodiment, a level sensor is installed in the hydraulic tank of the construction machinery. The controller communicates with the level sensor. The level sensor can collect the hydraulic oil level data in the tank, i.e., the tank level data, and send the tank level data to the controller. The controller can receive the tank level data sent by the level sensor and determine whether the tank level data is greater than a preset warning level value. The preset warning level value can be adjusted according to the actual situation. If the tank level data is determined to be greater than the preset warning level value, the controller can determine whether the tank level data is greater than a preset maximum level value. The preset maximum level value can be adjusted according to the actual situation. If the tank level data is determined not to be greater than the preset maximum level value, the controller can send a level warning signal to issue a high level alarm to remind the user of the current tank level. If the tank level data is determined to be greater than the preset maximum level value, the controller can control the construction machinery to stop the luffing and lowering operation. This can further reduce the possibility of hydraulic oil overflowing from the tank.

[0135] Figure 3 A flowchart illustrating a method for matching hydraulic cylinder flow rate according to a specific embodiment of this application is shown. Figure 3 As shown in a specific embodiment of this application, the method for matching the hydraulic cylinder flow rate may include:

[0136] S1. When the electro-proportional main valve is energized and the luffing balance valve is energized, the main boom performs the luffing and lowering action.

[0137] S2. Determine if the oil tank level is greater than the preset maximum level. If yes, proceed to S3; otherwise, proceed to S4.

[0138] S3, Limiting amplitude drop action;

[0139] S4. Determine the oil inlet flow rate of the rod chamber and the maximum allowable oil return flow rate of the rodless chamber based on the engine speed and the current value of the electro-proportional main valve.

[0140] S5. Determine the actual oil return volume of the rodless chamber based on the current value of the variable amplitude balance valve and the pressure in the rodless chamber.

[0141] S6. Determine whether the actual return oil volume in the rodless chamber is greater than the maximum allowable return oil volume in the rodless chamber. If yes, proceed to S7; otherwise, proceed to S8.

[0142] S7. Determine if the current value of the electro-proportional main valve is the maximum current value of the electro-proportional main valve. If yes, proceed to S9; otherwise, proceed to S10.

[0143] S8, main boom luffing and dropping;

[0144] S9. Reduce the current value of the amplitude balance valve;

[0145] S10. Increase the current value of the electro-proportional main valve.

[0146] In a specific embodiment of this application, when the electro-proportional main valve and the luffing balance valve are energized, and the main boom performs a luffing and lowering action, the controller can determine whether the oil tank level data is greater than a preset maximum level value. If the oil tank level data is greater than the preset maximum level value, the controller can control the construction machinery to stop the luffing and lowering action. If the oil tank level data is less than or equal to the preset maximum level value, the controller can determine the oil inlet volume of the rod chamber and the maximum allowable oil return volume of the rodless chamber based on the engine speed and the current value of the electro-proportional main valve, and determine the actual oil return volume of the rodless chamber based on the current value of the luffing balance valve and the pressure of the rodless chamber, and further determine whether the actual oil return volume of the rodless chamber is greater than the maximum allowable oil return volume of the rodless chamber. If the actual oil return volume of the rodless chamber is less than or equal to the maximum allowable oil return volume of the rodless chamber, then the controller can continue to control the main boom luffing and lowering. If the actual oil return volume of the rodless chamber is greater than the maximum allowable oil return volume of the rodless chamber, then it is determined whether the current value of the electro-proportional main valve is the maximum current value of the electro-proportional main valve. When the current value of the electro-proportional main valve equals its maximum current value, the controller can reduce the current value of the amplitude balance valve. When the current value of the electro-proportional main valve is less than its maximum current value, the controller can increase its current value. This allows for matching of the actual oil return volume in the rodless chamber with the oil inlet volume in the rod chamber.

[0147] Figure 4 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 4 As shown in the figure, this application provides a controller that may include:

[0148] Memory 410 is configured to store instructions; and

[0149] The processor 420 is configured to retrieve instructions from the memory 410 and, when executing the instructions, to implement the aforementioned method for matching cylinder flow.

[0150] Specifically, in this embodiment of the application, the processor 420 can be configured to:

[0151] When the construction machinery is performing luffing and lowering operations, the engine speed, the current value of the electro-proportional main valve, the pressure difference at the throttle port of the electro-proportional main valve, the current value of the luffing balance valve, and the pressure difference at the throttle port of the luffing balance valve are obtained.

[0152] The oil intake of the rod chamber of the luffing cylinder is determined based on the engine speed, the current value of the electro-proportional main valve, and the pressure difference at the throttle port of the electro-proportional main valve.

[0153] The actual oil return volume of the rodless chamber of the luffing cylinder is determined based on the current value of the luffing balance valve and the pressure difference at the throttle port of the luffing balance valve.

[0154] The maximum allowable return flow rate of the rodless chamber of the luffing cylinder is determined based on the oil inlet flow rate of the rod chamber.

[0155] Compare the actual oil return volume in the rodless chamber with the maximum allowable oil return volume in the rodless chamber;

[0156] If the actual return oil volume of the rodless chamber is greater than the maximum allowable return oil volume of the rodless chamber, adjust the current value of the electro-proportional main valve or the current value of the amplitude balance valve until the actual return oil volume of the rodless chamber is not greater than the maximum allowable return oil volume of the rodless chamber, so as to match the actual return oil volume of the rodless chamber with the oil inlet volume of the rod chamber.

[0157] Furthermore, the processor 420 can also be configured as follows:

[0158] When the actual oil return volume of the rodless chamber is greater than the maximum allowable oil return volume of the rodless chamber, compare the current value of the electro-proportional main valve with the maximum current value of the electro-proportional main valve.

[0159] If the current value of the electro-proportional main valve is less than the maximum current value of the electro-proportional main valve, increase the current value of the electro-proportional main valve.

[0160] When the current value of the electro-proportional main valve is equal to the maximum current value of the electro-proportional main valve, reduce the current value of the amplitude balance valve.

[0161] Furthermore, the processor 420 can also be configured as follows:

[0162] Determine the hydraulic pump's displacement and volumetric efficiency;

[0163] The flow area of ​​the throttling orifice of the electro-proportional main valve is determined based on the current value of the electro-proportional main valve.

[0164] The flow rate of the electro-proportional main valve is determined based on the flow coefficient of the electro-proportional main valve, the flow area of ​​the throttling orifice of the electro-proportional main valve, and the pressure difference at the throttling orifice of the electro-proportional main valve.

[0165] The flow rate of the hydraulic pump is determined based on the engine speed, hydraulic pump displacement, and volumetric efficiency.

[0166] The smaller value between the flow rate of the electro-proportional main valve and the flow rate of the hydraulic pump is determined as the oil inlet flow rate of the rod chamber.

[0167] In this embodiment, the flow rate of the electro-proportional main valve satisfies formula (1):

[0168] q1=C1A1(Δp1) 1 / 2 (1)

[0169] Where q1 is the flow rate of the electro-proportional main valve, C1 is the flow coefficient of the electro-proportional main valve, A1 is the flow area of ​​the throttling orifice of the electro-proportional main valve, and Δp1 is the pressure difference at the throttling orifice of the electro-proportional main valve.

[0170] The flow rate of the hydraulic pump satisfies formula (2):

[0171] q2=V p *n*η v (2)

[0172] Where q2 is the flow rate of the hydraulic pump, V p η is the hydraulic pump displacement, n is the engine speed, and η is the hydraulic pump displacement. v For volumetric efficiency.

[0173] Furthermore, the processor 420 can also be configured as follows:

[0174] The flow area of ​​the throttling orifice of the amplitude balancing valve is determined based on the current value of the amplitude balancing valve.

[0175] The actual oil return volume of the rodless chamber is determined based on the flow coefficient of the amplitude balancing valve, the flow area of ​​the throttle orifice of the amplitude balancing valve, and the pressure difference at the throttle orifice of the amplitude balancing valve.

[0176] In this embodiment, the actual return oil volume of the rodless chamber satisfies formula (3):

[0177] Q = C²A²(Δp²) 1 / 2 (3)

[0178] Where Q is the actual return oil volume of the rodless chamber, C2 is the flow coefficient of the variable amplitude balance valve, A2 is the flow area of ​​the throttle port of the variable amplitude balance valve, and Δp2 is the pressure difference of the throttle port of the variable amplitude balance valve.

[0179] Furthermore, the processor 420 can also be configured as follows:

[0180] Receives oil tank level data sent by the level sensor;

[0181] Determine if the fuel tank level is greater than the preset warning level.

[0182] If the fuel tank level is determined to be greater than the preset warning level, determine whether the fuel tank level is greater than the preset maximum level.

[0183] If the oil tank level is determined to be no greater than the preset maximum level, a level warning signal will be sent.

[0184] If the oil tank level is determined to be higher than the preset maximum level, the control system will stop the luffing and lowering action of the construction machinery.

[0185] Furthermore, the processor 420 can also be configured as follows:

[0186] Obtain the area of ​​the rodless chamber and the area of ​​the rod chamber of the variable amplitude cylinder;

[0187] Based on the ratio of the area of ​​the rodless chamber to the area of ​​the rod chamber, the maximum allowable return oil volume of the rodless chamber of the luffing cylinder is determined according to the oil inlet volume of the rod chamber.

[0188] In this embodiment of the application, the maximum allowable return oil volume of the rodless chamber satisfies formula (4):

[0189]

[0190] Among them, Q max q is the maximum allowable return flow rate of the rodless chamber, q is the oil inlet flow rate of the rod chamber, s1 is the area of ​​the rod chamber, and s2 is the area of ​​the rodless chamber.

[0191] Through the above technical solution, when the engineering machinery is performing a luffing and lowering operation, the engine speed, the current value of the electro-proportional main valve, the pressure difference at the throttle orifice of the electro-proportional main valve, the current value of the luffing balance valve, and the pressure difference at the throttle orifice of the luffing balance valve are obtained. Then, based on the engine speed, the current value of the electro-proportional main valve, and the pressure difference at the throttle orifice of the electro-proportional main valve, the oil inlet volume of the rod chamber of the luffing cylinder is determined, and based on the current value of the luffing balance valve and the pressure difference at the throttle orifice of the luffing balance valve, the actual oil return volume of the rodless chamber of the luffing cylinder is determined. Subsequently, the maximum allowable oil return volume of the rodless chamber of the luffing cylinder is determined based on the oil inlet volume of the rod chamber. Then, the actual oil return volume of the rodless chamber is compared with the maximum allowable oil return volume of the rodless chamber. If the actual oil return volume of the rodless chamber is greater than the maximum allowable oil return volume, the current value of the electro-proportional main valve or the current value of the luffing balance valve is adjusted until the actual oil return volume of the rodless chamber is not greater than the maximum allowable oil return volume of the rodless chamber, thus matching the actual oil return volume of the rodless chamber with the oil inlet volume of the rod chamber. This application reduces the possibility of hydraulic oil overflowing from the oil tank by adjusting the current value of the electro-proportional main valve or the current value of the amplitude balance valve when the actual return oil volume of the rodless chamber exceeds the maximum allowable return oil volume of the rodless chamber.

[0192] like Figure 1 As shown in the embodiments of this application, an engineering machinery is also provided, which may include:

[0193] Engine 4;

[0194] Luffing cylinder, including rod chamber and rodless chamber;

[0195] The electro-proportional main valve 6 is connected to the rod chamber and is configured to regulate the oil inlet flow rate of the rod chamber;

[0196] The variable amplitude balance valve 7 is connected to the rodless chamber and is configured to adjust the actual oil return volume of the rodless chamber;

[0197] The controller communicates with the electro-proportional main valve 6 and the amplitude-changing balance valve 7, respectively.

[0198] In this embodiment, the engineering machinery includes, but is not limited to, an engine 4, a luffing cylinder, an electro-proportional main valve 6, a luffing balance valve 7, and a controller (not shown in the figure). The luffing cylinder includes a rod chamber and a rodless chamber. The electro-proportional main valve 6 is connected to the rod chamber and can adjust the oil inlet flow rate. The luffing balance valve 7 is connected to the rodless chamber and can adjust the actual oil return flow rate. The controller communicates with both the electro-proportional main valve 6 and the luffing balance valve 7, and can adjust the valve opening by regulating the current values ​​of the two valves, thereby regulating the oil inlet flow rate of the rod chamber and the actual oil return flow rate of the rodless chamber.

[0199] like Figure 1 As shown in the embodiments of this application, the construction machinery may further include:

[0200] Hydraulic pump 5, connected to the luffing cylinder, is configured to pump hydraulic oil into the luffing cylinder;

[0201] Oil tank 3 is equipped with a liquid level sensor, which communicates with the controller and is configured to send oil tank liquid level data.

[0202] In this embodiment, the construction machinery may further include a hydraulic pump 5 and an oil tank 3. The hydraulic pump 5 is connected to the luffing cylinder and pumps hydraulic oil into the luffing cylinder, from which the return oil flows into the oil tank 3. A level sensor is installed in the oil tank 3. The level sensor communicates with the controller and can send oil tank level data to the controller, allowing the controller to determine whether to restrict the luffing drop operation based on the oil tank level data.

[0203] This application also provides a machine-readable storage medium storing instructions for causing a machine to perform the above-described hydraulic cylinder flow matching method.

[0204] 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.

[0205] 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.

[0206] 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.

[0207] 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.

[0208] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0209] 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.

[0210] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0211] 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.

[0212] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for matching the flow rate of a hydraulic cylinder, characterized in that, A controller applied to construction machinery, the construction machinery further including an engine, a luffing cylinder, an electro-proportional main valve, a luffing balance valve, and a hydraulic pump, wherein the controller communicates with the electro-proportional main valve and the luffing balance valve respectively, and the matching method includes: When the construction machinery performs a luffing and lowering action, the engine speed, the current value of the electro-proportional main valve, the pressure difference at the throttle port of the electro-proportional main valve, the current value of the luffing balance valve, and the pressure difference at the throttle port of the luffing balance valve are obtained. The oil intake of the rod chamber of the variable amplitude cylinder is determined based on the engine speed, the current value of the electro-proportional main valve, and the pressure difference at the throttle port of the electro-proportional main valve. The actual oil return volume of the rodless chamber of the amplitude-changing cylinder is determined based on the current value of the amplitude-changing balance valve and the pressure difference at the throttle port of the amplitude-changing balance valve. The maximum allowable return flow of the rodless chamber of the variable amplitude cylinder is determined based on the oil inlet flow of the rod chamber. Compare the actual oil return volume of the rodless chamber with the maximum allowable oil return volume of the rodless chamber; If the actual oil return volume of the rodless chamber is greater than the maximum allowable oil return volume of the rodless chamber, adjust the current value of the electro-proportional main valve or the current value of the amplitude balance valve until the actual oil return volume of the rodless chamber is not greater than the maximum allowable oil return volume of the rodless chamber, so as to match the actual oil return volume of the rodless chamber and the oil inlet volume of the rod chamber. The step of determining the oil inlet quantity of the rod chamber of the luffing cylinder based on the engine speed, the current value of the electro-proportional main valve, and the pressure difference at the throttle port of the electro-proportional main valve includes: Determine the hydraulic pump displacement and volumetric efficiency of the hydraulic pump; The flow area of ​​the throttling orifice of the electro-proportional main valve is determined based on the current value of the electro-proportional main valve. The flow rate of the electro-proportional main valve is determined based on the flow coefficient of the electro-proportional main valve, the flow area of ​​the throttling orifice of the electro-proportional main valve, and the pressure difference at the throttling orifice of the electro-proportional main valve. The flow rate of the hydraulic pump is determined based on the engine speed, the hydraulic pump displacement, and the volumetric efficiency. The smaller value between the flow rate of the electro-proportional main valve and the flow rate of the hydraulic pump is determined as the oil inlet quantity of the rod chamber.

2. The matching method according to claim 1, characterized in that, When the actual return oil volume in the rodless chamber exceeds the maximum allowable return oil volume in the rodless chamber, adjusting the current value of the electro-proportional main valve or the current value of the amplitude-changing balance valve includes: If the actual oil return volume of the rodless chamber is greater than the maximum allowable oil return volume of the rodless chamber, compare the current value of the electro-proportional main valve with the maximum current value of the electro-proportional main valve. If the current value of the electro-proportional main valve is less than the maximum current value of the electro-proportional main valve, increase the current value of the electro-proportional main valve. When the current value of the electro-proportional main valve is equal to the maximum current value of the electro-proportional main valve, the current value of the amplitude balance valve is reduced.

3. The matching method according to claim 1, characterized in that, The flow rate of the electro-proportional main valve satisfies formula (1): ； （1） in, The flow rate of the electro-proportional main valve, The flow coefficient of the electro-proportional main valve is... The throttling area of ​​the electro-proportional main valve is [missing information]. The pressure difference at the throttling port of the electro-proportional main valve; The flow rate of the hydraulic pump satisfies formula (2): ；（2） in, The flow rate of the hydraulic pump is... The displacement of the hydraulic pump is... The engine speed is [value missing]. The volumetric efficiency is given.

4. The matching method according to claim 1, characterized in that, The step of determining the actual oil return volume of the rodless chamber of the luffing cylinder based on the current value of the luffing balance valve and the pressure difference at the throttle port of the luffing balance valve includes: The flow area of ​​the throttling orifice of the variable amplitude balancing valve is determined based on the current value of the variable amplitude balancing valve. The actual oil return volume of the rodless chamber is determined based on the flow coefficient of the variable amplitude balancing valve, the flow area of ​​the throttle orifice of the variable amplitude balancing valve, and the pressure difference at the throttle orifice of the variable amplitude balancing valve.

5. The matching method according to claim 4, characterized in that, The actual oil return volume of the rodless chamber satisfies formula (3): ；（3） in, This represents the actual oil return volume of the rodless cavity. The flow coefficient of the variable amplitude balancing valve is... The flow area of ​​the throttling orifice of the variable amplitude balancing valve is [missing information]. The pressure difference at the throttling orifice of the variable amplitude balance valve is denoted as .

6. The matching method according to claim 1, characterized in that, The engineering machinery also includes a fuel tank, in which a liquid level sensor is installed. The controller also communicates with the liquid level sensor. The matching method further includes: Receive the tank level data sent by the level sensor; Determine whether the oil tank level data is greater than the preset warning level value; If the fuel tank level data is determined to be greater than the preset warning level value, determine whether the fuel tank level data is greater than the preset maximum level value; If the oil tank level is determined to be no greater than the preset maximum level, a level warning signal is sent. If the oil tank level is determined to be greater than the preset maximum level, the engineering machinery is controlled to stop the luffing and lowering action.

7. The matching method according to claim 1, characterized in that, The step of determining the maximum allowable return oil volume of the rodless chamber of the luffing cylinder based on the oil inlet volume of the rod chamber includes: Obtain the area of ​​the rodless chamber and the area of ​​the rod chamber of the variable amplitude cylinder; Based on the ratio of the area of ​​the rodless chamber to the area of ​​the rod chamber, the maximum allowable return oil volume of the rodless chamber of the variable amplitude cylinder is determined according to the oil inlet volume of the rod chamber.

8. The matching method according to claim 7, characterized in that, The maximum allowable return oil volume of the rodless chamber satisfies formula (4): ；（4） in, This is the maximum allowable return oil volume of the rodless cavity. The oil inlet volume for the rod chamber is [amount]. The area of ​​the rod cavity is... The area of ​​the rodless cavity is given.

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

10. An engineering machinery, characterized in that, include: engine; Luffing cylinder, including rod chamber and rodless chamber; An electro-proportional main valve, connected to the rod chamber, is configured to regulate the oil inlet flow rate of the rod chamber; An amplitude-adjusting valve, connected to the rodless chamber, is configured to adjust the actual oil return volume of the rodless chamber; The controller according to claim 9 communicates with the electro-proportional main valve and the amplitude-changing balance valve respectively.

11. The engineering machinery according to claim 10, characterized in that, The engineering machinery also includes: A hydraulic pump, connected to the luffing cylinder, is configured to pump hydraulic oil into the luffing cylinder; The fuel tank is equipped with a liquid level sensor, which communicates with the controller and is configured to send fuel tank liquid level data.

12. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the cylinder flow matching method according to any one of claims 1 to 8.

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