Pump output flow control method, device, controller and excavator

Abstract

The application provides a pump output flow control method and device, a controller and an excavator. The first device is determined to be in a straight walking working condition, and a first pump in the first device outputs a pre-configured flow value. The pre-configured flow value is obtained based on the maximum output flow of the first pump. After determining that the difference between the output flow value of a second pump in the first device and the output flow value of the first pump is greater than a preset flow threshold, the output flow value of the first pump is increased. Therefore, the difference between the output flow of the first pump and the output flow of the second pump can be reduced, the possibility of deviation caused by the unbalanced output flow of the pump in the straight walking working condition can be reduced, and the function of controlling the output flow of the pump is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical control, in particular to a pump output flow control method, a pump output flow control method, a device, a controller and an excavator. BACKGROUND

[0002] An excavator is a common mechanical device. Generally, an excavator includes multiple hydraulic oil supply pumps for providing hydraulic oil to mechanical components.

[0003] In order to ensure the stability of the working condition of the excavator, the output flow of different pumps is usually kept in a balanced state, and the controller of the excavator is used to control the output flow of the pump. However, the function of controlling the output flow of the pump still has room for improvement. SUMMARY

[0004] The present application provides a pump output flow control method, a device, a controller and an excavator, aiming to solve the problem of how to improve the control function of the output flow of the pump.

[0005] In order to achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0006] The first aspect of the present application provides a pump output flow control method, comprising:

[0007] determining that the first device is in a straight-line walking working condition;

[0008] controlling a first pump in the first device to output a pre-configured flow value, the pre-configured flow value being obtained based on a maximum output flow of the first pump;

[0009] determining that a difference between an output flow value of a second pump in the first device and an output flow value of the first pump is greater than a preset flow threshold value;

[0010] increasing the output flow value of the first pump.

[0011] Optionally, determining that the difference between the output flow value of the second pump in the first device and the output flow value of the first pump is greater than the preset flow threshold value comprises:

[0012] determining that a first pressure difference is greater than a preset pressure threshold value, the first pressure difference being a pressure difference between the second pump and the first pump when the first pump outputs the pre-configured flow value.

[0013] Optionally, increasing the output flow value of the first pump comprises:

[0014] obtaining a correction coefficient corresponding to the first pressure difference by querying a corresponding relationship between pressure differences and correction coefficients, the first pressure difference being caused by the difference between the output flow value of the second pump and the output flow value of the first pump;

[0015] control the output flow rate of the first pump to be a first corrected flow rate value, the first corrected flow rate value being obtained based on a pre-configured flow rate value and a correction coefficient.

[0016] Optionally, after increasing the output flow rate value of the first pump, the method further comprises:

[0017] determining that a second pressure difference is greater than a pre-set pressure threshold value, the second pressure difference being caused by a difference between the output flow rate value of the second pump and the output flow rate value of the first pump when the output flow rate value of the first pump is the increased flow rate value;

[0018] increasing a value of the correction coefficient corresponding to the first pressure difference to obtain an adjusted correction coefficient;

[0019] controlling the output flow rate of the first pump to be a second corrected flow rate value, the second corrected flow rate value being obtained based on the pre-configured flow rate value and the adjusted correction coefficient.

[0020] Optionally, after obtaining the adjusted correction coefficient, the method further comprises:

[0021] updating the correction coefficient corresponding to the first pressure difference in the corresponding relationship to be the adjusted correction coefficient.

[0022] Optionally, after increasing the output flow rate value of the first pump, the method further comprises:

[0023] determining that the difference between the output flow rate value of the second pump and the output flow rate value of the first pump is not greater than a pre-set flow rate threshold value;

[0024] obtaining a target output flow rate value of the first pump and a target output flow rate value of the second pump, the target output flow rate value of the first pump and the target output flow rate value of the second pump being output flow rate values obtained in a straight-line walking valve open state;

[0025] controlling the output flow rate of the first pump to switch to the target output flow rate value of the first pump at a pre-set first step length, and controlling the output flow rate of the second pump to switch to the target output flow rate value of the second pump at a pre-set second step length.

[0026] Optionally, the target output flow rate value of the first pump is an output flow rate value obtained based on the first pump supplying oil to a moving component valve core and a rotary valve core in a straight-line walking working condition, and the target output flow rate value of the second pump is an output flow rate value obtained based on the second pump supplying oil to a left walking valve core and a right walking valve core in the straight-line walking working condition.

[0027] A second aspect of the present application provides a pump output flow rate control device, comprising:

[0028] a first determining module configured to determine that a first device is in a straight-line walking working condition;

[0029] The first control module is configured to control the first pump in the first device to output a pre-configured flow value, and the pre-configured flow value is obtained based on a maximum output flow of the first pump.

[0030] The second determination module is configured to determine whether a difference between an output flow value of the second pump in the first device and the output flow value of the first pump is greater than a preset flow threshold.

[0031] The second control module is configured to increase the output flow value of the first pump.

[0032] The third aspect of the present application provides a controller, in which a computer program is executed to implement the pump output flow control method provided by the first aspect of the present application.

[0033] The fourth aspect of the present application provides an excavator, comprising:

[0034] The first pump, the second pump, and the controller;

[0035] The controller is configured to execute the pump output flow control method provided by the first aspect of the present application.

[0036] The fifth aspect of the present application provides a computer readable storage medium, when instructions in the computer readable storage medium are executed by a processor of an electronic device, the electronic device can execute the pump output flow control method provided by the first aspect of the present application.

[0037] The sixth aspect of the present application provides a computer program product, comprising computer programs / instructions, which, when executed by a processor, implement the pump output flow control method provided by the first aspect of the present application.

[0038] The pump output flow control method, device, controller, and excavator provided by the present application can reduce the difference between the output flows of the first pump and the second pump, reduce the possibility of deviation caused by the unbalanced output flow of the pump in the straight-line walking working condition, and improve the function of controlling the output flow of the pump. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0040] Figure 1 An example diagram of the oil supply line of the two main pumps when the excavator is in a non-straight walking working condition;

[0041] Figure 2 An example diagram of the oil supply line of the two main pumps when the excavator is in a straight walking working condition;

[0042] Figure 3 A flow chart of a pump output flow control method disclosed by an embodiment of the present application;

[0043] Figure 4 A flow chart of another pump output flow control method disclosed by an embodiment of the present application;

[0044] Figure 5 A flow chart of another pump output flow control method disclosed by an embodiment of the present application;

[0045] Figure 6 A structural example diagram of a pump output flow control device disclosed by an embodiment of the present application. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. The terms used in the following embodiments are only for the purpose of describing the specific embodiments and are not intended to be limiting to the present application. As used in the specification and the appended claims of the present application, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, such as “one or more”, unless the context clearly indicates otherwise. It should also be understood that in the embodiments of the present application, “one or more” means one, two or more than two; “and / or” describes the association relationship of the associated objects, which means that there can be three kinds of relationships; for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone, wherein A and B can be singular or plural. The character “ / ” generally represents an “or” relationship between the associated objects.

[0047] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in yet other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0048] The "multiple" involved in the embodiments of the present application means greater than or equal to two. It should be noted that in the description of the embodiments of the present application, the words "first" and "second" are only used for the purpose of distinguishing the description and cannot be understood as indicating or implying relative importance or order.

[0049] The working conditions of the excavator include non-straight travel conditions and straight travel conditions. When the excavator is in the traveling state and there are parts moving on the upper body, it is determined that the excavator is in the straight travel condition.

[0050] Figure 1 It is the oil supply line for the two main pumps when the excavator is in non-straight travel condition. Figure 1 The straight line in the middle represents the oil supply line, based on Figure 1 As shown, the first pump (referred to as pump 1) supplies oil to the left travel valve core, bucket valve core, boom valve core, and stick valve core. The second pump (referred to as pump 2) supplies oil to the right travel valve core, swing valve core, boom valve core, and stick valve core.

[0051] Figure 2 It is the oil supply line for the two main pumps when the excavator is in straight-line travel condition. Figure 2 The straight line in the middle represents the oil supply line, based on Figure 2 As shown in the figure, pump 1 supplies oil to the bucket valve core, boom valve core, stick valve core and swing valve core. Pump 2 supplies oil to the left travel valve core and the right travel valve core. Figure 2 The oil supply method shown enables the left and right travel motors to have a common flow supply source (i.e., pump 2), so the pump pressure fluctuation is small, which can reduce the possibility of deviation caused by the vehicle switching to a straight-line travel condition.

[0052] Figure 1 and Figure 2 In the oil supply diagram, the bucket valve core, boom valve core, arm valve core, swing valve core, left travel valve core and right travel valve core are collectively referred to as the oil supply objects.

[0053] from Figure 1 The fuel supply mode shown is switched to Figure 2The oil supply mode shown needs the joint control of the controller and the straight travel valve: after the controller determines that the excavator switches from the non-straight travel working condition to the straight travel working condition, the controller calculates the output flow of the pump 1 and the pump 2 according to Figure 2 The oil supply object of the pump 1 and the pump 2 shown is to calculate the output flow of the pump 1 and the pump 2. Moreover, the straight travel valve is opened to realize the switching of the oil supply paths of the pump 1 and the pump 2 from Figure 1 to Figure 2 .

[0054] However, the inventor found in the research that, in the full-electric control excavator, the control mode of the straight travel valve is different from that of the electro-hydraulic proportional valve of other actions. The straight travel valve is an electrically controlled on-off valve, which only has two states of opening and closing. If the straight travel valve is directly controlled to open with the maximum duty cycle signal, the fast response of the straight travel valve will affect the service life of the straight travel valve. Therefore, the duty cycle signal of the straight travel valve needs to be processed through the ramp control mode to prevent the straight travel valve from responding too fast.

[0055] The ramp control mode of the straight travel valve leads to that, in the case where the excavator switches from the non-straight travel working condition to the straight travel working condition, the opening of the straight travel valve lags behind the controller, that is, the controller has determined that the excavator switches from the non-straight travel working condition to the straight travel working condition and has calculated the output flow of the pump 1 and the pump 2 according to Figure 2 The oil supply object of the pump 1 and the pump 2 shown is to calculate the output flow of the pump 1 and the pump 2. Moreover, the straight travel valve is opened to realize the switching of the oil supply paths of the pump 1 and the pump 2 from Figure 1 to supply oil to the left travel valve core, but because the output flow of the pump 1 is calculated according to Figure 2 the oil supply object shown, the calculated output flow of the pump 1 is small in the case where the actions of the bucket valve core, the boom valve core, the stick valve core and the swing valve core are small. Therefore, the oil supply amount of the left travel valve core is obviously smaller than the oil supply amount of the right travel valve core supplied by the pump 2, that is, the oil supply amounts of the left travel valve core and the right travel valve core are greatly different, which further makes the oil supply amount of the left travel motor obviously smaller than the oil supply amount of the right travel motor, resulting in the phenomenon that the straight travel working condition deviates to the left, which affects the driving experience and the normal working of the excavator.

[0056] In order to solve the above problems, the embodiments of the present application provide a pump output flow control method and device, which can be applied to a device with a liquid (such as hydraulic oil) supply pump, for controlling the flow of the liquid output by the pump. It can be understood that the device includes but is not limited to an excavator, an electrically controlled excavator and the like.

[0057] Figure 3A flow of a method for controlling a pump output flow is provided for an embodiment of the present application, and is executed by a first device, which is a mechanical device having a straight traveling working condition and a non-straight traveling working condition, and an example of the first device is a backhoe, and the flow is executed by a controller in the backhoe, and it can be understood that before the flow shown in Figure 3 The backhoe is in the non-straight traveling working condition before the flow shown in

[0058] Figure 3 The flow shown in includes the following steps:

[0059] S101, determining whether to switch to the straight traveling working condition, if yes, executing S102, and if no, executing S101 and subsequent steps.

[0060] In some implementations, it is determined to switch to the straight traveling working condition based on a current state of the backhoe, such as whether the backhoe is in a traveling state, and whether a component on the backhoe body is in action.

[0061] If the straight traveling working condition is not switched to, it is continuously monitored whether to switch to the straight traveling working condition, i.e., S101 is continuously executed. In some implementations, S101 is executed at a preset period.

[0062] S102, controlling the pump 1 to output a preconfigured flow value.

[0063] It can be understood that the purpose of the method described in the embodiment is to reduce the flow difference between the pump 1 and the pump 2, and therefore, the preconfigured flow is a relatively large flow value.

[0064] In some implementations, the preconfigured flow value is obtained based on a maximum output flow of the pump 1, for example, the preconfigured flow value is 0.8 times of the maximum output flow of the pump 1.

[0065] S103, determining whether a pressure difference between the pump 2 and the pump 1 is greater than a preset pressure threshold.

[0066] In some implementations, the output pressure of the pump 2 and the output pressure of the pump 1 are obtained by a sensor, and then the difference between the output pressure of the pump 2 and the output pressure of the pump 1 is calculated. The output pressure can be understood as a pressure value caused by the output flow. Therefore, the pressure difference between the pump 2 and the pump 1 can reflect the difference between the output flows of the pump 2 and the pump 1.

[0067] It can be understood that if the determination result is no, it means that the difference between the output flows of the pump 2 and the pump 1 is small, and therefore, the oil supply amount of the left traveling motor and the oil supply amount of the right traveling motor can be ensured to be equivalent, further ensuring the straight traveling state and reducing the possibility of deviation.

[0068] In the embodiment, the calculation manner of the output flow of the pump 2 is based onFigure 1 The oil supply mode is calculated. In some implementations, the output flow value of the pump 2 is calculated according to formula (1).

[0069] QPump2 = QPmp2MaxDft + (QPmp2SumDft - QPmp2MaxDft) * fac (1).

[0070] In formula (1), QPump2 is the calculated demand flow of the pump 2, QPmp2MaxDft is the maximum demand flow of a single action in the oil supply circuit responsible for the pump 2, QPmp2SumDft is the sum of all single action demand flows in the oil supply circuit responsible for the pump 2, and fac is a flow correction coefficient.

[0071] Therefore, if the result of the judgment is yes, S104 is executed.

[0072] If the result of the judgment is no, it means that the flow output by the pump 2 controlled in S102 can guarantee the straight-line walking state, so the process ends or returns to execute S101.

[0073] S104, by querying the corresponding relationship between the pressure difference and the correction coefficient, the correction coefficient corresponding to the pressure difference between the pump 2 and the pump 1 is obtained.

[0074] It can be understood that the corresponding relationship between the pressure difference and the correction coefficient is pre-configured. The correction coefficient is used to increase the output flow value of the pump 1.

[0075] When the straight-line walking working condition is switched, the two pumps output flow according to the strategy of the present scheme. When the pressure difference between the two pumps still exceeds a certain threshold (the vehicle still produces deviation, but the degree of deviation may be reduced), the correction coefficient corresponding to the pressure difference is increased, so the correction coefficient is a value greater than 1. The correction coefficient is also used for the next straight-line walking working condition.

[0076] S105, the output flow of the pump 1 is controlled to be the corrected flow value.

[0077] The corrected flow value is obtained based on the pre-configured flow value and the correction coefficient. In some implementations, the corrected flow value is the product of the pre-configured flow value and the correction coefficient.

[0078] Figure 3 The flow shown, in the straight-line walking working condition, first configures a larger output flow for the pump 1, and then judges whether the output pressure of the pump 2 and the output pressure of the pump 1 exceed the pressure threshold. If yes, the output flow of the pump 1 is increased through the correction coefficient to reduce the possibility of straight-line walking deviation caused by the output flow of the pump 2 exceeding the output flow of the pump 1 too much.

[0079] It can be understood that the opening ratio controller of the straight-line walking valve is based on the principle that the difference between the oil supply amount of the pump 2 and the oil supply amount of the pump 1 is greater than the threshold value, Figure 3 The flowchart shown only adjusts the output flow of the pump 1 without adjusting the output flow value of the pump 2, and the technical cost and resource cost are low.

[0080] It can be understood that it is possible that the output flow value of the pump 1 is still large after correction, and for this case, the embodiment of the application also provides a pump output flow control method, as shown in Figure 4 The method comprises the following steps:

[0081] S201, determining whether to switch to a straight-line walking working condition, if yes, performing S102, and if no, performing S101 and subsequent steps.

[0082] The specific implementation of S101 can be referred to S101.

[0083] S202, controlling the pump 1 to output a pre-configured flow value.

[0084] The specific implementation of S202 can be referred to S102.

[0085] S203, determining whether the pressure difference (first pressure difference) between the pump 2 and the pump 1 is greater than a pressure threshold value.

[0086] For the convenience of description, the pressure difference described herein is referred to as the first pressure difference.

[0087] If the determination result is yes, subsequent steps are performed. If the determination result is no, the flowchart is ended.

[0088] S204, obtaining a correction coefficient corresponding to the first pressure difference between the pump 2 and the pump 1 by querying the corresponding relationship between the pressure difference and the correction coefficient.

[0089] S205, recording the first pressure difference.

[0090] S206, controlling the output flow of the pump 1 to be a first correction flow value.

[0091] The specific implementation of S206 can be referred to S105. For the convenience of description, the correction flow value obtained in this step is referred to as the first correction flow value.

[0092] It can be understood that the execution order between S204 and S205 and S206 is not limited.

[0093] S207, determining whether the pressure difference (second pressure difference) between the pump 2 and the pump 1 is greater than the pressure threshold value.

[0094] For the sake of illustration, the pressure difference described in S207 is referred to as a second pressure difference.

[0095] If the result of the judgment is yes, it means that the difference between the output flow value of the pump 1 and the output flow value of the pump 2 is still large after the correction, and thus the deviation phenomenon is still likely to occur, so the following steps are executed to continue adjusting the output flow value of the pump 1.

[0096] If the result of the judgment is no, it means that the difference between the output flow value of the pump 1 and the output flow value of the pump 2 is small after the correction, so the process ends or returns to execute S201.

[0097] S208, increase the value of the correction coefficient corresponding to the first pressure difference to obtain an adjusted correction coefficient.

[0098] The correction coefficient is directly related to the flow of the pump, and the flow of the pump also affects the pump pressure. Since the output flow value of the pump 1 pre-configured in S202 is a large value on individual models (for example, some set values may be above 280 L / min), in order to prevent the situation of providing an excessive flow after correction, in some implementations, the value of the correction coefficient is preferably not increased by more than the pre-configured step threshold value each time. For example, the correction coefficient is increased by 1, 1.05, 1.1, and the output flow of the pump 1 is the initial set value of the pump 1 flow * the correction coefficient. The initial flow set value can be the output flow pre-configured in S202, or other values, which are not limited here.

[0099] S209, control the output flow value of the pump 1 to be a second correction flow value.

[0100] For the sake of illustration, the correction flow value obtained in this step is referred to as a second correction flow value.

[0101] The second correction flow value is obtained based on the pre-configured flow value and the adjusted correction coefficient, and in some implementations, the second correction flow value is the product of the pre-configured flow value and the adjusted correction coefficient.

[0102] In some implementations, after S209, S207 and the subsequent steps can be returned to execute in order to adjust the output flow value of the pump 1 to be more balanced with the output flow value of the pump 2. In other implementations, S201 is returned to execute.

[0103] S210, update the correction coefficient corresponding to the first pressure difference in the corresponding relationship to the adjusted correction coefficient.

[0104] The execution order of S210 and S209 is not limited.

[0105] From Figure 4As shown in the flow, in the case that the effect of once modifying the output flow of the pump 1 cannot meet the demand, the correction coefficient in the corresponding relationship is adjusted, and the output flow of the pump 1 is re-adjusted using the adjusted correction coefficient, so as to minimize the difference between the output flow of the pump 1 and the output flow of the pump 2, and reduce the possibility of the problem of running deviation in the straight walking working condition.

[0106] It can be understood that the straight walking valve can be opened in the process of or after the execution of the flow shown in Figure 3 or Figure 4 In this case, in some implementations, the output flow values of the pump 1 and the pump 2 are also controlled according to the flow shown in Figure 3 or Figure 4

[0107] In another implementation, the output flow values of the pump 1 and the pump 2 are calculated according to the oil supply circuit shown in Figure 2 In this case, it is possible that the output flow values of the pump 1 and the pump 2 calculated according to the flow shown in Figure 3 or Figure 4 are greatly different from the output flow values of the pump 1 and the pump 2 calculated according to the mode shown in Figure 2 , which leads to the instability of the output flow of the pump. In order to solve this problem, another method for controlling the output flow of the pump is proposed, as shown in Figure 5

[0108] Figure 5 The method comprises the following steps:

[0109] S301, determining that the first device is in a straight walking working condition.

[0110] The specific implementation of S301 can be referred to S101.

[0111] S302, controlling the first pump in the first device to output a pre-configured flow value.

[0112] The specific implementation of S302 can be referred to S102.

[0113] S303, determining that the difference between the output flow value of the second pump in the first device and the output flow value of the first pump is greater than a pre-configured flow threshold value.

[0114] The flow threshold value can be understood as a pre-configured numerical value, and the flow threshold value is used to measure the difference between the output flow values of the pumps. In practice, the flow threshold value can be configured according to the demand.

[0115] The specific implementation of S303 can be referred to S103.

[0116] ​​It can be understood that the pressure value of the pump refers to the pressure value caused by the flow output by the pump, and thus the flow difference can be reflected by the pressure difference. However, the flow difference reflected by the pressure difference is only one implementation manner, and the difference of the output flow of the pump can also be directly calculated.

[0117] In the embodiment of the present application, because the excavator is provided with a sensor for measuring the pressure value of the pump in advance, the flow difference reflected by the pressure difference can be realized by means of the original structure of the excavator.

[0118] S304, the output flow value of the first pump is increased.

[0119] The specific implementation manner of S304 can refer to S104-S105 or S204-S209.

[0120] S305, it is determined that the difference between the output flow value of the second pump and the output flow value of the first pump is not greater than a preset flow threshold.

[0121] S306, the target output flow value of the first pump and the target output flow value of the second pump are obtained.

[0122] The target output flow value of the first pump is the output flow value obtained based on that the first pump supplies oil to the action component valve core and the swing valve core under the straight-line walking working condition, and the target output flow value of the second pump is the output flow value obtained based on that the second pump supplies oil to the left walking valve core and the right walking valve core under the straight-line walking working condition. Figure 1 For example, the examples of the action component valve core include the bucket valve core, the boom valve core, and the stick valve core. That is, based on the oil supply circuit shown in FIG. 1, the output flow value of the pump 1 is calculated. In some implementation manners, the output flow value of the pump 1 is calculated based on formula (2): Figure 1

[0123] QPump1=QPmp1MaxDft+(QPmp1SumDft-QPmp1MaxDft)*fac (2).

[0124] In formula (2), QPump1 is the calculated demand flow of the pump 1, QPmp1MaxDft is the maximum demand flow of a single action in the oil supply circuit responsible by the pump 1, QPmp1SumDft is the sum of all single action demand flows in the oil supply circuit responsible by the pump 1, and fac is a flow correction coefficient.

[0125] The target output flow value of the second pump is the output flow value obtained based on that the second pump supplies oil to the left walking valve core and the right walking valve core under the straight-line walking working condition. That is, based on the oil supply circuit shown in FIG. 1, the output flow value of the pump 2 is calculated. The specific calculation manner can refer to formula (1). Figure 1

[0126] ​​S307, control the output flow of the first pump to switch to the target output flow value of the first pump with a preset first step size, and control the output flow of the second pump to switch to the target output flow value of the second pump with a preset second step size.

[0127] In some implementations, the specific way of switching to the target output flow value with a certain step size is: first switching to an intermediate output flow value with a certain step size, and then continuing to switch with a certain step size until the target flow value is switched to.

[0128] The first step size and the second step size can be the same or different.

[0129] S307 can be implemented based on a ramp control method or a PT filtering method.

[0130] Figure 5 The flow shown optimizes the hydraulic system flow redistribution for the running deviation problem that may occur in the straight walking working condition, that is, when the controller determines that the vehicle enters the straight walking working condition, the pump 1 flow is corrected according to the output flow difference of the two pumps, and if the output flow difference of the two pumps after correction still exceeds the threshold, the pump pressure lookup table value is optimized through a self-learning method.

[0131] This scheme ensures the average distribution of the left and right walking motor flows when the vehicle enters the straight walking state, solves the walking deviation problem caused by the hysteresis of the straight walking valve opening, and can complete the smooth transition of the fully electric-controlled excavator from the non-straight walking working condition to the straight walking working condition, has strong working condition adaptability, and improves the driving comfort.

[0132] Figure 6 A pump output flow control device disclosed for embodiments of the present application includes: a first judgment module, a first control module, a second judgment module, and a second control module.

[0133] The first judgment module is configured to determine that the first device is in a straight walking working condition. The first control module is configured to control a first pump in the first device to output a pre-configured flow value, the pre-configured flow value being obtained based on a maximum output flow of the first pump. The second judgment module is configured to determine that a difference between an output flow value of a second pump in the first device and the output flow value of the first pump is greater than a pre-set flow threshold. The second control module is configured to increase the output flow value of the first pump.

[0134] The specific implementation of the functions of each module can be referred to the above method embodiments, which will not be described here.

[0135] Figure 6 The device shown can automatically correct the output flow of pump 1 after switching to perform the walking working condition, so that the output flow of pump 1 and the output flow of pump 2 maintain a small difference, thereby reducing the possibility of running deviation in the straight walking working condition.

[0136] The embodiment of the present application further discloses a controller for running a computer program to implement the pump output flow control method.

[0137] The embodiment of the present application further discloses a excavator comprising the first pump, the second pump and the controller, and optionally comprising the aforementioned straight travel valve, the moving component and the moving component valve core.

[0138] If the functions of the method embodiments of the present application are realized in the form of software function units and sold or used as independent products, the software function units can be stored in a computer device readable storage medium. Based on such understanding, the part of the prior art or the part of the technical solution of the present application that makes a contribution to the prior art can be embodied in the form of a software product stored in a storage medium, and the software product includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, a mobile computing device or a network device) to execute all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk and various program code storage media.

[0139] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other.

Claims

1. A method of controlling the output flow rate of a pump, characterized by, The method comprises: determining that the first device is in a straight walking working condition; controlling a first pump in the first device to output a pre-configured flow value, the pre-configured flow value being obtained based on a maximum output flow of the first pump; determining that a difference between an output flow value of a second pump in the first device and the output flow value of the first pump is greater than a preset flow threshold value; obtaining a correction coefficient corresponding to a first pressure difference by querying a corresponding relationship between pressure differences and correction coefficients, the first pressure difference being caused by the difference between the output flow value of the second pump and the output flow value of the first pump; controlling the output flow of the first pump to be a first corrected flow value, the first corrected flow value being obtained based on the pre-configured flow value and the correction coefficient; determining that a second pressure difference is greater than a preset pressure threshold value, the second pressure difference being caused by the difference between the output flow value of the second pump and the output flow value of the first pump when the output flow value of the first pump is an increased flow value; increasing a value of the correction coefficient corresponding to the first pressure difference to obtain an adjusted correction coefficient; controlling the output flow of the first pump to be a second corrected flow value, the second corrected flow value being obtained based on the pre-configured flow value and the adjusted correction coefficient.

2. The method of claim 1, wherein, The determining that the difference between the output flow value of the second pump and the output flow value of the first pump is greater than the preset flow threshold value comprises: determining that a first pressure difference is greater than a preset pressure threshold value, the first pressure difference being a pressure difference between the second pump and the first pump when the first pump outputs the pre-configured flow value.

3. The method of claim 1, wherein, After the adjusted correction coefficient is obtained, the method further comprises: updating the correction coefficient corresponding to the first pressure difference in the corresponding relationship to the adjusted correction coefficient.

4. The method according to any one of claims 1 to 3, characterized in that, After the output flow value of the first pump is increased, the method further comprises: determining that the difference between the output flow value of the second pump and the output flow value of the first pump is not greater than the preset flow threshold value; obtaining a target output flow value of the first pump and a target output flow value of the second pump, the target output flow value of the first pump and the target output flow value of the second pump being output flow values obtained in a straight walking valve open state; controlling the output flow of the first pump to switch to the target output flow value of the first pump at a preset first step length, and controlling the output flow of the second pump to switch to the target output flow value of the second pump at a preset second step length.

5. The method of claim 4, wherein, The target output flow value of the first pump is an output flow value obtained based on the first pump supplying oil to a moving component spool and a rotary spool in the straight walking working condition, and the target output flow value of the second pump is an output flow value obtained based on the second pump supplying oil to a left walking spool and a right walking spool in the straight walking working condition.

6. A pump output flow control device, characterized by, The method comprises: a first determining module configured to determine that a first device is in a straight walking working condition; a first control module configured to control a first pump in the first device to output a pre-configured flow value, the pre-configured flow value being obtained based on a maximum output flow of the first pump; a second determining module, configured to determine whether a difference between an output flow value of a second pump in the first device and the output flow value of the first pump is greater than a preset flow threshold value; a second control module, configured to: obtain a correction coefficient corresponding to a first pressure difference by querying a corresponding relationship between pressure differences and correction coefficients, the first pressure difference being caused by the difference between the output flow value of the second pump and the output flow value of the first pump; control the output flow of the first pump to be a first corrected flow value, the first corrected flow value being obtained based on the preconfigured flow value and the correction coefficient; determine whether a second pressure difference is greater than a preset pressure threshold value, the second pressure difference being caused by the difference between the output flow value of the second pump and the output flow value of the first pump when the output flow value of the first pump is an increased flow value; increase a value of the correction coefficient corresponding to the first pressure difference to obtain an adjusted correction coefficient; and control the output flow of the first pump to be a second corrected flow value, the second corrected flow value being obtained based on the preconfigured flow value and the adjusted correction coefficient.

7. A controller characterized by comprising: wherein a computer program is run to implement the pump output flow control method of any one of claims 1-5.

8. An excavator characterized by comprising: comprising: a first pump, a second pump, and a controller; the controller is configured to implement the pump output flow control method of any one of claims 1-5.

Images