Excavator control system, method, and excavator

Abstract

The present application relates to the technical field of excavator control, and provides an excavator control system, method and excavator, the excavimator control system comprising a power module, a main control module and an information interaction module, the main control module comprising a main pump control module and a main valve control module, wherein the power module is used to determine a gear speed control result according to a target power mode; the information interaction module is used to determine the overall information of the excavator according to the gear speed control result, a main pump control result generated by the main pump control module and a main valve control result generated by the main valve control module.The excavator control system adopts modular precise control to obtain corresponding control results and then determine relatively accurate overall information, each module can be independently developed, tested and maintained, if a module needs to be modified, only the module needs to be tested and maintained individually, without affecting other modules, thereby effectively improving the reliability of the control system while reducing maintenance costs.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of excavator control, and in particular to an excavator control system and method and excavator. BACKGROUND

[0002] As an important engineering machinery, the performance and working efficiency of an excavator can affect the progress and quality of engineering construction. With the continuous progress of science and technology, excavator control systems are also constantly updated to adapt to more complex and variable working environments.

[0003] The existing excavator control system is centrally controlled by a central controller to different functional modules, which can achieve basic regulation and control of various functions of the excavator. If a functional module needs to be modified, large-scale testing and maintenance of the entire control system are often required, which not only increases the maintenance cost but also reduces the reliability of the control system. SUMMARY

[0004] The present application provides an excavator control system and method and excavator to solve the defect that if a functional module needs to be modified in the prior art, large-scale testing and maintenance of the entire control system are often required, which not only increases the maintenance cost but also reduces the reliability of the control system. The excavator control system uses modular precise control to obtain the corresponding control result and then determine the more accurate overall machine information. Each module can be independently developed, tested and maintained. In this way, if a module needs to be modified, only the module needs to be tested and maintained individually, which will not affect other modules. This reduces the maintenance cost while effectively improving the reliability of the control system.

[0005] In a first aspect, the present application provides an excavator control system, comprising: a power module, a main control module and an information interaction module, the main control module comprising: a main pump control module and a main valve control module, wherein,

[0006] The power module is configured to determine a gear speed control result according to a target power mode.

[0007] The information interaction module is configured to determine overall machine information of the excavator according to the gear speed control result, a main pump control result generated by the main pump control module and a main valve control result generated by the main valve control module.

[0008] The excavator control system provided by the application further comprises a safety module, the information interaction module and the safety module are connected with a display screen of the excavator, the information interaction module is further used for displaying the whole machine information through the display screen, and the safety module is used for determining the whole machine state of the excavator according to the whole machine information and displaying fault information through the display screen in the case of indicating state abnormity.

[0009] The excavator control system provided by the application further comprises a safety module, the information interaction module and the safety module are connected with a display screen of the excavator, the information interaction module is further used for displaying the whole machine information through the display screen, and the safety module is used for determining the whole machine state of the excavator according to the whole machine information and displaying fault information through the display screen in the case of indicating state abnormity.

[0010] The excavator control system provided by the application further comprises a safety module, the information interaction module and the safety module are connected with a display screen of the excavator, the information interaction module is further used for displaying the whole machine information through the display screen, and the safety module is used for determining the whole machine state of the excavator according to the whole machine information and displaying fault information through the display screen in the case of indicating state abnormity.

[0011] The excavator control system provided by the application further comprises a safety module, the information interaction module and the safety module are connected with a display screen of the excavator, the information interaction module is further used for displaying the whole machine information through the display screen, and the safety module is used for determining the whole machine state of the excavator according to the whole machine information and displaying fault information through the display screen in the case of indicating state abnormity.

[0012] According to the excavator control system provided by the application, the main pump comprises a front pump and a rear pump, the main pump control module is further used for constant power control of the main pump, and the second result is obtained, comprising: the main pump control module is specifically used for determining a main pressure average value according to a front pump main pressure of the front pump and a rear pump main pressure of the rear pump, determining a constant power curve according to the main pressure average value and a target gear, determining a target maximum power according to a current execution action of the excavator in a process of controlling the excavator to execute according to the constant power curve, determining a constant power calculation displacement according to the target maximum power, taking a smaller one of the constant power calculation displacement and the positive flow given displacement as a constant power output displacement, and determining the constant power output displacement as the second result.

[0013] According to the excavator control system provided by the application, the target maximum power is a first maximum power or a second maximum power, and the main pump control module is specifically used for determining a target maximum power according to a current execution action of the excavator, comprising: the main pump control module is specifically used for increasing a maximum power by a first preset multiple to obtain the first maximum power in a case where the current execution action is a swing action, and increasing the maximum power by a second preset multiple to obtain the second maximum power in a case where the current execution action is not the swing action and the current execution action is a left-right simultaneous walking action.

[0014] According to the excavator control system provided by the application, the main pump control module is further used for constant torque control of the main pump to obtain the third result, comprising: the main pump control module is specifically used for determining a second relationship curve according to a measured pump main pressure of the main pump, the second relationship curve being used for representing a corresponding relationship between the measured pump main pressure and a torque coefficient, performing rate limitation on the second relationship curve to obtain a second target relationship curve, determining a target torque increasing coefficient according to a boom lifting pilot pressure in a process of controlling the excavator to execute according to the second target relationship curve, determining a given torque according to the target torque increasing coefficient and a stall compensation coefficient, and determining the third result according to the given torque.

[0015] According to the excavator control system provided by the application, the main pump control module is specifically used for determining the third result according to the given torque, comprising: the main pump control module is specifically used for determining a pump displacement according to a measured pump current of the main pump, determining a measured torque according to the pump displacement, the measured pump main pressure, a torque coefficient corresponding to the measured pump main pressure and the stall compensation coefficient, determining a state result of an engine in the excavator according to the given torque and the measured torque, and determining the third result according to the state result.

[0016] In a second aspect, the present application further provides a control method of an excavator, applied to the excavator control system of any one of the first aspect, the excavator control system comprising a power module, a main control module and an information interaction module, the main control module comprising a main pump control module and a main valve control module, the method comprising:

[0017] determining a gear speed control result according to the target power mode by using the power module;

[0018] determining overall information of the excavator according to the gear speed control result, a main pump control result and a main valve control result by using the information interaction module, the main pump control result being generated by using the main pump control module, and the main valve control result being generated by using the main valve control module.

[0019] In a third aspect, the present application further provides an excavator, comprising the excavator control system of any one of the first aspect, the excavator control system comprising a power module, a main control module and an information interaction module, the main control module comprising a main pump control module and a main valve control module, wherein,

[0020] the power module is configured to determine a gear speed control result according to a target power mode;

[0021] the information interaction module is configured to determine overall information of the excavator according to the gear speed control result, a main pump control result generated by the main pump control module and a main valve control result generated by the main valve control module.

[0022] The excavator control system, method and excavator provided by the present application comprise a power module, a main control module and an information interaction module, the main control module comprising a main pump control module and a main valve control module, wherein the power module is configured to determine a gear speed control result according to a target power mode, and the information interaction module is configured to determine overall information of the excavator according to the gear speed control result, a main pump control result generated by the main pump control module and a main valve control result generated by the main valve control module. The excavator control system adopts modular and precise control to obtain corresponding control results and then determine relatively accurate overall information, each module can be independently developed, tested and maintained, so that if a module needs to be modified, only the module needs to be tested and maintained individually, without affecting other modules, thereby reducing the maintenance cost and effectively improving the reliability of the control system. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to make the technical solutions in the present application or prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without creative work based on the accompanying drawings are within the protection scope of the present application.

[0024] Figure 1 is one of the structural schematic diagrams of the excavator control system provided by the present application;

[0025] Figure 2 is the second structural schematic diagram of the excavator control system provided by the present application;

[0026] Figure 3 is the schematic diagram of the corresponding relationship between the accelerator knob input voltage and the gear provided by the present application;

[0027] Figure 4 is the schematic diagram of the operation flow of the excavator control system provided by the present application;

[0028] Figure 5 is the functional schematic diagram of the excavator control system provided by the present application;

[0029] Figure 6 is the flow schematic diagram of the excavator control method provided by the present application;

[0030] Figure 7 is the structural schematic diagram of the excavator provided by the present application. DETAILED DESCRIPTION

[0031] In order to make the technical solutions in the present application or prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without creative work based on the accompanying drawings are within the protection scope of the present application.

[0032] Optionally, the excavator control system can be arranged in the excavator, or connected with the excavator through wireless communication technology.

[0033] Optionally, the wireless communication technology can include, but is not limited to, one of the following: the 4th Generation mobile communication technology (4G), the 5th Generation mobile communication technology (5G), and the Wireless Fidelity (WiFi) technology, etc.

[0034] It should be noted that the excavator involved in the embodiments of the present application refers to a double-power excavator, for example, a double-power hydraulic excavator.

[0035] The embodiments of the present application will be further described below.

[0036] As Figure 1 shown is one of the structure schematic diagrams of the excavator control system provided by the present application, which can include: a power module 10, a main control module 20 and an information interaction module 30, the main control module 20 includes: a main pump control module 201 and a main valve control module 202, wherein,

[0037] The power module 10 is used to determine a gear speed control result according to a target power mode.

[0038] The information interaction module 30 is used to determine the whole machine information of the excavator according to the gear speed control result, a main pump control result generated by the main pump control module 201, and a main valve control result generated by the main valve control module 202.

[0039] The target power mode is a motor mode or an engine mode.

[0040] In the embodiments of the present application, the power module 10 determines the corresponding gear speed control result according to the target power mode; the main pump control module 201 performs main pump control to generate the main pump control result; and the main valve control module 202 performs main valve control to generate the main valve control result. Based on this, the information interaction module 30 determines the whole machine information of the excavator according to the gear speed control result, the main pump control result and the main valve control result. In the whole process, the modular precise control is adopted to obtain the corresponding control result, and then the more accurate whole machine information is determined, and each module can be independently developed, tested and maintained. In this way, if a module needs to be modified, only the independent test and maintenance of the module are needed, which will not affect other modules, thereby reducing the maintenance cost and effectively improving the reliability of the control system.

[0041] In some embodiments, as Figure 2As shown, it is the structural schematic diagram two of the excavator control system provided by the application. The excavator control system can further include: a safety module 40, the information interaction module 30 and the safety module 40 are connected with the display screen of the excavator; the information interaction module 30 is further used for displaying the whole machine information through the display screen; the safety module 40 is used for determining the whole machine state of the excavator according to the whole machine information; in the case that the whole machine state indicates state abnormality, the fault information is displayed through the display screen.

[0042] Optionally, the fault information can include fault codes and fault logs.

[0043] Optionally, the information interaction module 30 can interact with the display screen through a controller area network (CAN) bus. The information interaction module 30 can directly send the whole machine information to the display screen for display, or after the display screen generates a corresponding information request signal in response to a user input information request operation, the information interaction module 30 receives the information request signal sent by the display screen, and then sends the whole machine information corresponding to the information request signal to the display screen for display.

[0044] Optionally, the safety module 40 is further used for displaying the whole machine state through the display screen.

[0045] In the embodiment of the application, after the information interaction module 30 determines the whole machine information of the excavator, the information interaction module 30 sends the whole machine information to the display screen of the excavator for display, and the information interaction module 30 can send the whole machine information to the safety module 40; the safety module 40 determines the whole machine state of the excavator according to the received whole machine information, generates corresponding fault information in the case that the whole machine state indicates state abnormality, and sends the fault information to the display screen of the excavator for display. In the whole process, through the interaction among the information interaction module 30, the safety module 40 and the display screen, the user can not only know the real-time state of the excavator in time, but also be reminded to take corresponding measures in the case of fault.

[0046] Optionally, the information interaction module 30 is further used for determining a lock car result according to the lock car request signal. The lock car result can include a first lock car result, a second lock car result and a third lock car result.

[0047] Exemplarily, after the display screen generates a corresponding lock request signal in response to a lock request operation of the user input, the information interaction module 30 receives the lock request signal sent by the display screen, in the case that the lock request signal is a first-level lock request signal, the information interaction module 30 limits the maximum pump current of the excavator to 450 milliampere (mA), indirectly controls the related lock action by controlling the hydraulic controller in the excavator, and then obtains a first lock result; in the case that the lock request signal is a second-level lock request signal, the information interaction module 30 limits the maximum pump current to 400 mA and limits the maximum speed to 1400 revolutions per minute (rpm), indirectly controls the related lock action by controlling the hydraulic controller in the excavator, and then obtains a second lock result; in the case that the lock request signal is the first-level lock request signal or the second-level lock request signal, and the excavator performs a walking action, the information interaction module 30 limits the maximum pump current to 600 mA, indirectly controls the related lock action by controlling the hydraulic controller in the excavator, and then obtains a third lock result.

[0048] The maximum pump current refers to the maximum current value of the main pump proportional electromagnetic valve flowing in the port of the hydraulic controller.

[0049] In some embodiments, the target power mode is a motor mode or an engine mode; the power module 10 is specifically configured to determine a target gear according to the throttle knob input voltage, and determine a target speed according to the target gear; perform gear speed control on the power device corresponding to the target power mode based on the target speed, and obtain a gear speed control result; in the case that the target power mode is the motor mode, the power device is a motor in the excavator; in the case that the target power mode is the engine mode, the power device is an engine in the excavator.

[0050] Exemplarily, as Figure 3 shown in FIG. 1, it is a schematic diagram of the corresponding relationship between the throttle knob input voltage and the gear provided by the present application. As can be seen from Figure 3 , the range of the throttle knob input voltage is 0-5 volts (V); the gear can be divided into 1-11 gears.

[0051] In the embodiments of the present application, after the power module 10 receives the throttle knob input voltage, the target gear is determined in combination with the corresponding relationship between the throttle knob input voltage and the gear, and then the target speed is determined; then, the power module 10 performs gear speed control on the power device corresponding to the target power mode according to the target speed, to determine the gear speed control result. In the whole process, the power module 10 realizes accurate control of the gear speed of the power device under different power modes.

[0052] Optionally, the power module 10 can interact with the display screen through the CAN bus.

[0053] For example, the power module 10 sends the measured rotating speed of the power device received to the display screen through the CAN bus for display, so as to help the user to know the current rotating speed of the power device in time.

[0054] Optionally, the power module 10 is further configured to generate an overheat rotating speed control result and an oil pressure too low rotating speed control result when the target power mode is the engine mode.

[0055] In some embodiments, the main pump control result can include a first result, a second result and a third result; and the main pump control module 201 is further configured to perform positive flow control on the main pump to obtain the first result, perform constant power control on the main pump to obtain the second result, and perform constant torque control on the main pump to obtain the third result.

[0056] It should be noted that the main pump control in the embodiments of the present application is motor main pump control or engine main pump control.

[0057] In the embodiments of the present application, the main pump control module 201 performs positive flow control, constant power control and constant torque control on the main pump respectively to obtain corresponding main pump control results (the first result, the second result and the third result). In the whole process, no matter whether the excavator is in the motor mode or in the engine mode, the main pump control module 201 can achieve accurate main pump control.

[0058] In some embodiments, the main pump control module 201 is further configured to perform positive flow control on the main pump to obtain the first result, which can include: the main pump control module 201 is specifically configured to determine a plurality of first relationship curves according to a plurality of single actions each corresponding to a pilot pressure, each first relationship curve being used to represent a corresponding relationship between the corresponding pilot pressure and the pump displacement; performing rate limiting on the plurality of first relationship curves to obtain a plurality of first target relationship curves; for each first target relationship curve, controlling the excavator to execute according to the first target relationship curve to determine the pump current corresponding to the single action corresponding to the first target relationship curve; limiting the amplitude output of the maximum pump current in the plurality of pump currents to obtain a positive flow given displacement corresponding to the main pump, and determining the positive flow given displacement as the first result.

[0059] The main pump includes a front pump and a rear pump.

[0060] Optionally, the plurality of single actions can be a plurality of single actions corresponding to the front pump or a plurality of single actions corresponding to the rear pump.

[0061] Optionally, the plurality of single actions corresponding to the front pump can include: bucket unloading, bucket digging, arm unloading, arm digging, boom lifting, left walking and boom lowering.

[0062] Optionally, the plurality of single actions corresponding to the rear pump can include: bucket unloading, bucket digging, arm unloading, arm digging, boom lifting, turning and right walking.

[0063] In the embodiment of the present application, the main pump control module 201 first acquires the plurality of single actions respectively corresponding to the pilot pressure signals, filters the plurality of pilot pressure signals respectively to obtain the plurality of single actions respectively corresponding to the pilot pressure, and then determines the plurality of first relationship curves; then, the main pump control module 201 limits the change rate of the plurality of first relationship curves respectively to obtain the plurality of first target relationship curves; for each first target relationship curve, the main pump control module 201 controls the excavator to execute according to the first target relationship curve to determine the pump current corresponding to the single action corresponding to the first target relationship curve; then, the main pump control module 201 compares the plurality of pump currents obtained to determine the maximum pump current from the plurality of pump currents, limits the amplitude of the maximum pump current to output to obtain the positive flow given displacement corresponding to the main pump, and determines the positive flow given displacement as the first result. In the whole process, the main pump control module 201 realizes accurate positive flow control.

[0064] In some embodiments, the main pump includes a front pump and a rear pump, and the main pump control module 201 is further configured to perform constant power control on the main pump to obtain a second result, which can include: the main pump control module 201 is specifically configured to determine a main pressure average value according to the front pump main pressure of the front pump and the rear pump main pressure of the rear pump; determine a constant power curve according to the main pressure average value and a target gear; determine a target maximum power according to the current execution action of the excavator in the process of controlling the excavator to execute according to the constant power curve; determine a constant power calculation displacement according to the target maximum power; take the smaller one of the constant power calculation displacement and the positive flow given displacement to obtain a constant power output displacement, and determine the constant power output displacement as the second result.

[0065] In the embodiment of the present application, the main pump control module 201 first acquires the front pump main pressure signal and the rear pump main pressure signal, filters the front pump main pressure signal and the rear pump main pressure signal to obtain the front pump main pressure and the rear pump main pressure, and then determines the average value of the front pump main pressure and the rear pump main pressure, i.e. the main pressure average value; then, the main pump control module 201 determines the corresponding constant power curve based on the main pressure average value and in combination with the gear range (such as 1-6 gear range or 7-11 gear range) in which the target gear is located; in the process of controlling the excavator to execute according to the constant power curve, the target maximum power is determined according to the current execution action of the excavator, and then the constant power calculation displacement is determined; then, the main pump control module 201 takes the smaller one of the constant power calculation displacement and the positive flow given displacement, limits the change rate of the smaller one to obtain the constant power output displacement, and determines the constant power output displacement as the second result. In the whole process, the main pump control module 201 realizes accurate constant power control.

[0066] In some embodiments, the target maximum power is the first maximum power or the second maximum power, and the main pump control module 201, specifically for determining the target maximum power according to the current execution action of the excavator, can comprise: the main pump control module 201, specifically for increasing the maximum power by a first preset multiple to obtain the first maximum power in the case that the current execution action is the swing action; increasing the maximum power by a second preset multiple to obtain the second maximum power in the case that the current execution action is not the swing action and the current execution action is the left-right simultaneous walking action.

[0067] Wherein, the maximum power refers to the maximum power of the main pump.

[0068] For example, if the swing pilot pressure is greater than or equal to a preset pressure threshold (such as 5 kg), the current execution action of the excavator is the swing action.

[0069] For example, the first preset multiple can be 1.2, and the second preset multiple can be 1.4.

[0070] In the embodiments of the present application, the main pump control module 201 increases the maximum power by a first preset multiple (such as 1.2) to obtain the first maximum power in the case that the current execution action of the excavator is the swing action; increases the maximum power by a second preset multiple (such as 1.4) to obtain the second maximum power in the case that the current execution action is not the swing action and the current execution action is the left-right simultaneous walking action. In order to determine the constant power calculation displacement subsequently.

[0071] Optionally, in the case that the current execution action of the excavator is not the swing action and not the left-right simultaneous walking action, the main pump control module 201 determines the maximum power as the target maximum power.

[0072] In some embodiments, the main pump control module 201 is also used for constant torque control of the main pump to obtain a third result, which can comprise: the main pump control module 201, specifically for determining a second relationship curve according to the measured pump main pressure of the main pump, the second relationship curve being used to represent the corresponding relationship between the measured pump main pressure and the torque coefficient; performing rate of change limitation on the second relationship curve to obtain a second target relationship curve; determining a target torque increase coefficient according to the boom lifting pilot pressure in the process of controlling the excavator to execute according to the second target relationship curve; determining a given torque according to the target torque increase coefficient and a stall compensation coefficient; determining the third result according to the given torque.

[0073] Wherein, the target torque increase coefficient is a first torque increase coefficient, a second torque increase coefficient or a third torque increase coefficient.

[0074] Specifically, in the process of determining the target torque increasing coefficient, if the boom lifting pilot pressure is greater than or equal to the first threshold value and the travel pilot pressure is greater than or equal to the second threshold value, the torque increasing coefficient is increased by a third preset multiple to obtain a first torque increasing coefficient; if the boom lifting pilot pressure is greater than or equal to the first threshold value and the travel pilot pressure is less than the second threshold value, the torque increasing coefficient is increased by a fourth preset multiple to obtain a second torque increasing coefficient; and if the boom lifting pilot pressure is less than the first threshold value, the torque increasing coefficient is increased by a fifth preset multiple to obtain a third torque increasing coefficient.

[0075] The travel pilot pressure can be a left travel pilot pressure or a right travel pilot pressure.

[0076] For example, the calculation formula of the given torque is: given torque = stall compensation coefficient * target torque increasing coefficient.

[0077] For example, the first threshold value can be 5 kg, and the second threshold value can be 10 kg.

[0078] For example, the third preset multiple can be 1.2, the fourth preset multiple can be 1.25, and the fifth preset multiple can be 0.9.

[0079] In the embodiment of the present application, the main pump control module 201 first acquires the pump main pressure signal (the front pump main pressure signal and the rear pump main pressure signal), filters the pump main pressure signal to obtain the measured pump main pressure, and then determines the second relationship curve; then, the main pump control module 201 limits the change rate of the second relationship curve to obtain the second target relationship curve; in the process of controlling the excavator to execute according to the second target relationship curve, the main pump control module 201 determines the target torque increasing coefficient according to the boom lifting pilot pressure, and then determines the given torque in combination with the stall compensation coefficient; then, the main pump control module 201 determines the third result according to the given torque. In the whole process, the main pump control module 201 realizes accurate constant torque control.

[0080] In some embodiments, the main pump control module 201, specifically for determining the third result according to the given torque, can include: the main pump control module 201, specifically for determining the pump displacement according to the measured pump current of the main pump; determining the measured torque according to the pump displacement, the measured pump main pressure, the torque coefficient corresponding to the measured pump main pressure, and the stall compensation coefficient; determining the state result of the engine in the excavator according to the given torque and the measured torque; and determining the third result according to the state result.

[0081] For example, the calculation formula of the measured torque is: measured torque = measured pump main pressure * pump displacement * torque coefficient corresponding to measured pump main pressure * stall compensation coefficient / 62.8.

[0082] Specifically, the main pump control module 201 determines the constant torque and the constant speed as the third result in a case where the state result indicates that the engine is in the non-idling state and the measured engine speed is greater than or equal to the preset speed threshold in the process of determining the third result according to the state result; or determines no constant torque and constant speed as the third result in a case where the state result indicates that the engine is in the non-idling state and the measured engine speed is less than the preset speed threshold, or in a case where the state result indicates that the engine is in the idling state.

[0083] For example, the preset speed threshold can be 650 rpm.

[0084] In the embodiment of the present application, the main pump control module 201 determines the pump displacement by combining the third relationship curve after obtaining the measured pump current, the third relationship curve being used to represent the corresponding relationship between the measured pump current and the pump displacement; the main pump control module 201 determines the measured torque by using the above-mentioned calculation formula of the measured torque; then, the main pump control module 201 determines the state result of the engine in the excavator according to the given torque and the measured torque, and further determines the third result. In the whole process, the main pump control module 201 realizes accurate constant torque control.

[0085] Optionally, the main pump control module 201 is further configured to, in a case where the excavator is in a target working mode, perform speed drop torque prediction based on a speed deviation between a target speed and a measured speed to obtain a target torque, and perform stall compensation on the target torque to determine a target stall compensation coefficient, the target working mode being any one of a standard working mode, an energy-saving working mode and a power working mode; in a case where a sum of a front pump main pressure of the front pump and a rear pump main pressure of the rear pump is less than or equal to a preset threshold, and the excavator performs a left-right simultaneous walking action, determining the target stall compensation coefficient corresponding to the energy-saving working mode as the stall compensation coefficient; in a case where the sum of the front pump main pressure and the rear pump main pressure is greater than the preset threshold, or the excavator does not perform the left-right simultaneous walking action, determining the target stall compensation coefficient corresponding to the current target working mode of the excavator as the stall compensation coefficient.

[0086] The calculation formula of the speed deviation is: speed deviation = target speed - measured speed.

[0087] The target speed and the measured speed are sent by the power module 10 to the main pump control module 201.

[0088] For example, the preset threshold can be 400 kg.

[0089] Optionally, the target working mode can also be other working modes except the standard working mode, the energy-saving working mode and the power working mode, for example, an adaptive working mode.

[0090] Optionally, the main pump control module 201 performs stall compensation on the target torque to obtain a first target stall compensation coefficient, and limits the change rate of the first target stall compensation coefficient to obtain a target stall compensation coefficient.

[0091] Optionally, the main valve control module 202 is specifically configured to determine pump currents corresponding to the multiple pilot pressures respectively according to the multiple single actions respectively corresponding to the multiple pilot pressures, and determine a main valve control result according to the multiple pump currents.

[0092] Specifically, the main valve control module 202 first obtains the multiple pilot pressures corresponding to the multiple single actions respectively, and calculates the pump currents corresponding to the multiple pilot pressures respectively; for each single action, the main valve control module 202 sends a pump current instruction corresponding to the pump current corresponding to the single action to the corresponding electromagnetic valve, and controls the corresponding valve core to implement the single action.

[0093] For example, the main valve control module 202 converts the pump current instruction operation and all valve core electronic control functions by unit, 0-1000 is converted to 0-4 megapascal (Mpa), and the pilot pressure-6.25-56.25 bar is normalized to correspond to 0-1.

[0094] Optionally, the main valve control module 202 can perform main valve core control and logic valve core control.

[0095] The electromagnetic valve corresponding to the single action corresponding to the main valve core control can include a boom lifting electromagnetic valve, a boom lowering electromagnetic valve, a stick digging electromagnetic valve, a stick unloading electromagnetic valve, a bucket digging electromagnetic valve, a bucket unloading electromagnetic valve, a left walking forward electromagnetic valve, a left walking backward electromagnetic valve, a right walking forward electromagnetic valve, a right walking backward electromagnetic valve, a straight walking electromagnetic valve, a left turning electromagnetic valve, and a right turning electromagnetic valve, etc.

[0096] The electromagnetic valve corresponding to the single action corresponding to the logic valve core control can include a pilot switch electromagnetic valve, a boom lowering throttling electromagnetic valve, a walking high-low speed electromagnetic valve, an automatic force increasing electromagnetic valve, a boom-priority-over-rotation electromagnetic valve, a rotation-priority-over-stick electromagnetic valve, a rotation brake release electromagnetic valve, and a bucket flow combining electromagnetic valve, etc.

[0097] The following examples are combined to further illustrate the embodiments of the application:

[0098] For example, as shown in Figure 4 , it is a schematic diagram of the operation process of the excavator control system provided by the application. After high-voltage electricity on the excavator, the excavator control system controls according to the target power mode corresponding mode curve, and then controls the main valve.

[0099] For example, as shown in Figure 5 , it is a function diagram of the excavator control system provided by the application. From theFigure 5 As can be seen, the excavator control system adopts modular precise control, corresponding control results are obtained, and relatively accurate whole machine information is determined, each module can be independently developed, tested and maintained, so that if a module needs to be modified, only the module needs to be tested and maintained, and other modules are not affected, thereby reducing the maintenance cost and effectively improving the reliability of the control system.

[0100] The excavator control method provided by the application is described below, and the excavator control method described below can be correspondingly referred to the excavator control system described above.

[0101] As Figure 6 shown is a flowchart of the excavator control method provided by the application, which is applied to the excavator control system described above, the excavator control system includes a power module, a main control module and an information interaction module, the main control module includes a main pump control module and a main valve control module, and the method can include:

[0102] 601, determining a gear speed control result according to a target power mode by using the power module.

[0103] Optionally, the target power mode is a motor mode or an engine mode; determining the gear speed control result according to the target power mode by using the power module includes: determining a target gear according to an accelerator knob input voltage by using the power module; and determining a target speed according to the target gear; performing gear speed control on a power device corresponding to the target power mode based on the target speed by using the power module to obtain the gear speed control result; wherein, in the case that the target power mode is the motor mode, the power device is a motor in the excavator; and in the case that the target power mode is the engine mode, the power device is an engine in the excavator.

[0104] 602, determining whole machine information of the excavator according to the gear speed control result, a main pump control result and a main valve control result by using the information interaction module, the main pump control result is generated by using the main pump control module, and the main valve control result is generated by using the main valve control module.

[0105] Optionally, the excavator control system further includes a safety module, the information interaction module and the safety module are connected with a display screen of the excavator; further including: displaying the whole machine information on the display screen by using the information interaction module; determining a whole machine state of the excavator according to the whole machine information by using the safety module; and displaying fault information on the display screen by using the safety module in the case that the whole machine state indicates that the state is abnormal.

[0106] Optionally, the main pump control result comprises a first result, a second result and a third result; and the method further comprises: performing positive flow control on the main pump by using the main pump control module to obtain the first result; performing constant power control on the main pump by using the main pump control module to obtain the second result; and performing constant torque control on the main pump by using the main pump control module to obtain the third result.

[0107] Optionally, the first result is obtained by performing positive flow control on the main pump by using the main pump control module, and the method comprises: determining a plurality of first relationship curves by using the main pump control module according to the pilot pressures corresponding to the plurality of single actions, wherein each first relationship curve is used to represent a corresponding relationship between the corresponding pilot pressure and the pump displacement; performing rate limiting on the plurality of first relationship curves respectively by using the main pump control module to obtain a plurality of first target relationship curves; for each first target relationship curve, controlling the excavator to perform according to the first target relationship curve by using the main pump control module to determine a pump current corresponding to the single action corresponding to the first target relationship curve; and performing amplitude limiting output on the maximum pump current in the plurality of pump currents by using the main pump control module to obtain a positive flow given displacement corresponding to the main pump, and determining the positive flow given displacement as the first result.

[0108] Optionally, the second result is obtained by performing constant power control on the main pump by using the main pump control module, and the method comprises: determining a main pressure average value by using the main pump control module according to the front pump main pressure of the front pump and the rear pump main pressure of the rear pump; determining a constant power curve by using the main pump control module according to the main pressure average value and the target gear; determining a target maximum power by using the main pump control module according to the current execution action of the excavator in a process of controlling the excavator to perform according to the constant power curve; determining a constant power calculation displacement by using the main pump control module according to the target maximum power; obtaining a constant power output displacement by using the main pump control module to take the smaller one of the constant power calculation displacement and the positive flow given displacement, and determining the constant power output displacement as the second result.

[0109] Optionally, the target maximum power is a first maximum power or a second maximum power, and the target maximum power is determined by using the main pump control module according to the current execution action of the excavator, and the method comprises: in a case where the current execution action is a swing action, increasing the maximum power by a first preset multiple to obtain the first maximum power by using the main pump control module; and in a case where the current execution action is not the swing action and the current execution action is a left-right simultaneous walking action, increasing the maximum power by a second preset multiple to obtain the second maximum power by using the main pump control module.

[0110] Optionally, the main pump is controlled by the main pump control module to obtain the third result, including: determining a second relationship curve by the main pump control module according to the measured pump main pressure, the second relationship curve being used to represent the corresponding relationship between the measured pump main pressure and the torque coefficient; limiting the change rate of the second relationship curve by the main pump control module to obtain a second target relationship curve; determining a target torque increasing coefficient by the main pump control module according to the boom lifting pilot pressure during the process that the excavator is controlled to execute the second target relationship curve; determining a given torque by the main pump control module according to the target torque increasing coefficient and the stall compensation coefficient; and determining the third result by the main pump control module according to the given torque.

[0111] Optionally, the third result is determined by the main pump control module according to the given torque, including: determining a pump displacement by the main pump control module according to the measured pump current; determining a measured torque by the main pump control module according to the pump displacement, the measured pump main pressure, the torque coefficient corresponding to the measured pump main pressure, and the stall compensation coefficient; determining a state result of the engine in the excavator by the main pump control module according to the given torque and the measured torque; and determining the third result by the main pump control module according to the state result.

[0112] In the embodiment of the present application, the excavator control system determines the gear speed control result according to the target power mode by the power module; then, the excavator control system determines the whole machine information of the excavator according to the gear speed control result, the main pump control result and the main valve control result by the information interaction module, the main pump control result being generated by the main pump control module, and the main valve control result being generated by the main valve control module. In the whole process, the modular precise control is adopted to obtain the corresponding control result, and then the more accurate whole machine information is determined, each module can be independently developed, tested and maintained, thereby reducing the maintenance cost and effectively improving the reliability of the control system.

[0113] As shown in Figure 7 Fig. 1 is a structural schematic diagram of an excavator provided by the present application, which can include the excavator control system described above, the excavator control system including a power module 10, a main control module 20 and an information interaction module 30, the main control module 20 including a main pump control module 201 and a main valve control module 202, wherein the power module 10 is used to determine the gear speed control result according to the target power mode; and the information interaction module 30 is used to determine the whole machine information of the excavator according to the gear speed control result, the main pump control result generated by the main pump control module 201 and the main valve control result generated by the main valve control module 202.

[0114] The system embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0115] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0116] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An excavator control system, characterized by, Comprise: A power module, a main control module and an information interaction module, the main control module comprises: a main pump control module and a main valve control module, wherein, The power module is used for determining a gear speed control result according to a target power mode; The information interaction module is used for determining the whole machine information of the excavator according to the gear speed control result, a main pump control result generated by the main pump control module and a main valve control result generated by the main valve control module; The main pump control result comprises a first result; The main pump control module is also used for performing positive flow control on the main pump to obtain the first result, comprising: The main pump control module is specifically used for determining a plurality of first relationship curves according to a plurality of single actions respectively corresponding to a pilot pressure, each first relationship curve is used for representing the corresponding relationship between the corresponding pilot pressure and the pump displacement; the plurality of first relationship curves are respectively subjected to rate limitation to obtain a plurality of first target relationship curves; for each first target relationship curve, the excavator is controlled to execute according to the first target relationship curve, the pump current corresponding to the single action corresponding to the first target relationship curve is determined; the maximum pump current in the plurality of pump currents is subjected to amplitude limiting output to obtain the positive flow given displacement corresponding to the main pump, and the positive flow given displacement is determined as the first result.

2. The system of claim 1, wherein, Also comprise: A safety module, the information interaction module and the safety module are connected with the display screen of the excavator; The information interaction module is also used for displaying the whole machine information through the display screen; The safety module is used for determining the whole machine state of the excavator according to the whole machine information; in the case that the whole machine state indicates state abnormality, fault information is displayed through the display screen.

3. The system of claim 1, wherein, The target power mode is a motor mode or an engine mode; The power module is specifically used for determining a target gear according to an accelerator knob input voltage, and determining a target speed according to the target gear; performing gear speed control on the power device corresponding to the target power mode based on the target speed to obtain the gear speed control result; Wherein, in the case that the target power mode is the motor mode, the power device is the motor in the excavator; in the case that the target power mode is the engine mode, the power device is the engine in the excavator.

4. The system of claim 1, wherein, The main pump control result comprises a second result and a third result; The main pump control module is also used for performing constant power control on the main pump to obtain the second result; performing constant torque control on the main pump to obtain the third result.

5. The system of claim 4, wherein, The main pump comprises a front pump and a rear pump, and the main pump control module is also used for performing constant power control on the main pump to obtain the second result, comprising: The main pump control module is specifically configured to determine a main pressure average value according to a front pump main pressure of the front pump and a rear pump main pressure of the rear pump, determine a constant power curve according to the main pressure average value and a target gear, determine a target maximum power according to a current execution action of the excavator in a process of controlling the excavator to execute according to the constant power curve, determine a constant power calculation displacement according to the target maximum power, take a smaller one between the constant power calculation displacement and the positive flow given displacement to obtain a constant power output displacement, and determine the constant power output displacement as the second result.

6. The system of claim 5, wherein, The target maximum power is a first maximum power or a second maximum power, and the main pump control module is specifically configured to determine a target maximum power according to a current execution action of the excavator, including: The main pump control module is specifically configured to increase the maximum power by a first preset multiple to obtain the first maximum power in a case where the current execution action is a swing action, and increase the maximum power by a second preset multiple to obtain the second maximum power in a case where the current execution action is not the swing action and the current execution action is a left-right simultaneous walking action.

7. The system of claim 4, wherein, The main pump control module is further configured to perform constant torque control on the main pump to obtain the third result, including: The main pump control module is specifically configured to determine a second relationship curve according to a measured pump main pressure of the main pump, the second relationship curve being used to represent a corresponding relationship between the measured pump main pressure and a torque coefficient, limit a change rate of the second relationship curve to obtain a second target relationship curve, determine a target torque increasing coefficient according to a boom lifting pilot pressure in a process of controlling the excavator to execute according to the second target relationship curve, determine a given torque according to the target torque increasing coefficient and a stall compensation coefficient, and determine the third result according to the given torque.

8. The system of claim 7, wherein, The main pump control module is specifically configured to determine the third result according to the given torque, including: The main pump control module is specifically configured to determine a pump displacement according to a measured pump current of the main pump, determine a measured torque according to the pump displacement, the measured pump main pressure, a torque coefficient corresponding to the measured pump main pressure and the stall compensation coefficient, determine a state result of an engine in the excavator according to the given torque and the measured torque, and determine the third result according to the state result.

9. An excavator control method characterized by, The excavator control system of any one of claims 1-8, the excavator control system comprising: a power module, a main control module and an information interaction module, the main control module comprising: a main pump control module and a main valve control module, and the method comprising: determining a gear speed control result according to a target power mode by using the power module; determining whole machine information of the excavator according to the gear speed control result, a main pump control result and a main valve control result by using the information interaction module, the main pump control result being generated by using the main pump control module, and the main valve control result being generated by using the main valve control module; the main pump control result comprising a first result; The main pump control module is further configured to perform positive flow control on the main pump to obtain the first result, including: The main pump control module is specifically configured to determine a plurality of first relationship curves according to a plurality of single actions respectively corresponding to a pilot pressure, each of the first relationship curves is used to represent a corresponding relationship between the corresponding pilot pressure and a pump displacement, limit a change rate of each of the first relationship curves to obtain a plurality of first target relationship curves, control the excavator to perform according to each of the first target relationship curves, determine a pump current corresponding to a single action corresponding to each of the first target relationship curves, limit an amplitude of a maximum pump current in the plurality of pump currents to obtain a positive flow given displacement corresponding to the main pump, and determine the positive flow given displacement as the first result.

10. An excavator characterized by comprising: Including: The excavator control system according to any one of claims 1 to 8, the excavator control system comprising: a power module, a main control module, and an information interaction module, the main control module comprising: a main pump control module and a main valve control module, wherein, The power module is configured to determine a gear speed control result according to a target power mode. The information interaction module is configured to determine overall information of the excavator according to the gear speed control result, a main pump control result generated by the main pump control module, and a main valve control result generated by the main valve control module.

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