Intelligent hydraulic control method and control device of working equipment and working equipment

Abstract

The embodiment of the application discloses an intelligent hydraulic control method and device of a working device and the working device, and belongs to the field of device control. The working device comprises an intelligent valve and a motion execution mechanism, the intelligent valve comprises an oil inlet valve core and an oil return valve core, and the intelligent hydraulic control method of the working device comprises the following steps: determining a target oil inlet flow corresponding to the oil inlet valve core according to a control instruction for the motion execution mechanism; acquiring a first flow fluctuation amplitude and a second flow fluctuation amplitude; determining a target oil return flow of the oil return valve core according to the target oil inlet flow, the first flow fluctuation amplitude and the second flow fluctuation amplitude; generating a first control signal of the oil inlet valve core based on the target oil inlet flow, and generating a second control signal of the oil return valve core based on the target oil return flow, so as to control the movement of the motion execution mechanism. The control signal is generated based on the flow fluctuation amplitude, the stability of the motion execution mechanism is ensured, and the flow control difficulty of the motion execution mechanism is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of device control, in particular to an intelligent hydraulic control method of a working device, a control device and the working device. BACKGROUND

[0002] With the development of engineering machinery manufacturing technology, working devices such as cranes and excavators are widely used in various engineering construction scenes. Generally, the working device includes an action execution mechanism such as a cylinder and a motor, and a load such as a boom connected with the action execution mechanism. By controlling the opening degree of the working valve connected with the cylinder, the flow of the cylinder is controlled, and then the boom is controlled to perform the boom extending operation or the boom retracting operation. In the negative load working condition, the movement direction of the cylinder is the same as the gravity direction of the load, and the load drags the movement of the cylinder, so that the load control stalls when the flow control of the action execution mechanism is abnormal.

[0003] Generally, a balance valve is used to increase the pressure drop when the oil of the action execution mechanism is discharged, and to control the speed of the action execution mechanism. However, in the case that the load acting pressure is too large, the stall phenomenon still easily occurs. The flow control of the action execution mechanism is too difficult. In addition, due to the pressure impact lag of the balance valve, the difficulty of the balance valve debugging is further increased, which leads to the difficulty of the flow control of the action execution mechanism. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide an intelligent hydraulic control method of a working device, a control device and the working device, which is used to solve the problem of too high flow control difficulty of the action execution mechanism.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides an intelligent hydraulic control method of a working device, the working device including an intelligent valve and an action execution mechanism, the intelligent valve including an oil inlet valve core and an oil return valve core, an oil outlet of the oil inlet valve core being connected with an oil inlet of the action execution mechanism, and an oil inlet of the oil return valve core being connected with an oil return of the action execution mechanism, the intelligent hydraulic control method of the working device including:

[0006] determining a target oil inlet flow corresponding to the oil inlet valve core according to a control instruction for the action execution mechanism;

[0007] obtaining a first flow fluctuation amplitude and a second flow fluctuation amplitude, wherein the first flow fluctuation amplitude is an actual flow fluctuation amplitude of the oil inlet valve core, and the second flow fluctuation amplitude is an actual flow fluctuation amplitude of the oil return valve core;

[0008] determining a target oil return flow of the oil return valve core according to the target oil inlet flow, the first flow fluctuation amplitude and the second flow fluctuation amplitude;

[0009] The first control signal of the oil inlet valve core is generated based on the target oil inlet flow rate, and the second control signal of the oil return valve core is generated based on the target oil return flow rate, so as to control the movement of the action execution mechanism.

[0010] In the embodiments of the present application, the target oil return flow rate of the oil return valve core is determined according to the target oil inlet flow rate, the first flow fluctuation amplitude and the second flow fluctuation amplitude, including:

[0011] The flow relationship between the oil inlet flow rate and the oil return flow rate is determined based on the type of the action execution mechanism;

[0012] The target oil return flow rate of the oil return valve core is determined according to the flow relationship, the target oil inlet flow rate, the first flow fluctuation amplitude and the second flow fluctuation amplitude.

[0013] In the embodiments of the present application, the flow relationship between the oil inlet flow rate and the oil return flow rate is determined based on the type of the action execution mechanism, including:

[0014] In the case that the type of the action execution mechanism is a cylinder, the area ratio between the rod cavity area and the rodless cavity area of the action execution mechanism is obtained;

[0015] The flow relationship between the target oil inlet flow rate and the target oil return flow rate is determined based on the area ratio.

[0016] In the embodiments of the present application, the first flow fluctuation amplitude and the second flow fluctuation amplitude are obtained, including:

[0017] The target control parameter corresponding to the control instruction is determined;

[0018] The first flow fluctuation amplitude is determined according to the first mapping relationship and the target control parameter, wherein the first mapping relationship is the relationship between the target control parameter and the flow fluctuation range of the oil inlet valve core;

[0019] The second flow fluctuation amplitude is determined according to the second mapping relationship and the target control parameter, wherein the second mapping relationship is the relationship between the target control parameter and the flow fluctuation range of the oil return valve core.

[0020] In the embodiments of the present application, the oil inlet valve core and the oil return valve core are both configured with a pressure compensation valve, the first control signal of the oil inlet valve core is generated based on the target oil inlet flow rate, and the second control signal of the oil return valve core is generated based on the target oil return flow rate, so as to control the movement of the action execution mechanism, including:

[0021] The change relationship between the control signal and the flow rate is obtained;

[0022] The first control signal of the oil inlet valve core is generated based on the change relationship and the target oil inlet flow rate, and the second control signal of the oil return valve core is generated based on the change relationship and the target oil return flow rate, so as to control the movement of the action execution mechanism.

[0023] In the embodiments of the present application, the target oil inlet flow corresponding to the oil inlet spool is determined according to the control instruction of the action execution mechanism, including:

[0024] The set oil inlet flow of the oil inlet cavity of the action execution mechanism is determined according to the received control instruction of the action execution mechanism.

[0025] The set oil inlet flow is determined as the target oil inlet flow corresponding to the oil inlet spool.

[0026] In the embodiments of the present application, the work equipment further includes an electric control pump connected to the oil inlet port of the oil inlet spool, and the intelligent hydraulic control method of the work equipment further includes:

[0027] The control signal of the electric control pump is generated based on the target oil inlet flow to control the pumping flow of the electric control pump.

[0028] The second aspect of the present application provides a control device, including:

[0029] The memory is configured to store instructions; and

[0030] The processor is configured to call the instructions from the memory and can implement the intelligent hydraulic control method of the work equipment according to the above when executing the instructions.

[0031] The third aspect of the present application provides a work equipment, including:

[0032] The intelligent valve, the action execution mechanism and the control device according to the above;

[0033] The intelligent valve includes an oil inlet spool and an oil return spool, the oil outlet port of the oil inlet spool is connected to the oil inlet port of the action execution mechanism, and the oil inlet port of the oil return spool is connected to the oil return port of the action execution mechanism.

[0034] In the embodiments of the present application, the work equipment further includes an electric control pump, and the intelligent valve further includes a first pressure compensation valve and a second pressure compensation valve.

[0035] The oil inlet spool is connected to the first pressure compensation valve, the oil return spool is connected to the second pressure compensation valve, and the electric control pump is connected to the oil inlet port of the oil inlet spool.

[0036] The fourth aspect of the present application provides a machine readable storage medium, and the machine readable storage medium stores a computer program, and the computer program is executed by a processor to implement the intelligent hydraulic control method of the work equipment as described above.

[0037] The application provides an intelligent hydraulic control method of a working device, the working device comprising an intelligent valve and an action execution mechanism, the intelligent valve comprising an oil inlet valve core and an oil return valve core, an oil outlet of the oil inlet valve core being connected to an oil inlet of the action execution mechanism, and an oil inlet of the oil return valve core being connected to an oil return port of the action execution mechanism, the intelligent hydraulic control method of the working device comprising: determining a target oil inlet flow corresponding to the oil inlet valve core according to a control instruction for the action execution mechanism; obtaining a first flow fluctuation amplitude and a second flow fluctuation amplitude; determining a target oil return flow of the oil return valve core according to the target oil inlet flow, the first flow fluctuation amplitude and the second flow fluctuation amplitude; and generating a first control signal of the oil inlet valve core based on the target oil inlet flow and generating a second control signal of the oil return valve core based on the target oil return flow, so as to control the movement of the action execution mechanism. The control signal is generated based on the flow fluctuation amplitude, the excess flow of the oil inlet valve core and the oil return valve core is directly controlled, the operation reliability and stability of the action execution mechanism are ensured, the load working condition of the action execution mechanism does not need to be determined, and the flow control difficulty of the action execution mechanism is reduced. Meanwhile, the working device does not need to be provided with a balance valve, and the pressure loss of the working device is reduced.

[0038] Other features and advantages of the embodiments of the application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0039] The accompanying drawings are included to provide a further understanding of the embodiments of the application, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the application, but do not constitute a limitation on the embodiments of the application. In the drawings:

[0040] Figure 1 A flowchart of an intelligent hydraulic control method of a working device according to an embodiment of the application is schematically shown;

[0041] Figure 2 An example graph of a change relationship between a control signal and a flow according to an embodiment of the application is schematically shown;

[0042] Figure 3 A first structure diagram of a working device according to an embodiment of the application is schematically shown;

[0043] Figure 4 A second structure diagram of a working device according to an embodiment of the application is schematically shown.

[0044] LIST OF ELEMENTS

[0045] 200 working device 210 intelligent valve

[0046] 211 oil inlet valve core 212 oil return valve core

[0047] 213 first pressure compensation valve 214 second pressure compensation valve

[0048] 220 actuator 230 electrically controlled pump

[0049] T device oil return port P device oil inlet DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to explain and illustrate the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0051] It should be noted that if the embodiments of the present application involve directional indications (such as front and back), the directional indications are only used to explain the relative positional relationship, motion condition and the like between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0052] In addition, if the embodiments of the present application involve descriptions such as “first”, “second” and the like, the descriptions of “first”, “second” and the like are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first”, “second” can explicitly or implicitly include at least one of the features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist, and is also not within the scope of protection claimed by the present application.

[0053] The actuator such as an oil cylinder of a working device is connected with a load such as an arm support, and performs arm support extension control and arm support retraction control. The load movement direction of the oil cylinder includes a positive load working condition and a negative load working condition. In the case of the positive load working condition of the load movement direction of the oil cylinder, the movement direction of the oil cylinder is opposite to the direction of gravity, and the oil cylinder drives the arm support to move against gravity. In the case of the negative load working condition of the load movement direction of the oil cylinder, the movement direction of the oil cylinder is the same as the direction of gravity, and the oil cylinder drives the arm support to move against gravity, the arm support drags the oil cylinder to move, the load is too heavy to cause abnormal flow control of the actuator, and then a load control stall phenomenon occurs.

[0054] Generally, two oil ports of the oil cylinder are provided with balance valves, and the balance valves are used to add extra return resistance. In the case that the sum of the driving cavity pressure of the oil cylinder and the gravity work is greater than the corresponding set pressure of the balance valve, the balance valve can be opened to make the speed of the load such as the boom change smoothly. However, the set balance valve greatly increases the system pressure loss of the working equipment. In addition, in the case that the load acting pressure exceeds the corresponding set pressure of the balance valve, the stall phenomenon still easily occurs, resulting in too high flow control difficulty of the action execution mechanism.

[0055] Figure 1 A flowchart of an intelligent hydraulic control method of a working equipment according to an embodiment of the present application is schematically shown.

[0056] The working equipment includes an intelligent valve and an action execution mechanism. The intelligent valve includes an oil inlet valve core and an oil return valve core. An oil outlet of the oil inlet valve core is connected to an oil inlet of the action execution mechanism, and an oil inlet of the oil return valve core is connected to an oil return port of the action execution mechanism. Figure 1 As shown, the present application provides an intelligent hydraulic control method of a working equipment, including:

[0057] S110, determining a target oil inlet flow of the oil inlet valve core according to a control instruction for the action execution mechanism.

[0058] The type of the working equipment is set according to actual needs, which can be engineering machinery such as a pump truck and an excavator, can be agricultural machinery, can be a working robot, and the like, which is not limited herein. The type of the action execution mechanism is set according to actual needs, which can be an oil cylinder and a motor, and the like, which is not limited herein. In an actual working scene, a user can send a control instruction for the action execution mechanism by using a handle and other human-computer interaction devices according to expected parameters such as an expected displacement and an expected speed of the action execution mechanism. The working equipment analyzes the control instruction to determine the expected parameters of the user, and then determines a target oil inlet flow of the oil inlet valve core to control the opening degree of the oil inlet valve core.

[0059] In the embodiments of the present application, the target oil inlet flow of the oil inlet valve core is determined according to the control instruction for the action execution mechanism, including:

[0060] determining a set oil inlet flow of an oil inlet cavity of the action execution mechanism according to the received control instruction for the action execution mechanism;

[0061] determining the set oil inlet flow as the target oil inlet flow of the oil inlet valve core.

[0062] According to the received control instruction of the action execution mechanism, a set oil inlet flow of an oil inlet cavity of the action execution mechanism is determined, and a set oil return flow of an oil return cavity of the action execution mechanism is determined, wherein the set oil inlet flow and the set oil return flow are both expected flows when the action execution mechanism is controlled. The set oil inlet flow is determined as a target oil inlet flow corresponding to the oil inlet spool:

[0063] Q3=Q Formula (1)

[0064] Wherein Q3 is the target oil inlet flow, and Q is the set oil inlet flow of the oil inlet cavity of the action execution mechanism.

[0065] In the embodiments of the application, the work equipment further comprises an electric control pump connected to the oil inlet port of the oil inlet spool, and the intelligent hydraulic control method of the work equipment further comprises:

[0066] Based on the target oil inlet flow, a control signal of the electric control pump is generated to control the pumping flow of the electric control pump.

[0067] The electric control pump is connected to the oil inlet port of the oil inlet spool, and the flow supplied to the oil inlet spool is controlled by the electric control pump. Specifically, based on the target oil inlet flow, a control signal of the electric control pump is generated. Based on the control signal of the electric control pump, the pumping flow of the electric control pump is controlled, so that the flow supplied to the oil inlet spool is equal to the flow required by the oil inlet spool.

[0068] S120, acquiring a first flow fluctuation amplitude and a second flow fluctuation amplitude, wherein the first flow fluctuation amplitude is an actual flow fluctuation amplitude of the oil inlet spool, and the second flow fluctuation amplitude is an actual flow fluctuation amplitude of the oil return spool.

[0069] In the case of controlling the oil inlet spool and the oil return spool based on the same control parameters, the first flow fluctuation amplitude is the actual flow fluctuation amplitude of the oil inlet spool, and the second flow fluctuation amplitude is the actual flow fluctuation amplitude of the oil return spool. The first flow fluctuation amplitude and the second flow fluctuation amplitude can be directly obtained through bench test of the work equipment, without the need for real-time detection of parameters of the work equipment, thereby reducing the difficulty of flow control of the action execution mechanism.

[0070] The first flow fluctuation amplitude and the second flow fluctuation amplitude are both determined by the hysteresis of the work equipment. In the positive load working condition, the actual speed of the action execution mechanism is controlled by the oil inlet spool, and in the negative load working condition, the actual speed of the action execution mechanism is controlled by the oil return spool, and the smaller the hysteresis of the work equipment, the smaller the error between the actual speed of the action execution mechanism and the expected speed corresponding to the control instruction.

[0071] In the embodiments of the application, the first flow fluctuation amplitude and the second flow fluctuation amplitude are acquired, comprising:

[0072] A target control parameter corresponding to the control instruction is determined.

[0073] According to the first mapping relationship and the target control parameter, a first flow fluctuation amplitude is determined, wherein the first mapping relationship is a relationship between the target control parameter and a flow fluctuation range of the oil inlet valve core;

[0074] According to the second mapping relationship and the target control parameter, a second flow fluctuation amplitude is determined, wherein the second mapping relationship is a relationship between the target control parameter and a flow fluctuation range of the oil return valve core.

[0075] The target control parameter corresponding to the control instruction is determined, and the data type of the control parameter is set according to actual requirements, which can be current, voltage, pressure and the like, and is not limited herein. In the case where the control parameter is unchanged, due to the influence of factors such as temperature and friction, the actual flow of the oil inlet valve core and the oil return valve core will fluctuate.

[0076] The first mapping relationship is a relationship between the target control parameter and a flow fluctuation range of the oil inlet valve core, and the flow fluctuation range of the oil inlet valve core corresponding to the target control parameter is determined according to the first mapping relationship and the target control parameter. Based on the flow upper limit value and the flow lower limit value corresponding to the flow fluctuation range of the oil inlet valve core, the first flow fluctuation amplitude is determined. The second mapping relationship is a relationship between the target control parameter and a flow fluctuation range of the oil return valve core, and the flow fluctuation range of the oil return valve core corresponding to the target control parameter is determined according to the second mapping relationship and the target control parameter. Based on the flow upper limit value and the flow lower limit value corresponding to the flow fluctuation range of the oil return valve core, the second flow fluctuation amplitude is determined.

[0077] S130, according to the target oil inlet flow, the first flow fluctuation amplitude and the second flow fluctuation amplitude, a target oil return flow of the oil return valve core is determined.

[0078] For ease of understanding, in the embodiments of the present application, the action execution mechanism is an oil cylinder, and the working conditions of the oil cylinder include positive load working conditions and negative load working conditions. According to the target oil inlet flow, the first flow fluctuation amplitude and the second flow fluctuation amplitude, the target oil return flow of the oil return valve core is determined, and the positive load working conditions and the negative load working conditions of the oil cylinder are actively switched. The determined target oil return flow is greater than the target oil inlet flow, and in the positive load working conditions, the oil inlet valve core controls the flow, and the actual speed of the action execution mechanism is controlled. In the negative load working conditions, the oil return valve core controls the flow, and the actual speed of the action execution mechanism is controlled. The work equipment has no additional pressure loss, improves the safety strength of the work equipment and avoids the load stall condition.

[0079] In the embodiments of the present application, according to the target oil inlet flow, the first flow fluctuation amplitude and the second flow fluctuation amplitude, the target oil return flow of the oil return valve core is determined, including:

[0080] determine a flow relationship between the oil inlet flow and the oil return flow based on the type of the action execution mechanism;

[0081] determine a target oil return flow of the oil return valve core according to the flow relationship, the target oil inlet flow, the first flow fluctuation amplitude and the second flow fluctuation amplitude.

[0082] determine a flow relationship between the oil inlet flow and the oil return flow based on the type of the action execution mechanism, and the flow relationship corresponding to each type of the action execution mechanism is different. According to the flow relationship, the target oil inlet flow, the first flow fluctuation amplitude and the second flow fluctuation amplitude, the target oil inlet flow, the first flow fluctuation amplitude and the second flow fluctuation amplitude are substituted into the flow relationship to determine a target oil return flow of the oil return valve core, so as to control the opening degree of the oil return valve core.

[0083] In the embodiments of the present application, the flow relationship between the target oil inlet flow and the target oil return flow is determined based on the type of the action execution mechanism, including:

[0084] In the case that the type of the action execution mechanism is the oil cylinder, the area ratio between the rod cavity area and the rodless cavity area of the action execution mechanism is obtained.

[0085] The flow relationship between the target oil inlet flow and the target oil return flow is determined based on the area ratio.

[0086] In the case that the type of the action execution mechanism is the oil cylinder, the area ratio between the rod cavity area and the rodless cavity area of the action execution mechanism is obtained. The area ratio can be obtained by dividing the rod cavity area by the rodless cavity area, or obtained by dividing the rodless cavity area by the rod cavity area, which is not limited herein.

[0087] The flow relationship between the target oil inlet flow and the target oil return flow is determined based on the area ratio. For the convenience of understanding, in the embodiments of the present application, the oil inlet valve core is connected to the rodless cavity of the oil cylinder, the oil return valve core is connected to the rod cavity of the oil cylinder, and the oil cylinder is used to connect the load. In the case that the load movement direction of the oil cylinder is the positive load working condition, the oil port driving power of the rodless cavity is greater than the load gravity, and the target oil return flow is determined as:

[0088]

[0089] Wherein, Q2 is the target oil return flow, Q3 is the target oil inlet flow, and the target oil inlet flow is equal to the set oil inlet flow, A A is the rod cavity area of the oil cylinder, and A B is the rodless cavity area of the oil cylinder.

[0090] According to the control instruction for the action execution mechanism, a set return oil flow corresponding to the return oil valve core is determined as:

[0091]

[0092] wherein Q 2_cmd is the set return oil flow, Q3 is the target oil inlet flow, and the target oil inlet flow is equal to the set oil inlet flow, A A is the rod cavity area of the oil cylinder, A B is the rodless cavity area of the oil cylinder, and ΔQ3 is the first flow fluctuation amplitude, i.e., the actual flow fluctuation amplitude of the oil inlet valve core, and ΔQ2 is the second flow fluctuation amplitude, i.e., the actual flow fluctuation amplitude of the return oil valve core.

[0093] In the case of a negative load condition in the load movement direction of the oil cylinder, the oil port driving power of the rodless cavity is smaller than the load gravity, and the determined flow relationship is:

[0094]

[0095] wherein Q2 is the target return oil flow, Q3 is the target oil inlet flow, and the target oil inlet flow is equal to the set oil inlet flow, Q4 is the oil supplement flow of the return oil port of the action execution mechanism, A A is the rod cavity area of the oil cylinder, A B is the rodless cavity area of the oil cylinder, and ΔQ3 is the first flow fluctuation amplitude, i.e., the actual flow fluctuation amplitude of the oil inlet valve core, and ΔQ2 is the second flow fluctuation amplitude, i.e., the actual flow fluctuation amplitude of the return oil valve core.

[0096] It is worth emphasizing that the above formulas are examples for understanding the scheme of the embodiments of the present application, and in actual applications, these formulas can be adjusted accordingly according to the type of the action execution mechanism, for example, for a symmetrical oil cylinder, the rod cavity area and the rodless cavity area can not be considered; or, as some feasible schemes, a preset coefficient can be multiplied on the basis of the first flow fluctuation amplitude or the second flow fluctuation amplitude, and the deformation of the formula within the spirit and principles of the present application is within the protection scope of the present application.

[0097] S140, a first control signal of the oil inlet valve core is generated based on the target oil inlet flow, and a second control signal of the return oil valve core is generated based on the target return oil flow, to control the movement of the action execution mechanism.

[0098] The oil inlet valve core is connected with an oil inlet of the action executing mechanism, and the oil return valve core is connected with an oil return of the action executing mechanism. The action executing mechanism is used for connecting a load such as an arm support. A first control signal of the oil inlet valve core is generated based on a target oil inlet flow rate, so as to control an oil inlet flow rate of the action executing mechanism. A second control signal of the oil return valve core is generated based on a target oil return flow rate, so as to control an oil return flow rate of the action executing mechanism. It needs to be understood that the signal types of the first control signal and the second control signal are set according to actual requirements, which can be a current signal, a voltage signal, a pressure signal and the like, and are not limited herein. The control signal is generated based on the flow fluctuation amplitude, so as to directly control the excess flow of the oil inlet valve core and the oil return valve core, thereby ensuring the operation reliability and stability of the action executing mechanism and avoiding the stall phenomenon. The load working condition of the action executing mechanism does not need to be determined, thereby reducing the flow control difficulty of the action executing mechanism. Meanwhile, the balance valve does not need to be arranged on the working device, thereby reducing the pressure loss of the working device.

[0099] In the embodiment of the present application, the oil inlet valve core and the oil return valve core are both provided with a pressure compensation valve. The first control signal of the oil inlet valve core is generated based on the target oil inlet flow rate, and the second control signal of the oil return valve core is generated based on the target oil return flow rate, so as to control the movement of the action executing mechanism, including:

[0100] obtaining a change relationship between the control signal and the flow rate;

[0101] generating the first control signal of the oil inlet valve core based on the change relationship and the target oil inlet flow rate, and generating the second control signal of the oil return valve core based on the change relationship and the target oil return flow rate, so as to control the movement of the action executing mechanism.

[0102] Please refer to Figure 2 , Figure 2 An example diagram of the change relationship between the control signal and the flow rate according to the embodiment of the present application is schematically shown.

[0103] The pressure and the valve core opening degree will simultaneously affect the flow control. In the case that the pressure compensation is not performed on the oil inlet valve core and the oil return valve core, the pre-valve pressure and the post-valve pressure of the valve core need to be detected in real time by using a detector such as a pressure sensor, and the opening degree of the valve core is adjusted in real time based on the pressure of the valve core, thereby causing the flow control difficulty of the action executing mechanism to be too high.

[0104] For ease of understanding, in the embodiments of the application, the control signal is a current signal, the opening degree of the valve core is controlled by controlling the current input to the valve core, and the flow is controlled. The change relationship between the control signal and the flow is obtained. Assuming that the current size of the first control signal is I3 and the current size of the second control signal is I2, based on the change relationship and the target oil inlet flow, the target oil inlet flow obtained based on formula (1) is substituted into the change relationship between the control signal and the flow, and the first control signal of the oil inlet valve core is generated to control the opening degree of the oil inlet valve core through the first control signal. Based on the change relationship and the target oil return flow, the target oil return flow obtained based on formula (3) is substituted into the change relationship between the control signal and the flow, and the second control signal of the oil return valve core is generated to control the opening degree of the oil return valve core through the second control signal. The oil inlet valve core and the oil return valve core are both provided with a pressure compensation valve, and the oil inlet valve core and the oil return valve core are both pressure compensated. At the same time, the flow of the action execution mechanism is controlled by controlling the opening degree of the oil inlet valve core and the opening degree of the oil return valve core, and the movement of the action execution mechanism is controlled, thereby avoiding the stall phenomenon.

[0105] The application provides an intelligent hydraulic control method of a work equipment, the work equipment comprising an intelligent valve and an action execution mechanism, the intelligent valve comprising an oil inlet valve core and an oil return valve core, an oil outlet of the oil inlet valve core being connected to an oil inlet of the action execution mechanism, and an oil inlet of the oil return valve core being connected to an oil return of the action execution mechanism, the intelligent hydraulic control method of the work equipment comprising: determining a target oil inlet flow corresponding to the oil inlet valve core according to a control instruction for the action execution mechanism; obtaining a first flow fluctuation amplitude and a second flow fluctuation amplitude; determining a target oil return flow of the oil return valve core according to the target oil inlet flow, the first flow fluctuation amplitude and the second flow fluctuation amplitude; and generating a first control signal of the oil inlet valve core based on the target oil inlet flow and a second control signal of the oil return valve core based on the target oil return flow, to control the movement of the action execution mechanism. The control signal is generated based on the flow fluctuation amplitude, the excess flow of the oil inlet valve core and the oil return valve core is directly controlled, the operation reliability and stability of the action execution mechanism are ensured, and the load working condition of the action execution mechanism does not need to be determined, thereby reducing the flow control difficulty of the action execution mechanism. At the same time, the work equipment does not need to be provided with a balance valve, and the pressure loss of the work equipment is reduced.

[0106] The application also provides a control device, comprising:

[0107] a memory configured to store instructions; and

[0108] a processor configured to call the instructions from the memory and capable of implementing the intelligent hydraulic control method of the work equipment according to the above when executing the instructions.

[0109] The processor includes a core, and the core retrieves corresponding program units in the memory. The core can be set to one or more, and the difficulty of flow control of the action execution mechanism can be solved by adjusting the core parameters.

[0110] The memory can include non-permanent memory in a computer readable medium, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0111] Figure 3 A first structural schematic diagram of a work equipment according to an embodiment of the application is schematically shown. As shown in the figure, the embodiment of the application provides a work equipment 200, which includes: Figure 3

[0112] The intelligent valve 210, the action execution mechanism 220, and the control device according to the above 8;

[0113] The intelligent valve 210 includes an oil inlet valve core 211 and an oil return valve core 212. The oil outlet of the oil inlet valve core 211 is connected to the oil inlet of the action execution mechanism 220, and the oil inlet of the oil return valve core 212 is connected to the oil return port of the action execution mechanism 220.

[0114] The control device is configured to determine a target oil inlet flow of the oil inlet valve core 211 according to a control instruction for the action execution mechanism 220;

[0115] Obtain a first flow fluctuation amplitude and a second flow fluctuation amplitude, wherein the first flow fluctuation amplitude is an actual flow fluctuation amplitude of the oil inlet valve core 211, and the second flow fluctuation amplitude is an actual flow fluctuation amplitude of the oil return valve core 212;

[0116] According to the target oil inlet flow, the first flow fluctuation amplitude, and the second flow fluctuation amplitude, determine a target oil return flow of the oil return valve core 212;

[0117] Generate a first control signal of the oil inlet valve core 211 based on the target oil inlet flow, and generate a second control signal of the oil return valve core 212 based on the target oil return flow, to control the movement of the action execution mechanism 220.

[0118] The number of the oil inlet valve core 211 and the oil return valve core 212 is set according to actual needs, which is not limited here. For ease of understanding, only one oil inlet valve core 211 and one oil return valve core 212 are shown in the figure, and the control device is not shown.

[0119] ​It needs to be understood that the types of the oil inlet valve core 211 and the oil return valve core 212 are selected according to actual needs, which can be hydraulic valves or electric control valves, and are not limited herein. In the case that the oil inlet valve core 211 and the oil return valve core 212 are both hydraulic valves, the working device 200 further comprises a first proportional valve and a second proportional valve. The first proportional valve is connected to the oil inlet valve core 211, and the second proportional valve is connected to the oil return valve core 212. The first proportional valve outputs a control pressure based on a first control signal, and the control pressure acts on the oil inlet valve core 211 to control the opening degree of the oil inlet valve core 211. The second proportional valve outputs a control pressure based on a second control signal, and the control pressure acts on the oil return valve core 212 to control the opening degree of the oil inlet valve core 211. In the case that the oil inlet valve core 211 and the oil return valve core 212 are both electric control valves, the opening degree of the oil inlet valve core 211 is controlled based on the first control signal, and the opening degree of the oil return valve core 212 is controlled based on the second control signal.

[0120] Figure 4 A second structural schematic diagram of a working device according to an embodiment of the application is schematically shown.

[0121] In the embodiment of the application, the working device 200 further comprises an electric control pump 230, and the intelligent valve 210 further comprises a first pressure compensation valve 213 and a second pressure compensation valve 214.

[0122] The oil inlet valve core 211 is connected to the first pressure compensation valve 213, the oil return valve core 212 is connected to the second pressure compensation valve 214, and the electric control pump 230 is connected to the oil inlet port of the oil inlet valve core 211.

[0123] It needs to be understood that the first pressure compensation valve 213 can be arranged before the valve of the oil inlet valve core 211, can be arranged after the valve of the oil inlet valve core 211, or can be arranged in an embedded structure with the oil inlet valve core 211. Similarly, the second pressure compensation valve 214 can be arranged before the valve of the oil return valve core 212, can be arranged after the valve of the oil return valve core 212, or can be arranged in an embedded structure with the oil return valve core 212. The first pressure compensation valve 213 automatically regulates the pressure of the oil inlet valve core 211, and the second pressure compensation valve 214 automatically regulates the pressure of the oil return valve core 212, so that the first pressure compensation valve 213 and the second pressure compensation valve 214 do not need to be controlled in real time, and the difficulty of flow control of the action execution mechanism 220 is further reduced.

[0124] For the convenience of understanding, the first pressure compensation valve 213 and the second pressure compensation valve 214 in the embodiments of the present application are both designed in front of the valve. The device oil inlet P of the working device 200 is connected to the oil inlet of the electric control pump 230, the oil outlet of the electric control pump 230 is connected to the oil inlet of the oil inlet valve core 211 through the first pressure compensation valve 213. The device oil return port T of the working device 200 is connected to the oil outlet of the oil return valve core 212, and the first pressure compensation valve 214 is connected to the oil inlet of the oil return valve core 212. The electric control pump 230 is connected to the oil inlet of the oil inlet valve core 211, and by controlling the pumping flow of the electric control pump 230, the flow supplied to the oil inlet valve core 211 is equal to the flow required by the oil inlet valve core 211. The working device 200 further comprises other devices, which are set according to actual needs and can be a constant pressure reducing valve, an overflow oil supplement valve, a load, etc., which are not limited here.

[0125] The embodiments of the present application also provide a machine readable storage medium, and the machine readable storage medium stores a computer program. When the computer program is executed by a processor, the intelligent hydraulic control method of the working device is realized.

[0126] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can adopt a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0127] The present application is described with reference to the flowcharts and / or block diagrams of the method, device (system), computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices produce a device implemented in the flowcharts and / or block diagrams. Figure 1 The function of one flow or multiple flows and / or blocks Figure 1 The function of one flow or multiple flows and / or blocks

[0128] These computer program instructions can also be stored in a computer readable storage medium capable of guiding the computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer readable storage medium produce a manufactured product including instruction devices, which realize the functions of one flow or multiple flows and / or blocks in the flowcharts and / or block diagrams. Figure 1 The function of one flow or multiple flows and / or blocks Figure 1the function(s) specified in the block or blocks.

[0129] These computer program instructions can also be loaded into computer or other programmable data processing devices to cause a series of operational steps to be performed on the computer or other programmable devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable devices provide steps for implementing the flowchart Figure 1 the flowchart or flowchart and / or block Figure 1 the function(s) specified in the block or blocks.

[0130] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0131] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) about which the computer stores information such as computer readable instructions. Memory is an example of computer readable media. A computer readable media device can include one or more of only RAM, only ROM, or a combination of RAM and ROM.

[0132] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0133] It should also be noted that the terms "comprising", "including", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article or apparatus that includes the element.

[0134] The above merely provides an example of the present application, and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall fall into the scope of claims of the present application.

Claims

1. A method for intelligent hydraulic control of a working device, characterized in that, The operating equipment includes an intelligent valve and an actuator. The intelligent valve includes an inlet valve core and a return valve core. The outlet of the inlet valve core is connected to the inlet of the actuator, and the inlet of the return valve core is connected to the return port of the actuator. The intelligent hydraulic control method of the operating equipment includes: The target oil flow rate corresponding to the oil inlet valve core is determined according to the control command for the actuator. Obtain a first flow fluctuation amplitude and a second flow fluctuation amplitude, wherein the first flow fluctuation amplitude is the actual flow fluctuation amplitude of the inlet valve core, and the second flow fluctuation amplitude is the actual flow fluctuation amplitude of the return valve core; The target return flow rate of the return valve core is determined based on the target inlet flow rate, the first flow rate fluctuation amplitude, and the second flow rate fluctuation amplitude. A first control signal for the inlet valve core is generated based on the target inlet oil flow rate, and a second control signal for the return oil valve core is generated based on the target return oil flow rate, so as to control the movement of the actuator.

2. The intelligent hydraulic control method for the operating equipment according to claim 1, characterized in that, Determining the target return flow rate of the return valve core based on the target inlet flow rate, the first flow rate fluctuation amplitude, and the second flow rate fluctuation amplitude includes: Based on the type of the actuator, determine the flow relationship between the inlet flow rate and the return flow rate; The target return flow rate of the return valve core is determined based on the flow relationship, the target inlet flow rate, the first flow fluctuation amplitude, and the second flow fluctuation amplitude.

3. The intelligent hydraulic control method for the operating equipment according to claim 2, characterized in that, Determining the flow relationship between inlet and outlet oil flow based on the type of the actuator includes: When the type of the motion actuator is a hydraulic cylinder, obtain the area ratio between the area of ​​the rod-side cavity and the area of ​​the rodless cavity of the motion actuator; Based on the area ratio, the flow relationship between the target inlet flow rate and the target return flow rate is determined.

4. The intelligent hydraulic control method for the operating equipment according to claim 1, characterized in that, Obtain the first and second traffic fluctuation amplitudes, including: Determine the target control parameters corresponding to the control command; The first flow fluctuation amplitude is determined based on the first mapping relationship and the target control parameters, wherein the first mapping relationship is the relationship between the target control parameters and the flow fluctuation range of the inlet valve core; The second flow fluctuation amplitude is determined based on the second mapping relationship and the target control parameters, wherein the second mapping relationship is the relationship between the target control parameters and the flow fluctuation range of the return valve core.

5. The intelligent hydraulic control method for the operating equipment according to claim 1, characterized in that, Both the inlet valve core and the return valve core are equipped with pressure compensation valves. The process of generating a first control signal for the inlet valve core based on the target inlet flow rate and a second control signal for the return valve core based on the target return flow rate to control the movement of the actuator includes: Obtain the relationship between changes in control signals and flow rate; Based on the changing relationship and the target oil inlet flow rate, a first control signal for the oil inlet valve core is generated, and based on the changing relationship and the target oil return flow rate, a second control signal for the oil return valve core is generated to control the movement of the actuator.

6. The intelligent hydraulic control method for the operating equipment according to claim 1, characterized in that, The step of determining the target oil flow rate corresponding to the oil inlet valve core based on the control command for the actuator includes: Based on the received control command of the actuator, determine the set oil inlet flow rate of the oil inlet chamber of the actuator; The set oil inlet flow rate is determined as the target oil inlet flow rate corresponding to the oil inlet valve core.

7. The intelligent hydraulic control method for the operating equipment according to claim 1, characterized in that, The working equipment also includes an electrically controlled pump, which is connected to the oil inlet of the oil inlet valve core. The intelligent hydraulic control method of the working equipment further includes: Based on the target oil inlet flow rate, a control signal for the electronically controlled pump is generated to control the pumping flow rate of the electronically controlled pump.

8. A control device, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the intelligent hydraulic control method for the working equipment according to any one of claims 1 to 7.

9. A working device, characterized in that, include: Intelligent valve, actuator, and control device according to claim 8; The intelligent valve includes an inlet valve core and a return valve core. The outlet of the inlet valve core is connected to the inlet of the actuator, and the inlet of the return valve core is connected to the return port of the actuator.

10. The operating equipment according to claim 9, characterized in that, The operating equipment also includes an electrically controlled pump, and the intelligent valve also includes a first pressure compensation valve and a second pressure compensation valve; The inlet valve core is connected to the first pressure compensation valve, the return valve core is connected to the second pressure compensation valve, and the electric pump is connected to the inlet of the inlet valve core.

11. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores a computer program, which, when executed by a processor, implements the intelligent hydraulic control method for the working equipment as described in any one of claims 1 to 7.

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