Control methods, control devices, and operating machinery for complex actions.

Abstract

This application discloses a control method, control device, and operating machinery for compound actions of operating machinery, belonging to the field of operating machinery technology. The control method includes: determining that the target action type of the operating machinery is a compound action; applying constant power control to a first hydraulic pump and determining a first control current corresponding to the solenoid valve of the first hydraulic pump; applying constant flow control to a second hydraulic pump and determining a second control current corresponding to the solenoid valve of the second hydraulic pump; controlling the first hydraulic pump solenoid valve to operate according to the first control current and controlling the second hydraulic pump solenoid valve to operate according to the second control current, so that the first and second actuators complete the compound action. This application can improve the operability of compound actions of operating machinery.

Description

Technical Field

[0001] This application relates to the field of work machinery technology, specifically to a control method, control device, and work machinery for the compound actions of work machinery. Background Technology

[0002] Operating machinery can be construction machinery, agricultural machinery, or operating robots, and it is widely used in many fields. Under current technology, when operating machinery performs compound actions, such as the downward boom crushing action, a portion of the flow is diverted to the first actuator during the execution of the compound action, reducing the flow to the second actuator. This results in a slower execution frequency of the second actuator, leading to poor maneuverability of the operating machinery. Summary of the Invention

[0003] The purpose of this application is to provide a control method, control device, and operating machinery for complex actions of operating machinery, so as to solve the problem of poor operability of existing operating machinery.

[0004] To achieve the above objectives, a first aspect of this application provides a control method for compound actions of a working machine. The working machine includes a first actuator, a second actuator, a first hydraulic pump, a first hydraulic pump solenoid valve corresponding to the first hydraulic pump, a second hydraulic pump, and a second hydraulic pump solenoid valve corresponding to the second hydraulic pump. The first hydraulic pump is used to output hydraulic oil to the first actuator, and the second hydraulic pump is used to output hydraulic oil to the second actuator. The control method includes:

[0005] The target motion type of the operating machinery has been determined to be a compound motion;

[0006] The first hydraulic pump is controlled by constant power, and the first control current corresponding to the solenoid valve of the first hydraulic pump is determined.

[0007] The second hydraulic pump is controlled by constant flow, and the second control current corresponding to the solenoid valve of the second hydraulic pump is determined.

[0008] The first hydraulic pump solenoid valve is controlled by the first control current, and the second hydraulic pump solenoid valve is controlled by the second control current, so that the first actuator and the second actuator can complete a compound action.

[0009] In this embodiment of the application, the working machinery also includes an operating mechanism and an engine. The first hydraulic pump is controlled by constant power. The first control current corresponding to the solenoid valve of the first hydraulic pump is determined by: acquiring the first pressure of the first hydraulic pump, the second pressure of the second hydraulic pump, the pilot signal of the operating mechanism, and the engine speed; and determining the first control current based on the first pressure, the second pressure, the pilot signal, and the engine speed.

[0010] In this embodiment, determining the first control current based on the first pressure, the second pressure, the pilot signal, and the engine speed includes: determining the preset power of the first hydraulic pump based on the preset total power, the preset flow rate of the second actuator, and the second pressure; determining the required displacement of the first hydraulic pump based on the pilot signal; determining the required power of the first hydraulic pump based on the first pressure, the required displacement, and the engine speed; determining the smaller value between the preset power of the first hydraulic pump and the required power of the first hydraulic pump as the target power of the first hydraulic pump; determining the output displacement of the first hydraulic pump based on the target power of the first hydraulic pump, the first pressure, and the engine speed; and determining the first control current based on the relationship between the output displacement of the first hydraulic pump and the preset displacement current.

[0011] In this embodiment of the application, the working machinery also includes an engine, and the second hydraulic pump is controlled by constant flow. The determination of the second control current corresponding to the solenoid valve of the second hydraulic pump includes: obtaining the second pressure of the second hydraulic pump and the engine speed of the engine; and determining the second control current based on the second pressure and the engine speed.

[0012] In this embodiment, determining the second control current based on the second pressure and engine speed includes: determining the required displacement of the second hydraulic pump based on the preset flow rate of the second actuator and the engine speed; determining the output displacement of the second hydraulic pump based on the second pressure, the required displacement of the second hydraulic pump, the preset calibration pressure range, and the preset displacement calibration coefficient; and determining the second control current based on the output displacement of the second hydraulic pump and the preset displacement current relationship.

[0013] In this embodiment, the compound action is a crushing action of pressing down the first actuator, the second actuator is a crushing mechanism, and the working machine also includes a main control valve, which includes a crushing confluence valve, a first valve core corresponding to the first actuator, and a crushing valve core corresponding to the crushing mechanism. The control method further includes: controlling the crushing confluence valve to close so that the hydraulic oil output by the first hydraulic pump and the second hydraulic pump is split; controlling the first valve core to move so that the first hydraulic pump pumps the hydraulic oil into the first actuator through the first valve core; and controlling the crushing valve core to move so that the second hydraulic pump pumps the hydraulic oil into the crushing mechanism through the crushing valve core.

[0014] A second aspect of this application provides a processor configured to execute the above-described control method for composite actions of a working machine.

[0015] A third aspect of this application provides a control device for compound actions of a working machine. The working machine includes a first actuator, a second actuator, a first hydraulic pump, a first hydraulic pump solenoid valve corresponding to the first hydraulic pump, a second hydraulic pump, and a second hydraulic pump solenoid valve corresponding to the second hydraulic pump. The first hydraulic pump is used to output hydraulic oil to the first actuator, and the second hydraulic pump is used to output hydraulic oil to the second actuator. The control device includes: a target action type determination module for determining that the target action type of the working machine is a compound action; a first control current determination module for using constant power control on the first hydraulic pump to determine a first control current corresponding to the first hydraulic pump solenoid valve; a second control current determination module for using constant flow control on the second hydraulic pump to determine a second control current corresponding to the second hydraulic pump solenoid valve; and a control module for controlling the first hydraulic pump solenoid valve to operate according to the first control current and controlling the second hydraulic pump solenoid valve to operate according to the second control current, so that the first actuator and the second actuator complete the compound action.

[0016] A fourth aspect of this application provides a working machine, including: a first actuator; a second actuator; a first hydraulic pump for outputting hydraulic oil to the first actuator; a first hydraulic pump solenoid valve corresponding to the first hydraulic pump; a second hydraulic pump for outputting hydraulic oil to the second actuator; a second hydraulic pump solenoid valve corresponding to the second hydraulic pump; and a processor or a control device for compound actions of the working machine.

[0017] A fifth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned control method for composite actions of a working machine.

[0018] The above technical solution, when the target action type of the operating machinery is determined to be a compound action, employs constant power control for the first hydraulic pump, determining the first control current corresponding to the solenoid valve of the first hydraulic pump, and employs constant flow control for the second hydraulic pump, determining the second control current corresponding to the solenoid valve of the second hydraulic pump. Then, the first hydraulic pump solenoid valve is controlled according to the first control current, and the second hydraulic pump solenoid valve is controlled according to the second control current, so that the first and second actuators complete the compound action. This technical solution, by implementing constant power control for the first hydraulic pump and constant flow control for the second hydraulic pump, achieves constant power output for the first hydraulic pump and constant flow output for the second hydraulic pump. This ensures the operating efficiency of the first actuator, which has lower requirements for action frequency stability, while improving the action stability of the second actuator, which has higher requirements for action frequency stability. Therefore, it enhances the maneuverability of the operating machinery when performing compound actions.

[0019] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0021] Figure 1 The illustration shows a flowchart of a control method for compound actions of a work machine according to an embodiment of this application;

[0022] Figure 2 The diagram illustrates the relationship between the pilot signal and the demand displacement in a constant power control method according to an embodiment of this application.

[0023] Figure 3 The illustration shows a flowchart of a control method for compound actions of a work machine according to a specific embodiment of this application;

[0024] Figure 4 This schematic diagram illustrates a structural block diagram of a control device for compound actions of working machinery according to an embodiment of this application;

[0025] Figure 5 The diagram schematically illustrates the structure of a work machine according to a specific embodiment of this application.

[0026] Explanation of reference numerals in the attached figures

[0027] 101 Operating mechanism; 102 Main valve solenoid valve assembly

[0028] 103 Main control valve 104 First actuator

[0029] 105 Second actuator 201 Processor or for use in operating machinery

[0030] Control device for compound actions

[0031] 202 First hydraulic pump pressure sensor; 203 Second hydraulic pump pressure sensor

[0032] 204 First hydraulic pump solenoid valve; 205 Second hydraulic pump solenoid valve

[0033] 206 First hydraulic pump 207 Second hydraulic pump

[0034] 208 engine Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0036] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0037] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0038] Figure 1 The illustration schematically shows a flow chart of a control method for compound actions of a work machine according to an embodiment of this application. For example... Figure 1 As shown, this application provides a control method for compound actions of a working machine. The working machine includes a first actuator, a second actuator, a first hydraulic pump, a first hydraulic pump solenoid valve corresponding to the first hydraulic pump, a second hydraulic pump, and a second hydraulic pump solenoid valve corresponding to the second hydraulic pump. The first hydraulic pump is used to output hydraulic oil to the first actuator, and the second hydraulic pump is used to output hydraulic oil to the second actuator. Taking the application of this control method to a processor as an example, the control method may include the following steps:

[0039] Step S101: Determine that the target motion type of the operating machinery is a compound motion.

[0040] Step S102: Use constant power control for the first hydraulic pump and determine the first control current corresponding to the solenoid valve of the first hydraulic pump.

[0041] Step S103: Use constant flow control for the second hydraulic pump and determine the second control current corresponding to the solenoid valve of the second hydraulic pump.

[0042] Step S104: Control the first hydraulic pump solenoid valve to work according to the first control current, and control the second hydraulic pump solenoid valve to work according to the second control current, so that the first actuator and the second actuator can complete a compound action.

[0043] The operating machinery can be construction machinery, agricultural machinery, or operating robots, etc. A compound action refers to an action completed jointly by multiple actuators of the operating machinery. Taking an excavator as an example, compound actions can include actions such as boom compound travel, arm compound travel, bucket compound travel, and boom compound rotation. The operating machinery can include a first actuator, a second actuator, a first hydraulic pump, a first hydraulic pump solenoid valve corresponding to the first hydraulic pump, a second hydraulic pump, and a second hydraulic pump solenoid valve corresponding to the second hydraulic pump. The first actuator refers to the actuator corresponding to the compound action, which has lower requirements for the stability of the action frequency; it can be one or multiple actuators. The second actuator refers to the actuator corresponding to the compound action, which has higher requirements for the stability of the action frequency; it can also be one or multiple actuators. The first hydraulic pump is used to output hydraulic oil to the first actuator; the displacement of the first hydraulic pump can be controlled by controlling the opening of the first hydraulic pump solenoid valve. The second hydraulic pump is used to output hydraulic oil to the second actuator; the displacement of the second hydraulic pump can be controlled by controlling the opening of the second hydraulic pump solenoid valve.

[0044] The target action type refers to the type of action that the working machinery is about to perform. It can be determined by user-inputted action commands or by receiving pilot signals. Constant power control refers to a control method that maintains a constant output power by adjusting the displacement of the hydraulic pump. Constant power control improves power utilization, thereby increasing the operating efficiency of the actuator. Constant flow control refers to a control method that maintains a constant output flow by adjusting the displacement of the hydraulic pump. Controlling the hydraulic pump using constant flow control maintains the consistency of the hydraulic pump's output flow, thus ensuring the stability of the actuator's operating frequency.

[0045] In this embodiment, when the target action of the working machinery is determined to be a compound action, the processor needs to control multiple actuators to complete it. In this case, the processor can use constant power control for the first hydraulic pump to determine the first control current corresponding to the solenoid valve of the first hydraulic pump, and then control the opening degree of the solenoid valve of the first hydraulic pump through the first control current, thereby controlling the displacement of the first hydraulic pump and keeping its output power constant, thus achieving constant power control of the first hydraulic pump. In this way, the hydraulic oil output by the first hydraulic pump can flow to the cylinder of the first actuator, driving the first actuator to move. Simultaneously, the processor can use constant flow control for the second hydraulic pump to determine the second control current corresponding to the solenoid valve of the second hydraulic pump, and then control the opening degree of the solenoid valve of the second hydraulic pump through the second control current, thereby controlling the displacement of the second hydraulic pump and keeping its output flow constant, thus achieving constant flow control of the second hydraulic pump. In this way, the hydraulic oil output by the second hydraulic pump can flow to the cylinder of the second actuator, driving the second actuator to move. Thus, the first and second actuators can be controlled to jointly complete the compound action.

[0046] The above technical solution, when the target action type of the operating machinery is determined to be a compound action, employs constant power control for the first hydraulic pump, determining the first control current corresponding to the solenoid valve of the first hydraulic pump, and employs constant flow control for the second hydraulic pump, determining the second control current corresponding to the solenoid valve of the second hydraulic pump. Then, the first hydraulic pump solenoid valve is controlled according to the first control current, and the second hydraulic pump solenoid valve is controlled according to the second control current, so that the first and second actuators complete the compound action. This technical solution, by implementing constant power control for the first hydraulic pump and constant flow control for the second hydraulic pump, achieves constant power output for the first hydraulic pump and constant flow output for the second hydraulic pump. This ensures the operating efficiency of the first actuator, which has lower requirements for action frequency stability, while improving the action stability of the second actuator, which has higher requirements for action frequency stability. Therefore, it enhances the maneuverability of the operating machinery when performing compound actions.

[0047] In this embodiment of the application, the operating machinery may further include an operating mechanism and an engine. Constant power control is applied to the first hydraulic pump, and the first control current corresponding to the solenoid valve of the first hydraulic pump is determined. This may include: acquiring the first pressure of the first hydraulic pump, the second pressure of the second hydraulic pump, the pilot signal of the operating mechanism, and the engine speed; and determining the first control current based on the first pressure, the second pressure, the pilot signal, and the engine speed.

[0048] Specifically, the operating machinery is equipped with an operating mechanism, an engine, a first hydraulic pump pressure sensor, and a second hydraulic pump pressure sensor. Depending on the type of machinery, different operating mechanisms can be installed. For example, the operating mechanism of an excavator may include a left handle, a right handle, a left travel pedal, a right travel pedal, and a breaking pedal. The operating mechanism is connected to the processor via a Controller Area Network (CAN) bus and can send pilot signals to the processor after user operation. The engine can drive the first and second hydraulic pumps. The first hydraulic pump pressure sensor can be used to collect the first pressure of the first hydraulic pump, and the second hydraulic pump pressure sensor can be used to collect the second pressure of the second hydraulic pump. The processor can acquire the first pressure, the second pressure, the pilot signal, and the engine speed, and then determine a first control current based on the first pressure, the second pressure, the pilot signal, and the engine speed to control the opening degree of the first hydraulic pump solenoid valve, thereby controlling the displacement of the first hydraulic pump.

[0049] In this embodiment, determining the first control current based on the first pressure, the second pressure, the pilot signal, and the engine speed may include: determining the preset power of the first hydraulic pump based on the preset total power, the preset flow rate of the second actuator, and the second pressure; determining the required displacement of the first hydraulic pump based on the pilot signal; determining the required power of the first hydraulic pump based on the first pressure, the required displacement, and the engine speed; determining the smaller value between the preset power of the first hydraulic pump and the required power of the first hydraulic pump as the target power of the first hydraulic pump; determining the output displacement of the first hydraulic pump based on the target power of the first hydraulic pump, the first pressure, and the engine speed; and determining the first control current based on the relationship between the output displacement of the first hydraulic pump and the preset displacement current.

[0050] The processor can determine the first control current based on the first pressure, the second pressure, the pilot signal, and the engine speed. Specifically, the processor can obtain the preset total power, the preset flow rate of the second actuator, and the second pressure. The preset total power is the pre-set total power of the hydraulic system of the working machinery. Since the second hydraulic pump will consume some power, the preset power of the first hydraulic pump can be determined based on the preset total power, the preset flow rate of the second actuator, and the second pressure. The preset power of the first hydraulic pump can satisfy formula (1):

[0051]

[0052] Wherein, Power_P1 is the preset power of the first hydraulic pump, Power_Set is the preset total power, Q_Set is the preset flow rate of the second actuator, and P2_Press is the second pressure.

[0053] Figure 2This diagram schematically illustrates the relationship between the pilot signal and demand displacement in a constant power control method according to an embodiment of this application. Figure 2 As shown, the pilot signal is the pilot pressure signal. When the pilot signal of the operating mechanism is less than the corresponding valve core opening pressure Pilot_Min, the required displacement q1 of the first hydraulic pump is set to 0%. When the pilot signal is greater than the corresponding valve core fully opening pressure Pilot_Max, the required displacement q1 of the first hydraulic pump is set to 100%. When the pilot signal is between Pilot_Min and Pilot_Max, the processor can determine the required displacement q1 of the first hydraulic pump through linearization calculation.

[0054] Subsequently, the processor can determine the required power of the first hydraulic pump based on the first pressure, the required displacement q1 of the first hydraulic pump, and the engine speed. The required power of the first hydraulic pump can satisfy formula (2):

[0055]

[0056] Wherein, Power_Pilot1 is the required power of the first hydraulic pump, q1 is the required displacement of the first hydraulic pump, n is the engine speed, and P1_Press is the first pressure.

[0057] In this way, the processor can determine the smaller value between the preset power Power_P1 and the required power Power_Pilot1 of the first hydraulic pump as the target power Power_Set1 of the first hydraulic pump. Then, based on the target power Power_Set1, and combined with the first pressure and engine speed, the processor determines the output displacement of the first hydraulic pump. The output displacement of the first hydraulic pump can satisfy formula (3):

[0058]

[0059] Where q1_Set is the output displacement of the first hydraulic pump, Power_Set1 is the target power of the first hydraulic pump, n is the engine speed, and P1_Press is the first pressure.

[0060] The preset displacement-current relationship refers to the correspondence between the output displacement of the hydraulic pump and the control current of the hydraulic pump solenoid valve, which can be determined based on actual test conditions. The preset displacement-current relationship can satisfy formula (4):

[0061]

[0062] Where set_Current is the control current of the hydraulic pump solenoid valve, q_Set is the output displacement of the hydraulic pump, q_Max is the upper limit displacement threshold of the preset displacement range, and q_Min is the lower limit displacement threshold of the preset displacement range.

[0063] Thus, after determining the output displacement of the first hydraulic pump, the processor can determine the first control current based on the output displacement of the first hydraulic pump and the preset displacement current relationship, so as to control the opening degree of the solenoid valve of the first hydraulic pump according to the first control current.

[0064] It should be noted that the above formula is an example of determining the first control current corresponding to the solenoid valve of the first hydraulic pump by controlling the first hydraulic pump through constant power control. In practical applications, the calculation formula can also be adjusted as needed, and examples will not be provided here.

[0065] In this embodiment, the working machinery may further include an engine. The second hydraulic pump is controlled by constant flow. Determining the second control current corresponding to the solenoid valve of the second hydraulic pump may include: acquiring the second pressure of the second hydraulic pump and the engine speed; and determining the second control current based on the second pressure and the engine speed.

[0066] Specifically, the processor can control the second hydraulic pump using a constant flow control method. Through the second hydraulic pump pressure sensor, the processor can obtain the second pressure of the second hydraulic pump and the engine speed via the CAN bus. Based on the second pressure and engine speed, the processor determines the output displacement of the second hydraulic pump, and then determines the second control current to control the opening degree of the second hydraulic pump solenoid valve according to the second control current.

[0067] In this embodiment, determining the second control current based on the second pressure and engine speed may include: determining the required displacement of the second hydraulic pump based on the preset flow rate of the second actuator and the engine speed; determining the output displacement of the second hydraulic pump based on the second pressure, the required displacement of the second hydraulic pump, the preset calibration pressure range, and the preset displacement calibration coefficient; and determining the second control current based on the output displacement of the second hydraulic pump and the preset displacement current relationship.

[0068] The processor can determine the second control current based on the second pressure and engine speed. Specifically, the processor can obtain the preset second actuator flow rate and engine speed, where the preset second actuator flow rate is the target flow rate to the cylinder of the second actuator that is pre-set during the constant flow control process, i.e., the output flow rate that the second hydraulic pump needs to maintain. The preset second actuator flow rate can be set according to the actual working conditions. Subsequently, the processor can determine the required displacement of the second hydraulic pump based on the preset second actuator flow rate and engine speed. The required displacement of the second hydraulic pump can satisfy formula (5):

[0069]

[0070] Where q2_Temp is the required displacement of the second hydraulic pump, Q_Set is the preset flow rate of the second actuator, and n is the engine speed.

[0071] As the second pressure increases, the volumetric efficiency of the second hydraulic pump decreases to some extent. Therefore, the processor can calibrate the output displacement of the second hydraulic pump based on the second pressure. Specifically, the output displacement of the second hydraulic pump is determined according to the second pressure, the required displacement of the second hydraulic pump, the preset calibration pressure range, and the preset displacement calibration coefficient. In this process, the output displacement of the second hydraulic pump can satisfy formula (6):

[0072]

[0073] Where q2_set is the output displacement of the second hydraulic pump, q2_Temp is the required displacement of the second hydraulic pump, P2_Press is the second pressure, δ is the preset displacement calibration coefficient, Press_Min is the lower limit calibration pressure of the preset calibration pressure range, and Press_Max is the upper limit calibration pressure of the preset calibration pressure range.

[0074] The preset displacement-current relationship refers to the correspondence between the output displacement of the hydraulic pump and the control current of the hydraulic pump solenoid valve, which can satisfy the aforementioned formula (4). Therefore, after determining the output displacement of the second hydraulic pump, the processor can determine the second control current based on the output displacement of the second hydraulic pump and the preset displacement-current relationship, so as to control the opening degree of the second hydraulic pump solenoid valve according to the second control current.

[0075] It should be noted that the above formula is an example of determining the second control current corresponding to the solenoid valve of the second hydraulic pump by controlling the second hydraulic pump through constant flow control. In practical applications, the calculation formula can also be adjusted as needed, and examples will not be provided here.

[0076] In this embodiment, the compound action is a crushing action of pressing down the first actuator, and the second actuator is a crushing mechanism. The working machine may also include a main control valve, which includes a crushing confluence valve, a first valve core corresponding to the first actuator, and a crushing valve core corresponding to the crushing mechanism. The control method may also include: controlling the crushing confluence valve to close so that the hydraulic oil output by the first hydraulic pump and the second hydraulic pump is split; controlling the first valve core to move so that the first hydraulic pump pumps the hydraulic oil into the first actuator through the first valve core; and controlling the crushing valve core to move so that the second hydraulic pump pumps the hydraulic oil into the crushing mechanism through the crushing valve core.

[0077] The processor can determine the target action type based on the pilot signals from the operating mechanisms. Taking an excavator as an example, the pilot signals may include a breaking pilot signal, a boom lowering pilot signal, a boom raising pilot signal, a stick retraction pilot signal, a stick outward pilot signal, a bucket retraction pilot signal, a bucket outward pilot signal, a left travel pilot signal, and a right travel slewing pilot signal, etc. Assuming that the breaking pilot signal and the boom lowering pilot signal are received, and no other pilot signals are received, then the processor can determine that the first actuator is the boom, the second actuator is the breaking mechanism, and the target action type is a boom-down breaking action.

[0078] Thus, for operating machinery such as loaders and excavators equipped with crushing mechanisms, when the composite action is determined to be a crushing action by pressing down the first actuator based on the pilot signal, the second actuator can be identified as the crushing mechanism. The operating machinery is equipped with a main control valve, which can be a solenoid valve, a pilot-operated solenoid valve, or other valves. The main control valve includes multiple valve cores, including a crushing confluence valve, a first valve core corresponding to the first actuator, and a crushing valve core corresponding to the crushing mechanism. During the execution of the crushing action of the first actuator, the processor can control the crushing confluence valve to close, thereby splitting the hydraulic oil output from the first and second hydraulic pumps; control the movement of the first valve core, so that the first hydraulic pump pumps hydraulic oil through the first valve core into the first actuator; and control the movement of the crushing valve core, so that the second hydraulic pump pumps hydraulic oil through the crushing valve core into the crushing mechanism. This allows the first actuator and the crushing mechanism to complete the crushing action by pressing down the first actuator.

[0079] Figure 3 The illustration schematically shows a flow chart of a control method for compound actions of a work machine according to a specific embodiment of this application. Figure 3As shown in a specific embodiment of this application, after the processor performs action recognition based on the received pilot signal, it can determine the target action type of the operating machinery. Depending on the target action type, the processor can adopt different control methods for the hydraulic pumps. When the pilot signal determines the target action type to be a single crushing action, the processor can perform constant flow control on the crushing mechanism, that is, determine the output flow of the first and second hydraulic pumps based on a preset flow distribution method. When the pilot signal determines the target action type to be a compound action, the processor can determine the output power of the first hydraulic pump and the output flow of the second hydraulic pump respectively, combining the preset flow distribution method and the hydraulic pump pressure. When the target action type is other actions, the processor can determine the required displacement based on the pilot signal and the pilot signal displacement relationship, and then determine the output power of the first and second hydraulic pumps based on the preset power distribution method, the required displacement, and the hydraulic pump pressure. Finally, based on the output power or output flow of the hydraulic pump determined through the aforementioned steps, the processor can determine the corresponding first and second control currents respectively, combining the preset displacement-current relationship.

[0080] This application also provides a processor configured to execute the above-described control method for composite actions of a work machinery.

[0081] Figure 4 This schematically illustrates a structural block diagram of a control device for compound actions of working machinery according to an embodiment of this application. Figure 4 As shown in the illustration, this application embodiment also provides a control device 400 for compound actions of a working machine. The working machine includes a first actuator, a second actuator, a first hydraulic pump, a first hydraulic pump solenoid valve corresponding to the first hydraulic pump, a second hydraulic pump, and a second hydraulic pump solenoid valve corresponding to the second hydraulic pump. The first hydraulic pump is used to output hydraulic oil to the first actuator, and the second hydraulic pump is used to output hydraulic oil to the second actuator. The control device 400 includes:

[0082] The target motion type determination module 410 is used to determine that the target motion type of the working machinery is a composite motion.

[0083] The first control current determination module 420 is used to determine the first control current corresponding to the solenoid valve of the first hydraulic pump by using constant power control for the first hydraulic pump.

[0084] The second control current determination module 430 is used to determine the second control current corresponding to the solenoid valve of the second hydraulic pump by adopting constant flow control for the second hydraulic pump.

[0085] The control module 440 is used to control the first hydraulic pump solenoid valve to work according to the first control current and to control the second hydraulic pump solenoid valve to work according to the second control current, so that the first actuator and the second actuator can complete a compound action.

[0086] The above technical solution, when the target action type of the operating machinery is determined to be a compound action, employs constant power control for the first hydraulic pump, determining the first control current corresponding to the solenoid valve of the first hydraulic pump, and employs constant flow control for the second hydraulic pump, determining the second control current corresponding to the solenoid valve of the second hydraulic pump. Then, the first hydraulic pump solenoid valve is controlled according to the first control current, and the second hydraulic pump solenoid valve is controlled according to the second control current, so that the first and second actuators complete the compound action. This technical solution, by implementing constant power control for the first hydraulic pump and constant flow control for the second hydraulic pump, achieves constant power output for the first hydraulic pump and constant flow output for the second hydraulic pump. This ensures the operating efficiency of the first actuator, which has lower requirements for action frequency stability, while improving the action stability of the second actuator, which has higher requirements for action frequency stability. Therefore, it enhances the maneuverability of the operating machinery when performing compound actions.

[0087] In one embodiment, the first control current determination module 420 is further configured to: acquire the first pressure of the first hydraulic pump, the second pressure of the second hydraulic pump, the pilot signal of the operating mechanism, and the engine speed; and determine the first control current based on the first pressure, the second pressure, the pilot signal, and the engine speed.

[0088] In one embodiment, the first control current determination module 420 is further configured to: determine the preset power of the first hydraulic pump based on the preset total power, the preset flow rate of the second actuator, and the second pressure; determine the required displacement of the first hydraulic pump based on the pilot signal; determine the required power of the first hydraulic pump based on the first pressure, the required displacement, and the engine speed; determine the smaller value between the preset power of the first hydraulic pump and the required power of the first hydraulic pump as the target power of the first hydraulic pump; determine the output displacement of the first hydraulic pump based on the target power of the first hydraulic pump, the first pressure, and the engine speed; and determine the first control current based on the relationship between the output displacement of the first hydraulic pump and the preset displacement current.

[0089] In one embodiment, the second control current determination module 430 is further configured to: acquire the second pressure of the second hydraulic pump and the engine speed of the engine; and determine the second control current based on the second pressure and the engine speed.

[0090] In one embodiment, the second control current determination module 430 is further configured to: determine the required displacement of the second hydraulic pump based on the preset flow rate of the second actuator and the engine speed; determine the output displacement of the second hydraulic pump based on the second pressure, the required displacement of the second hydraulic pump, the preset calibration pressure range, and the preset displacement calibration coefficient; and determine the second control current based on the output displacement of the second hydraulic pump and the preset displacement current relationship.

[0091] In one embodiment, the control device for the combined action of the operating machinery further includes a main control valve control module, used for: controlling the breaker confluence valve to close so that the hydraulic oil output from the first hydraulic pump and the second hydraulic pump is split; controlling the first valve core to move so that the first hydraulic pump pumps hydraulic oil through the first valve core into the first actuator; and controlling the breaker valve core to move so that the second hydraulic pump pumps hydraulic oil through the breaker valve core into the breaker mechanism.

[0092] This application also provides a working machine, which may include: a first actuator; a second actuator; a first hydraulic pump for outputting hydraulic oil to the first actuator; a first hydraulic pump solenoid valve corresponding to the first hydraulic pump; a second hydraulic pump for outputting hydraulic oil to the second actuator; a second hydraulic pump solenoid valve corresponding to the second hydraulic pump; and a processor or a control device for compound actions of the working machine.

[0093] Figure 5 The diagram schematically illustrates the structure of a working machine according to a specific embodiment of this application. Figure 5As shown in a specific embodiment of this application, the operating machinery includes an operating mechanism 101, a main valve solenoid valve group 102, a main control valve 103, a first actuator 104, a second actuator 105, a processor or a control device 201 for the combined actions of the operating machinery, a first hydraulic pump pressure sensor 202, a second hydraulic pump pressure sensor 203, a first hydraulic pump solenoid valve 204, a second hydraulic pump solenoid valve 205, a first hydraulic pump 206, a second hydraulic pump 207, and an engine 208. The first hydraulic pump 206 outputs hydraulic oil to the first actuator 104, and the second hydraulic pump 207 outputs hydraulic oil to the second actuator 105. The operating mechanism 101 may include a left handle, a right handle, a left travel pedal, a right travel pedal, and a breaking pedal, depending on actual needs. The main valve solenoid valve group 102 may include a first boom raising solenoid valve, a second boom raising solenoid valve, a first boom lowering solenoid valve, a second boom lowering solenoid valve, a breaking valve core solenoid valve, and a breaking confluence solenoid valve. The main control valve 103 may include a left travel valve core, a stick valve core, a bucket valve core, a boom valve core, a swing valve core, a crushing valve core, and a crushing confluence valve. It is understood that the foregoing description of the operating mechanism 101, the main valve solenoid valve assembly 102, and the main control valve 103 does not constitute a limitation on the specific configuration of the operating mechanism 101, the main valve solenoid valve assembly 102, and the main control valve 103. The operating mechanism 101, the main valve solenoid valve assembly 102, and the main control valve 103 can be adjusted according to the type of operating machinery and operational requirements.

[0094] This application also provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned control method for composite actions of a working machine.

[0095] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0096] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0097] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0098] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0099] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0100] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0101] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0102] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0103] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for compound actions of working machinery, characterized in that, The operating machinery includes a first actuator, a second actuator, a first hydraulic pump, a first hydraulic pump solenoid valve corresponding to the first hydraulic pump, a second hydraulic pump, and a second hydraulic pump solenoid valve corresponding to the second hydraulic pump. The first hydraulic pump is used to output hydraulic oil to the first actuator, and the second hydraulic pump is used to output hydraulic oil to the second actuator. The control method includes: The target motion type of the operating machinery is determined to be a composite motion; The first hydraulic pump is controlled by constant power, and the first control current corresponding to the solenoid valve of the first hydraulic pump is determined. The second hydraulic pump is controlled by constant flow, and the second control current corresponding to the solenoid valve of the second hydraulic pump is determined. The first hydraulic pump solenoid valve is controlled to operate according to the first control current, and the second hydraulic pump solenoid valve is controlled to operate according to the second control current, so that the first actuator and the second actuator can complete the compound action.

2. The control method according to claim 1, characterized in that, The operating machinery also includes an operating mechanism and an engine. The constant power control of the first hydraulic pump, and the determination of the first control current corresponding to the solenoid valve of the first hydraulic pump, includes: The first pressure of the first hydraulic pump, the second pressure of the second hydraulic pump, the pilot signal of the operating mechanism, and the engine speed of the engine are obtained. The first control current is determined based on the first pressure, the second pressure, the pilot signal, and the engine speed.

3. The control method according to claim 2, characterized in that, Determining the first control current based on the first pressure, the second pressure, the pilot signal, and the engine speed includes: The preset power of the first hydraulic pump is determined based on the preset total power, the preset flow rate of the second actuator, and the second pressure; The required displacement of the first hydraulic pump is determined based on the pilot signal; The required power of the first hydraulic pump is determined based on the first pressure, the required displacement, and the engine speed. The smaller of the preset power of the first hydraulic pump and the required power of the first hydraulic pump is determined as the target power of the first hydraulic pump. The output displacement of the first hydraulic pump is determined based on the target power of the first hydraulic pump, the first pressure, and the engine speed. The first control current is determined based on the output displacement of the first hydraulic pump and the preset displacement current relationship.

4. The control method according to claim 1, characterized in that, The operating machinery also includes an engine. The constant flow control of the second hydraulic pump, and the determination of the second control current corresponding to the solenoid valve of the second hydraulic pump, include: Obtain the second pressure of the second hydraulic pump and the engine speed of the engine; The second control current is determined based on the second pressure and the engine speed.

5. The control method according to claim 4, characterized in that, Determining the second control current based on the second pressure and the engine speed includes: The required displacement of the second hydraulic pump is determined based on the preset flow rate of the second actuator and the engine speed. The output displacement of the second hydraulic pump is determined based on the second pressure, the required displacement of the second hydraulic pump, the preset calibration pressure range, and the preset displacement calibration coefficient. The second control current is determined based on the output displacement of the second hydraulic pump and the preset displacement current relationship.

6. The control method according to claim 1, characterized in that, The combined action is a crushing action of pressing down the first actuator, the second actuator is a crushing mechanism, the working machine also includes a main control valve, the main control valve includes a crushing confluence valve, a first valve core corresponding to the first actuator, and a crushing valve core corresponding to the crushing mechanism, and the control method further includes: The control valve is closed to split the hydraulic oil output from the first hydraulic pump and the second hydraulic pump; Controlling the movement of the first valve core to cause the first hydraulic pump to pump hydraulic oil through the first valve core into the first actuator; and The movement of the crushing valve core is controlled so that the second hydraulic pump pumps hydraulic oil into the crushing mechanism through the crushing valve core.

7. A processor, characterized in that, The control method for performing compound actions of a work machine according to any one of claims 1 to 6 is configured to perform such actions.

8. A control device for compound actions of working machinery, characterized in that, The operating machinery includes a first actuator, a second actuator, a first hydraulic pump, a first hydraulic pump solenoid valve corresponding to the first hydraulic pump, a second hydraulic pump, and a second hydraulic pump solenoid valve corresponding to the second hydraulic pump. The first hydraulic pump is used to output hydraulic oil to the first actuator, and the second hydraulic pump is used to output hydraulic oil to the second actuator. The control device includes: The target motion type determination module is used to determine that the target motion type of the operating machinery is a composite motion. The first control current determination module is used to determine the first control current corresponding to the solenoid valve of the first hydraulic pump by applying constant power control to the first hydraulic pump. The second control current determination module is used to determine the second control current corresponding to the solenoid valve of the second hydraulic pump by using constant flow control for the second hydraulic pump. The control module is used to control the first hydraulic pump solenoid valve to operate according to the first control current and to control the second hydraulic pump solenoid valve to operate according to the second control current, so that the first actuator and the second actuator can complete the compound action.

9. A type of operating machinery, characterized in that, include: First executive body; Second executive body; A first hydraulic pump, which is used to output hydraulic oil to the first actuator; The first hydraulic pump solenoid valve corresponding to the first hydraulic pump; The second hydraulic pump is used to output hydraulic oil to the second actuator; The second hydraulic pump solenoid valve corresponding to the second hydraulic pump; as well as The processor according to claim 7 or the control device for compound actions of working machinery according to claim 8.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform a control method for compound actions of a working machine according to any one of claims 1 to 6.

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