Flow control method and system for breaking hammer of hydraulic excavator

Abstract

The invention discloses a hydraulic excavator breaking hammer flow control method and system, and belongs to the technical field of hydraulic excavator breaking hammer flow control. The method comprises the steps that according to the obtained working pressure, hydraulic oil temperature and breaking hammer target flow, compensation flow is calculated through a linear interpolation method; according to the obtained engine rotating speed value, the corrected main pump displacement is calculated in combination with the compensation flow; the corrected main pump current is calculated according to the preset inherent relation between the main pump current and the main pump displacement through the corrected main pump displacement; main pump current is output to a main pump electromagnetic valve, and the main pump electromagnetic valve is used for controlling the displacement of a main pump, so that the flow of the breaking hammer is accurately controlled; the method can actively correct the flow of the breaking hammer, completely eliminates the influence of internal leakage on the flow of the breaking hammer, achieves the purpose of keeping the actual breaking flow consistent with the target flow, and improves the breaking performance of a product.

Description

Technical Field

[0001] The invention relates to a flow control method and system for a hydraulic excavator breaker hammer, belonging to the technical field of flow control for hydraulic excavator breaker hammers. Background Art

[0002] The internal leakage of the main pump and main valve is an objective existence, and the degree of internal leakage is affected by the working pressure and the temperature of the hydraulic oil. The internal leakage can be measured in advance through experiments. When the excavator is working in the crushing condition, the flow demand is relatively strict. However, the high and low pressures change drastically during the crushing process, which causes the internal leakage of the main pump and main valve to change drastically. The actual flow rate during work is smaller under high pressure than under low pressure. At the same time, the temperature of the hydraulic oil will rise during long-term crushing work, resulting in an increase in the internal leakage of the main pump and main valve, which also indirectly affects the actual working flow of the crushing. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a hydraulic excavator breaker hammer flow control method and system, which can actively perform breaker hammer flow correction, completely eliminate the influence of internal leakage on the breaker hammer flow, achieve the purpose of maintaining the actual crushing flow consistent with the target flow, and improve the crushing performance of the product.

[0004] To achieve the above object, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides a flow control method for a hydraulic excavator breaker hammer, applicable to a controller, comprising: According to the obtained working pressure, hydraulic oil temperature and target flow of the breaker, the compensation flow is calculated by linear interpolation method; According to the obtained engine speed value and the compensation flow, the corrected main pump displacement is calculated; The corrected main pump displacement is calculated based on the inherent relationship between the main pump current and the main pump displacement which is preset; The main pump current is output to the main pump solenoid valve, and the main pump displacement is controlled by the main pump solenoid valve to achieve precise control of the breaker flow.

[0005] Furthermore, the compensation flow is calculated by linear interpolation method according to the obtained working pressure, hydraulic oil temperature and target flow of the breaker, and the calculation formula is as follows: Q com =k1*p+k2*t+k3*Q ori ; Among them, Q com To compensate for the flow, Q ori is the target flow of the breaker, p is the working pressure, t is the hydraulic oil temperature, k1, k2, k3 are compensation coefficients.

[0006] Furthermore, the method for calculating the compensation flow rate also includes: calculating the target flow rate Q of the breaker ori The actual flow rate Q rea The deviation between them is calculated as follows: Q com =Q ori -Q rea .

[0007] Furthermore, the corrected main pump displacement is calculated based on the obtained engine speed value and the compensation flow, and the formula is as follows: V rev =(Q ori +Q com ) / r; Among them, V rev is the corrected main pump displacement.

[0008] Furthermore, the method also includes: before performing the crushing operation, according to the selected crushing hammer model, the corresponding crushing hammer flow data is retrieved, the main pump displacement is calculated using the obtained engine speed value, and then the main pump current is calculated according to the main pump displacement, and the main pump current is output to the main pump solenoid valve.

[0009] In a second aspect, the present invention provides a hydraulic excavator breaker hammer flow control system, comprising: Instrument, used to realize human-machine interaction and breaker model selection, and set breaker flow data; Pressure sensor, used to detect working pressure in real time; Oil temperature sensor, used to monitor the hydraulic oil temperature; The engine provides power to the main pump and sends the engine speed value to the controller; The main pump solenoid valve is connected to the controller PWM signal output terminal and controls the displacement of the main pump through the current signal; A controller is used to execute any of the aforementioned hydraulic excavator breaker hammer flow control methods.

[0010] Furthermore, it also includes CAN bus communication, and the CAN bus communication is used to establish communication between the instrument and the controller.

[0011] In a third aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the aforementioned methods.

[0012] In a fourth aspect, the present invention provides a computer device, comprising: Memory, for storing computer programs / instructions; A processor is used to execute the computer program / instructions to implement the steps of any of the aforementioned methods.

[0013] In a fifth aspect, the present invention provides a computer program product, comprising a computer program / instruction, which implements the steps of any one of the aforementioned methods when executed by a processor.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a hydraulic excavator breaker hammer flow control method and system, which actively performs breaker hammer flow correction through a preset breaker hammer target flow and collected main pump pressure, hydraulic oil temperature, engine speed and other signals, completely eliminates the influence of internal leakage on the breaker hammer flow, achieves the purpose of maintaining the actual crushing flow consistent with the target flow, and improves the crushing performance of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is an electrical structure diagram of a hydraulic excavator breaker hammer flow control system provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of a flow chart of modifying breaker hammer information provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the flow compensation control logic of a breaker hammer provided by an embodiment of the present invention; Figure 4 It is a schematic diagram of the compensation flow test process provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0016] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0017] Embodiment 1: This embodiment introduces a flow control method for a hydraulic excavator breaker hammer, which is applicable to a controller and includes: According to the obtained working pressure, hydraulic oil temperature and target flow of the breaker, the compensation flow is calculated by linear interpolation method; According to the obtained engine speed value and the compensation flow, the corrected main pump displacement is calculated; The corrected main pump displacement is calculated based on the inherent relationship between the main pump current and the main pump displacement which is preset; The main pump current is output to the main pump solenoid valve, and the main pump displacement is controlled by the main pump solenoid valve to achieve precise control of the breaker flow.

[0018] The hydraulic excavator hammer flow control method provided in this embodiment, when performing a crushing operation, retrieves the flow data pre-stored in the controller for control budget according to the crushing hammer selected in the instrument; when the pre-stored flow cannot meet the working condition requirements due to special working conditions, the hammer flow setting can be performed from the instrument, and the hammer flow correction can be actively performed by collecting signals such as the main pump pressure, hydraulic oil temperature, and engine speed, so as to completely eliminate the influence of internal leakage on the hammer flow, thereby achieving the purpose of maintaining the actual crushing flow consistent with the target flow, thereby improving the crushing performance of the product.

[0019] The control system includes instruments, controllers, pressure sensors, oil temperature sensors, engines, and main pump solenoid valves. The instruments realize human-machine interaction and breaker model selection, and can set the breaker flow rate. The controller realizes the storage and reading of flow parameters, and can perform logical operations for flow control and output main pump control signals. The pressure sensor detects the system working pressure in real time, the oil temperature sensor monitors the hydraulic oil temperature, and the working pressure and hydraulic oil temperature signals are transmitted to the controller. The engine provides power for the main pump and sends its speed information to the controller. The main pump solenoid valve is connected to the PWM signal output terminal of the main controller, and the main controller controls the displacement of the main pump through the current signal.

[0020] The communication between the instrument and the main controller is established through CAN bus communication. The modified breaker information is input through the instrument and transmitted to the controller for storage. The controller retrieves the corresponding breaker flow Q demand data for calculation. The controller uses the received engine speed r information to calculate the displacement V=Q / r, and then outputs the current signal to the main pump solenoid valve according to the relationship between the main pump displacement and the current characteristic. The electrical connection method is as follows Figure 1 .

[0021] The instrument has a variety of commonly used breakers for selection, and the controller stores the flow demand parameters of these commonly used breakers. The controller reads the corresponding flow parameters from the storage area according to the breakers selected by the instrument, such as Figure 2 shown.

[0022] When the pre-stored flow cannot meet the working condition requirements due to special reasons, the hammer flow Q can be set from the instrument. ori As the target flow, you can also select whether to enable flow compensation from the instrument. When flow compensation is enabled, the target flow Q is calculated based on the working pressure p, hydraulic oil temperature t, and crushing ori , use linear interpolation to calculate the compensation flow Q com =k1*p+k2*t+k3*Q ori , and calculate the corrected required displacement V according to the engine speed value r rev =(Q ori +Q com) / r, and the corrected main pump current I is calculated from the inherent relationship v(i) between the main pump current i and the main pump displacement v rev (V rev ), and output to the main pump solenoid valve. Figure 3 As shown, the inherent relationship v(i) between the main pump current i and the main pump displacement v is obtained according to the corresponding relationship curve provided by the main pump manufacturer and then queried according to the corresponding relationship curve.

[0023] Compensation flow Q com With working pressure p, hydraulic oil temperature t and target flow Q ori The relationship between can be expressed as: com =k1*p+k2*t+k3*Q ori , the compensation coefficients k1, k2, and k3 can be obtained in advance through a large amount of test data.

[0024] Compensation flow Q com The target flow rate Q ori The actual flow rate Q rea The deviation between them is calculated, that is, Q com =Q ori -Q rea .

[0025] During the test, a flow meter that can adjust the system working pressure is connected to the crushing pipeline. The first step is to keep the target flow and hydraulic oil temperature at a fixed value such as Q1 and t1, apply pressure to the system, and measure the actual flow value Q output under different working pressures p1, p2, p3... p1 , Q p2 , Q p3 ..., calculate the compensation flow value ∆Q corresponding to different working pressures p1, p2, p3, etc. at Q1 and t1 p1 =Q1-Q p1 , ∆Q p2 =Q1-Q p2 , ∆Q p3 =Q1-Q p3 …….

[0026] In the second step, based on the first step, keep the target flow Q1 unchanged, change the hydraulic oil temperature to t1, t2, t3..., and repeat the first step to measure the flow. That is, at the target flow Q1, measure the actual flow value Q output at different hydraulic oil temperatures of t1, t2, t3... and different working pressures of p1, p2, p3... p1 , Q p2 , Q p3 ..., calculate the corresponding compensation flow value ∆Q tp .

[0027] In the third step, the target flow value is changed to Q1, Q2, Q3, etc., and the first and second steps are repeated to measure the flow, and the compensation flow ∆Q under different target flow rates Q1, Q2, Q3, etc., different hydraulic oil temperatures t1, t2, t3, etc., and different working pressures p1, p2, p3, etc. is calculated. Qtp .

[0028] The test process is as follows Figure 4 shown.

[0029] ∆Q Qtp It is a three-dimensional compensation flow data table, based on the current working pressure p, hydraulic oil temperature t and target flow Q ori The compensated flow rate can be calculated using linear interpolation.

[0030] When performing a crushing operation, this embodiment collects the main pump pressure, hydraulic oil temperature and target flow information, calculates the leakage amount based on a pre-tested data table, and performs flow correction to achieve the purpose of maintaining the flow of the breaker and improving the crushing performance of the product.

[0031] Embodiment 2: This embodiment provides a hydraulic excavator breaker hammer flow control system, including: Instrument, used to realize human-machine interaction and breaker model selection, and set breaker flow data; Pressure sensor, used to detect working pressure in real time; Oil temperature sensor, used to monitor the hydraulic oil temperature; The engine provides power to the main pump and sends the engine speed value to the controller; The main pump solenoid valve is connected to the controller PWM signal output terminal and controls the displacement of the main pump through the current signal; A controller, used to execute the hydraulic excavator breaker hammer flow control method described in any one of the above; CAN bus communication, wherein the CAN bus communication is used to establish communication between the instrument and the controller.

[0032] The specific functional implementation of the above system refers to the relevant content in the method of Example 1 and will not be repeated here.

[0033] Embodiment 3, this embodiment provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of any one of the methods described in Embodiment 1 are implemented.

[0034] Embodiment 4: This embodiment provides a computer device, including: Memory, for storing computer programs / instructions; A processor, configured to execute the computer program / instructions to implement the steps of any one of the methods described in Example 1.

[0035] Embodiment 5: This embodiment provides a computer program product, including a computer program / instruction, which implements the steps of any method described in Embodiment 1 when executed by a processor.

[0036] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

[0037] It should be understood by those skilled in the art that the embodiments of the present disclosure may be provided as methods, systems or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present disclosure may take 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 code.

[0038] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram and the combination of processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0039] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0040] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure rather than to limit its protection scope. Although the present disclosure has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that after reading the present disclosure, those skilled in the art can still make various changes, modifications or equivalent substitutions to the specific implementation methods of the invention, but these changes, modifications or equivalent substitutions are all within the protection scope of the disclosed claims to be approved.

Claims

1. A hydraulic excavator breaker hammer flow control method, characterized in that: For controllers including: According to the obtained working pressure, hydraulic oil temperature and target flow of the breaker, the compensation flow is calculated by linear interpolation method; According to the obtained engine speed value and the compensation flow, the corrected main pump displacement is calculated; The corrected main pump displacement is calculated based on the inherent relationship between the main pump current and the main pump displacement which is preset; The main pump current is output to the main pump solenoid valve, and the main pump displacement is controlled by the main pump solenoid valve to achieve precise control of the breaker flow.

2. The hydraulic excavator breaker hammer flow control method according to claim 1, characterized in that: According to the obtained working pressure, hydraulic oil temperature and target flow of the breaker, the compensation flow is calculated by linear interpolation method, and the calculation formula is as follows: Q com =k1*p+k2*t+k3*Q ori ; Among them, Q com To compensate for the flow, Q ori is the target flow of the breaker, p is the working pressure, t is the hydraulic oil temperature, k1, k2, k3 are compensation coefficients.

3. The hydraulic excavator breaker hammer flow control method according to claim 2, characterized in that: The method for calculating the compensation flow rate also includes: using the target flow rate Q of the breaker ori The actual flow rate Q rea The deviation between them is calculated as follows: Q com =Q ori -Q rea .

4. The hydraulic excavator breaker hammer flow control method according to claim 3, characterized in that: The corrected main pump displacement is calculated based on the obtained engine speed value and the compensation flow rate, and the formula is as follows: V rev =(Q ori +Q com ) / r; Among them, V rev is the corrected main pump displacement.

5. The hydraulic excavator breaker hammer flow control method according to claim 1, characterized in that: The method also includes: before performing the crushing operation, according to the selected crushing hammer model, calling the corresponding crushing hammer flow data, using the obtained engine speed value to calculate the main pump displacement, and then calculating the main pump current according to the main pump displacement, and outputting the main pump current to the main pump solenoid valve.

6. A hydraulic excavator breaker hammer flow control system, characterized in that: include: Instrument, used to realize human-machine interaction and breaker model selection, and set breaker flow data; Pressure sensor, used to detect working pressure in real time; Oil temperature sensor, used to monitor the hydraulic oil temperature; The engine provides power to the main pump and sends the engine speed value to the controller; The main pump solenoid valve is connected to the controller PWM signal output terminal and controls the displacement of the main pump through the current signal; A controller for executing the hydraulic excavator breaker hammer flow control method according to any one of claims 1 to 5.

7. The hydraulic excavator breaker hammer flow control system according to claim 6, characterized in that: It also includes CAN bus communication, which is used to establish communication between the instrument and the controller.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 5 are implemented.

9. A computer device, characterized in that: include: Memory, for storing computer programs / instructions; A processor, configured to execute the computer program / instructions to implement the steps of the method according to any one of claims 1 to 5.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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