A hydraulic excavator break hammer flow control method and system

Abstract

The application 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 following steps: acquiring working pressure, hydraulic oil temperature and breaking hammer target flow, and calculating compensation flow by using a linear interpolation method; acquiring an engine rotating speed value, combining the compensation flow, and calculating a corrected main pump displacement; according to a preset inherent relationship between main pump current and main pump displacement, the corrected main pump current is calculated according to the corrected main pump displacement; and outputting the main pump current to a main pump electromagnetic valve, so as to control the main pump displacement by the main pump electromagnetic valve, and realize accurate control of the breaking hammer flow. The application can actively correct the breaking hammer flow, completely eliminate the influence of internal leakage on the breaking hammer flow, maintain the actual breaking flow consistent with the target flow, and improve the breaking performance of the product.

Description

TECHNICAL FIELD

[0001] The present application relates to a hydraulic excavator breaker flow control method and system, belonging to the technical field of hydraulic excavator breaker flow control. BACKGROUND

[0002] The internal leakage of the main pump and the main valve exists objectively, and the internal leakage degree is affected by the working pressure and the hydraulic oil temperature. The internal leakage can be measured by experiment in advance. The excavator has strict requirements on the flow demand when breaking, but the high and low pressure changes greatly during the breaking process, so the internal leakage of the main pump and the main valve also changes greatly. The actual flow during work is smaller than the flow at low pressure, and the hydraulic oil temperature rises during long-time breaking, which increases the internal leakage of the main pump and the main valve, and indirectly affects the actual breaking flow. SUMMARY

[0003] The present application aims to overcome the shortcomings of the prior art, and provides a hydraulic excavator breaker flow control method and system, which can actively correct the breaker flow, completely eliminate the influence of internal leakage on the breaker flow, maintain the actual breaking flow consistent with the target flow, and improve the breaking performance of the product.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0005] In a first aspect, the present application provides a hydraulic excavator breaker flow control method, which is suitable for a controller and includes:

[0006] According to the obtained working pressure, hydraulic oil temperature and breaker target flow, a compensation flow is calculated by linear interpolation method;

[0007] According to the obtained engine speed value, the compensation flow is combined to calculate the corrected main pump displacement;

[0008] According to the inherent relationship between the pre-set main pump current and the main pump displacement, the corrected main pump current is calculated based on the corrected main pump displacement;

[0009] The main pump current is output to the main pump electromagnetic valve, and the main pump displacement is controlled by the main pump electromagnetic valve to realize accurate control of the breaker flow.

[0010] Further, the compensation flow is calculated by linear interpolation method according to the obtained working pressure, hydraulic oil temperature and breaker target flow, and the calculation formula is as follows:

[0011] Q com =k1*p+k2*t+k3*Q ori ;

[0012] Wherein, Qcom Q ori is a target flow of the breaking hammer, p is a working pressure, t is a hydraulic oil temperature, k1, k2 and k3 are compensation coefficients.

[0013] Further, the compensation flow calculation method further comprises: calculating a deviation between the target flow Q ori and an actual flow Q rea , and the formula is Q com = Q ori - Q rea .

[0014] Further, the method further comprises: calculating a corrected main pump displacement according to the obtained engine speed value and the compensation flow, and the formula is as follows:

[0015] V rev = (Q ori + Q com ) / r.

[0016] wherein, V rev is the corrected main pump displacement.

[0017] Further, the method further comprises: before the breaking operation, according to the selected breaking hammer model, calling the corresponding breaking hammer flow data, calculating the main pump displacement by using the obtained engine speed value, and calculating the main pump current according to the main pump displacement, and outputting the main pump current to the main pump electromagnetic valve.

[0018] In a second aspect, the present application provides a hydraulic excavator breaking hammer flow control system, comprising:

[0019] an instrument for realizing man-machine interaction, selecting a breaking hammer model, and setting a breaking hammer flow data;

[0020] a pressure sensor for detecting a working pressure in real time;

[0021] an oil temperature sensor for monitoring a hydraulic oil temperature;

[0022] an engine for providing power for a main pump and sending an engine speed value to a controller;

[0023] a main pump electromagnetic valve connected with a PWM signal output end of the controller, for controlling a main pump displacement by a current signal;

[0024] a controller for executing the hydraulic excavator breaking hammer flow control method according to any one of the preceding aspects.

[0025] Further, it further comprises a CAN bus communication for establishing a communication between the instrument and the controller.

[0026] In a third aspect, the present application provides a computer readable storage medium, having stored thereon a computer program, which when executed by a processor implements the steps of the method of any one of the preceding aspects.

[0027] In a fourth aspect, the present application provides a computer device, comprising:

[0028] a memory for storing computer programs / instructions;

[0029] a processor for executing the computer programs / instructions to implement the steps of the method of any one of the preceding aspects.

[0030] In a fifth aspect, the present application provides a computer program product, comprising computer programs / instructions, which when executed by a processor implements the steps of the method of any one of the preceding aspects.

[0031] Compared with the prior art, the present application has the following beneficial effects:

[0032] The present application provides a hydraulic excavator breaking hammer flow control method and system, which actively corrects the breaking hammer flow by preset breaking 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 breaking hammer flow, maintains the consistency of the actual breaking flow and the target flow, and improves the breaking performance of the product. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is an electrical structure diagram of a hydraulic excavator breaking hammer flow control system provided by the embodiment of the present application;

[0034] Figure 2 is a modification breaking hammer information flow process schematic diagram provided by the embodiment of the present application;

[0035] Figure 3 is a breaking hammer flow compensation control logic schematic diagram provided by the embodiment of the present application;

[0036] Figure 4 is a compensation flow test flow process schematic diagram provided by the embodiment of the present application. DETAILED DESCRIPTION

[0037] The present application will be further described below in conjunction with the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and cannot be used to limit the protection scope of the present application.

[0038] Embodiment 1, the present embodiment introduces a hydraulic excavator breaking hammer flow control method, which is suitable for a controller, comprising:

[0039] According to the obtained working pressure, hydraulic oil temperature and the breaking hammer target flow, a compensation flow is calculated by using linear interpolation method;

[0040] According to the obtained engine speed value, in combination with the compensation flow, a corrected main pump displacement is calculated;

[0041] The corrected main pump displacement is calculated according to the pre-set inherent relationship between the main pump current and the main pump displacement, and a corrected main pump current is calculated;

[0042] The main pump current is output to the main pump electromagnetic valve, and the main pump displacement is controlled by the main pump electromagnetic valve to realize accurate control of the breaking hammer flow.

[0043] The hydraulic excavator breaking hammer flow control method provided in the embodiment can retrieve the pre-stored flow data in the controller for control budgeting according to the selected breaking hammer in the instrument when the breaking operation is performed. When the pre-stored flow cannot meet the working condition requirement due to special working conditions, the breaking hammer flow can be set from the instrument, and the breaking hammer flow is actively corrected by collecting signals such as the main pump pressure, the hydraulic oil temperature and the engine speed, so that the influence of internal leakage on the breaking hammer flow is completely eliminated, the actual breaking flow is maintained consistent with the target flow, and the breaking performance of the product is improved.

[0044] The control system includes an instrument, a controller, a pressure sensor, an oil temperature sensor, an engine, and a main pump electromagnetic valve. The instrument realizes man-machine interaction and breaking hammer model selection, and can set the breaking hammer flow. The controller realizes storage and reading of flow parameters, and can perform logical operation of flow control and output of main pump control signal. The pressure sensor detects the system working pressure in real time, and the oil temperature sensor monitors the hydraulic oil temperature. The working pressure and hydraulic oil temperature signals are transmitted to the controller. The engine provides power for the main pump and transmits the engine speed information to the controller. The main pump electromagnetic valve is connected with the main controller PWM signal output end, and the main controller controls the main pump displacement through the current signal.

[0045] The communication between the instrument and the main controller is established through CAN bus communication. The modified breaking hammer information is input through the instrument and transmitted to the controller for storage. The controller retrieves the corresponding breaking hammer flow Q requirement data for operation. The controller calculates the displacement V = Q / r using the received engine speed r information, and outputs the current signal to the main pump electromagnetic valve according to the relationship between the main pump displacement and the current characteristic. The electrical connection mode is as shown in Figure 1 .

[0046] Multiple commonly used breaking hammers are pre-set in the instrument, and the flow requirement parameters of these commonly used breaking hammers are pre-stored in the controller. The controller reads the corresponding flow parameters from the storage area according to the breaking hammer selected by the instrument, as shown in Figure 2 .

[0047] When the pre-stored flow rate cannot meet the working condition requirements due to special reasons, the breaking hammer flow rate Q can be set from the instrument ori As the target flow rate, whether to enable flow rate compensation can also be selected from the instrument. When flow rate compensation is enabled, the compensation flow rate Q is calculated by linear interpolation according to the working pressure p, the hydraulic oil temperature t, and the breaking target flow rate Q ori com =k1*p+k2*t+k3*Q ori And the corrected demand displacement V is obtained by operating according to the engine speed value r rev =(Q ori +Q com ) / r, the corrected main pump current I is calculated by the inherent relationship v(i) between the main pump current i and the main pump displacement v rev (V rev ), and is output to the main pump solenoid valve. As shown in Figure 3 , 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.

[0048] The relationship between the compensation flow rate Q com and the working pressure p, the hydraulic oil temperature t, and the target flow rate Q ori can be expressed as: Q 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.

[0049] The compensation flow rate Q com can be calculated by the deviation between the target flow rate Q ori and the actual flow rate Q rea , i.e. Q com =Q ori -Q rea .

[0050] During the test, a flowmeter that can adjust the system working pressure is connected to the breaking pipeline. In the first step, the target flow rate and the hydraulic oil temperature are kept constant at a certain value, such as Q1 and t1, and the system is subjected to pressure to measure the actual flow rate values Q p1 , Q p2 , Q p3 …… under different working pressures p1, p2, p3……, and the compensation flow rate values ∆Q p1 =Q1-Q p1 , ∆Q p2 =Q1-Q p2 , ∆Q p3 =Q1-Q p3 ​…

[0051] Second step, on the basis of the first step, keep the target flow Q1 unchanged, change the hydraulic oil temperature to t1, t2, t3 respectively, and then repeat the first step to measure the flow, that is, at the target flow Q1, measure the actual flow values Q p1 , Q p2 , Q p3 …… at different hydraulic oil temperatures t1, t2, t3…… and different working pressures p1, p2, p3……, and calculate the corresponding compensation flow values ∆Q tp .

[0052] Third step, change the target flow values to Q1, Q2, Q3 respectively, and then repeat the first step and the second step to measure the flow, and calculate the compensation flow ∆Q Qtp at different target flows Q1, Q2, Q3……, different hydraulic oil temperatures t1, t2, t3…… and different working pressures p1, p2, p3…….

[0053] The test process is shown in Figure 4 .

[0054] ∆Q Qtp is a three-dimensional compensation flow data table, and the compensation flow can be calculated by linear interpolation method according to the current working pressure p, the hydraulic oil temperature t and the target flow Q ori .

[0055] In this embodiment, when the crushing operation is performed, the main pump pressure, the hydraulic oil temperature and the target flow information are collected, the leakage is calculated according to the data table tested in advance, the flow is corrected, the purpose of maintaining the flow of the breaking hammer is achieved, and the crushing performance of the product is improved.

[0056] Embodiment 2 provides a hydraulic excavator breaking hammer flow control system, which comprises:

[0057] An instrument is used to realize man-machine interaction, select a breaking hammer model, and set a breaking hammer flow data;

[0058] A pressure sensor is used to detect the working pressure in real time;

[0059] An oil temperature sensor is used to monitor the hydraulic oil temperature;

[0060] An engine provides power for the main pump and sends an engine speed value to the controller;

[0061] A main pump electromagnetic valve is connected with a PWM signal output end of the controller, and controls the size of the main pump displacement through a current signal;

[0062] A controller for performing the hydraulic excavator breaking hammer flow control method of any of the preceding.

[0063] CAN bus communication for establishing communication between the gauge and the controller.

[0064] The specific function implementation of the system can refer to the related content in the method of embodiment 1, and will not be described here.

[0065] Embodiment 3 provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the steps of the method in any one of embodiments 1.

[0066] Embodiment 4 provides a computer device, which comprises:

[0067] A memory for storing a computer program / instruction;

[0068] A processor for executing the computer program / instruction to implement the steps of the method in any one of embodiments 1.

[0069] Embodiment 5 provides a computer program product, which comprises a computer program / instruction, and the computer program / instruction is executed by a processor to implement the steps of the method in any one of embodiments 1.

[0070] The above only describes the preferred embodiments of the present application, and it should be noted that, for those skilled in the art, without departing from the technical principles of the present application, several improvements and modifications can be made, and these improvements and modifications should be considered as the protection scope of the present application.

[0071] Those skilled in the art will appreciate that embodiments of the present disclosure can be provided as methods, systems or computer program products. Therefore, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present disclosure can 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.

[0072] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0073] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0074] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 one or more flow or blocks

[0075] Finally, it should be noted that the above-mentioned embodiments are only used to illustrate the technical solutions of the present disclosure, rather than limit the protection scope of the present disclosure. Although the present disclosure has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that, after reading the present disclosure, the specific embodiments of the present disclosure can be modified, changed or replaced by equivalents without departing from the principle of the present disclosure. These modifications, changes or replacements are also within the scope of protection of the appended claims.

Claims

1. A method for controlling the flow rate of a hydraulic excavator breaker hammer, characterized in that, Suitable for controllers, including: Based on the obtained working pressure p, hydraulic oil temperature t, and target flow rate Q of the hydraulic breaker... ori The compensation flow rate Q was calculated using linear interpolation. com The formula is as follows: Q com =k1*p+k2*t+k3*Q ori k1, k2, and k3 are compensation coefficients; Based on the obtained engine speed value r and the compensation flow rate, the corrected main pump displacement V is calculated. rev The formula is as follows: V rev =(Q ori +Q com ) / r; The corrected main pump displacement V rev Based on the pre-set inherent relationship v(i) between the main pump current i and the main pump displacement v, the corrected main pump current I is calculated. rev (V) rev ); The main pump current is output to the main pump solenoid valve, which controls the main pump displacement, thereby achieving precise control of the flow rate of the hydraulic breaker.

2. The flow control method for a hydraulic excavator breaker hammer according to claim 1, characterized in that, The method further includes: before carrying out the crushing operation, according to the selected breaker model, retrieving the corresponding breaker flow data, using the obtained engine speed value to calculate the main pump displacement, then calculating the main pump current based on the main pump displacement, and outputting the main pump current to the main pump solenoid valve.

3. A flow control system for a hydraulic excavator breaker hammer, characterized in that, include: The instrument is used to enable human-machine interaction, select the model of the hydraulic breaker, and set the flow data of the hydraulic breaker; Pressure sensors are used to detect working pressure in real time; Oil temperature sensor, used to monitor 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 PWM signal output terminal of the controller, and controls the displacement of the main pump through the current signal; A controller for performing the hydraulic excavator breaker flow control method according to any one of claims 1-2.

4. The hydraulic excavator breaker flow control system according to claim 3, characterized in that, It also includes CAN bus communication, which is used to establish communication between the instrument and the controller.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When executed by a processor, the program implements the steps of the method described in any one of claims 1-2.

6. A computer device, characterized in that, include: Memory, used to store computer programs / instructions; A processor for executing the computer program / instructions to implement the steps of the method according to any one of claims 1-2.

7. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method described in any one of claims 1-2.

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