Constant Power Pump Operation Regenerative Flow Control Method, System, Device and Storage Medium

Abstract

The present application provides a method, system, device and storage medium for controlling the regeneration flow rate of a constant power pump during operation, belonging to the field of power control of engineering equipment. The method for controlling the regeneration flow rate of the constant power pump during operation includes: in response to the operation equipment entering the operation regeneration state and meeting the operation regeneration speed increase condition, adjusting the flow rate of the constant power pump so that the flow rate of the constant power pump remains constant during the engine speed increase process; wherein, if the driver-set speed is less than or equal to the preset idle speed, the pump flow rate adjustment value is calculated through the pump torque, pump pressure and driver-set speed; if the driver-set speed is greater than the preset idle speed, the pump flow rate adjustment value is calculated through the current engine speed. The method for controlling the regeneration flow rate during operation provided by the present application, during the operation regeneration process, through the idea of constant flow control, calculates the power limit adjustment for the constant power pump, and finally realizes reducing the pump displacement so that the hoisting speed has no sudden change, ensuring the operation efficiency of the whole vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of engineering equipment power control, and specifically to a constant power pump operation regeneration flow control method, system, electronic device, and computer-readable storage medium. Background Art

[0002] A crane is a hoisting machine commonly used for lifting and transporting heavy objects. During the operation of the crane, when the carbon load accumulates to a certain extent, it generally requires manual parking regeneration. During regeneration, the crane cannot work, which will affect the normal operation of the crane. The operation regeneration technology can reduce this impact, reduce environmental pollution and energy waste caused by engine speed drop and flameout, and improve operation efficiency and stability. However, the problem of operation regeneration is that during the operation of the crane, since the instantaneous torque demand of the hydraulic pump is greater than the engine output torque, it will cause the engine speed to drop and flameout, and it cannot reliably ensure the normal operation of the crane.

[0003] A constant power pump is a hydraulic pump that can maintain a relatively stable output power under different working conditions. Its working principle is to adjust the displacement of the pump to adapt to different load demands, so as to maintain a constant power output. This characteristic enables the constant power pump to maintain a stable power output by adjusting the displacement when facing complex working conditions, but at the same time, it also needs to accurately control the flow rate to avoid power surplus or deficiency.

[0004] The Chinese patent application document with the publication number CN117432505A discloses a crane DPF operation regeneration control method and system, wherein the regeneration control method includes: S1, obtaining the value of the carbon model / counter, and determining that the value of the carbon model / counter reaches the threshold C; S2, obtaining the current crane parameters, and determining that the current engine is in the hoisting operation working condition; S3, based on the idle speed V1 under the current engine hoisting operation working condition, increasing the idle speed V1 to a preset speed V2 to heat the catalytic converter system in the form of exhaust gas, so that the temperature of the catalytic converter system reaches the preset temperature value T1 of post-injection in the cylinder; S4, controlling the release of the post-injection fuel quantity in the cylinder to keep the temperature of the after-treatment system at the preset temperature value T2 for a preset duration t; S5, controlling the engine to resume operation at the idle speed V1 under the hoisting operation working condition. It aims to automatically clean the internal soot by increasing the exhaust energy through setting a reasonable engine speed during the operation regeneration process by developing the minimum speed setting function of the engine in different combustion modes, without the need for customers to actively perform parking regeneration, thereby extending the parking regeneration cycle. However, it is not applicable to the flow control of the constant power pump, and there is no control mechanism for maintaining the hoisting stability.

[0005] It can be seen that there is an urgent need to develop a new method for controlling the regenerative flow rate of a constant power pump. By adjusting the flow rate of the constant power pump under the regenerative working conditions of the operation, the hoisting speed can be increased and the hoisting quality can be improved. Summary of the Invention

[0006] This application aims to solve at least one of the technical problems in the related art to some extent. For this purpose, this application provides a method, a system, an electronic device, and a computer-readable storage medium for controlling the regenerative flow rate of a constant power pump. In the process of operation regeneration, the method calculates the power limit adjustment of the constant power pump through the idea of constant flow control, and finally realizes reducing the pump displacement so that the hoisting speed has no sudden change, ensuring the operation efficiency of the whole vehicle.

[0007] To achieve the above object, in the first aspect, this application provides a method for controlling the regenerative flow rate of a constant power pump, including:

[0008] In response to the operation equipment entering the operation regeneration state and meeting the operation regeneration speed increase condition, adjust the flow rate of the constant power pump so that the flow rate of the constant power pump remains constant during the process of the engine speed increase;

[0009] Among them, if the driver-set speed is less than or equal to the preset idle speed, calculate the pump flow rate adjustment value through the pump torque, pump pressure, and driver-set speed; if the driver-set speed is greater than the preset idle speed, calculate the pump flow rate adjustment value through the current engine speed.

[0010] Preferably, the judgment conditions for the operation equipment to enter the operation regeneration state include: the operation equipment meets the operation condition, and the engine DPF state signal value is 1.

[0011] Preferably, the operation condition includes: the engine torque is greater than the first torque threshold, the pump outlet pressure is greater than the first pressure threshold, and the pump torque is greater than the second torque threshold; among them, the first torque threshold and the second torque threshold are both positive numbers, with the unit of Nm, and the first pressure threshold is a positive number, with the unit of bar.

[0012] Preferably, the judgment conditions for the operation regeneration speed increase condition include: the pump pressure is stable, the engine speed is stable, there is no slewing action, the hoisting operation is not timed out, and the regeneration speed is greater than the driver-set speed.

[0013] Preferably, the operation regeneration flow rate control method is configured with a flow rate adjustment interruption strategy, and the flow rate adjustment interruption strategy includes:

[0014] Obtain in real time data information such as pump pressure, engine speed, whether there is a slewing action, whether the hoisting operation is timed out, and whether the regeneration speed is greater than the driver-set speed, so as to judge whether the operation regeneration speed increase condition is always met during the process of adjusting the flow rate of the constant power pump;

[0015] If at any time any one of the judgment conditions for the operating regeneration speed increase condition does not conform, the flow regulation process is exited.

[0016] Preferably, the determination logic for the pump pressure stability includes: the first condition: the pump pressure fluctuates within the range of a preset minimum value and a preset maximum value, or the second condition: the absolute value of the difference between the current pump pressure and the pump pressure before a preset time is less than or equal to a preset pump pressure limit value, or the third condition: the absolute value of the difference between the current pump pressure and the pump pressure before a preset time is greater than the preset pump pressure limit value but the duration is less than a preset duration. In the first condition, the second condition, and the third condition, the pump pressure is determined to be stable.

[0017] Preferably, the determination logic for the engine speed stability includes: if the absolute value of the difference between the current engine speed and the engine speed before a preset time is less than or equal to a preset engine speed limit value, or the absolute value of the difference between the current engine speed and the engine speed before a preset time is greater than the preset engine speed limit value but the duration is less than a preset duration. In the above two conditions, the engine speed is determined to be stable.

[0018] Preferably, it is determined that the hoisting operation is not timed out by the number of load mutations being less than the number threshold; among them, the situations of load mutations include:

[0019] the difference between the driver-set speed and the actual engine speed is greater than or equal to the first speed threshold,

[0020] or the engine load rate is greater than the first load rate threshold,

[0021] or the pump outlet pressure is greater than the second pressure threshold,

[0022] or the actual engine speed is less than the second speed threshold and the change amount of the engine load rate is greater than the second load rate threshold.

[0023] Preferably, the steps of calculating the pump flow regulation value by the pump torque, the pump pressure, and the driver-set speed include:

[0024] The pump displacement is calculated by the pump torque and the pump pressure, and the calculation formula is as follows: , where, is the pump displacement, is the pump torque, is the conversion coefficient between the pump pressure and the pump torque, is the pump efficiency coefficient, is the pump pressure;

[0025] The pump target flow is obtained from the pump displacement, and the calculation formula is as follows: , where, is the pump target flow, is the pump displacement, Set the rotational speed for the driver.

[0026] The pump target displacement is calculated from the pump target flow rate, and the calculation formula is as follows: , where is the pump target displacement, is the pump target flow rate, is the engine speed, is the pump efficiency coefficient;

[0027] The pump target torque is calculated from the pump target displacement, and the pump target current is obtained through the look-up table relationship between the pump target torque and the pump target current. The calculation formula is as follows: , , where is the pump target torque, is the pump target displacement, is the pump pressure, is the conversion coefficient between the pump pressure and the pump torque, is the pump target current, represents the look-up table relationship between the pump target torque and the pump target current.

[0028] Preferably, the steps of calculating the pump flow regulation value through the current engine speed include:

[0029] The pump target flow rate is obtained through the look-up table relationship between the engine speed and the pump target flow rate, and thus the pump target current is calculated. The calculation formula is as follows: , , , , is the pump target displacement, is the pump target flow rate, is the engine speed, is the pump efficiency coefficient, is the pump target torque, is the pump target displacement, is the pump pressure, is the conversion coefficient between the pump pressure and the pump torque, is the pump target current, represents the look-up table relationship between the pump target torque and the pump target current, represents the look-up table relationship between the engine speed and the pump target flow rate.

[0030] In a second aspect, the present application provides a constant power pump operation regeneration flow control system, including:

[0031] A data acquisition and analysis module, configured to acquire and analyze relevant data information for judging whether the working equipment enters the working regeneration state, and acquire and analyze relevant data information for judging whether the working regeneration speed increase condition is satisfied;

[0032] A calculation module, configured to calculate the pump flow regulation value through pump torque, pump pressure, and driver-set speed when the driver-set speed is less than or equal to the preset idle speed; and calculate the pump flow regulation value through the current engine speed when the driver-set speed is greater than the preset idle speed;

[0033] A control module, configured to perform flow regulation on the constant power pump based on the pump flow regulation value output by the calculation module, so that the flow of the constant power pump remains constant during the engine speed increase process.

[0034] In a third aspect, the present application provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and capable of running on the processor, where the processor executes the program to implement the working regeneration flow control method described in any one of the above.

[0035] In a fourth aspect, the present application provides a computer-readable storage medium, including a computer program, when the computer program is run on a computer or a processor, the electronic device executes the working regeneration flow control method described in any one of the above.

[0036] Based on the above technical solutions, the working regeneration flow control method of the constant power pump in the present application, compared with the prior art, at least has one of the following beneficial effects:

[0037] 1. In the working regeneration process of the working regeneration flow control method of the present application, through the idea of constant flow control, the power limit regulation of the constant power pump is calculated in two cases, and finally the pump displacement is reduced to make the hoisting speed have no sudden change, ensuring the working efficiency of the whole vehicle and the stability of hoisting;

[0038] 2. In the working regeneration flow control method of the present application, when the driver-set speed is less than or equal to the preset idle speed, the pump flow regulation value is calculated through pump torque, pump pressure, and driver-set speed. Because in this case, the working equipment (such as a crane) is in a low-speed or idle running state, and the demand of the hydraulic system is small. At this time, the flow of the hydraulic pump needs to be accurately adjusted according to the actual load situation to make the flow of the hydraulic pump match the actual demand and avoid unnecessary energy waste caused by excessive flow.

[0039] 3. For the operation regeneration flow control method of this application, when the driver-set rotational speed is greater than the preset idle speed, the target flow and target current are calculated based on the relationship between the current engine speed and the target flow. Because in this case, the working equipment (such as a crane) is operating at a relatively high rotational speed, and the demand of the hydraulic system is large. At this time, the flow of the hydraulic pump needs to be adjusted according to the actual rotational speed of the engine to ensure that the flow of the hydraulic pump matches the output capacity of the engine, so as to ensure that the hydraulic system can provide sufficient power and avoid a decrease in the hoisting efficiency due to insufficient flow.

[0040] 4. The operation regeneration flow control method of this application is configured with a flow regulation interruption strategy, which obtains data information such as pump pressure, engine speed, presence or absence of slewing action, whether the hoisting operation times out, and whether the regeneration speed is greater than the driver-set speed in real time, so as to judge whether the operation regeneration speed increase condition is always satisfied during the process of regulating the flow of the constant power pump. If at any moment, any one of the judgment conditions for the operation regeneration speed increase condition does not meet, the flow regulation process is exited. This can ensure that the operation regeneration process is carried out under relatively stable and controllable conditions.

[0041] Other features and advantages of this application will be described in the subsequent specification. And, partly, they will become obvious from the specification, or can be understood by implementing this application. The purposes and other advantages of this application can be realized and obtained through the structures specifically pointed out in the written specification and the accompanying drawings. Brief Description of the Drawings

[0042] Figure 1 It is a schematic flow chart of the operation regeneration flow control method for the constant power pump in this application. Detailed Embodiments

[0043] To make the purposes, technical solutions and advantages of this application clearer, the following will further describe this application in detail with reference to specific embodiments and the accompanying drawings.

[0044] The terms used in the embodiments of this application are only for the purpose of describing specific embodiments, and are not intended to limit the embodiments of this application. The singular forms "a", "the" and "said" used in the embodiments of this application are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0045] Aiming at the deficiencies of the prior art, the purpose of this application is to provide a constant power pump operation regeneration flow control method, aiming to overcome the problem that the current operation regeneration control system does not have a control mechanism to maintain the hoisting stability and cannot solve the problem of maintaining the hoisting speed stability by controlling the constant flow of the constant power pump.

[0046] The basic idea of this application is to calculate the power limit adjustment for a constant - power pump in two cases through the idea of constant - flow control. When the driver - set speed is less than or equal to the preset idle speed, the pump - flow adjustment value is calculated based on the pump torque, pump pressure, and driver - set speed. Because in this case, the working equipment (such as a crane) is operating at a low speed or idle speed, and the demand of the hydraulic system is small. At this time, the flow rate of the hydraulic pump needs to be accurately adjusted according to the actual load situation to make the flow rate of the hydraulic pump match the actual demand, avoiding unnecessary energy waste caused by excessive flow. When the driver - set speed is greater than the preset idle speed, the target flow rate and target current are calculated based on the relationship between the current engine speed and the target flow rate. Because in this case, the working equipment (such as a crane) is operating at a higher speed, and the demand of the hydraulic system is large. At this time, the flow rate of the hydraulic pump needs to be adjusted according to the actual speed of the engine to ensure that the flow rate of the hydraulic pump matches the output capacity of the engine, so as to ensure that the hydraulic system can provide sufficient power and avoid a decrease in hoisting efficiency due to insufficient flow. Finally, it is realized to reduce the pump displacement so that the hoisting speed has no sudden change, ensuring the overall vehicle operation efficiency and the stability of hoisting.

[0047] Embodiment 1

[0048] In order to develop an operating regenerative - flow control method for a constant - power pump, this application has conducted in - depth research on the power limit adjustment of the constant - power pump and proposed a constant - power pump operating regenerative - flow control method.

[0049] Specifically, as Figure 1 shown, this application provides a constant - power pump operating regenerative - flow control method, including:

[0050] Respond to the working equipment entering the operating regenerative state and meeting the operating regenerative speed - increase condition, and adjust the flow rate of the constant - power pump so that the flow rate of the constant - power pump remains constant during the engine - speed increase process;

[0051] Optionally, the above - mentioned working equipment may include but is not limited to: equipment such as a crane, an excavator, a bulldozer, a loader, etc.

[0052] Among them, if the driver - set speed is less than or equal to the preset idle speed, the pump - flow adjustment value is calculated based on the pump torque, pump pressure, and driver - set speed; if the driver - set speed is greater than the preset idle speed, the pump - flow adjustment value is calculated based on the current engine speed. The driver - set speed is set by the driver through a handle or a button, and the set value is collected by the controller. The preset idle speed refers to the idle - speed threshold set in the ECU, and the specific selectable range is 900 - 1300, with the unit of rpm.

[0053] Preferably, the operating regenerative - flow control method is configured with a flow - adjustment interruption strategy, and the flow - adjustment interruption strategy includes:

[0054] Obtain data information such as pump pressure, engine speed, presence or absence of slewing action, whether the hoisting operation times out, and whether the regeneration speed is greater than the driver-set speed in real time, so as to judge whether the operation regeneration speed increase condition is always satisfied during the process of adjusting the flow rate of the constant power pump;

[0055] At any moment, including the waiting stage before entering the regeneration flow control and the operation regeneration flow adjustment stage after entering the regeneration flow control, if any one of the judgment conditions for the operation regeneration speed increase condition does not meet, exit the flow rate adjustment process. Return to the initial stage of the regeneration flow control again, that is, judge whether the operation equipment enters the operation regeneration state and meets the operation regeneration speed increase condition. By configuring the flow rate adjustment interruption strategy, it can ensure that the operation regeneration process is carried out under relatively stable and controllable conditions.

[0056] Specifically, the judgment conditions for the operation equipment to enter the operation regeneration state include: the operation equipment meets the operation condition, and the engine DPF status signal value is 1. Among them, the operation condition includes: the engine torque is greater than the first torque threshold, the pump outlet pressure is greater than the first pressure threshold, and the pump torque is greater than the second torque threshold; among them, the values of the first torque threshold and the second torque threshold are both positive numbers, the unit is Nm, and the value of the first pressure threshold is a positive number, the unit is bar.

[0057] Preferably, the operation regeneration flow control method can be applied to a crane, an excavator, a bulldozer, or a loader. The flow control method applied to the hoisting regeneration (i.e., operation regeneration) process of a crane is described in this embodiment. Specifically, the judgment conditions for the operation regeneration speed increase condition in this embodiment include: the pump pressure is stable, the engine speed is stable, there is no slewing action, the hoisting operation does not exceed the time limit, and the regeneration speed is greater than the driver-set speed (the regeneration speed refers to the actual speed of the engine during operation regeneration). Among them, the judgment logic for stable pump pressure includes: the first condition: the pump pressure fluctuates within the range of the preset minimum value and the preset maximum value; or the second condition: the absolute value of the difference between the current pump pressure and the pump pressure before the preset time is less than or equal to the preset pump pressure limit value (the preset time here refers to a very short period of time, such as 150 ms - 250 ms, and the acquisition period of the controller is 10 ms; the preset pump pressure limit value can be set according to the actual situation, and the purpose is to also recognize the situation where the instantaneous change amplitude of the pump pressure is small as a stable pump pressure situation); or the third condition: the absolute value of the difference between the current pump pressure and the pump pressure before the preset time is greater than the preset pump pressure limit value but the duration is less than the preset duration (the difference between this situation and the second situation is that the instantaneous change of the pump pressure is large, but this change is short and the duration is short; the specific preset duration can be set according to the actual situation). The above three conditions, namely the first condition, the second condition, and the third condition, all determine that the pump pressure is stable. The judgment logic for stable engine speed includes: if the absolute value of the difference between the current engine speed and the engine speed before the preset time is less than or equal to the preset engine speed limit value (similarly, the preset time here refers to a very short period of time, and the purpose is to also recognize the situation where the instantaneous change amplitude of the speed is small as a stable speed situation); or the absolute value of the difference between the current engine speed and the engine speed before the preset time is greater than the preset engine speed limit value but the duration is less than the preset duration (the difference between this situation and the first situation is that the instantaneous change of the speed is large, but this change is short and the duration is short; the specific preset duration can be set according to the actual situation). The above two conditions both determine that the engine speed is stable.

[0058] Preferably, it is determined that the hoisting operation is not overtime by the number of load mutations being less than the number threshold. Here, the number of load mutations refers to the sudden change in the load of the operating equipment (such as a crane) during the hoisting operation. For example, the weight of the heavy object suddenly increases or decreases, or unexpected resistance is encountered during the hoisting process. Load mutations usually cause an instantaneous increase or decrease in the load of the hydraulic system and the engine, thus affecting the stability and efficiency of hoisting. By restricting the number of load mutations, it is possible to ensure that the hoisting operation is carried out under relatively stable and controllable conditions, avoiding the extension of the operation time due to frequent load changes, thereby improving the operation efficiency. Specifically, the situations of load mutations include: the difference between the driver-set rotational speed and the actual rotational speed of the engine is greater than or equal to the first rotational speed threshold. The first rotational speed threshold is a positive number and can be set according to the actual situation, with the unit of rpm; or the engine load rate is greater than the first load rate threshold. The first load rate threshold takes a positive value and can be set according to the actual situation, with the unit of %; or the pump outlet pressure is greater than the second pressure threshold (when the outlet pressure of the hydraulic pump exceeds the preset value, it indicates that the hydraulic system may have an increase in pressure due to an increase in load). The second pressure threshold takes a positive value and can be set according to the actual situation, with the unit of bar; or the actual rotational speed of the engine is less than the second rotational speed threshold and the change amount of the engine load rate is greater than the second load rate threshold (when the engine speed drops and the change amount of the load rate exceeds the preset value, it indicates that the engine may have a speed drop due to a load mutation). The second rotational speed threshold is a positive number, with the unit of rpm, and the second load rate threshold takes a positive value, with the unit of %. Both can be set according to the actual situation.

[0059] Preferably, the steps of calculating the pump flow regulation value through pump torque, pump pressure, and driver-set rotational speed include:

[0060] The pump displacement is calculated from the pump torque and the pump pressure. The calculation formula is as follows: , where is the pump displacement, is the pump torque, is the conversion coefficient between the pump pressure and the pump torque, is the pump efficiency coefficient, is the pump pressure.

[0061] The pump target flow is obtained from the pump displacement. The calculation formula is as follows: , where is the pump target flow, is the pump displacement, is the driver-set rotational speed.

[0062] The pump target displacement is calculated from the pump target flow. The calculation formula is as follows: , where is the pump target displacement, is the pump target flow, is the engine speed, is the pump efficiency coefficient.

[0063] Calculate the pump target torque from the pump target displacement, and obtain the pump target current through the look-up table relationship between the pump target torque and the pump target current. The calculation formula is as follows: , , where is the pump target torque, is the pump target displacement, is the pump pressure, is the conversion coefficient between the pump pressure and the pump torque, is the pump target current, represents the look-up table relationship between the pump target torque and the pump target current. Through the look-up table relationship between the pump target torque and the pump target current, the pump target current can be determined quickly and accurately. The establishment of this look-up table relationship is based on experimental data and theoretical calculations. By collecting data through experiments, fitting theoretical models, and organizing data, a quickly queryable table is formed. The look-up table relationship is based on experimental data and theoretical calculations, and can provide accurate target flow rates. In addition, the look-up table relationship can also be adjusted and optimized according to the actual working conditions to adapt to different operating requirements.

[0064] Preferably, the steps of calculating the pump flow regulation value through the current engine speed include:

[0065] Obtain the pump target flow rate through the look-up table relationship between the engine speed and the pump target flow rate, and thus calculate the pump target current. The calculation formula is as follows: , , , , is the pump target displacement, is the pump target flow rate, is the engine speed, is the pump efficiency coefficient, is the pump target torque, is the pump target displacement, is the pump pressure, is the conversion coefficient between the pump pressure and the pump torque, is the pump target current, represents the look-up table relationship between the pump target torque and the pump target current, Represents the look-up table relationship between engine speed and pump target flow. Through the look-up table relationship between engine speed and pump target flow, the target flow of the hydraulic pump can be determined quickly and accurately. The establishment of this look-up table relationship is based on experimental data and theoretical calculations. By collecting data through experiments, fitting theoretical models, and organizing data, a quickly queryable table is formed. During actual operation, by monitoring the engine speed in real time and querying the table, precise control of the pump flow can be achieved, thus realizing the goal of constant flow control. The look-up table relationship is based on experimental data and theoretical calculations, and can provide accurate target flow. In addition, the look-up table relationship can also be adjusted and optimized according to actual working conditions to adapt to different operation requirements.

[0066] Embodiment 2

[0067] This embodiment provides a constant power pump operation regeneration flow control system, including:

[0068] A data acquisition and analysis module, configured to collect and analyze relevant data information for determining whether the operating equipment enters the operation regeneration state, and to collect and analyze relevant data information for determining whether the operation regeneration speed increase condition is satisfied;

[0069] A calculation module, configured to calculate the pump flow adjustment value through pump torque, pump pressure, and driver-set speed when the driver-set speed is less than or equal to the preset idle speed; and to calculate the pump flow adjustment value through the current engine speed when the driver-set speed is greater than the preset idle speed;

[0070] A control module, configured to perform flow adjustment on the constant power pump based on the pump flow adjustment value output by the calculation module, so that the flow of the constant power pump remains constant during the engine speed increase process.

[0071] The constant power pump operation regeneration flow control system of this embodiment has at least the following beneficial effects compared with the prior art: In the operation regeneration process, this operation regeneration flow control system calculates the power limit adjustment of the constant power pump in two cases through the idea of constant flow control, and finally realizes reducing the pump displacement so that the lifting speed has no sudden change, ensuring the operation efficiency of the whole vehicle and the stability of lifting; When the driver-set speed is less than or equal to the preset idle speed, this operation regeneration flow control system calculates the pump flow adjustment value through the pump torque, pump pressure, and driver-set speed. Because in this case, the operation equipment (such as a crane) is running at a low speed or idle speed, and the demand of the hydraulic system is small. At this time, the flow of the hydraulic pump needs to be accurately adjusted according to the actual load situation to make the flow of the hydraulic pump match the actual demand and avoid unnecessary energy waste caused by excessive flow. When the driver-set speed is greater than the preset idle speed, this operation regeneration flow control system calculates the target flow and target current through the relationship between the current engine speed and the target flow. Because in this case, the operation equipment (such as a crane) is running at a relatively high speed, and the demand of the hydraulic system is large. At this time, the flow of the hydraulic pump needs to be adjusted according to the actual speed of the engine to ensure that the flow of the hydraulic pump matches the output capacity of the engine, so as to ensure that the hydraulic system can provide sufficient power and avoid a decrease in lifting efficiency due to insufficient flow. This operation regeneration flow control system is configured with a flow adjustment interruption strategy, which obtains data information such as pump pressure, engine speed, whether there is a slewing action, whether the lifting operation times out, and whether the regeneration speed is greater than the driver-set speed in real time to judge whether the operation regeneration speed increase condition is always met during the process of adjusting the flow of the constant power pump. If any one of the judgment conditions for the operation regeneration speed increase condition does not meet at any moment, the flow adjustment process is exited. This can ensure that the operation regeneration process is carried out under relatively stable and controllable conditions.

[0072] Embodiment III

[0073] This embodiment provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The processor executes the program to implement the job regeneration flow control method in the first embodiment above, and implement the following functions: Through the idea of constant flow control, the power limit adjustment of the constant power pump is calculated in two cases. When the driver-set speed is less than or equal to the preset idle speed, the pump flow adjustment value is calculated through the pump torque, pump pressure, and driver-set speed. Because in this case, the working equipment (such as a crane) is operating at a low speed or idle speed, and the demand of the hydraulic system is small. At this time, the flow of the hydraulic pump needs to be accurately adjusted according to the actual load situation to match the flow of the hydraulic pump with the actual demand and avoid unnecessary energy waste caused by excessive flow. When the driver-set speed is greater than the preset idle speed, the target flow and target current are calculated through the relationship between the current engine speed and the target flow. Because in this case, the working equipment (such as a crane) is operating at a relatively high speed, and the demand of the hydraulic system is large. At this time, the flow of the hydraulic pump needs to be adjusted according to the actual speed of the engine to ensure that the flow of the hydraulic pump matches the output capacity of the engine, so as to ensure that the hydraulic system can provide sufficient power and avoid a decrease in the lifting efficiency due to insufficient flow. Finally, the pump displacement is reduced to make the lifting speed have no sudden change, ensuring the overall vehicle operation efficiency and the stability of lifting. Specifically, the electronic device can be the controller in a specific device.

[0074] Embodiment Four

[0075] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is run on a computer or a processor, the computer or the processor is caused to execute the steps of the above constant flow control method and implement the following functions: Through the idea of constant flow control, the power limit adjustment of the constant power pump is calculated in two cases. When the driver-set speed is less than or equal to the preset idle speed, the pump flow adjustment value is calculated based on the pump torque, pump pressure, and driver-set speed. Because in this case, the working equipment (such as a crane) is in a low-speed or idle running state, and the demand of the hydraulic system is small. At this time, the flow rate of the hydraulic pump needs to be accurately adjusted according to the actual load situation to make the flow rate of the hydraulic pump match the actual demand and avoid unnecessary energy waste caused by excessive flow rate. When the driver-set speed is greater than the preset idle speed, the target flow rate and target current are calculated based on the relationship between the current engine speed and the target flow rate. Because in this case, the working equipment (such as a crane) is in a high-speed running state, and the demand of the hydraulic system is large. At this time, the flow rate of the hydraulic pump needs to be adjusted according to the actual speed of the engine to ensure that the flow rate of the hydraulic pump matches the output capacity of the engine, so as to ensure that the hydraulic system can provide sufficient power and avoid a decrease in the hoisting efficiency due to insufficient flow rate. Finally, the pump displacement is reduced to make the hoisting speed have no sudden change, ensuring the overall vehicle operation efficiency and the stability of hoisting.

[0076] The above describes specific embodiments of the embodiments of the present application. Additionally, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0077] In the description of the embodiments of the present application, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In the embodiments of the present application, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in the embodiments of the present application and the features of different embodiments or examples.

[0078] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features, excluding any order. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature and are used to distinguish each other. In the description of the embodiments of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0079] Any process or method description shown in a flowchart or otherwise described herein may be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a customized logical function or process. The scope of the preferred embodiments of the embodiments of the present application includes additional implementations, where functions may be performed in a substantially simultaneous manner or in an order opposite to that shown or discussed, according to the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0080] The above are only the preferred embodiments of the embodiments of the present application and are not intended to limit the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the embodiments of the present application shall be included within the scope of protection of the embodiments of the present application.

Claims

1. A method for controlling the regeneration flow rate of a constant power pump, which is applied to the regeneration of crane hoisting, is characterized in that Including: In response to the work equipment entering the work regeneration state and meeting the work regeneration speed increase condition, the flow rate of the constant power pump is adjusted so that the flow rate of the constant power pump remains constant during the engine speed increase process; Among them, if the driver-set speed is less than or equal to the preset idle speed, the pump flow rate adjustment value is calculated through the pump torque, pump pressure, and the driver-set speed; if the driver-set speed is greater than the preset idle speed, the pump flow rate adjustment value is calculated through the current engine speed; The judgment conditions for the work regeneration speed increase condition include: the pump pressure is stable, the engine speed is stable, there is no slewing action, the hoisting operation is not timed out, and the regeneration speed is greater than the driver-set speed, where the regeneration speed refers to the actual speed of the engine during work regeneration; Through the idea of constant flow control, the power limit adjustment of the constant power pump is calculated in two cases, and finally the pump displacement is reduced to make the hoisting speed have no sudden change; The determination logic for the engine speed stability includes: the fourth condition: the absolute value of the difference between the current engine speed and the engine speed before the preset time is less than or equal to the preset engine speed limit value, or the fifth condition: the absolute value of the difference between the current engine speed and the engine speed before the preset time is greater than the preset engine speed limit value but the duration is less than the preset duration, and both the fourth condition and the fifth condition determine that the engine speed is stable.

2. The operation regeneration flow control method according to claim 1, wherein The judgment conditions for the work equipment to enter the work regeneration state include: the work equipment meets the work execution conditions, and the engine DPF status signal value is 1.

3. The operation regeneration flow control method according to claim 2, characterized in that The work execution conditions include: the engine torque is greater than the first torque threshold, the pump outlet pressure is greater than the first pressure threshold, and the pump torque is greater than the second torque threshold; among them, the values of the first torque threshold and the second torque threshold are both positive numbers, with the unit of Nm, and the value of the first pressure threshold is a positive number, with the unit of bar.

4. The operation regeneration flow control method according to claim 1, wherein The work regeneration flow control method is configured with a flow adjustment interruption strategy, and the flow adjustment interruption strategy includes: Obtain the data information of the pump pressure, the engine speed, whether there is a slewing action, whether the hoisting operation is timed out, and whether the regeneration speed is greater than the driver-set speed in real time to judge whether the work regeneration speed increase condition is always met during the process of adjusting the flow rate of the constant power pump; If at any moment, any one of the judgment conditions for the work regeneration speed increase condition does not meet, the flow adjustment process is exited.

5. The operation regeneration flow control method according to claim 1, characterized in that The determination logic for the pump pressure stability includes: the first condition: the pump pressure fluctuates within the range of the preset minimum value and the preset maximum value, or the second condition: the absolute value of the difference between the current pump pressure and the pump pressure before the preset time is less than or equal to the preset pump pressure limit value, or the third condition: the absolute value of the difference between the current pump pressure and the pump pressure before the preset time is greater than the preset pump pressure limit value but the duration is less than the preset duration, and the first condition, the second condition, and the third condition all determine that the pump pressure is stable.

6. The operation regeneration flow control method according to claim 1, wherein It is determined that the hoisting operation is not timed out by the number of load mutations being less than the number threshold; among them, the situations of load mutations include: The difference between the driver-set rotational speed and the actual engine rotational speed is greater than or equal to the first rotational speed threshold, or the engine load rate is greater than the first load rate threshold, or the pump outlet pressure is greater than the second pressure threshold, or the actual engine rotational speed is less than the second rotational speed threshold and the change amount of the engine load rate is greater than the second load rate threshold.

7. The operation regeneration flow control method according to claim 1, wherein The steps of calculating the pump flow regulation value through pump torque, pump pressure, and the driver-set rotational speed include: The pump displacement is calculated from the pump torque and the pump pressure, and the calculation formula is as follows: , where is the pump displacement, is the pump torque, is the conversion coefficient between the pump pressure and the pump torque, is the pump efficiency coefficient, is the pump pressure; The pump target flow rate is obtained from the pump displacement, and the calculation formula is as follows: , where is the pump target flow rate, is the rotational speed set by the driver; The pump target displacement is calculated from the pump target flow rate, and the calculation formula is as follows: , where is the pump target displacement, is the engine speed; Calculate the pump target torque from the pump target displacement, and obtain the pump target current through the look-up table relationship between the pump target torque and the pump target current. The calculation formula is as follows: , , where is the pump target torque, is the pump target current, represents the look-up table relationship between the pump target torque and the pump target current.

8. The operation regeneration flow control method according to claim 1, wherein, The steps of calculating the pump flow regulation value through the current engine rotational speed include: The pump target flow rate is obtained through the look-up table relationship between the engine speed and the pump target flow rate, and then the pump target current is calculated. The calculation formula is as follows: , , , , is the pump target displacement, is the pump target flow rate, is the engine speed, is the pump efficiency coefficient, is the pump target torque, is the pump pressure, is the conversion coefficient between the pump pressure and the pump torque, is the pump target current, represents the look-up table relationship between the pump target torque and the pump target current, represents the look-up table relationship between the engine speed and the pump target flow rate.

9. A constant power pump operation regeneration flow control system, which is applied to crane hoisting regeneration, is characterized in that including: A data acquisition and analysis module, configured to acquire and analyze relevant data information for determining whether the working equipment enters the operation regeneration state, and to acquire and analyze relevant data information for determining whether the operation regeneration rotational speed increase condition is satisfied; The judgment conditions for the operation regeneration rotational speed increase condition include: stable pump pressure, stable engine rotational speed, no slewing action, no timeout for the hoisting operation, and the regeneration rotational speed is greater than the driver-set rotational speed, where the regeneration rotational speed refers to the actual rotational speed of the engine during the operation regeneration; The determination logic for the stable engine rotational speed includes: the fourth condition: the absolute value of the difference between the current engine rotational speed and the engine rotational speed before a preset time is less than or equal to the preset engine rotational speed limit value, or the fifth condition: the absolute value of the difference between the current engine rotational speed and the engine rotational speed before the preset time is greater than the preset engine rotational speed limit value but the duration is less than the preset duration, and both the fourth condition and the fifth condition determine that the engine rotational speed is stable; A calculation module, configured to calculate the pump flow regulation value through pump torque, pump pressure, and the driver-set rotational speed when the driver-set rotational speed is less than or equal to the preset idle speed; and to calculate the pump flow regulation value through the current engine rotational speed when the driver-set rotational speed is greater than the preset idle speed; by the idea of constant flow control, calculate the power limit regulation for the constant power pump in two cases, and finally achieve reducing the pump displacement so that the hoisting speed has no sudden change; A control module, configured to perform flow regulation on the constant power pump based on the pump flow regulation value output by the calculation module, so that the flow rate of the constant power pump remains constant during the engine rotational speed increase process.

10. An electronic device, characterized in that, including: A memory, a processor, and a computer program stored on the memory and capable of running on the processor, and the processor executes the computer program to implement the operation regeneration flow control method according to any one of claims 1-8.

11. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is run on a computer or a processor, the computer or the processor executes the operation regeneration flow control method according to any one of claims 1-8.

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