Pressure determination method and device for open type hydraulic system

Abstract

The invention provides a pressure determining method and device of an open type hydraulic system. According to the method, the three-stage pressure containing cavity of the open type hydraulic system is established through containing cavity segmentation, obtaining of the excavator walking device state and the working device control valve state is combined, and application of the pump outlet containing cavity model, the control valve oil inlet containing cavity model and the hydraulic executing mechanism containing cavity model is combined; according to the method, accurate dynamic pressure calculation and multi-level characteristic representation of the hydraulic system under all working conditions are achieved, the problem that the detection value of a hydraulic sensor in an existing open type hydraulic system is prone to being affected by the working conditions is solved, and the precision and adaptability of the system are remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of hydraulic control technology, and in particular to a method for determining pressure of an open hydraulic system, a pressure determining device of an open hydraulic system, a computer-readable storage medium, and an electronic device. Background Art

[0002] Open hydraulic systems are widely used in the field of excavators. The working environment is mostly construction sites, mines, etc. The working conditions of hydraulic sensors are relatively harsh. The vibration of the whole machine and the pressure shock may cause the detection value of the hydraulic sensor to deviate from the normal value range or be damaged, resulting in abnormal control action, and even failure to cut off the hydraulic system protection under extreme working conditions. Summary of the invention

[0003] The main purpose of the present application is to provide a pressure determination method for an open hydraulic system, a pressure determination device for an open hydraulic system, a computer-readable storage medium and an electronic device, so as to at least solve the problem that the detection value of the hydraulic sensor in the current open hydraulic system is easily affected by the working conditions.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for determining the pressure of an open hydraulic system is provided, including: obtaining the state of an excavator walking device and the state of an excavator working device control valve, wherein the state of the excavator walking device is a neutral position or a working position, and the state of the excavator working device control valve is a neutral position or a working position; according to the state of the excavator walking device and the state of the excavator working device control valve, determining a first-level pressure calculation result and a second-level pressure calculation result of the open hydraulic system, wherein the first-level pressure calculation result is calculated based on a pump outlet cavity model, and the second-level pressure calculation result is calculated based on a control valve oil inlet cavity model; using a hydraulic actuator cavity model to characterize the third-level pressure calculation result of the open hydraulic system.

[0005] Optionally, the open hydraulic system includes a first series circuit, which includes a first main pump, a left traveling device, a first boom, a second dipper arm and a bucket, wherein a first-level pressure calculation result of the open hydraulic system is determined according to the state of the excavator traveling device and the state of the excavator working device control valve, including: when the left traveling device, the first boom control valve, the second dipper arm control valve and the bucket control valve are all in the middle position, or when the left traveling device is in the working position and the first boom control valve, the second dipper arm control valve and the bucket control valve are all in the middle position, the first-level pressure calculation result of the open hydraulic system is determined to be calculated based on the pump outlet cavity model of the first main pump.

[0006] Optionally, the second-level pressure calculation result of the open hydraulic system is determined according to the state of the excavator walking device and the state of the excavator working device control valve, including: when at least one of the first boom control valve, the second dipper arm control valve and the bucket control valve is in the working position, determining that the second-level pressure calculation result of the open hydraulic system is calculated based on a cavity model established at the oil inlet of the control valve in the working position.

[0007] Optionally, the open hydraulic system includes a second series circuit, the second series circuit includes a second main pump, a right traveling device, a slewing, a second boom, a special working device and a first dipper arm, the special working device includes a hydraulic breaker or a hydraulic shear, wherein the first-level pressure calculation result of the open hydraulic system is determined according to the state of the excavator traveling device and the state of the excavator working device control valve, including: when the right traveling device, the slewing control valve, the second boom control valve, the special working device control valve and the first dipper arm control valve are in the middle position, or when the right traveling device is in the working position and the slewing control valve, the second boom control valve, the special working device control valve and the first dipper arm control valve are all in the middle position, determining that the first-level pressure calculation result of the open hydraulic system is calculated based on the pump outlet cavity model of the second main pump.

[0008] Optionally, the second-level pressure calculation result of the open hydraulic system is determined according to the state of the excavator walking device and the state of the excavator working device control valve, including: when at least one of the swing control valve, the second boom control valve, the special working device control valve and the first boom control valve is in the working position, determining that the second-level pressure calculation result of the open hydraulic system is calculated based on a cavity model established at the oil inlet of the control valve in the working position.

[0009] Optionally, the open hydraulic system includes a first series circuit and a second series circuit, the first series circuit includes a first main pump, a left traveling device, a first boom, a second dipper and a bucket, and the second series circuit includes a second main pump, a right traveling device, a swing, a second boom, a special working device and a first dipper, wherein the first-level pressure calculation result of the open hydraulic system is determined according to the state of the excavator traveling device and the state of the excavator working device control valve, including: if the left traveling device and the right traveling device are both in the working position, and at least one of the excavator working device control valves is not in the middle position, the pressure of the excavator traveling device is expressed by the first-level pressure calculation result based on the first main pump, and the pressure of the excavator working device control valve is expressed by the first-level pressure calculation result based on the second main pump.

[0010] Optionally, the second-level pressure calculation result of the open hydraulic system is determined according to the state of the excavator walking device and the state of the excavator working device control valve, including: if the control valves except the bucket control valve in the left walking device, the right walking device and the excavator working device control valve are all in the middle position, and the bucket control valve is in the retracted action working position, equivalent pressure chambers from the first main pump and the second main pump are respectively created at the oil inlet of the bucket control valve to obtain the second-level pressure calculation result based on the first main pump and the second main pump.

[0011] According to another aspect of the present application, a pressure determination device for an open hydraulic system is provided, comprising: an acquisition unit, used to acquire the state of an excavator walking device and the state of an excavator working device control valve, wherein the state of the excavator walking device is a neutral position or a working position, and the state of the excavator working device control valve is a neutral position or a working position; a determination unit, used to determine a first-level pressure calculation result and a second-level pressure calculation result of the open hydraulic system according to the state of the excavator walking device and the state of the excavator working device control valve, wherein the first-level pressure calculation result is calculated based on a pump outlet cavity model, and the second-level pressure calculation result is calculated based on a control valve oil inlet cavity model; a characterization unit, used to characterize the third-level pressure calculation result of the open hydraulic system using a hydraulic actuator cavity model.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the methods for determining the pressure of an open hydraulic system.

[0013] According to another aspect of the present application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for executing the pressure determination of any one of the open hydraulic systems described.

[0014] By applying the technical solution of the present application, the state of the excavator travel device and the state of the excavator working device control valve are first obtained, wherein the state of the excavator travel device is the middle position or the working position, and the state of the excavator working device control valve is the middle position or the working position; then, according to the state of the excavator travel device and the state of the excavator working device control valve, the first-level pressure calculation result and the second-level pressure calculation result of the open hydraulic system are determined, wherein the first-level pressure calculation result is calculated based on the pump outlet cavity model, and the second-level pressure calculation result is calculated based on the control valve inlet cavity model; finally, the hydraulic actuator cavity model is used to characterize the third-level pressure calculation result of the open hydraulic system. The present application establishes a three-level pressure cavity of an open hydraulic system by cavity segmentation, and combines the acquisition of the state of the excavator travel device and the state of the working device control valve, as well as the application of the pump outlet cavity model, the control valve inlet cavity model and the hydraulic actuator cavity model, to realize the precise dynamic calculation of the pressure of the hydraulic system under all working conditions and the multi-level characteristic characterization, and solves the problem that the detection value of the hydraulic sensor in the current open hydraulic system is easily affected by the working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 A schematic flow chart of a method for determining pressure of an open hydraulic system provided according to an embodiment of the present application is shown;

[0017] Figure 2 A schematic flow chart of a specific method for determining pressure of an open hydraulic system provided according to an embodiment of the present application is shown;

[0018] Figure 3 A schematic structural diagram of a specific method for determining pressure of an open hydraulic system provided according to an embodiment of the present application is shown;

[0019] Figure 4 A structural block diagram of a pressure determination device for an open hydraulic system provided according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0020] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0021] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] As introduced in the background technology, the working conditions of hydraulic sensors in the prior art are relatively harsh. The vibration of the whole machine and the pressure shock may cause the detection value of the hydraulic sensor to deviate from the normal numerical range or be damaged, resulting in abnormal control action and even inability to cut off the hydraulic system protection under extreme working conditions. In order to solve the problem that the detection value of the hydraulic sensor in the current open hydraulic system is easily affected by the working conditions, the embodiments of the present application provide a pressure determination method for an open hydraulic system, a pressure determination device for an open hydraulic system, a computer-readable storage medium and an electronic device.

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0025] In this embodiment, a method for determining the pressure of an open hydraulic system running in an excavator is provided. The method realizes accurate calculation and dynamic feedback of multi-level pressures by applying state monitoring and calculation models of key nodes of the hydraulic system. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and these instructions can be stored in a computer readable medium, such as a memory, a hard disk or a cloud storage. Although the specific steps are shown in a logical order in the flowchart, in actual applications, these steps can be executed in different orders, in parallel or repeatedly as needed. For example, certain steps can be executed preferentially when the sensor state is abnormal to ensure the reliability and stability of the system. The method in the above embodiment can adapt to the needs of different working conditions, while improving the adaptability of the hydraulic system in a complex working environment.

[0026] In the pressure determination method of the open hydraulic system, the function of the pressure sensor is crucial. When the pressure sensor is fault-free, the control system will directly use the real-time data collected by the pressure sensor to monitor and adjust the pressure. However, in actual applications, the pressure sensor may fail or be abnormal, causing the sensor to fail to work properly. In order to avoid the hydraulic system from failing to operate normally in this case, affecting the operating efficiency and safety of the excavator, the present invention proposes using the pressure calculation result of the open hydraulic system as an alternative when the pressure sensor fails.

[0027] Specifically, when a pressure sensor failure is detected, the control system will calculate the system pressure value based on the pressure calculation method of the open hydraulic system, the working state of the hydraulic system (such as the state of each control valve) and the volume model of the pump outlet, the volume model of the control valve inlet, etc. This calculation result can ensure that even if the pressure sensor fails, the hydraulic system can still calculate a reasonable pressure value, thereby maintaining the normal operation of the system.

[0028] Figure 1 FIG. 1 is a flow chart of a method for determining pressure of an open hydraulic system according to an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0029] Step S101, obtaining the state of the excavator traveling device and the state of the excavator working device control valve, wherein the state of the excavator traveling device is a neutral position or a working position, and the state of the excavator working device control valve is a neutral position or a working position;

[0030] Specifically, in a hydraulic system, "neutral position" and "working position" are terms used to describe the state of a hydraulic control valve or an actuator (such as a traveling device, a working device, etc.). Neutral position refers to a control valve in a hydraulic system that is in a "stationary" or "non-working" state, that is, the hydraulic oil flow is cut off or kept in a circulating state, and the system does not perform any working action. Working position refers to a control valve in a hydraulic system that is switched to a "running" or "executing" state, that is, the hydraulic oil is directed to an actuator (such as a hydraulic cylinder, a motor), thereby driving the corresponding mechanical device to move or operate. The hydraulic system switches between the neutral position and the working position by switching the control valve to achieve different working actions and states. The neutral position is used for standby or energy recovery, while the working position is used to perform specific mechanical operations. For example, when the boom control valve is in the neutral position, the boom remains stationary, and when the boom control valve is in the working position, the boom may rise or fall. By real-time acquisition of the state of the excavator's traveling device and the state of the control valve of the excavator's working device, the current working state of each part of the hydraulic system can be accurately obtained as the basis for subsequent pressure calculations.

[0031] Step S102, determining the first-level pressure calculation result and the second-level pressure calculation result of the open hydraulic system according to the state of the excavator traveling device and the state of the excavator working device control valve, wherein the first-level pressure calculation result is calculated based on the pump outlet cavity model, and the second-level pressure calculation result is calculated based on the control valve oil inlet cavity model;

[0032] Specifically, in the open hydraulic system of the present application, an equivalent common hydraulic circuit structure is adopted. The circuit is composed of two one-way valves in parallel and merged at the main overflow valve. By establishing an equivalent cavity model, the overflow pressure characteristics of the hydraulic system can be effectively simulated. The specific pressure calculation can be achieved by the following formula: Where P is the cavity pressure, in Pa; P0 is the initial cavity pressure, in Pa; B is the bulk elastic modulus of the hydraulic oil, in Pa; Q is the flow rate change, in m 3 / s; V is the volume change, unit is m 3 The first-level pressure calculation result is calculated based on the pump outlet cavity model, reflecting the pressure characteristics of the hydraulic pump outlet; while the second-level pressure calculation result is calculated based on the control valve inlet cavity model, which can characterize the inlet pressure characteristics of the control valve under actual working conditions. Through hierarchical calculation, the multi-level pressure distribution of the hydraulic system can be more accurately characterized.

[0033] Step S103, using the hydraulic actuator cavity model to characterize the third-level pressure calculation result of the open hydraulic system.

[0034] Specifically, according to the hydraulic actuator, a fixed cavity of the rotating mechanism (such as a hydraulic pump, a hydraulic motor) and a variable cavity of the displacement mechanism (such as a hydraulic cylinder) are created. The actuator needs to reciprocate, the rotating mechanism has a symmetrical cavity, and the displacement mechanism has an asymmetrical cavity characteristic. The actuator is directly connected to the workload, and its cavity simulates the third-level pressure characteristic, that is, the working pressure characteristic of the hydraulic system actuator. Therefore, the modeling calculation in this step can better reflect the pressure changes of the hydraulic system under different execution states.

[0035] Through this embodiment, the present application establishes a three-level pressure chamber of an open hydraulic system by chamber segmentation, and combines the acquisition of the excavator walking device state and the working device control valve state, as well as the application of the pump outlet chamber model, the control valve oil inlet chamber model and the hydraulic actuator chamber model, to achieve dynamic calculation of pressure grading of the open hydraulic system, effectively solving the problems of complex layout and high risk of failure of pressure sensors in traditional hydraulic systems. Especially under extreme working conditions, the method provided in this embodiment can accurately feedback the system pressure distribution through chamber modeling and equivalent calculation, realize accurate monitoring of key nodes, and ensure the stable operation of the hydraulic system. At the same time, this method can also improve the adaptability and reliability of the hydraulic system, help improve the working efficiency and safety of excavators in complex working environments, and solve the problem that the detection value of the hydraulic sensor in the current open hydraulic system is easily affected by the working conditions.

[0036] Figure 2 A schematic flow chart of a specific method for determining pressure of an open hydraulic system provided in accordance with an embodiment of the present application is shown. Figure 3 FIG. 1 shows a schematic diagram of a specific method for determining pressure of an open hydraulic system according to an embodiment of the present application. Figure 2 and Figure 3 As shown, step S102 includes the following contents.

[0037] In the specific implementation process, the open hydraulic system includes a first series circuit, and the first series circuit includes a first main pump, a left walking device, a first boom, a second dipper arm and a bucket. The above step S102 can be implemented by the following steps:

[0038] When the left travel device, the first boom control valve, the second boom control valve and the bucket control valve are all in the neutral position, or the left travel device is in the working position and the first boom control valve, the second boom control valve and the bucket control valve are all in the neutral position, the first-stage pressure calculation result of the open hydraulic system is determined to be calculated based on the pump outlet cavity model of the first main pump.

[0039] This method creates a cavity model between the first main pump and the one-way valve of the first main pump common circuit, and simulates the first-stage pressure characteristics of the first main pump outlet. It can accurately obtain the first-stage pressure characteristics of the open hydraulic system under complex working conditions, and accurately characterize the system pressure under the state of the left travel device and related control valves. This can effectively avoid the signal error problem caused by vibration or impact of the hydraulic sensor in actual working conditions, while reducing the dependence on the sensor and improving the reliability and adaptability of the system in harsh environments.

[0040] Specifically, the above step S102 can be implemented by the following steps:

[0041] When at least one of the first boom control valve, the second dipper arm control valve and the bucket control valve is in the working position, the second-stage pressure calculation result of the open hydraulic system is determined to be calculated based on the cavity model established at the oil inlet of the control valve in the working position.

[0042] Among them, the working position of the bucket control valve is the outward-turned working position. When the first boom control valve and the second arm control valve are in the working position and the bucket control valve is in at least one of the outward-turned working position, an equivalent pressure chamber is created at the oil inlet of each control valve to simulate the second-level pressure characteristics of the oil inlet of the control valve at the outlet of the first main pump. This method can more realistically simulate the pressure distribution characteristics of the working device in the hydraulic system by establishing a chamber model at the oil inlet of the working position control valve. This can effectively improve the pressure calculation accuracy of the system under complex working conditions and ensure the accuracy of pressure transmission and feedback.

[0043] Specifically, the open hydraulic system includes a second series circuit, the second series circuit includes a second main pump, a right walking device, a swing, a second boom, a special working device and a first bucket arm, the special working device includes a hydraulic breaker or a hydraulic shear, and the above step S102 can be implemented by the following steps:

[0044] When the right traveling device, the swing control valve, the second boom control valve, the special working device control valve and the first boom control valve are in the middle position, or the right traveling device is in the working position and the swing control valve, the second boom control valve, the special working device control valve and the first boom control valve are all in the middle position, the first-stage pressure calculation result of the open hydraulic system is determined to be calculated based on the pump outlet cavity model of the second main pump.

[0045] Among them, the special working device may include a hydraulic breaker or a hydraulic shear, which works together with other hydraulic components through a control valve. When the control valve of the hydraulic breaker or hydraulic shear is in the working position, the hydraulic system will adjust its pressure characteristics to adapt to this special load requirement. It can be seen that in this case, most of the control valves in the system are in the middle position, which means that the load on the hydraulic system is small and does not involve excessive load or pressure fluctuations. The method creates a cavity model between the second main pump and the one-way valve of the common circuit of the second main pump, simulates the first-level pressure characteristics of the outlet of the second main pump, and effectively simulates the pressure characteristics of the hydraulic system under relatively stable working conditions. In the absence of high load and frequent switching of working states, the hydraulic system can operate stably and the pressure changes are relatively gentle. At this time, the pressure of the hydraulic system is mainly determined by the flow rate and cavity changes at the pump outlet. The calculation can reflect the pressure distribution of the hydraulic system in a stable state.

[0046] More specifically, the above step S102 can be implemented by the following steps:

[0047] When at least one of the swing control valve, the second boom control valve, the special working device control valve and the first boom control valve is in the working position, the second-stage pressure calculation result of the open hydraulic system is determined to be calculated based on the cavity model established at the oil inlet of the control valve in the working position.

[0048] It can be seen that when at least one of the swing control valve, the second boom control valve, the special working device control valve and the first boom control valve is in the working position, the hydraulic system will enter a high-load condition. The second-level pressure calculation result calculated by the volume cavity model established based on the oil inlet of the control valve of the second main pump can reflect the pressure change of the hydraulic system when performing high-load tasks. Especially when it comes to working devices such as swing, boom, and boom, this calculation method can accurately predict the pressure demand and change trend of the hydraulic system under different working conditions, ensuring that the system can work stably under high load conditions. The implementation of this method can dynamically adjust the pressure calculation model of the hydraulic system to ensure that during the working process of the hydraulic actuator, especially when special working devices (such as hydraulic breaker, hydraulic shear, etc.) are enabled, the hydraulic system can accurately feedback the pressure changes of each control point, thereby improving the accuracy and reliability of the system.

[0049] Further, the open hydraulic system includes a first series circuit and a second series circuit, the first series circuit includes a first main pump, a left travel device, a first boom, a second dipper and a bucket, and the second series circuit includes a second main pump, a right travel device, a swing, a second boom, a special working device and a first dipper. The above step S102 can be implemented by the following steps:

[0050] If both the left traveling device and the right traveling device are in the working position and at least one of the control valves of the excavator working device is not in the middle position, the pressure of the excavator traveling device is represented by the first-stage pressure calculation result based on the first main pump, and the pressure of the excavator working device control valve is represented by the first-stage pressure calculation result based on the second main pump.

[0051] It can be seen that when both the left and right traveling devices are in the working position and at least one of the control valves of the excavator working device is not in the middle position, the working state of the excavator is relatively complex and there are multiple loads. In this case, the traveling device and the working device of the excavator need to handle different pressure requirements respectively. Since the left and right traveling devices belong to different hydraulic circuits and are hydraulically driven by the first main pump and the second main pump respectively, the pressure calculation of the excavator traveling device adopts the first-level pressure calculation result based on the first main pump, and the pressure of the control valve of the excavator working device (such as the boom, the dipper, etc.) is expressed by the first-level pressure calculation result based on the second main pump. The implementation of this method can handle the pressure calculation requirements of the traveling device and the working device separately under complex working conditions, and ensure the precise adjustment of the hydraulic system under multiple load conditions. By calculating the pressure of the left and right traveling devices and the working device separately, the system pressure shock can be effectively avoided, the working efficiency can be optimized, and the stability and adaptability of the hydraulic system can be improved.

[0052] Furthermore, the above step S102 can be implemented by the following steps:

[0053] If all control valves except the bucket control valve in the left traveling device, the right traveling device and the excavator working device control valves are in the middle position, and the bucket control valve is in the retracted action working position, equivalent pressure chambers from the first main pump and the second main pump are created at the oil inlet of the bucket control valve respectively to obtain the second-stage pressure calculation result based on the first main pump and the second main pump.

[0054] It can be seen that if the control valves except the bucket control valve in the left travel device, the right travel device, and the excavator working device control valve are all in the middle position, and the bucket control valve is in the retracted action working position, at this time, the hydraulic system is in a relatively simple working condition, and the action requirements of the bucket are mainly concerned. At this time, the bucket control valve is in the retracted action working position, which means that the bucket is performing a specific operation, usually the retraction action of the hydraulic actuator. In order to accurately simulate the pressure characteristics of the hydraulic system under bucket control, the following steps are taken: at the oil inlet of the bucket control valve, equivalent pressure chambers from the first main pump and the second main pump are created respectively. This is because in actual operation, the hydraulic circuit involved in the bucket control valve needs to rely on the pressure support from the two main pumps at the same time, especially when the system load is large, the coordinated work of the two pumps can provide a stable pressure supply. When creating these two pressure chambers, the pressure models based on the first main pump and the second main pump are calculated respectively to simulate the pressure characteristics of the oil inlet of the bucket control valve. In this way, the second-level pressure calculation results based on the first main pump and the second main pump can be obtained. The calculation result reflects the actual pressure demand under the bucket control action, and can also provide a more accurate pressure regulation and control strategy. This method ensures that the hydraulic system can operate stably during the bucket retraction action, avoiding system failure caused by unstable pressure or overload, thereby improving the system's response accuracy and overall stability.

[0055] The embodiment of the present application also provides a pressure determination device for an open hydraulic system. It should be noted that the pressure determination device for an open hydraulic system of the embodiment of the present application can be used to execute the pressure determination method for an open hydraulic system provided by the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation in hardware, or a combination of software and hardware, is also possible and conceivable.

[0056] The following is an introduction to the pressure determination device of the open hydraulic system provided in the embodiment of the present application.

[0057] Figure 4 Schematic diagram of a pressure determination device for an open hydraulic system according to an embodiment of the present application. Figure 4 As shown, the device includes: an acquisition unit 10, a determination unit 20 and a characterization unit 30.

[0058] An acquisition unit 10 is used to acquire the state of the excavator traveling device and the state of the excavator working device control valve, wherein the state of the excavator traveling device is a neutral position or a working position, and the state of the excavator working device control valve is a neutral position or a working position;

[0059] Specifically, in a hydraulic system, "neutral position" and "working position" are terms used to describe the state of a hydraulic control valve or an actuator (such as a traveling device, a working device, etc.). Neutral position refers to a control valve in a hydraulic system that is in a "stationary" or "non-working" state, that is, the hydraulic oil flow is cut off or kept in a circulating state, and the system does not perform any working action. Working position refers to a control valve in a hydraulic system that is switched to a "running" or "executing" state, that is, the hydraulic oil is directed to an actuator (such as a hydraulic cylinder, a motor), thereby driving the corresponding mechanical device to move or operate. The hydraulic system switches between the neutral position and the working position by switching the control valve to achieve different working actions and states. The neutral position is used for standby or energy recovery, while the working position is used to perform specific mechanical operations. For example, when the boom control valve is in the neutral position, the boom remains stationary, and when the boom control valve is in the working position, the boom may rise or fall. By real-time acquisition of the state of the excavator's traveling device and the state of the control valve of the excavator's working device, the current working state of each part of the hydraulic system can be accurately obtained as the basis for subsequent pressure calculations.

[0060] A determination unit 20 is used to determine a first-level pressure calculation result and a second-level pressure calculation result of the open hydraulic system according to the state of the excavator traveling device and the state of the excavator working device control valve, wherein the first-level pressure calculation result is calculated based on the pump outlet cavity model, and the second-level pressure calculation result is calculated based on the control valve inlet cavity model;

[0061] Specifically, in the open hydraulic system of the present application, an equivalent common hydraulic circuit structure is adopted. The circuit is composed of two one-way valves in parallel and merged at the main overflow valve. By establishing an equivalent cavity model, the overflow pressure characteristics of the hydraulic system can be effectively simulated. The specific pressure calculation can be achieved by the following formula: Where P is the cavity pressure, in Pa; P0 is the initial cavity pressure, in Pa; B is the bulk elastic modulus of the hydraulic oil, in Pa; Q is the flow rate change, in m 3 / s; V is the volume change, unit is m 3 The first-level pressure calculation result is calculated based on the pump outlet cavity model, reflecting the pressure characteristics of the hydraulic pump outlet; while the second-level pressure calculation result is calculated based on the control valve inlet cavity model, which can characterize the inlet pressure characteristics of the control valve under actual working conditions. Through hierarchical calculation, the multi-level pressure distribution of the hydraulic system can be more accurately characterized.

[0062] The characterization unit 30 is used to characterize the third-level pressure calculation result of the open hydraulic system by using the hydraulic actuator cavity model.

[0063] Specifically, according to the hydraulic actuator, a fixed cavity of the rotating mechanism (such as a hydraulic pump, a hydraulic motor) and a variable cavity of the displacement mechanism (such as a hydraulic cylinder) are created. The actuator needs to reciprocate, the rotating mechanism has a symmetrical cavity, and the displacement mechanism has an asymmetrical cavity characteristic. The actuator is directly connected to the workload, and its cavity simulates the third-level pressure characteristic, that is, the working pressure characteristic of the hydraulic system actuator. Therefore, the modeling calculation in this step can better reflect the pressure changes of the hydraulic system under different execution states.

[0064] Through this embodiment, the present application provides a pressure determination device for an open hydraulic system. The device includes: an acquisition unit, a determination unit and a characterization unit. The acquisition unit is used to acquire the state of the excavator walking device and the state of the excavator working device control valve, wherein the state of the excavator walking device is the middle position or the working position, and the state of the excavator working device control valve is the middle position or the working position; the determination unit is used to determine the first-level pressure calculation result and the second-level pressure calculation result of the open hydraulic system according to the state of the excavator walking device and the state of the excavator working device control valve, wherein the first-level pressure calculation result is calculated based on the pump outlet cavity model, and the second-level pressure calculation result is calculated based on the control valve oil inlet cavity model; the characterization unit is used to characterize the third-level pressure calculation result of the open hydraulic system using the hydraulic actuator cavity model. The device establishes a three-level pressure chamber for an open hydraulic system by segmenting the chamber, and combines the acquisition of the excavator's walking device status and the working device control valve status, as well as the application of the pump outlet chamber model, the control valve oil inlet chamber model and the hydraulic actuator chamber model to achieve dynamic calculation of the pressure grading of the open hydraulic system, effectively solving the problems of complex layout of pressure sensors and high risk of failure in traditional hydraulic systems.

[0065] In a specific implementation process, the open hydraulic system includes a first series circuit, the first series circuit includes a first main pump, a left walking device, a first boom, a second dipper arm and a bucket, and the determination unit includes: a first determination module.

[0066] The first determination module is used to determine that the first-stage pressure calculation result of the open hydraulic system is calculated based on the pump outlet cavity model of the first main pump when the left travel device, the first boom control valve, the second dipper arm control valve and the bucket control valve are all in the neutral position, or the left travel device is in the working position and the first boom control valve, the second dipper arm control valve and the bucket control valve are all in the neutral position.

[0067] The device creates a cavity model between the first main pump and the first main pump common circuit check valve, simulating the first-stage pressure characteristics of the first main pump outlet. It can accurately obtain the first-stage pressure characteristics of the open hydraulic system under complex working conditions, and accurately characterize the system pressure under the state of the left travel device and related control valves. This can effectively avoid the signal error problem caused by vibration or impact of the hydraulic sensor in actual working conditions, while reducing the dependence on the sensor and improving the reliability and adaptability of the system in harsh environments.

[0068] Specifically, the determination unit further includes: a second determination module.

[0069] The second determination module is used to determine that the second-level pressure calculation result of the open hydraulic system is calculated based on the cavity model established at the oil inlet of the control valve in the working position when at least one of the first boom control valve, the second dipper arm control valve and the bucket control valve is in the working position.

[0070] Among them, the working position of the bucket control valve is the outward-turned working position. When the first boom control valve and the second arm control valve are in the working position and the bucket control valve is in at least one of the outward-turned working position, an equivalent pressure chamber is created at the oil inlet of each control valve to simulate the second-level pressure characteristics of the oil inlet of the control valve at the outlet of the first main pump. By establishing a chamber model at the oil inlet of the working position control valve, the device can more realistically simulate the pressure distribution characteristics of the working device in the hydraulic system. This can effectively improve the pressure calculation accuracy of the system under complex working conditions and ensure the accuracy of pressure transmission and feedback.

[0071] Specifically, the open hydraulic system includes a second series circuit, the second series circuit includes a second main pump, a right walking device, a rotation, a second boom, a special working device and a first boom, the special working device includes a hydraulic breaker or a hydraulic shear, and the determination unit also includes: a third determination module.

[0072] The third determination module is used to determine that the first-stage pressure calculation result of the open hydraulic system is calculated based on the pump outlet cavity model of the second main pump when the right traveling device, the slewing control valve, the second boom control valve, the special working device control valve and the first dipper arm control valve are in the neutral position, or the right traveling device is in the working position and the slewing control valve, the second boom control valve, the special working device control valve and the first dipper arm control valve are all in the neutral position.

[0073] Among them, the special working device may include a hydraulic breaker or a hydraulic shear, which works together with other hydraulic components through a control valve. When the control valve of the hydraulic breaker or hydraulic shear is in the working position, the hydraulic system will adjust its pressure characteristics to adapt to this special load requirement. It can be seen that in this case, most of the control valves in the system are in the middle position, which means that the load on the hydraulic system is small and does not involve excessive load or pressure fluctuations. The device creates a cavity model between the second main pump and the one-way valve of the common circuit of the second main pump, simulates the first-level pressure characteristics of the outlet of the second main pump, and effectively simulates the pressure characteristics of the hydraulic system under relatively stable working conditions. In the absence of high load and frequent switching of working states, the hydraulic system can operate stably and the pressure changes are relatively gentle. At this time, the pressure of the hydraulic system is mainly determined by the flow rate and cavity changes at the pump outlet. The calculation can reflect the pressure distribution of the hydraulic system in a stable state.

[0074] More specifically, the determining unit further includes: a fourth determining module.

[0075] The fourth determination module is used to determine that the second-level pressure calculation result of the open hydraulic system is calculated based on the cavity model established at the oil inlet of the control valve in the working position when at least one of the swing control valve, the second boom control valve, the special working device control valve and the first dipper arm control valve is in the working position.

[0076] It can be seen that when at least one of the swing control valve, the second boom control valve, the special working device control valve and the first boom control valve is in the working position, the hydraulic system will enter a high-load condition. The second-level pressure calculation result calculated by the volume cavity model established based on the oil inlet of the control valve of the second main pump can reflect the pressure change of the hydraulic system when performing high-load tasks. Especially when it comes to working devices such as swing, boom, and boom, this calculation device can accurately predict the pressure demand and change trend of the hydraulic system under different working conditions, ensuring that the system can work stably under high load conditions. The implementation of this device can dynamically adjust the pressure calculation model of the hydraulic system to ensure that during the operation of the hydraulic actuator, especially when special working devices (such as hydraulic breaker, hydraulic shear, etc.) are enabled, the hydraulic system can accurately feedback the pressure changes of each control point, thereby improving the accuracy and reliability of the system.

[0077] Furthermore, the open hydraulic system includes a first series circuit and a second series circuit, the first series circuit includes a first main pump, a left traveling device, a first boom, a second dipper and a bucket, the second series circuit includes a second main pump, a right traveling device, a rotation, a second boom, a special working device and a first dipper, and the determination unit also includes: a fifth determination module.

[0078] The fifth determination module is used to determine that if both the left walking device and the right walking device are in the working position and at least one of the control valves of the excavator working device is not in the middle position, the pressure of the excavator walking device is represented by the first-stage pressure calculation result based on the first main pump, and the pressure of the excavator working device control valve is represented by the first-stage pressure calculation result based on the second main pump.

[0079] It can be seen that when both the left and right traveling devices are in the working position and at least one of the control valves of the excavator working device is not in the middle position, the working state of the excavator is relatively complex and there are multiple loads. In this case, the traveling device and the working device of the excavator need to handle different pressure requirements respectively. Since the left and right traveling devices belong to different hydraulic circuits and are hydraulically driven by the first main pump and the second main pump respectively, the pressure calculation of the excavator traveling device adopts the first-level pressure calculation result based on the first main pump, and the pressure of the control valve of the excavator working device (such as the boom, the dipper, etc.) is expressed by the first-level pressure calculation result based on the second main pump. The implementation of this device can handle the pressure calculation requirements of the traveling device and the working device separately under complex working conditions, and ensure the precise adjustment of the hydraulic system under multiple load conditions. By calculating the pressure of the left and right traveling devices and the working device separately, the system pressure shock can be effectively avoided, the working efficiency can be optimized, and the stability and adaptability of the hydraulic system can be improved.

[0080] Furthermore, the determining unit also includes: a sixth determining module.

[0081] The sixth determination module is used to create equivalent pressure chambers from the first main pump and the second main pump at the oil inlet of the bucket control valve if all the control valves except the bucket control valve among the left walking device, the right walking device and the excavator working device control valves are in the middle position and the bucket control valve is in the retracted action working position, so as to obtain the second-level pressure calculation result based on the first main pump and the second main pump.

[0082] It can be seen that if the control valves except the bucket control valve in the left travel device, the right travel device, and the excavator working device control valve are all in the middle position, and the bucket control valve is in the retracted action working position, at this time, the hydraulic system is in a relatively simple working condition, and the action requirements of the bucket are mainly concerned. At this time, the bucket control valve is in the retracted action working position, which means that the bucket is performing a specific operation, usually the retraction action of the hydraulic actuator. In order to accurately simulate the pressure characteristics of the hydraulic system under bucket control, the following steps are taken: at the oil inlet of the bucket control valve, equivalent pressure chambers from the first main pump and the second main pump are created respectively. This is because in actual operation, the hydraulic circuit involved in the bucket control valve needs to rely on the pressure support from the two main pumps at the same time, especially when the system load is large, the coordinated work of the two pumps can provide a stable pressure supply. When creating these two pressure chambers, the pressure models based on the first main pump and the second main pump are calculated respectively to simulate the pressure characteristics of the oil inlet of the bucket control valve. In this way, the second-level pressure calculation results based on the first main pump and the second main pump can be obtained. The calculation result reflects the actual pressure demand under the bucket control action, and can also provide more accurate pressure regulation and control strategies. This device ensures that the hydraulic system can operate stably during the bucket retraction action, avoiding system failure caused by unstable pressure or overload, thereby improving the system's response accuracy and overall stability.

[0083] The pressure determination device of the open hydraulic system includes a processor and a memory, wherein the acquisition unit, the determination unit and the characterization unit are stored in the memory as program units, and the processor executes the program units stored in the memory to realize the corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0084] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem that the detection value of the hydraulic sensor in the current open hydraulic system is easily affected by the working conditions can be solved by adjusting the kernel parameters.

[0085] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0086] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, wherein when the program is executed, a device where the computer-readable storage medium is located is controlled to execute a method for determining pressure of an open hydraulic system.

[0087] Specifically, the pressure determination method of the open hydraulic system includes:

[0088] Step S101, obtaining the state of the excavator traveling device and the state of the excavator working device control valve, wherein the state of the excavator traveling device is a neutral position or a working position, and the state of the excavator working device control valve is a neutral position or a working position;

[0089] Specifically, in a hydraulic system, "neutral position" and "working position" are terms used to describe the state of a hydraulic control valve or an actuator (such as a traveling device, a working device, etc.). Neutral position refers to a control valve in a hydraulic system that is in a "stationary" or "non-working" state, that is, the hydraulic oil flow is cut off or kept in a circulating state, and the system does not perform any working action. Working position refers to a control valve in a hydraulic system that is switched to a "running" or "executing" state, that is, the hydraulic oil is directed to an actuator (such as a hydraulic cylinder, a motor), thereby driving the corresponding mechanical device to move or operate. The hydraulic system switches between the neutral position and the working position by switching the control valve to achieve different working actions and states. The neutral position is used for standby or energy recovery, while the working position is used to perform specific mechanical operations. For example, when the boom control valve is in the neutral position, the boom remains stationary, and when the boom control valve is in the working position, the boom may rise or fall. By real-time acquisition of the state of the excavator's traveling device and the state of the control valve of the excavator's working device, the current working state of each part of the hydraulic system can be accurately obtained as the basis for subsequent pressure calculations.

[0090] Step S102, determining the first-level pressure calculation result and the second-level pressure calculation result of the open hydraulic system according to the state of the excavator traveling device and the state of the excavator working device control valve, wherein the first-level pressure calculation result is calculated based on the pump outlet cavity model, and the second-level pressure calculation result is calculated based on the control valve oil inlet cavity model;

[0091] Specifically, in the open hydraulic system of the present application, an equivalent common hydraulic circuit structure is adopted. The circuit is composed of two one-way valves in parallel and merged at the main overflow valve. By establishing an equivalent cavity model, the overflow pressure characteristics of the hydraulic system can be effectively simulated. The specific pressure calculation can be achieved by the following formula: Where P is the cavity pressure, in Pa; P0 is the initial cavity pressure, in Pa; B is the bulk elastic modulus of the hydraulic oil, in Pa; Q is the flow rate change, in m 3 / s; V is the volume change, unit is m 3 The first-level pressure calculation result is calculated based on the pump outlet cavity model, reflecting the pressure characteristics of the hydraulic pump outlet; while the second-level pressure calculation result is calculated based on the control valve inlet cavity model, which can characterize the inlet pressure characteristics of the control valve under actual working conditions. Through hierarchical calculation, the multi-level pressure distribution of the hydraulic system can be more accurately characterized.

[0092] Step S103, using the hydraulic actuator cavity model to characterize the third-level pressure calculation result of the open hydraulic system.

[0093] Specifically, according to the hydraulic actuator, a fixed cavity of the rotating mechanism (such as a hydraulic pump, a hydraulic motor) and a variable cavity of the displacement mechanism (such as a hydraulic cylinder) are created. The actuator needs to reciprocate, the rotating mechanism has a symmetrical cavity, and the displacement mechanism has an asymmetrical cavity characteristic. The actuator is directly connected to the workload, and its cavity simulates the third-level pressure characteristic, that is, the working pressure characteristic of the hydraulic system actuator. Therefore, the modeling calculation in this step can better reflect the pressure changes of the hydraulic system under different execution states.

[0094] An embodiment of the present invention also provides an electronic device, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for executing a pressure determination method of an open hydraulic system.

[0095] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0096] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0097] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes 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 generate 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.

[0098] 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.

[0099] 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.

[0100] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0101] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0102] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0103] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0104] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0105] 1) The present application provides a method for determining the pressure of an open hydraulic system. By segmenting the cavity, a three-level pressure cavity of the open hydraulic system is established. In combination with the acquisition of the state of the excavator's walking device and the state of the working device control valve, as well as the application of the pump outlet cavity model, the control valve oil inlet cavity model and the hydraulic actuator cavity model, the pressure classification dynamic calculation of the open hydraulic system is realized, which effectively solves the problems of complex layout and high risk of failure of pressure sensors in traditional hydraulic systems. Especially under extreme working conditions, the method provided in this embodiment can accurately feedback the system pressure distribution through cavity modeling and equivalent calculation, realize accurate monitoring of key nodes, and ensure the stable operation of the hydraulic system. At the same time, the method can also improve the adaptability and reliability of the hydraulic system, help improve the working efficiency and safety of excavators in complex working environments, and solve the problem that the detection value of the hydraulic sensor in the current open hydraulic system is easily affected by the working conditions.

[0106] 2) The present application provides a pressure determination device for an open hydraulic system. The device includes: an acquisition unit, a determination unit and a characterization unit. The acquisition unit is used to acquire the state of the excavator walking device and the state of the excavator working device control valve, wherein the state of the excavator walking device is the middle position or the working position, and the state of the excavator working device control valve is the middle position or the working position; the determination unit is used to determine the first-level pressure calculation result and the second-level pressure calculation result of the open hydraulic system according to the state of the excavator walking device and the state of the excavator working device control valve, wherein the first-level pressure calculation result is calculated based on the pump outlet cavity model, and the second-level pressure calculation result is calculated based on the control valve oil inlet cavity model; the characterization unit is used to characterize the third-level pressure calculation result of the open hydraulic system using the hydraulic actuator cavity model. The device establishes a three-level pressure chamber for an open hydraulic system by segmenting the chamber, and combines the acquisition of the excavator's walking device status and the working device control valve status, as well as the application of the pump outlet chamber model, the control valve oil inlet chamber model and the hydraulic actuator chamber model to achieve dynamic calculation of the pressure grading of the open hydraulic system, effectively solving the problems of complex layout of pressure sensors and high risk of failure in traditional hydraulic systems.

[0107] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining the pressure of an open hydraulic system, characterized in that: include: Acquire the state of the excavator traveling device and the state of the excavator working device control valve, wherein the state of the excavator traveling device is a neutral position or a working position, and the state of the excavator working device control valve is a neutral position or a working position; Determine the first-level pressure calculation result and the second-level pressure calculation result of the open hydraulic system according to the state of the excavator walking device and the state of the excavator working device control valve, wherein the first-level pressure calculation result is calculated based on the pump outlet cavity model, and the second-level pressure calculation result is calculated based on the control valve oil inlet cavity model; A hydraulic actuator cavity model is used to characterize the third-level pressure calculation results of the open hydraulic system.

2. The method according to claim 1, characterized in that The open hydraulic system includes a first series circuit, the first series circuit includes a first main pump, a left traveling device, a first boom, a second dipper arm and a bucket, wherein the first-level pressure calculation result of the open hydraulic system is determined according to the state of the excavator traveling device and the state of the excavator working device control valve, including: When the left traveling device, the first boom control valve, the second dipper arm control valve and the bucket control valve are all in the middle position, or when the left traveling device is in the working position and the first boom control valve, the second dipper arm control valve and the bucket control valve are all in the middle position, it is determined that the first-stage pressure calculation result of the open hydraulic system is calculated based on the pump outlet cavity model of the first main pump.

3. The method according to claim 2, characterized in that According to the state of the excavator walking device and the state of the control valve of the excavator working device, the second-level pressure calculation result of the open hydraulic system is determined, including: When at least one of the first boom control valve, the second dipper arm control valve and the bucket control valve is in the working position, the second-level pressure calculation result of the open hydraulic system is determined to be calculated based on the cavity model established at the oil inlet of the control valve in the working position.

4. The method according to claim 1, characterized in that: The open hydraulic system includes a second series circuit, the second series circuit includes a second main pump, a right traveling device, a swing, a second boom, a special working device and a first bucket arm, the special working device includes a hydraulic breaker or a hydraulic shear, wherein the first-level pressure calculation result of the open hydraulic system is determined according to the state of the excavator traveling device and the state of the excavator working device control valve, including: When the right traveling device, the swing control valve, the second boom control valve, the special working device control valve and the first boom control valve are in the middle position, or when the right traveling device is in the working position and the swing control valve, the second boom control valve, the special working device control valve and the first boom control valve are all in the middle position, it is determined that the first-stage pressure calculation result of the open hydraulic system is calculated based on the pump outlet cavity model of the second main pump.

5. The method according to claim 4, characterized in that According to the state of the excavator walking device and the state of the control valve of the excavator working device, the second-level pressure calculation result of the open hydraulic system is determined, including: When at least one of the swing control valve, the second boom control valve, the special working device control valve and the first dipper arm control valve is in the working position, the second-level pressure calculation result of the open hydraulic system is determined to be calculated based on the cavity model established at the oil inlet of the control valve in the working position.

6. The method according to claim 1, characterized in that The open hydraulic system includes a first series circuit and a second series circuit, wherein the first series circuit includes a first main pump, a left traveling device, a first boom, a second dipper and a bucket, and the second series circuit includes a second main pump, a right traveling device, a swing, a second boom, a special working device and a first dipper, wherein the first-level pressure calculation result of the open hydraulic system is determined according to the state of the excavator traveling device and the state of the excavator working device control valve, including: If the left traveling device and the right traveling device are both in the working position, and at least one of the control valves of the excavator working device is not in the middle position, the pressure of the excavator traveling device is represented by the first-stage pressure calculation result based on the first main pump, and the pressure of the excavator working device control valve is represented by the first-stage pressure calculation result based on the second main pump.

7. The method according to claim 6, characterized in that According to the state of the excavator walking device and the state of the control valve of the excavator working device, the second-level pressure calculation result of the open hydraulic system is determined, including: If all control valves except the bucket control valve in the left traveling device, the right traveling device and the excavator working device control valve are in the middle position, and the bucket control valve is in the retracted action working position, equivalent pressure chambers from the first main pump and the second main pump are respectively created at the oil inlet of the bucket control valve to obtain the second-level pressure calculation result based on the first main pump and the second main pump.

8. A pressure determination device for an open hydraulic system, characterized in that: include: An acquisition unit, used to acquire the state of the excavator traveling device and the state of the excavator working device control valve, wherein the state of the excavator traveling device is a neutral position or a working position, and the state of the excavator working device control valve is a neutral position or a working position; a determination unit, configured to determine a first-level pressure calculation result and a second-level pressure calculation result of an open hydraulic system according to a state of the excavator traveling device and a state of a control valve of the excavator working device, wherein the first-level pressure calculation result is calculated based on a pump outlet cavity model, and the second-level pressure calculation result is calculated based on a control valve oil inlet cavity model; The characterization unit is used to characterize the third-level pressure calculation result of the open hydraulic system by using a hydraulic actuator cavity model.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the pressure determination method for an open hydraulic system according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for executing the pressure determination method of the open hydraulic system described in any one of claims 1 to 7.

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