Control method and device of movable arm decoupling hydraulic system, excavator and storage medium

Abstract

The invention relates to the technical field of excavators, and particularly discloses a control method and device of a movable arm decoupling hydraulic system, an excavator and a storage medium. According to the control method of the movable arm decoupling hydraulic system, a movable arm descending control signal is obtained, the working oil pressure P is obtained, the oil supplementing pressure C of an oil supplementing oil way is obtained, and whether the difference value of P and C exceeds the set oil pressure or not is judged; when the difference value between the P and the C exceeds the set oil pressure, the current electric quantity of the battery is obtained, whether the current electric quantity of the battery does not exceed the set electric quantity or not is judged, when the current electric quantity of the battery does not exceed the set electric quantity, energy recovery is conducted, and the control method is simple and suitable for the closed hydraulic system.

Description

Technical Field

[0001] The present invention relates to the technical field of excavators, and in particular to a control method and device for a boom decoupling hydraulic system, an excavator and a storage medium. Background Art

[0002] During the operation of the hydraulic excavator, the boom performs periodic arm lifting and lowering movements, and most of the boom's potential energy is consumed in the form of heat energy on the multi-way valve port. This not only causes serious energy waste and high fuel consumption, but also easily causes vibration, noise and heat in the hydraulic system, reducing the reliability and life of the system.

[0003] In this regard, a previous patent with application number CN202110914796.1 provides an excavator potential energy recovery control method. When it is detected that the excavator's boom is in a descending working state, the excavator energy consumption function is determined, and the optimal working point corresponding to the lowest energy consumption scenario is calculated by the minimum weighted deviation method. Then, the potential energy of the excavator's boom is recovered according to the above-mentioned optimal working point to achieve efficient recovery of the excavator's potential energy and ensure the maximization of the recovery rate of the potential energy recovery system. This control method is too complicated and is only applicable to open hydraulic systems, and is not suitable for application in closed hydraulic systems. Summary of the invention

[0004] The object of the present invention is to provide a control method, device, excavator and storage medium for a boom decoupling hydraulic system to simplify the control method of energy recovery and be applicable to a closed hydraulic system.

[0005] In a first aspect, the present invention provides a control method for a boom decoupling hydraulic system, the boom decoupling hydraulic system comprising a battery, a motor electrically connected to the battery, a first oil pump and a second oil pump that are simultaneously transmission-connected to the motor, and a boom cylinder, the boom cylinder having a rodless chamber and a rod chamber, the two ends of the first oil pump being connected to the rod chamber and the rodless chamber respectively through pipelines, the two ends of the second oil pump being connected to an oil replenishment circuit and the rodless chamber respectively through pipelines, the first oil pump and the second oil pump both being capable of forward and reverse rotation, the control method for the boom decoupling hydraulic system comprising:

[0006] S100: Acquire a control signal for lowering the boom;

[0007] S110: Acquire a working oil pressure P, wherein the working oil pressure P is a larger value between the pressure of the oil in the rodless chamber and the pressure of the oil in the rod chamber;

[0008] S120: Obtaining the oil replenishment pressure C of the oil replenishment circuit;

[0009] S130: Determine whether the difference between P and C exceeds the set oil pressure;

[0010] If yes, execute S140;

[0011] S140: Obtaining the current power of the battery;

[0012] S150: Determine whether the current battery power does not exceed the set power;

[0013] If yes, execute S160;

[0014] S160: Perform energy recovery, where the energy recovery includes the first oil pump and the second oil pump driving the motor to generate electricity under the drive of oil, and storing the electrical energy in a battery.

[0015] As a preferred technical solution of the control method of the boom decoupling hydraulic system, after energy recovery, the control method of the boom decoupling hydraulic system further includes:

[0016] S170: Acquire the position of the joystick;

[0017] S180: Determine the required speed of the motor based on the position of the joystick;

[0018] S190: Get the current speed of the motor;

[0019] S200 : determining an additional torque based on a difference between a current rotation speed of the motor and a required rotation speed of the motor, and the motor outputs the additional torque.

[0020] As a preferred technical solution of the control method of the boom decoupling hydraulic system, the boom decoupling hydraulic system further includes a balancing valve, which is used to connect the one with smaller oil pressure between the rod chamber and the rodless chamber with the oil replenishment circuit;

[0021] In step S200, after the motor outputs the additional torque, the control method of the boom decoupling hydraulic system further includes:

[0022] S210: The oil pressure in the rod chamber or the rodless chamber with the lower oil pressure is replaced with the oil replenishment passage.

[0023] As a preferred technical solution of the control method of the boom decoupling hydraulic system, the control method of the boom decoupling hydraulic system further includes:

[0024] S220: Acquire a control signal for boom lifting;

[0025] S230: Obtaining the working oil pressure P;

[0026] S240: determining a driving torque T of the oil pump based on the working oil pressure P;

[0027] S250: Obtaining the rated torque a of the motor;

[0028] S260: Compare T and a / 2;

[0029] If T is greater than a / 2, execute S270; if T is not greater than a / 2, execute S280;

[0030] S270: Only the first oil pump outputs;

[0031] S280: The first oil pump and the second oil pump output simultaneously.

[0032] As a preferred technical solution of the control method of the boom decoupling hydraulic system, it is judged whether the difference between P and C exceeds the set oil pressure. If not, S240 is executed;

[0033] When determining whether the current battery power level does not exceed the set power level, if it exceeds, execute S240.

[0034] As a preferred technical solution of the control method of the boom decoupling hydraulic system, when only the first oil pump outputs, and when the first oil pump and the second oil pump output at the same time, the control method of the boom decoupling hydraulic system further includes:

[0035] S290: Acquire the position of the joystick;

[0036] S300: Determine the required speed of the motor based on the position of the joystick;

[0037] S310: The motor runs at the required speed.

[0038] As a preferred technical solution of the control method of the boom decoupling hydraulic system, after the motor runs at the required speed, the control method of the boom decoupling hydraulic system further includes:

[0039] S320: The oil pressure in the rod chamber or the rodless chamber with the lower oil pressure is replaced with the oil replenishment passage.

[0040] In a second aspect, the present invention provides a control device for a boom decoupling hydraulic system, the boom decoupling hydraulic system battery, a motor electrically connected to the battery, a first oil pump and a second oil pump that are simultaneously transmission-connected to the motor, and a boom cylinder, the boom cylinder having a rodless chamber and a rod chamber, the two ends of the first oil pump are respectively connected to the rod chamber and the rodless chamber through pipelines, the two ends of the second oil pump are respectively connected to the oil replenishment circuit and the rodless chamber through pipelines, the first oil pump and the second oil pump are both capable of forward and reverse rotation, and the control device for the boom decoupling hydraulic system includes:

[0041] A boom lowering signal acquisition module is used to obtain a control signal for the boom lowering;

[0042] A working oil pressure acquisition module, used for acquiring a working oil pressure P, wherein the working oil pressure P is a larger value between the pressure of the oil in the rodless chamber and the pressure of the oil in the rod chamber;

[0043] The oil replenishment pressure acquisition module is used to obtain the oil replenishment pressure C of the oil replenishment circuit;

[0044] The first judgment module is used to judge whether the difference between P and C exceeds the set oil pressure;

[0045] The current power acquisition module is used to obtain the current power of the battery when the difference between P and C exceeds the set oil pressure;

[0046] The second judging module is used to judge whether the current power of the battery does not exceed the set power;

[0047] The energy recovery module is used to recover energy when the current power of the battery does not exceed the set power. The energy recovery includes the first oil pump and the second oil pump driving the motor to generate electricity under the drive of oil and storing the electrical energy in the battery.

[0048] In a third aspect, the present invention provides an excavator, the excavator comprising:

[0049] one or more processors;

[0050] A storage device for storing one or more programs;

[0051] When the one or more programs are executed by the one or more processors, the one or more processors control the excavator to implement the control method of the boom decoupling hydraulic system as described in any of the above solutions.

[0052] In a fourth aspect, the present invention provides a storage medium having a computer program stored thereon, which, when executed by a processor, enables an excavator to implement a control method for a boom decoupling hydraulic system as described in any of the above-mentioned schemes.

[0053] The beneficial effects of the present invention are as follows:

[0054] The present invention provides a control method, device, excavator and storage device for a boom decoupling hydraulic system. The control method for the boom decoupling hydraulic system obtains a control signal of boom descent, obtains a working oil pressure P, obtains an oil replenishment pressure C of an oil replenishment circuit, and determines whether a difference between P and C exceeds a set oil pressure. When the difference between P and C exceeds the set oil pressure, the current power of a battery is obtained, and it is determined whether the current power of the battery does not exceed the set power. When the current power of the battery does not exceed the set power, energy recovery is performed. The control method is simple and suitable for a closed hydraulic system. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a structural schematic diagram of a boom decoupling hydraulic system in an embodiment of the present invention;

[0056] Figure 2 A first flow chart of a control method for a boom decoupling hydraulic system according to an embodiment of the present invention;

[0057] Figure 3 A second flow chart of a control method for a boom decoupling hydraulic system according to an embodiment of the present invention;

[0058] Figure 4 A third flow chart of a control method for a boom decoupling hydraulic system according to an embodiment of the present invention;

[0059] Figure 5 It is a structural schematic diagram of a control device for a boom decoupling hydraulic system in an embodiment of the present invention;

[0060] Figure 6 It is a structural schematic diagram of a control system of a boom decoupling hydraulic system provided by an embodiment of the present invention.

[0061] In the figure:

[0062] 1. Boom cylinder; 101. Rod chamber; 102. Rodless chamber; 2. Battery; 3. Motor; 4. First oil pump; 5. Second oil pump; 6. Make-up oil pump; 7. Make-up oil circuit; 8. Make-up oil overflow valve; 9. First oil circuit; 10. Second oil circuit; 11. Third oil circuit; 12. Balance valve; 13. Hydraulic-controlled one-way valve; 14. Hydraulic-controlled reversing valve; 15. First solenoid switch valve; 16. Second solenoid switch valve; 17. Third reversing valve; 18. First make-up oil one-way valve; 19. Second make-up oil one-way valve; 20. First overflow valve; 21. Second overflow valve; 22. Oil tank; 23. Make-up oil motor;

[0063] 30. Boom lowering signal acquisition module; 31. Working oil pressure acquisition module; 32. Oil filling pressure acquisition module; 33. First judgment module; 34. Current power acquisition module; 35. Second judgment module; 36. Energy recovery module;

[0064] 100, terminal device; 110, processor; 120, ROM; 130, RAM; 140, bus; 150, I / O interface; 160, input unit; 170, output unit; 180, storage unit; 190, communication unit. DETAILED DESCRIPTION

[0065] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0067] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0068] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0069] Embodiment 1

[0070] The present embodiment provides a control method for a boom decoupling hydraulic system. The control method for the boom decoupling hydraulic system is suitable for automatically controlling the lifting and lowering of the boom. The control method for the boom decoupling hydraulic system can be executed by a control device of the boom decoupling hydraulic system. The control device of the boom decoupling hydraulic system can be implemented by software and / or hardware and integrated in an excavator.

[0071] Please refer to Figure 1 The boom decoupling hydraulic system includes a battery 2, a motor 3 electrically connected to the battery 2, a first oil pump 4 and a second oil pump 5 which are transmission-connected to the motor 3, and a boom cylinder 1. The boom cylinder 1 has a rodless chamber 102 and a rod chamber 101. Both ends of the first oil pump 4 are connected to the rod chamber 101 and the rodless chamber 102 through pipelines, and both ends of the second oil pump 5 are connected to the oil replenishment circuit 7 and the rodless chamber 102 through pipelines. Both the first oil pump 4 and the second oil pump 5 can rotate forward and reverse.

[0072] Specifically, the boom oil cylinder 1 includes a piston rod and a cylinder body. The piston rod divides the inner cavity of the cylinder body into a rod cavity 101 and a rodless cavity 102. The piston rod passes through the rod cavity 101 so that the cross-sectional area of ​​the rod cavity 101 is smaller than the cross-sectional area of ​​the rodless cavity 102. The piston rod can move in the cylinder body, and when the piston rod moves, the volumes of the rod cavity 101 and the rodless cavity 102 increase and decrease. Among them, the cylinder body is hinged to the body of the excavator, the piston rod is hinged to the boom of the excavator, and the boom is hinged to the body. The lifting and lowering of the boom is achieved by extending and retracting the piston rod.

[0073] The boom decoupling hydraulic system further includes an oil replenishment pump 6 and an oil replenishment motor 23 for driving the oil replenishment pump 6 to rotate. One end of the oil replenishment pump 6 is connected to the oil tank 22, and the other end is connected to the oil replenishment oil circuit 7. The oil replenishment pump 6 can pump the oil in the oil tank 22 to the oil replenishment oil circuit 7, and supply oil to the second oil pump 5 through the oil replenishment oil circuit 7. Preferably, the boom decoupling hydraulic system further includes an oil replenishment overflow valve 8 connected to the oil replenishment oil circuit 7, and the oil replenishment overflow valve 8 is used to overflow the oil in the oil replenishment oil circuit 7 that exceeds the set pressure to the oil tank 22.

[0074] In this embodiment, one end of the first oil pump 4 is connected to the rodless chamber 102 through the first oil circuit 9, the other end of the first oil pump 4 is connected to the rod chamber 101 through the second oil circuit 10, and the second oil pump 5 is connected to the first oil circuit 9 through the third oil circuit 11. The first oil pump 4 and the second oil pump 5 both adopt closed oil pumps, which can be specifically closed metering pumps. The first oil pump 4 and the two oil chambers of the boom cylinder 1 constitute a hydraulic circuit, and the second oil pump 5 and the rodless chamber 102 and the oil replenishing circuit 7 constitute a hydraulic circuit. The boom cylinder 1 is supplied with oil through the first oil pump 4 and the second oil pump 5, thereby realizing the decoupling of the boom cylinder 1, which is convenient for improving the control performance of the boom cylinder 1.

[0075] The boom decoupling hydraulic system also includes a bypass oil circuit (not shown in the drawings), a first reversing valve (not shown in the drawings) arranged in the bypass oil circuit, and a second reversing valve (not shown in the drawings) arranged in the third oil circuit 11. The two ends of the bypass oil circuit are respectively connected to the oil replenishing oil circuit 7 and the third oil circuit 11, and the connection between the bypass oil circuit and the third oil circuit 11 is located between the second reversing valve and the second oil pump 5. The first reversing valve is used to control the connection and disconnection of the bypass oil circuit, and the second reversing valve is used to control the connection and disconnection of the third oil circuit 11. When the motor 3 starts, the first oil pump 4 and the second oil pump 5 rotate at the same time. If the first reversing valve is connected to the bypass oil circuit and the second reversing valve is disconnected from the third oil circuit 11 at this time, the second oil pump 5 can drive the oil to circulate through the bypass oil circuit without doing work to the outside. Only the first oil pump 4 drives the oil to flow between the rod chamber 101 and the rodless chamber 102; if the first reversing valve is disconnected from the bypass oil circuit and the second reversing valve is connected to the third oil circuit 11 at this time, the first oil pump 4 drives the oil to flow between the rod chamber 101 and the rodless chamber 102, and the second oil pump 5 drives the oil to flow between the rodless chamber 102 and the oil replenishing circuit 7, so that only the first oil pump 4 can output to the outside, or the first oil pump 4 and the second oil pump 5 can output to the outside at the same time to meet different working conditions.

[0076] Specifically, the driver can control the lifting and lowering of the boom by operating the handle. The piston rod can move relative to the cylinder body and has an extended position and a retracted position. Taking the first oil pump 4 driving the oil to flow between the rod chamber 101 and the rodless chamber 102, and the second oil pump 5 driving the oil to flow between the rodless chamber 102 and the oil replenishment circuit 7 as an example, when the piston rod moves to the extended position, the piston rod gradually extends outward, the boom is lifted, the first oil pump 4 pumps the oil in the rod chamber 101 into the rodless chamber 102, and the second oil pump 5 pumps the oil in the oil replenishment circuit 7 into the rodless chamber 102; when the piston rod moves to the retracted position, the piston rod gradually retracts inward, the boom is lowered, the first oil pump 4 pumps a part of the oil in the rodless chamber 102 into the rod chamber 101, and at the same time, the second oil pump 5 pumps another part of the oil in the rodless chamber 102 into the oil replenishment circuit 7.

[0077] It should be noted that when the boom is lowered, if the boom needs to be lowered quickly, the first oil pump 4 and the second oil pump 5 can be driven to rotate by oil according to actual working conditions. At this time, the motor 3 rotates and generates electricity driven by the first oil pump 4 and the second oil pump 5. The generated electric energy can be stored in the battery 2 to realize the potential energy recovery of the boom; the first oil pump 4 and the second oil pump 5 can also be driven to rotate by the motor 3 according to actual working conditions.

[0078] The boom decoupling hydraulic system also includes a balancing valve 12. The balancing valve 12 connects the one with lower oil pressure between the rod chamber 101 and the rodless chamber 102 to the oil replenishing circuit 7. By providing the balancing valve 12, the oil in the one with lower oil pressure between the rodless chamber 102 and the rod chamber 101 can directly enter the oil replenishing circuit 7, or the oil in the oil replenishing circuit 7 can directly enter the one with lower oil pressure between the rodless chamber 102 and the rod chamber 101. Since the temperature of the oil in the oil replenishing circuit 7 is relatively low, when the temperature of the oil in the hydraulic circuit is too high, the hot oil in the hydraulic circuit can be replaced, which can ensure the normal oil temperature in the hydraulic circuit and further ensure the normal operation of the boom cylinder 1. Compared with the prior art, there is no need to configure temperature monitoring, and the cost can be effectively reduced. In addition, the flow difference between the rod chamber 101 and the rodless chamber 102 can be effectively compensated by connecting the one with the smaller oil pressure between the rod chamber 101 and the rodless chamber 102 to the oil replenishment passage 7 through the balance valve 12 .

[0079] In this embodiment, the balancing valve 12 includes a P interface, an A interface and a B interface, wherein the P interface is connected to the oil replenishment circuit 7, the A interface is connected to the first oil circuit 9, and the B interface is connected to the second oil circuit 10. The balancing valve 12 has a first left position and a first right position. When the balancing valve 12 is located at the first left position, the balancing valve 12 makes the P interface connected to the B interface, and the A interface is disconnected, thereby making the oil replenishment circuit 7 connected to the second oil circuit 10, and the first oil circuit 9 is disconnected; when the balancing valve 12 is located at the first right position, the balancing valve 12 makes the P interface connected to the A interface, and the B interface is disconnected, thereby making the oil replenishment circuit 7 connected to the first oil circuit 9, and the second oil circuit 10 is disconnected. Preferably, the balancing valve 12 also has a first middle position. When the balancing valve 12 is located at the first middle position, the P interface is disconnected, the A interface is disconnected, and the B interface is disconnected, thereby making the oil replenishment circuit 7 disconnected from the first oil circuit 9 and the second oil circuit 10 at the same time.

[0080] In this embodiment, the balancing valve 12 is specifically a hydraulically controlled valve, and the balancing valve 12 has a first hydraulic control end and a second hydraulic control end, the first hydraulic control end is connected to the first oil circuit 9, and the second hydraulic control end is connected to the second oil circuit 10, and the first hydraulic control end and the second hydraulic control end are respectively located on both sides of the valve core of the balancing valve 12, and the oil of the first hydraulic control end and the second hydraulic control end directly acts on the valve core of the balancing valve 12, and the force of the oil of the first hydraulic control end acting on the valve core of the balancing valve 12 and the force of the oil of the second hydraulic control end acting on the valve core of the balancing valve 12 are compared to determine the stop position of the valve core of the balancing valve 12. Specifically, when the oil pressure of the first hydraulic control end is greater than the oil pressure of the second hydraulic control end, the balancing valve 12 is located in the first left position; when the oil pressure of the first hydraulic control end is less than the oil pressure of the second hydraulic control end, the balancing valve 12 is located in the first right position; when the oil pressure of the first hydraulic control end is equal to the oil pressure of the second hydraulic control end, the balancing valve 12 is located in the first middle position. In other embodiments, the balancing valve 12 can also be an electrically controlled valve.

[0081] Optionally, the boom decoupling hydraulic system also includes a hydraulically controlled one-way valve 13 and a hydraulically controlled reversing valve 14. The hydraulically controlled one-way valve 13 is arranged in the first oil circuit 9, and the hydraulically controlled one-way valve 13 is located between the connection between the third oil circuit 11 and the first oil circuit 9 and the rodless chamber 102. The hydraulically controlled one-way valve 13 can control the connection and disconnection of the first oil circuit 9 under the action of oil pressure or the control of the hydraulically controlled reversing valve 14.

[0082] Specifically, in this embodiment, the hydraulically controlled one-way valve 13 includes a valve housing and a valve core, the valve housing has a first working interface and a second working interface, the first working interface and the second working interface are connected in series to the first oil circuit 9, and the first working interface is closer to the rodless chamber 102 relative to the second working interface; the valve core is slidably located in the valve housing, and the valve core divides the inner chamber of the valve housing into a spring chamber and a working chamber, and the valve core can slide relative to the valve housing and have an open position and a closed position. When the valve core is in the closed position, the valve core can further divide the working chamber into a first chamber and a second chamber that are not connected to each other, wherein the first working interface is always connected to the first chamber, and the second working interface is always connected to the second chamber. Since the first chamber and the second chamber are separated, the first oil circuit 9 is disconnected; when the valve core is in the open position, the first chamber and the second chamber are connected, and the first oil circuit 9 is connected at this time.

[0083] The hydraulically controlled one-way valve 13 also includes a spring, and the valve housing has a first control interface and a second control interface. The spring is located in the spring chamber and the two ends of the spring are respectively abutted against the valve core and the valve housing. The first control interface is always connected to the first chamber, and the second control interface is always connected to the spring chamber. The spring and the hydraulic oil in the spring chamber give the valve core a force F1 to move to the closed position, and the hydraulic oil in the working chamber gives the valve core a force F2 to move to the open position. The position of the valve core is determined by comparing the sizes of F1 and F2.

[0084] Furthermore, the hydraulically controlled reversing valve 14 is a two-position three-way valve, and the hydraulically controlled reversing valve 14 can make the first control interface and the second control interface communicate, at this time, the oil pressure in the working chamber and the spring chamber is equal, but the oil in the working chamber and the valve core have an action area smaller than the oil in the spring chamber and the valve core, and the spring in the spring chamber also gives the valve core an action force, which can move the valve core to the closed position, ensuring that the first oil circuit 9 is closed stably. The hydraulically controlled reversing valve 14 can also make the second control interface and the oil tank 22 communicate, at this time, the position of the valve core is determined by comparing the size of F1 and F2, and when F2>F1, the spring is compressed, which can move the valve core to the open position, thereby opening the first oil circuit 9.

[0085] The boom decoupling hydraulic system also includes a first electromagnetic switch valve 15, which is used to control the on-off of the signal oil source of the hydraulic control reversing valve 14 and thus control the working position of the hydraulic control reversing valve 14, so that the first control interface and the second control interface are connected, or the second control interface and the oil tank 22 are connected and the first control interface is disconnected. In other embodiments, the hydraulic control reversing valve 14 can also be replaced by an electric control reversing valve.

[0086] Optionally, the boom decoupling hydraulic system further includes a third reversing valve 17, which is disposed in the first oil circuit 9, and is located between the connection between the third oil circuit 11 and the first oil circuit 9 and the first oil pump 4, and the third reversing valve 17 is used to control the connection or disconnection of the first oil circuit 9. When the third reversing valve 17 disconnects the first oil circuit 9, it can block the first oil pump 4 from supplying oil to the rodless chamber 102, and can prevent the oil in the rodless chamber 102 from flowing to the first oil pump 4, and at this time, the boom cylinder 1 is driven only by the second oil pump 5.

[0087] The third reversing valve 17 includes a third hydraulic control end and a fourth hydraulic control end. The first solenoid switch valve 15 is also used to control the on-off of the oil circuit of the third hydraulic control end. The boom decoupling hydraulic system also includes a second solenoid switch valve 16. The second solenoid switch valve 16 is also used to control the on-off of the oil circuit of the fourth hydraulic control end. The third hydraulic control end and the fourth hydraulic control end are respectively located on both sides of the valve core of the third reversing valve 17, and the oil of the third hydraulic control end and the fourth hydraulic control end directly acts on the valve core of the third reversing valve 17. The force of the oil of the third hydraulic control end acting on the valve core of the third reversing valve 17 and the force of the oil of the fourth hydraulic control end acting on the valve core of the third reversing valve 17 are compared to determine the stop position of the valve core of the third reversing valve 17.

[0088] Optionally, the boom decoupling hydraulic system also includes a first oil replenishment check valve 18 and a second oil replenishment check valve 19, the first oil replenishment check valve 18 is connected between the oil replenishment circuit 7 and the rodless chamber 102, and the first oil replenishment check valve 18 only allows oil to flow from the oil replenishment circuit 7 to the rodless chamber 102, specifically, the first oil replenishment check valve 18 is connected between the oil replenishment circuit 7 and the first oil circuit 9; the second oil replenishment check valve 19 is connected between the oil replenishment circuit 7 and the rod chamber 101, and the second oil replenishment check valve 19 only allows oil to flow from the oil replenishment circuit 7 to the rod chamber 101, specifically, the second oil replenishment check valve 19 is connected between the oil replenishment circuit 7 and the second oil circuit 10. By setting the first oil replenishment check valve 18, when the oil pressure in the rodless chamber 102 is low, the oil can be replenished to the rodless chamber 102 through the oil replenishment oil circuit 7. By setting the second oil replenishment check valve 19, when the oil pressure in the rod chamber 101 is low, the oil can be replenished to the rod chamber 101 through the oil replenishment oil circuit 7 to further balance the flow difference between the rod chamber 101 and the rodless chamber 102. Specifically, the connection between the first oil replenishment check valve 18 and the first oil circuit 9 is located between the hydraulically controlled check valve 13 and the boom cylinder 1.

[0089] Optionally, the boom decoupling hydraulic system further includes a first overflow valve 20 and a second overflow valve 21, wherein the first overflow valve 20 is connected between the oil replenishment circuit 7 and the rodless chamber 102, and the first overflow valve 20 only allows oil to overflow from the rodless chamber 102 to the oil replenishment circuit 7, specifically, the first overflow valve 20 is connected between the oil replenishment circuit 7 and the first oil circuit 9; the second overflow valve 21 is connected between the oil replenishment circuit 7 and the rod chamber 101, and the second overflow valve 21 only allows oil to overflow from the rod chamber 101 to the oil replenishment circuit 7, specifically, the second overflow valve 21 is connected between the oil replenishment circuit 7 and the second oil circuit 10. By providing the first overflow valve 20 and the second overflow valve 21, the oil pressure in the rod chamber 101 and the rodless chamber 102 can be effectively balanced.

[0090] Please refer to Figure 2 , the control method of the boom decoupling hydraulic system includes the following steps.

[0091] S100: Acquire a control signal for lowering the boom.

[0092] Specifically, the joystick is used to control the lifting and lowering of the boom, as well as the lifting and lowering speed. Specifically, the joystick has an initial position, and the joystick can be pushed and pulled forward and backward from the initial position. When pushed forward, the boom is controlled to be lifted, and when pulled backward, the boom is controlled to be lowered. Therefore, the actual position of the joystick can be collected to determine whether the boom lowering control signal or the boom raising control signal is issued. The actual position of the joystick can be detected by a position sensor arranged on the joystick.

[0093] S110: Obtaining the working oil pressure P, which is the larger value between the pressure of the oil in the rodless chamber and the pressure of the oil in the rod chamber.

[0094] The oil pressure at one end of the first oil circuit close to the rodless chamber can be detected by a pressure sensor, which is the oil pressure in the rodless chamber; the oil pressure in the second oil circuit can be detected by a pressure sensor, which is the oil pressure in the rod chamber.

[0095] S120: Obtaining the oil replenishment pressure C of the oil replenishment circuit.

[0096] The oil pressure in the oil replenishment circuit can be detected by a pressure sensor, which is the oil replenishment pressure C.

[0097] S130: Determine whether the difference between P and C exceeds the set oil pressure.

[0098] If yes, execute S140; if no, execute S240.

[0099] The oil pressure can be set according to actual needs. In this embodiment, the oil pressure is set to 50 bar.

[0100] Since the balancing valve can connect the oil replenishing circuit with the first oil circuit and the second oil circuit with smaller oil pressure, when the difference between P and C exceeds the set oil pressure, that is, the oil pressure difference between the rod chamber and the rodless chamber exceeds the set oil pressure, at this time the oil pressure difference between the rod chamber and the rodless chamber is larger. When the oil flows from one of the two to the other, it can drive the first oil pump and the second oil pump to rotate, thereby driving the motor to generate electricity.

[0101] It should be noted that the direction of movement of the piston rod and the direction of the load force on the piston rod jointly determine the oil pressure in the rodless chamber and the rod chamber. When the direction of the load force is consistent with the direction of movement of the piston rod, the load force is defined as a negative load, and when the direction of the load force is opposite to the direction of movement of the piston rod, the load force is a positive load. Taking the movement of the piston rod to the retracted position as an example, when the piston rod is subjected to a negative load, the oil pressure in the rodless chamber must be greater than the oil pressure in the rod chamber, and the balance valve connects the oil replenishment circuit and the second oil circuit; when the piston rod is subjected to a positive load, the oil pressure in the rod chamber must be greater than the oil pressure in the rodless chamber, and the balance valve connects the oil replenishment circuit and the first oil circuit. Therefore, when the boom needs to be lowered, the oil pressure in the rod chamber may be greater than the oil pressure in the rodless chamber, or the oil pressure in the rodless chamber may be greater than the oil pressure in the rod chamber.

[0102] S140: Obtain the current battery power.

[0103] The current charge of the battery can be obtained through the battery controller.

[0104] S150: Determine whether the current battery power does not exceed the set power.

[0105] If yes, execute S160; if no, execute S240.

[0106] The amount of power to be set can be set according to actual needs. In this embodiment, the amount of power to be set is 90% by way of example.

[0107] S160: Perform energy recovery, where the energy recovery includes the first oil pump and the second oil pump driving the motor to generate electricity under the drive of oil, and storing the electrical energy in the battery.

[0108] When the current power of the battery does not exceed the set power, it indicates that the battery has enough capacity to store more power and can be used for energy recovery; however, when the current power exceeds the set power, it indicates that the battery has too much power and is not suitable for further energy storage. When there is no need to store power, just disconnect the electrical connection between the battery and the motor.

[0109] When energy recovery is required, there is no need to power the motor. Under the action of the oil pressure difference between the rod cavity and the rodless cavity, the oil will drive the first oil pump and the second oil pump to rotate, and then drive the motor to rotate and generate electricity through the first oil pump and the second oil pump. The generated electricity is stored in the battery.

[0110] The control method of the boom decoupling hydraulic system provided in the present embodiment obtains the control signal of the boom lowering, obtains the working oil pressure P, obtains the oil replenishment pressure C of the oil replenishment circuit, and determines whether the difference between P and C exceeds the set oil pressure. When the difference between P and C exceeds the set oil pressure, the current power of the battery is obtained, and it is determined whether the current power of the battery does not exceed the set power. When the current power of the battery does not exceed the set power, energy recovery is performed. The control method is simple and suitable for closed hydraulic systems.

[0111] Optionally, see Figure 3 The control method of the boom decoupling hydraulic system also includes the following steps after step S160.

[0112] S170: Acquire the position of the joystick.

[0113] The position of the joystick is detected by a position sensor provided on the joystick.

[0114] S180: Determine the required speed of the motor based on the position of the joystick.

[0115] It is understandable that the driver controls the lifting and lowering speed of the boom by the position of the joystick, and the lifting and lowering speed of the boom is controlled by the motor. A first mapping relationship between the position of the joystick and the required speed of the motor is pre-stored in the memory. The required speed of the motor can be determined by obtaining the position of the joystick and the first mapping relationship. The first mapping relationship can be obtained through a large number of experiments in the early stage.

[0116] S190: Get the current speed of the motor.

[0117] The current speed of the motor can be detected by a speed sensor.

[0118] S200: determining an additional torque based on a difference between a current rotation speed of the motor and a required rotation speed of the motor, and the motor outputs the additional torque.

[0119] The memory pre-stores a second mapping relationship between the difference between the current speed of the motor and the required speed of the motor and the additional torque. The additional torque of the motor can be determined by the difference between the current speed and the required speed of the motor and the second mapping relationship. The second mapping relationship can be obtained through a large number of preliminary experiments.

[0120] In this embodiment, when the motor outputs additional torque, the current speed of the motor can be adjusted to the required speed. Specifically, when the current speed of the motor is greater than the required speed of the motor, the additional torque is used to provide resistance to the output shaft of the motor to reduce the speed of the motor; when the current speed of the motor is less than the required speed of the motor, the additional torque is used to provide power to the output shaft of the motor to increase the speed of the motor. Among them, the additional torque can be controlled by controlling the positive and negative current supplied to the motor. When the trend of the current driving the motor to rotate is the same as the current rotation direction of the motor, power is provided to the motor; when the trend of the current driving the motor to rotate is opposite to the current rotation direction of the motor, resistance is provided to the motor.

[0121] Through steps S170 to S200, it is possible to ensure that the motor generates electricity to recover the potential energy of the boom and also meet the driver's desired speed for raising or lowering the boom.

[0122] Optionally, see Figure 3 The control method of the boom decoupling hydraulic system further includes the following steps after step S200:

[0123] S210: The oil pressure in the rod chamber and the rodless chamber with the lower oil pressure is replaced with the oil replenishment passage.

[0124] Specifically, the oil in the first oil circuit applies a first force to the valve core of the balancing valve through the first hydraulic control end, and the oil in the second oil circuit applies a second force to the valve core of the balancing valve through the second hydraulic control end. Under the combined action of the first force and the second force, the valve core connects the one with the smaller oil pressure in the first oil circuit and the second oil circuit with the oil replenishing circuit, thereby realizing oil replacement, which can reduce the temperature of the oil in the hydraulic circuit and ensure that the boom can work stably.

[0125] Optionally, see Figure 4 , the control method of the boom decoupling hydraulic system also includes the following steps:

[0126] S220: Acquire a control signal for boom lifting.

[0127] The method for obtaining the control signal for boom lifting is the same as the method for obtaining the control signal for boom lowering, which will not be repeated here.

[0128] S230: Obtain the working oil pressure P.

[0129] S240 : Based on the working oil pressure P, the driving torque T of the oil pump is determined.

[0130] The memory pre-stores a third mapping relationship between the working oil pressure P and the driving torque T of the oil pump, and the driving torque T of the oil pump can be determined by obtaining the working oil pressure P and the third mapping relationship. The third mapping relationship can be obtained through a large number of experiments in the early stage.

[0131] S250: Obtain the rated torque a of the motor.

[0132] The rated torque a of the motor is related to the model of the motor and is pre-stored in the memory.

[0133] S260: Compare T and a / 2.

[0134] If T is greater than a / 2, execute S270; if T is not greater than a / 2, execute S280.

[0135] S270: Only the first oil pump outputs.

[0136] S280: The first oil pump and the second oil pump output simultaneously.

[0137] Among them, when T is greater than a / 2, it indicates that the motor can drive the first oil pump and the second oil pump to rotate at the same time, and the motor will not exceed the rated torque, so the first oil pump and the second oil pump can output at the same time; when T is not greater than a / 2, it indicates that if the motor drives the first oil pump and the second oil pump to rotate at the same time, the motor will exceed the rated torque, so only the first oil pump will output.

[0138] Among them, when the second oil pump is not outputting, it can be achieved by connecting the first reversing valve to the bypass oil circuit and disconnecting the third oil circuit with the second reversing valve. When the second oil pump is outputting, it can be achieved by disconnecting the bypass oil circuit with the first reversing valve and connecting the third oil circuit with the second reversing valve.

[0139] Optionally, see Figure 4 The control method of the boom decoupling hydraulic system further includes the following steps after step S280:

[0140] S290: Acquire the position of the joystick.

[0141] S300: Determine the required speed of the motor based on the position of the joystick.

[0142] Step S300 is the same as the above-mentioned step S180 and will not be described again here.

[0143] S310: The motor runs at the required speed.

[0144] Through steps S290 to S310, the motor can drive both the first oil pump and the second oil pump at the required speed, or only the first oil pump can output, so that the boom is raised or lowered at the speed desired by the driver.

[0145] Optionally, see Figure 4 The control method of the boom decoupling hydraulic system also includes the following steps after step S310.

[0146] S320: The oil pressure in the rod chamber and the rodless chamber with the lower oil pressure is replaced with the oil replenishment circuit.

[0147] The control method of step S320 is the same as that of step S210 and will not be repeated here. Step S320 can reduce the temperature of the oil in the hydraulic circuit and ensure that the boom can work stably.

[0148] The control method of the boom decoupling hydraulic system provided in the present embodiment, when the control signal of boom lifting and the working oil pressure P are obtained, when the difference between P and C does not exceed the set oil pressure, and when the current power of the battery does not exceed the set power, the driving torque T of the oil pump is determined based on the working oil pressure P, the rated torque a of the motor is obtained, and T is compared with a / 2. When T is greater than a / 2, only the first oil pump outputs, and when T is not greater than a / 2, the first oil pump and the second oil pump output at the same time to avoid motor overload, and then the position of the operating handle is obtained, and the required speed of the motor is determined based on the position of the operating handle. The motor runs at the required speed, so that the boom is raised or lowered at the speed expected by the driver; then the oil pressure of the rod chamber and the rodless chamber with the smaller oil pressure is replaced with the oil replenishing oil circuit to reduce the temperature of the oil in the hydraulic circuit and ensure that the boom can work stably.

[0149] Embodiment 2

[0150] This embodiment provides a control device for a boom decoupling hydraulic system, and the control device for a boom decoupling hydraulic system is used to implement the control method for the boom decoupling hydraulic system described in the above embodiments.

[0151] For details, please refer to Figure 5 The control device of the boom decoupling hydraulic system includes a boom lowering signal acquisition module 30, a working oil pressure acquisition module 31, a supplementary oil pressure acquisition module 32, a first judgment module 33, a current power acquisition module 34, a second judgment module 35 and an energy recovery module 36. Among them, the boom lowering signal acquisition module 30 is used to obtain the control signal of the boom lowering; the working oil pressure acquisition module 31 is used to obtain the working oil pressure P; the supplementary oil pressure acquisition module 32 is used to obtain the supplementary oil pressure C of the supplementary oil circuit; the first judgment module 33 is used to judge whether the difference between P and C exceeds the set oil pressure; the current power acquisition module 34 is used to obtain the current power of the battery when the difference between P and C exceeds the set oil pressure; the second judgment module 35 is used to judge whether the current power of the battery does not exceed the set power; the energy recovery module 36 is used to recover energy when the current power of the battery does not exceed the set power, and the energy recovery includes the first oil pump and the second oil pump driving the motor to generate electricity under the drive of the oil, and storing the electric energy in the battery.

[0152] The control device of the boom decoupling hydraulic system provided by the present invention obtains the control signal of the boom lowering through the boom lowering signal acquisition module 30; obtains the working oil pressure P through the working oil pressure acquisition module 31; obtains the replenishing oil pressure C of the replenishing oil circuit through the replenishing oil pressure acquisition module 32; judges whether the difference between P and C exceeds the set oil pressure through the first judgment module 33; when the difference between P and C exceeds the set oil pressure, obtains the current power of the battery through the current power acquisition module 34; judges whether the current power of the battery does not exceed the set power through the second judgment module 35; when the current power of the battery does not exceed the set power, energy recovery is performed through the energy recovery module 36. The control method is simple and suitable for closed hydraulic systems.

[0153] Optionally, the control device of the boom decoupling hydraulic system further includes:

[0154] A joystick position acquisition module, used to acquire the position of the joystick;

[0155] A required speed determination module, used to determine the required speed of the motor based on the position of the joystick;

[0156] The current speed acquisition module is used to obtain the current speed of the motor;

[0157] an additional torque determination module, configured to determine the additional torque based on a difference between a current rotation speed of the motor and a required rotation speed of the motor;

[0158] The first execution module is used to enable the motor to output additional torque.

[0159] Optionally, the control device of the boom decoupling hydraulic system further includes:

[0160] A boom lifting signal acquisition module is used to obtain a control signal for boom lifting;

[0161] A driving torque acquisition module, used to determine the driving torque T of the oil pump based on the working oil pressure P;

[0162] A rated torque acquisition module is used to obtain the rated torque a of the motor;

[0163] Comparison module, used to compare the size of T and a / 2;

[0164] The second execution module is used for only outputting the first oil pump when T is greater than a / 2;

[0165] A third execution module, for when T is not greater than a / 2, the first oil pump and the second oil pump output simultaneously;

[0166] A fourth execution module, used to make the motor run at a required speed;

[0167] The fifth execution module is used to replace the oil pressure of the rod chamber and the rodless chamber with the oil replenishment circuit.

[0168] The control device of the boom decoupling hydraulic system provided in the embodiment of the present invention can execute the control method of the boom decoupling hydraulic system provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0169] Embodiment 3

[0170] Figure 6 It is a structural schematic diagram of a control system of a boom decoupling hydraulic system provided by an embodiment of the present invention. Excavator (or terminal device) is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The terminal device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0171] like Figure 6As shown, the terminal device 100 includes one or more processors 110, and a storage device, which is communicatively connected to the processor 110, such as a ROM 120, a random access RAM 130, etc., wherein the storage device stores a computer program that can be executed by one or more processors, and the processor 110 can perform various appropriate actions and processes according to the computer program stored in the ROM 120 or the computer program loaded from the storage unit 180 to the random access RAM 130. In the RAM 130, various programs and data required for the operation of the terminal device 100 can also be stored. The processor 110, the ROM 120, and the RAM 130 are connected to each other via a bus 140. The I / O interface 150 is also connected to the bus 140.

[0172] A number of components in the terminal device 100 are connected to the I / O interface 150, including: an input unit 160, such as a keyboard, a mouse, etc.; an output unit 170, such as various types of displays, speakers, etc.; a storage unit 180, such as a disk, an optical disk, etc.; and a communication unit 190, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 190 allows the terminal device 100 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0173] The processor 110 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 110 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 110 executes the various methods and processes described above, such as a control method for a boom decoupling hydraulic system.

[0174] In some embodiments, the control method of the boom decoupling hydraulic system may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 180. In some embodiments, part or all of the computer program may be loaded and / or installed on the terminal device 100 via the ROM 120 and / or the communication unit 190. When the computer program is loaded into the RAM 130 and executed by the processor 110, one or more steps of the control method of the boom decoupling hydraulic system described above may be performed. Alternatively, in other embodiments, the processor 110 may be configured to execute the control method of the boom decoupling hydraulic system in any other appropriate manner (e.g., by means of firmware).

[0175] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0176] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0177] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0178] To provide interaction with a user, the systems and techniques described herein may be implemented on a terminal device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the terminal device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0179] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0180] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0181] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document is not limited here. Obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A control method for a boom decoupling hydraulic system, characterized in that: The boom decoupling hydraulic system includes a battery, a motor electrically connected to the battery, a first oil pump and a second oil pump that are simultaneously transmission-connected to the motor, and a boom cylinder, wherein the boom cylinder has a rodless chamber and a rod chamber, the two ends of the first oil pump are respectively connected to the rod chamber and the rodless chamber through pipelines, the two ends of the second oil pump are respectively connected to the oil replenishment circuit and the rodless chamber through pipelines, the first oil pump and the second oil pump are both capable of forward and reverse rotation, and the control method of the boom decoupling hydraulic system includes: S100: Acquire a control signal for lowering the boom; S110: Acquire a working oil pressure P, wherein the working oil pressure P is a larger value between the pressure of the oil in the rodless chamber and the pressure of the oil in the rod chamber; S120: Obtaining the oil replenishment pressure C of the oil replenishment circuit; S130: Determine whether the difference between P and C exceeds the set oil pressure; If yes, execute S140; S140: Obtaining the current power of the battery; S150: Determine whether the current battery power does not exceed the set power; If yes, execute S160; S160: Perform energy recovery, where the energy recovery includes the first oil pump and the second oil pump driving the motor to generate electricity under the drive of oil, and storing the electrical energy in a battery.

2. The control method of the boom decoupling hydraulic system according to claim 1, characterized in that: After energy recovery, the control method of the boom decoupling hydraulic system further includes: S170: Acquire the position of the joystick; S180: Determine the required speed of the motor based on the position of the joystick; S190: Get the current speed of the motor; S200 : determining an additional torque based on a difference between a current rotation speed of the motor and a required rotation speed of the motor, and the motor outputs the additional torque.

3. The control method of the boom decoupling hydraulic system according to claim 2, characterized in that: The boom decoupling hydraulic system further includes a balancing valve, which is used to connect the one with a smaller oil pressure between the rod chamber and the rodless chamber with the oil replenishment circuit; In step S200, after the motor outputs the additional torque, the control method of the boom decoupling hydraulic system further includes: S210: The oil pressure in the rod chamber or the rodless chamber with the lower oil pressure is replaced with the oil replenishment passage.

4. The control method of the boom decoupling hydraulic system according to claim 1, characterized in that: The control method of the boom decoupling hydraulic system also includes: S220: Acquire a control signal for boom lifting; S230: Obtaining the working oil pressure P; S240: determining a driving torque T of the oil pump based on the working oil pressure P; S250: Obtaining the rated torque a of the motor; S260: Compare T and a / 2; If T is greater than a / 2, execute S270; if T is not greater than a / 2, execute S280; S270: Only the first oil pump outputs; S280: The first oil pump and the second oil pump output simultaneously.

5. The control method of the boom decoupling hydraulic system according to claim 4, characterized in that: When judging whether the difference between P and C exceeds the set oil pressure, if not, executing S240; When determining whether the current battery power level does not exceed the set power level, if it exceeds, execute S240.

6. The control method of the boom decoupling hydraulic system according to claim 5, characterized in that: When only the first oil pump outputs, and when the first oil pump and the second oil pump output simultaneously, the control method of the boom decoupling hydraulic system further includes: S290: Acquire the position of the joystick; S300: Determine the required speed of the motor based on the position of the joystick; S310: The motor runs at the required speed.

7. The control method of the boom decoupling hydraulic system according to claim 6, characterized in that: After the motor runs at the required speed, the control method of the boom decoupling hydraulic system further includes: S320: The oil pressure in the rod chamber or the rodless chamber with the lower oil pressure is replaced with the oil replenishment passage.

8. A control device for a boom decoupling hydraulic system, characterized in that: The boom decoupling hydraulic system comprises a battery, a motor electrically connected to the battery, a first oil pump and a second oil pump connected to the motor at the same time, and a boom cylinder, wherein the boom cylinder has a rodless chamber and a rod chamber, the two ends of the first oil pump are respectively connected to the rod chamber and the rodless chamber through pipelines, the two ends of the second oil pump are respectively connected to the oil replenishment circuit and the rodless chamber through pipelines, the first oil pump and the second oil pump are both capable of forward and reverse rotation, and the control device of the boom decoupling hydraulic system comprises: A boom lowering signal acquisition module is used to obtain a control signal for the boom lowering; A working oil pressure acquisition module, used for acquiring a working oil pressure P, wherein the working oil pressure P is a larger value between the pressure of the oil in the rodless chamber and the pressure of the oil in the rod chamber; The oil replenishment pressure acquisition module is used to obtain the oil replenishment pressure C of the oil replenishment circuit; The first judgment module is used to judge whether the difference between P and C exceeds the set oil pressure; The current power acquisition module is used to obtain the current power of the battery when the difference between P and C exceeds the set oil pressure; The second judging module is used to judge whether the current power of the battery does not exceed the set power; The energy recovery module is used to recover energy when the current power of the battery does not exceed the set power. The energy recovery includes the first oil pump and the second oil pump driving the motor to generate electricity under the drive of oil and storing the electrical energy in the battery.

9. An excavator, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors control the excavator to implement the control method of the boom decoupling hydraulic system according to any one of claims 1 to 7.

10. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the excavator implements the control method of the boom decoupling hydraulic system according to any one of claims 1 to 7.

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