Control Method, Device, Excavator and Storage Medium of Boom Decoupling Hydraulic System

Abstract

The present invention relates to the technical field of excavators, and specifically discloses a control method, device, excavator and storage medium for a boom decoupling hydraulic system. The control method of the boom decoupling hydraulic system obtains a control signal for the boom to descend, obtains the working oil pressure P, obtains the replenishing oil pressure C of the replenishing oil circuit, determines whether the difference between P and C exceeds a set oil pressure. When the difference between P and C exceeds the set oil pressure, obtains the current battery power, and determines whether the current battery power does not exceed the set power. When the current battery power does not exceed the set power, energy recovery is performed. The control method is simple and suitable for a closed hydraulic system.

Description

Technical Field

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

[0002] During the operation of a hydraulic excavator, the boom performs periodic lifting and lowering actions. Most of the boom potential energy is consumed in the form of heat at the multi-way valve port, which not only causes serious energy waste and high fuel consumption, but also easily causes vibration noise and heat generation in the hydraulic system, reducing the reliability and lifespan of the system.

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

[0004] The purpose 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 for energy recovery and be applicable to closed hydraulic systems.

[0005] In a first aspect, the present invention provides a control method for a boom decoupling hydraulic system. The boom decoupling hydraulic system includes a battery, a motor electrically connected to the battery, a first oil pump and a second oil pump simultaneously driven by the motor, and a boom cylinder. The boom cylinder has a rodless chamber and a rod chamber. Both ends of the first oil pump are respectively connected to the rod chamber and the rodless chamber through pipelines, and both ends of the second oil pump are respectively connected to a make-up oil circuit and the rodless chamber through pipelines. Both the first oil pump and the second oil pump can rotate forward and backward. The control method for this boom decoupling hydraulic system includes:

[0006] S100: Obtain a control signal for the boom to descend;

[0007] S110: Obtain the working oil pressure P, where the working oil pressure P is the larger value of the oil pressure in the rodless chamber and the oil pressure in the rod chamber;

[0008] S120: Obtain the make-up oil pressure C of the make-up oil circuit;

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

[0010] If so, execute S140;

[0011] S140: Obtain the current battery power;

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

[0013] If so, execute S160;

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

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

[0016] S170: Obtain the position of the control handle;

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

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

[0019] S200: Determine the additional torque based on the difference between the current speed and the required 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 balance valve, and the balance valve is used to connect the oil cavity with the smaller oil pressure in the rodless cavity and the rod cavity to the oil replenishing 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: Perform oil fluid replacement between the oil cavity with the smaller oil pressure in the rodless cavity and the rod cavity and the oil replenishing circuit.

[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: Obtain the control signal for boom lifting;

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

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

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

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

[0029] If T is greater than a / 2, then execute S270; if T is not greater than a / 2, then 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 for the boom decoupling hydraulic system, when determining whether the difference between P and C exceeds the set oil pressure, if not, then execute S240;

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

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

[0035] S290: Obtain the position of the control handle;

[0036] S300: Determine the required rotational speed of the motor based on the position of the control handle;

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

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

[0039] S320: Replace the oil in the one with the lower oil pressure among the rodless chamber and the rod chamber with the oil in the supplementary oil circuit.

[0040] In a second aspect, the present invention provides a control device for a boom decoupling hydraulic system, the boom decoupling hydraulic system including a battery, a motor electrically connected to the battery, a first oil pump and a second oil pump simultaneously drivingly connected to the motor, and a boom cylinder, the boom cylinder having a rodless chamber and a rod chamber, both ends of the first oil pump being connected to the rodless chamber and the rod chamber respectively through pipelines, both ends of the second oil pump being connected to the supplementary oil circuit and the rodless chamber respectively through pipelines, and both the first oil pump and the second oil pump being capable of rotating forward and backward, the control device for the boom decoupling hydraulic system includes:

[0041] A boom lowering signal acquisition module for acquiring a control signal for lowering the boom;

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

[0043] A supplementary oil pressure acquisition module for acquiring a supplementary oil pressure C of a supplementary oil circuit;

[0044] A first judgment module for judging whether the difference between P and C exceeds a set oil pressure;

[0045] A current battery power acquisition module for acquiring the current battery power when the difference between P and C exceeds the set oil pressure;

[0046] A second judgment module for judging whether the current battery power does not exceed a set power;

[0047] An energy recovery module for performing energy recovery when the current battery power 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 electric energy in the battery.

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

[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, on which a computer program is stored. When the program is executed by a processor, the excavator implements the control method of the boom decoupling hydraulic system as described in any of the above solutions.

[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 of the boom decoupling hydraulic system obtains a control signal for the boom to descend, obtains a working oil pressure P, obtains a supplementary oil pressure C of a supplementary oil circuit, judges whether the difference between P and C exceeds a set oil pressure. When the difference between P and C exceeds the set oil pressure, obtains the current battery power, and judges whether the current battery power does not exceed a set power. When the current battery power does not exceed the set power, energy recovery is performed. The control method is simple and suitable for a closed hydraulic system. Description of the Drawings

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

[0056] Figure 2 It is the first flowchart of the control method of the boom decoupling hydraulic system in the embodiment of the present invention;

[0057] Figure 3 It is the second flowchart of the control method of the boom decoupling hydraulic system in the embodiment of the present invention;

[0058] Figure 4 It is the third flowchart of the control method of the boom decoupling hydraulic system in the embodiment of the present invention;

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

[0060] Figure 6 It is a schematic structural diagram of a control system of a boom decoupling hydraulic system provided by the 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. Hydraulically controlled check valve; 14. Hydraulically controlled directional valve; 15. First electromagnetic solenoid valve; 16. Second electromagnetic solenoid valve; 17. Third directional valve; 18. First make-up oil check valve; 19. Second make-up oil check valve; 20. First overflow valve; 21. Second overflow valve; 22. Fuel tank; 23. Make-up oil motor;

[0063] 30. Boom lowering signal acquisition module; 31. Working oil pressure acquisition module; 32. Make-up oil 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 implementation manners

[0065] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0066] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is 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 should not be construed as a limitation to 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 being "above", "over" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature has a higher horizontal height than the second feature. The first feature being "below", "beneath" and "under" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicating that the first feature has a lower horizontal height than the second feature.

[0067] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected" and "coupled" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0068] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0069] Embodiment 1

[0070] This embodiment provides a control method for a boom decoupling hydraulic system. The control method of the boom decoupling hydraulic system is applicable to the situation of automatically controlling the lifting and lowering of the boom. The control method of 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 in a software and / or hardware manner 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 simultaneously drivingly connected to the motor 3, and a boom cylinder 1. The boom cylinder 1 has a rodless chamber 102 and a rod chamber 101. Two ends of the first oil pump 4 are respectively connected to the rod chamber 101 and the rodless chamber 102 through pipelines. Two ends of the second oil pump 5 are respectively connected to a make-up oil 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 backward.

[0072] Specifically, the boom cylinder 1 includes a piston rod and a cylinder block. The piston rod divides the inner cavity of the cylinder block into a rod chamber 101 and a rodless chamber 102. The piston rod passes through the rod chamber 101 such that the cross-sectional area of the rod chamber 101 is smaller than that of the rodless chamber 102. The piston rod can move within the cylinder block. When the piston rod moves, the volumes of the rod chamber 101 and the rodless chamber 102 increase and decrease reciprocally. Wherein, the cylinder block 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. By extending and retracting the piston rod, the lifting and lowering of the boom are realized.

[0073] The boom decoupling hydraulic system further includes a make-up oil pump 6 and a make-up oil motor 23 driving the make-up oil pump 6 to rotate. One end of the make-up oil pump 6 is connected to a fuel tank 22, and the other end is connected to the make-up oil circuit 7. The oil in the fuel tank 22 can be pumped to the make-up oil circuit 7 through the make-up oil pump 6, and the make-up oil circuit 7 supplies oil to the second oil pump 5. Preferably, the boom decoupling hydraulic system further includes a make-up oil overflow valve 8 connected to the make-up oil circuit 7. The make-up oil overflow valve 8 is used to overflow the oil in the make-up oil circuit 7 exceeding the set pressure to the fuel tank 22.

[0074] In this embodiment, one end of the first oil pump 4 is communicated with the rodless chamber 102 through a first oil circuit 9, the other end of the first oil pump 4 is communicated with the rod chamber 101 through a second oil circuit 10, the second oil pump 5 is communicated with the first oil circuit 9 through a third oil circuit 11. Both the first oil pump 4 and the second oil pump 5 are closed-type oil pumps, specifically, they can be closed-type fixed-displacement pumps. The first oil pump 4 and the two oil chambers of the boom cylinder 1 form a hydraulic circuit. The second oil pump 5 and the rodless chamber 102 and the make-up oil circuit 7 form a hydraulic circuit. The boom cylinder 1 is supplied with oil through the first oil pump 4 and the second oil pump 5, realizing the decoupling of the boom cylinder 1, facilitating the improvement of the control performance of the boom cylinder 1.

[0075] The boom decoupling hydraulic system further includes a bypass oil circuit (not shown in the drawings), a first reversing valve (not shown in the drawings) provided in the bypass oil circuit, and a second reversing valve (not shown in the drawings) provided in the third oil circuit 11. The two ends of the bypass oil circuit are respectively connected to the oil replenishing circuit 7 and the third oil circuit 11, and the connection point 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 simultaneously. If the first reversing valve connects the bypass oil circuit and the second reversing valve disconnects 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 external work, and 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 disconnects the bypass oil circuit and the second reversing valve connects 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 as to realize that only the first oil pump 4 outputs externally, or the first oil pump 4 and the second oil pump 5 output externally simultaneously to meet different working condition requirements.

[0076] Specifically, the driver can control the lifting and lowering of the boom by operating the control handle. The piston rod can move relative to the cylinder block 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 replenishing circuit 7 as an example, when the piston rod moves towards the extended position, the piston rod gradually extends outwards, the boom rises, 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 replenishing circuit 7 into the rodless chamber 102. When the piston rod moves towards the retracted position, the piston rod gradually retracts inwards, the boom descends, 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 replenishing circuit 7.

[0077] It should be noted that when the boom descends, if the boom needs to descend quickly, according to the actual working condition requirements, the first oil pump 4 and the second oil pump 5 can be driven to rotate by the oil, and at this time the motor 3 rotates and generates electricity under the drive of the first oil pump 4 and the second oil pump 5, and the generated electric energy can be stored in the battery 2 to realize the recovery of the boom potential energy; or according to the actual working condition needs, the first oil pump 4 and the second oil pump 5 can be driven to rotate by the motor 3.

[0078] The boom decoupling hydraulic system further includes a balance valve 12. The balance valve 12 connects the one with a lower oil pressure among the rod chamber 101 and the rodless chamber 102 to the oil replenishing circuit 7. By providing the balance valve 12, the oil in the one with a lower oil pressure among 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 a lower oil pressure among 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, replacement of the hot oil in the hydraulic circuit can be achieved, the normal oil temperature in the hydraulic circuit can be ensured, and thus the normal operation of the boom cylinder 1 can be ensured. Moreover, compared with the prior art, temperature monitoring is not required, and the cost can be effectively reduced. In addition, connecting the one with a lower oil pressure among the rod chamber 101 and the rodless chamber 102 to the oil replenishing circuit 7 through the balance valve 12 can also effectively compensate for the flow difference between the rod chamber 101 and the rodless chamber 102.

[0079] In this embodiment, the balance valve 12 includes a P port, an A port, and a B port. Among them, the P port is connected to the oil replenishing circuit 7, the A port is connected to the first oil circuit 9, and the B port is connected to the second oil circuit 10. The balance valve 12 has a first left position and a first right position. When the balance valve 12 is in the first left position, the balance valve 12 connects the P port and the B port and disconnects the A port, so that the oil replenishing circuit 7 is connected to the second oil circuit 10 and the first oil circuit 9 is disconnected; when the balance valve 12 is in the first right position, the balance valve 12 connects the P port and the A port and disconnects the B port, so that the oil replenishing circuit 7 is connected to the first oil circuit 9 and the second oil circuit 10 is disconnected. Preferably, the balance valve 12 further has a first middle position. When the balance valve 12 is in the first middle position, the P port is disconnected, the A port is disconnected, and the B port is disconnected, so that the oil replenishing circuit 7 is simultaneously disconnected from the first oil circuit 9 and the second oil circuit 10.

[0080] In this embodiment, the balance valve 12 is specifically a hydraulic control valve. The balance 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. The first hydraulic control end and the second hydraulic control end are respectively located on both sides of the spool of the balance valve 12, and the hydraulic oil at the first hydraulic control end and the second hydraulic control end directly acts on the spool of the balance valve 12. By comparing the force exerted on the spool of the balance valve 12 by the hydraulic oil at the first hydraulic control end and the force exerted on the spool of the balance valve 12 by the hydraulic oil at the second hydraulic control end, the stop position of the spool of the balance valve 12 is determined. Specifically, when the oil pressure at the first hydraulic control end is greater than the oil pressure at the second hydraulic control end, the balance valve 12 is in the first left position; when the oil pressure at the first hydraulic control end is less than the oil pressure at the second hydraulic control end, the balance valve 12 is in the first right position; when the oil pressure at the first hydraulic control end is equal to the oil pressure at the second hydraulic control end, the balance valve 12 is in the first middle position. In other embodiments, the balance valve 12 can also be an electro-control valve.

[0081] Optionally, the boom decoupling hydraulic system further includes a hydraulic control check valve 13 and a hydraulic control reversing valve 14. The hydraulic control check valve 13 is arranged in the first oil circuit 9, and the hydraulic control check valve 13 is located between the connection of the third oil circuit 11 and the first oil circuit 9 and the rodless cavity 102. The hydraulic control check 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 hydraulic control reversing valve 14.

[0082] Specifically, in this embodiment, the hydraulic control check valve 13 includes a valve housing and a spool. 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 in the first oil circuit 9, and the first working interface is closer to the rodless cavity 102 than the second working interface; the spool slides in the valve housing, and the spool divides the inner cavity of the valve housing into a spring cavity and a working cavity. The spool can slide relative to the valve housing and has an open position and a closed position. When the spool is in the closed position, the spool can further divide the working cavity into a non-communicating first chamber and a second chamber. Among them, 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 spool is in the open position, the first chamber and the second chamber are connected, and at this time the first oil circuit 9 is connected.

[0083] The hydraulic control check valve 13 further includes a spring. The valve housing has a first control interface and a second control interface. The spring is located in the spring cavity and the two ends of the spring are respectively abutted against the spool 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 cavity. The spring and the hydraulic oil in the spring cavity give the spool a force F1 moving towards the closed position, and the hydraulic oil in the working cavity gives the spool a force F2 moving towards the open position. By comparing the magnitudes of F1 and F2, the position of the spool is determined.

[0084] Furthermore, the hydraulically controlled directional valve 14 is a two-position three-way valve, and the hydraulically controlled directional valve 14 can connect the first control port and the second control port. At this time, the oil pressures in the working chamber and the spring chamber are equal, but the acting area of the oil in the working chamber and the valve core is smaller than that of the oil in the spring chamber and the valve core, and the spring in the spring chamber also applies a force to the valve core, which can make the valve core move to the closed position to ensure the stable closing of the first oil passage 9. The hydraulically controlled directional valve 14 can also connect the second control port and the oil tank 22. At this time, the magnitudes of F1 and F2 are compared to determine the position of the valve core. When F2 > F1, the spring is compressed, which can make the valve core move to the open position, thereby opening the first oil passage 9.

[0085] The boom decoupling hydraulic system further includes a first electromagnetic solenoid valve 15. The first electromagnetic solenoid valve 15 is used to control the on-off of the signal oil source of the hydraulically controlled directional valve 14, thereby controlling the working position of the hydraulically controlled directional valve 14, and can connect the first control port and the second control port, or connect the second control port and the oil tank 22 and disconnect the first control port. In other embodiments, the hydraulically controlled directional valve 14 can also be replaced by an electrically controlled directional valve.

[0086] Optionally, the boom decoupling hydraulic system further includes a third directional valve 17. The third directional valve 17 is disposed on the first oil passage 9, and the third directional valve 17 is located between the connection of the third oil passage 11 and the first oil passage 9 and the first oil pump 4. The third directional valve 17 is used to control the connection or disconnection of the first oil passage 9. When the third directional valve 17 disconnects the first oil passage 9, it can block the first oil pump 4 from supplying oil to the rodless cavity 102 and prevent the oil in the rodless cavity 102 from flowing to the first oil pump 4. At this time, only the second oil pump 5 is used to drive the boom cylinder 1.

[0087] The third directional valve 17 includes a third hydraulic control end and a fourth hydraulic control end. The first electromagnetic solenoid valve 15 is also used to control the on-off of the oil passage of the third hydraulic control end. The boom decoupling hydraulic system further includes a second electromagnetic solenoid valve 16. The second electromagnetic solenoid valve 16 is also used to control the on-off of the oil passage 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 directional 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 directional valve 17. By comparing the force exerted on the valve core of the third directional valve 17 by the oil of the third hydraulic control end and the force exerted on the valve core of the third directional valve 17 by the oil of the fourth hydraulic control end, the stop position of the valve core of the third directional valve 17 is determined.

[0088] Optionally, the boom decoupling hydraulic system further includes a first oil replenishing check valve 18 and a second oil replenishing check valve 19. The first oil replenishing check valve 18 is connected between the oil replenishing oil circuit 7 and the rodless cavity 102, and the first oil replenishing check valve 18 only allows the oil fluid to flow from the oil replenishing oil circuit 7 to the rodless cavity 102. Specifically, the first oil replenishing check valve 18 is connected between the oil replenishing oil circuit 7 and the first oil circuit 9. The second oil replenishing check valve 19 is connected between the oil replenishing oil circuit 7 and the rod cavity 101, and the second oil replenishing check valve 19 only allows the oil fluid to flow from the oil replenishing oil circuit 7 to the rod cavity 101. Specifically, the second oil replenishing check valve 19 is connected between the oil replenishing oil circuit 7 and the second oil circuit 10. By setting the first oil replenishing check valve 18, when the oil fluid pressure in the rodless cavity 102 is low, the rodless cavity 102 can be replenished with oil fluid through the oil replenishing oil circuit 7. By setting the second oil replenishing check valve 19, when the oil fluid pressure in the rod cavity 101 is low, the rod cavity 101 can be replenished with oil fluid through the oil replenishing oil circuit 7, so as to further balance the flow difference between the rod cavity 101 and the rodless cavity 102. Specifically, the connection point of the first oil replenishing check valve 18 and the first oil circuit 9 is located between the pilot-operated check valve 13 and the boom cylinder 1.

[0089] Optionally, the boom decoupling hydraulic system further includes a first relief valve 20 and a second relief valve 21. The first relief valve 20 is connected between the oil replenishing oil circuit 7 and the rodless cavity 102, and the first relief valve 20 only allows the oil fluid to overflow from the rodless cavity 102 to the oil replenishing oil circuit 7. Specifically, the first relief valve 20 is connected between the oil replenishing oil circuit 7 and the first oil circuit 9. The second relief valve 21 is connected between the oil replenishing oil circuit 7 and the rod cavity 101, and the second relief valve 21 only allows the oil fluid to overflow from the rod cavity 101 to the oil replenishing oil circuit 7. Specifically, the second relief valve 21 is connected between the oil replenishing oil circuit 7 and the second oil circuit 10. By setting the first relief valve 20 and the second relief valve 21, the oil pressures in the rod cavity 101 and the rodless cavity 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: Obtain the control signal for the boom to lower.

[0092] Specifically, the control handle is used to control the lifting and lowering of the boom, as well as the lifting and lowering speeds. Specifically, the control handle has an initial position, and the control handle can be pushed forward and backward from the initial position. When pushed forward, it controls the boom to lift, and when pulled backward, it controls the boom to lower. Therefore, by collecting the actual position of the control handle, it can be determined whether the issued signal is a boom lowering control signal or a boom lifting control signal. Among them, the actual position of the control handle can be detected by a position sensor provided on the control handle.

[0093] S110: Obtain the working oil pressure P, where the working oil pressure P is the larger value between the oil pressure in the rodless cavity and the oil pressure in the rod cavity.

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

[0095] S120: Obtain the make-up oil pressure C of the make-up oil circuit.

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

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

[0098] If so, execute S140; if not, execute S240.

[0099] Among them, the magnitude of the set oil pressure can be set according to actual needs. In this embodiment, a scheme with a set oil pressure of 50 bar is exemplarily given.

[0100] Since the balance valve can connect the make-up oil circuit to the one with the lower oil pressure among the first oil circuit and the second oil circuit, when the difference between P and C exceeds the set oil pressure, that is, the oil pressure difference between the rod cavity and the rodless cavity exceeds the set oil pressure. At this time, the oil pressure difference between the rod cavity and the rodless cavity is large. When the oil flows from one of them to the other, it can drive the first oil pump and the second oil pump to rotate, and then drive the motor to generate electricity.

[0101] It should be noted that the movement direction of the piston rod and the direction of the load force on the piston rod jointly determine the oil pressures in the rodless cavity and the rod cavity. It is defined that when the direction of the load force is the same as the movement direction of the piston rod, the load force is a negative load, and when the direction of the load force is opposite to the movement direction of the piston rod, the load force is a positive load. Taking the example of the piston rod moving towards the retracted position, when the piston rod is subjected to a negative load, the oil pressure in the rodless cavity is greater than the oil pressure in the rod cavity, and the balance valve connects the make-up oil circuit and the second oil circuit; when the piston rod is subjected to a positive load, the oil pressure in the rod cavity is greater than the oil pressure in the rodless cavity, and the balance valve connects the make-up oil circuit and the first oil circuit. Therefore, when the boom needs to descend, the oil pressure in the rod cavity may be greater than the oil pressure in the rodless cavity, or the oil pressure in the rodless cavity may be greater than the oil pressure in the rod cavity.

[0102] S140: Obtain the current battery power.

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

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

[0105] If so, execute S160; if not, execute S240.

[0106] Among them, the magnitude of the set power can be set according to actual needs. In this embodiment, the set power is exemplarily given as 90%.

[0107] S160: Perform energy recovery. 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 fluid, and storing the electric 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 electric energy, and energy recovery can be performed; however, when the current power exceeds the set power, it indicates that the battery has too much power at this time and is not suitable for further storing electric energy. Among them, when there is no need to store electric energy, only the electrical connection between the battery and the motor needs to be disconnected.

[0109] When energy recovery needs to be performed, there is no need to supply power to the motor. Under the action of the oil pressure difference between the rod chamber and the non-rod chamber, the oil fluid 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, and the electric energy generated by the power generation is stored in the battery.

[0110] The control method of the boom decoupling hydraulic system provided in this embodiment, by obtaining the control signal for the boom to descend, obtaining the working oil pressure P, obtaining the make-up oil pressure C of the make-up oil circuit, judging whether the difference between P and C exceeds the set oil pressure, when the difference between P and C exceeds the set oil pressure, obtaining the current power of the battery, and judging 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, perform energy recovery, the control method is simple and suitable for a closed hydraulic system.

[0111] Optionally, please refer to Figure 3 , the control method of the boom decoupling hydraulic system further includes the following steps after step S160.

[0112] S170: Obtain the position of the control handle.

[0113] Detect the position of the control handle through the position sensor provided on the control handle.

[0114] S180: Determine the required rotational speed of the motor based on the position of the control handle.

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

[0116] S190: Obtain the current rotational speed of the motor.

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

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

[0119] A second mapping relationship between the difference between the current rotational speed of the motor and the required rotational speed of the motor and the additional torque is pre-stored in the memory. The additional torque of the motor can be determined by the difference between the current rotational speed and the required rotational speed of the motor and the second mapping relationship, and the second mapping relationship can be obtained through a large number of previous experiments.

[0120] In this embodiment, when the motor outputs an additional torque, the current rotational speed of the motor can be adjusted to the required rotational speed. Specifically, when the current rotational speed of the motor is greater than the required rotational speed of the motor, the additional torque is used to provide resistance to the output shaft of the motor to reduce the rotational speed of the motor; when the current rotational speed of the motor is less than the required rotational speed of the motor, the additional torque is used to provide power to the output shaft of the motor to increase the rotational speed of the motor. Among them, the additional torque can be controlled by controlling the positive and negative of the current supplied to the motor. When the tendency of the current to drive the motor to rotate is the same as the current rotation direction of the motor, power is provided to the motor; when the tendency of the current to drive 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 can be ensured that the motor generates electricity to recover the potential energy of the boom, and the desired speed of the driver for lifting or lowering the boom can also be satisfied.

[0122] Optionally, please refer to Figure 3 , the control method of the boom decoupling hydraulic system further includes, after step S200:

[0123] S210: Replace the hydraulic oil in the oil cavity with the smaller oil pressure between the rodless cavity and the rodless cavity with the oil in the supplementary oil circuit.

[0124] Specifically, the hydraulic fluid in the first oil circuit exerts a first acting force on the valve core of the balance valve through the first hydraulic control end, and the hydraulic fluid in the second oil circuit exerts a second acting force on the valve core of the balance valve through the second hydraulic control end. Under the combined action of the first acting force and the second acting force, the valve core makes the oil circuit with the lower oil pressure among the first oil circuit and the second oil circuit communicate with the oil replenishing circuit, thereby realizing the replacement of the hydraulic fluid, reducing the temperature of the hydraulic fluid in the hydraulic circuit, and ensuring that the boom can work stably.

[0125] Optionally, please refer to Figure 4 , and the control method of the boom decoupling hydraulic system further includes the following steps:

[0126] S220: Obtain the control signal for the boom to lift.

[0127] The method for obtaining the control signal for the boom to lift is the same as that for obtaining the control signal for the boom to lower, and will not be elaborated here.

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

[0129] S240: Determine the driving torque T of the oil pump based on the working oil pressure P.

[0130] A third mapping relationship between the working oil pressure P and the driving torque T of the oil pump is pre-stored in the memory. The driving torque T of the oil pump can be determined through the obtained working oil pressure P and the third mapping relationship. The third mapping relationship can be obtained through a large number of previous experiments.

[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 the magnitudes of T and a / 2.

[0134] If T is greater than a / 2, then execute S270; if T is not greater than a / 2, then 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 at this time the motor can drive the first oil pump and the second oil pump to rotate simultaneously, and the motor will not exceed the rated torque. Therefore, the first oil pump and the second oil pump can be made to output simultaneously; 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 simultaneously at this time, the motor will exceed the rated torque. Therefore, only the first oil pump is made to output.

[0138] Among them, when the second oil pump does not output, it can be achieved by making the first reversing valve connect to the bypass oil circuit and the second reversing valve disconnect the third oil circuit. When the second oil pump outputs, it can be achieved by the first reversing valve disconnecting the bypass oil circuit and the second reversing valve connecting the third oil circuit.

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

[0140] S290: Obtain the position of the control handle.

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

[0142] Step S300 is the same as the above step S180 and will not be elaborated here.

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

[0144] Through steps S290 to S310, it is possible to make the motor drive both the first oil pump and the second oil pump at the required speed, or only the first oil pump outputs, so that the boom can be lifted or lowered at the speed expected by the driver.

[0145] Optionally, please refer to Figure 4 , the control method of the boom decoupling hydraulic system further includes the following steps after step S310.

[0146] S320: Make the one with the lower oil pressure among the rod chamber and the rodless chamber perform oil replacement with the oil replenishing oil circuit.

[0147] The control method of step S320 is the same as that of step S210 and will not be elaborated here. Through step S320, the temperature of the oil in the hydraulic circuit can be reduced, and it can be ensured that the boom can work stably.

[0148] For the control method of the boom decoupling hydraulic system provided in this embodiment, when obtaining the control signal for lifting the boom and obtaining the working oil pressure P, when the difference between P and C does not exceed the set oil pressure, and when the current battery power does not exceed the set power, determine the driving torque T of the oil pump based on the working oil pressure P, obtain the rated torque a of the motor, compare the magnitudes of T and a / 2. When T is greater than a / 2, only the first oil pump outputs. When T is not greater than a / 2, the first oil pump and the second oil pump output simultaneously to avoid overloading the motor. Then obtain the position of the control handle, determine the required speed of the motor based on the position of the control handle, and the motor runs at the required speed, so that the boom can be lifted or lowered at the speed expected by the driver. Then make the one with the lower oil pressure among the rod chamber and the rodless chamber perform oil replacement 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 this control device for the boom decoupling hydraulic system is used to implement the control method of the boom decoupling hydraulic system described in the above embodiment.

[0151] Specifically, 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 make-up oil pressure acquisition module 32, a first judgment module 33, a current battery 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 acquire the control signal for the boom to lower; the working oil pressure acquisition module 31 is used to acquire the working oil pressure P; the make-up oil pressure acquisition module 32 is used to acquire the make-up oil pressure C of the make-up 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 battery power acquisition module 34 is used to acquire the current battery power when the difference between P and C exceeds the set oil pressure; the second judgment module 35 is used to judge whether the current battery power does not exceed the set battery power; the energy recovery module 36 is used to perform energy recovery when the current battery power does not exceed the set battery 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 fluid, and storing the electric energy in the battery.

[0152] The control device of the boom decoupling hydraulic system provided by the present invention acquires the control signal for the boom to lower through the boom lowering signal acquisition module 30; acquires the working oil pressure P through the working oil pressure acquisition module 31; acquires the make-up oil pressure C of the make-up oil circuit through the make-up 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, acquires the current battery power through the current battery power acquisition module 34; judges whether the current battery power does not exceed the set battery power through the second judgment module 35; when the current battery power does not exceed the set battery power, performs energy recovery through the energy recovery module 36, and the control method is simple and suitable for a closed hydraulic system.

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

[0154] A position acquisition module for the control handle, which is used to acquire the position of the control handle;

[0155] A required rotation speed determination module, which is used to determine the required rotation speed of the motor based on the position of the control handle;

[0156] A current rotation speed acquisition module, which is used to acquire the current rotation speed of the motor;

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

[0158] A first execution module, configured to cause the motor to output an additional torque.

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

[0160] A boom lifting signal acquisition module, configured to acquire a control signal for lifting the boom;

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

[0162] A rated torque acquisition module, configured to acquire the rated torque a of the motor;

[0163] A comparison module, configured to compare the magnitudes of T and a / 2;

[0164] A second execution module, configured to cause only the first oil pump to output when T is greater than a / 2;

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

[0166] A fourth execution module, configured to cause the motor to operate at the required rotational speed;

[0167] A fifth execution module, configured to perform oil replacement between the one with a lower oil pressure among the rod chamber and the non-rod chamber and the oil replenishing circuit.

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

[0169] Embodiment III

[0170] Figure 6 It is a schematic structural diagram of a control system of a boom decoupling hydraulic system provided by an embodiment of the present invention. An excavator (or referred to as a terminal device) is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The terminal device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described herein and / or claimed.

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

[0172] Multiple 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 magnetic disk, an optical disc, 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 via a computer network such as the Internet and / or various telecommunication networks.

[0173] The processors 110 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processors 110 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated 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 processors 110 execute the various methods and processes described above, such as the control method of the boom decoupling hydraulic system.

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

[0175] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0176] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0177] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. A more specific example of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc 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 can 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 a trackball) by which the user can provide input to the terminal device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0179] The systems and techniques described herein can 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 having a graphical user interface or a web browser through which the user can interact with an implementation 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 can be interconnected to each other by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0180] The computing system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs that run on the respective computers and have a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0181] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described 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 no limitations are imposed herein. Obviously, the above embodiments of the present invention are merely examples given for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or alterations can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope 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 simultaneously drivingly connected to the motor, and a boom cylinder. The boom cylinder has a rodless chamber and a rod chamber. Two ends of the first oil pump are respectively connected to the rod chamber and the rodless chamber through pipelines. Two ends of the second oil pump are respectively connected to a make-up oil circuit and the rodless chamber through pipelines. Both the first oil pump and the second oil pump can rotate forward and backward. The control method of the boom decoupling hydraulic system includes: S100: Obtain a control signal for the boom to lower; S110: Obtain the working oil pressure P, where the working oil pressure P is the larger value of the oil pressure in the rodless chamber and the oil pressure in the rod chamber; S120: Obtain the make-up oil pressure C of the make-up oil circuit; S130: Determine whether the difference between P and C exceeds a set oil pressure; If so, execute S140; S140: Obtain the current power of the battery; S150: Determine whether the current power of the battery does not exceed a set power; If so, execute S160; S160: Perform energy recovery. The energy recovery includes driving the motor to generate electricity by the first oil pump and the second oil pump under the drive of oil, and storing the electric energy in the battery; After performing energy recovery, the control method of the boom decoupling hydraulic system further includes: S170: Obtain the position of the control handle; S180: Determine the required speed of the motor based on the position of the control handle; S190: Obtain the current speed of the motor; S200: Determine an additional torque based on the difference between the current speed of the motor and the required speed of the motor, and the motor outputs the additional torque; The boom decoupling hydraulic system further includes a balance valve for connecting the one with the smaller oil pressure in the rod chamber and the rodless chamber to the make-up oil circuit; In step S200, after the motor outputs the additional torque, the control method of the boom decoupling hydraulic system further includes; S210: Perform oil replacement between the one with the smaller oil pressure in the rod chamber and the rodless chamber and the make-up oil circuit.

2. 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 further includes: S220: Obtain a control signal for the boom to lift; S230: Obtain the working oil pressure P; S240: Determine the driving torque T of the oil pump based on the working oil pressure P; S250: Obtain the rated torque a of the motor; S260: Compare the magnitudes of 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.

3. The control method of the boom decoupling hydraulic system according to claim 2, characterized in that, When determining whether the difference between P and C exceeds the set oil pressure, if not, execute S240; When determining whether the current power of the battery does not exceed the set power, if it exceeds, execute S240.

4. The control method of the boom decoupling hydraulic system according to claim 3, characterized in that, After only the first oil pump outputs, and after the first oil pump and the second oil pump output simultaneously, the control method of the boom decoupling hydraulic system further includes: S290: Obtain the position of the control handle; S300: Determine the required rotational speed of the motor based on the position of the joystick; S310: The motor operates at the required rotational speed.

5. The control method of the boom decoupling hydraulic system according to claim 4, characterized in that, After the motor operates at the required rotational speed, the control method of the boom decoupling hydraulic system further includes; S320: Replace the hydraulic oil in the oil cavity with the smaller oil pressure among the rodless cavity and the rod cavity with the hydraulic oil in the supplementary oil circuit.

6. A control device for a boom decoupling hydraulic system, characterized in that, For implementing the control method of the boom decoupling hydraulic system according to any one of claims 1-5, the boom decoupling hydraulic system includes a battery, a motor electrically connected to the battery, a first oil pump and a second oil pump simultaneously drivingly connected to the motor, and a boom cylinder. The boom cylinder has a rodless cavity and a rod cavity. Both ends of the first oil pump are respectively connected to the rodless cavity and the rod cavity through pipelines. Both ends of the second oil pump are respectively connected to the supplementary oil circuit and the rodless cavity through pipelines. Both the first oil pump and the second oil pump can rotate forward and backward. The control device of the boom decoupling hydraulic system includes: A boom lowering signal acquisition module for acquiring a control signal for lowering the boom; A working oil pressure acquisition module for acquiring the working oil pressure P, where the working oil pressure P is the larger value between the pressure of the hydraulic oil in the rodless cavity and the pressure of the hydraulic oil in the rod cavity; A supplementary oil pressure acquisition module for acquiring the supplementary oil pressure C of the supplementary oil circuit; A first judgment module for judging whether the difference between P and C exceeds the set oil pressure; A current battery power acquisition module for acquiring the current battery power when the difference between P and C exceeds the set oil pressure; A second judgment module for judging whether the current battery power does not exceed the set battery power; An energy recovery module for performing energy recovery when the current battery power does not exceed the set battery power. The energy recovery includes driving the motor to generate electricity by the first oil pump and the second oil pump under the drive of the hydraulic oil, and storing the electric energy in the battery.

7. An excavator, characterized in that, Including: 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 1-5.

8. A storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, the excavator implements the control method of the boom decoupling hydraulic system according to any one of claims 1-5.

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