Regeneration control method of hydraulic system, engineering machinery control device and engineering machinery

Abstract

The invention belongs to the technical field of engine aftertreatment regeneration, and particularly relates to a regeneration control method of a hydraulic system. The regeneration control method of the hydraulic system comprises the steps that the aftertreatment carbon loading capacity of an engine is obtained; according to the condition that the after-treatment carbon loading capacity is larger than the carbon loading capacity threshold value and the engineering machinery is in the working condition, it is judged that regeneration operation is needed for after-treatment of the engine; acquiring the rotating speed of the engine before regeneration according to regeneration operation required by engine after-treatment; obtaining the flow of a hydraulic pump before regeneration of the hydraulic system according to the condition that the engine before-regeneration rotating speed is smaller than the regeneration required rotating speed; engine regeneration operation is conducted, and the regenerated hydraulic pump flow of the hydraulic system is obtained; and comparing the flow of the hydraulic pump before regeneration with the flow of the hydraulic pump after regeneration, and adjusting the flow of the hydraulic pump after regeneration to be the same as the flow of the hydraulic pump before regeneration through the hydraulic system. According to the technical scheme, an execution element of the regenerated hydraulic system is stable, and the reliability is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of engine post-processing regeneration, and in particular relates to a regeneration control method of a hydraulic system, an engineering machinery control device and an engineering machinery. Background Art

[0002] At present, hydraulic systems powered by diesel engines (mainly engineering machinery) need to eliminate carbon deposits in post-treatment periodically due to emission requirements. Carbon deposits are mainly eliminated by increasing the speed and increasing the exhaust temperature. Most of them are currently achieved by mechanically stopping the engine to increase the engine speed, but this wastes energy and time. Some manufacturers can perform regeneration operations during operation, but the increase in engine speed will cause a sudden change in the flow of the hydraulic system, and the action of the hydraulic actuator will also have a sudden change, which brings risks and uncertainties to the operation. Summary of the invention

[0003] The purpose of the present invention is to at least solve the problem of sudden changes in the hydraulic system during regeneration operation. This purpose is achieved through the following technical solutions:

[0004] A first aspect of the present invention provides a regenerative control method for a hydraulic system, comprising:

[0005] Obtaining the aftertreatment carbon loading of the engine;

[0006] According to the fact that the after-treatment carbon load is greater than the carbon load threshold and the construction machinery is in an operating condition, it is determined that the engine after-treatment needs to be regenerated;

[0007] According to the need for regeneration operation of the engine aftertreatment, the engine speed before regeneration is obtained;

[0008] According to the engine speed before regeneration being less than the regeneration required speed, the hydraulic pump flow rate before regeneration of the hydraulic system is obtained;

[0009] Perform engine regeneration operation and obtain the hydraulic pump flow rate of the hydraulic system after regeneration;

[0010] The hydraulic pump flow rate before regeneration and the hydraulic pump flow rate after regeneration are compared, and the hydraulic pump flow rate after regeneration is adjusted to be the same as the hydraulic pump flow rate before regeneration through the hydraulic system.

[0011] According to the technical solution of the present invention, when the post-treatment carbon load of the engine is greater than the carbon load threshold and the engineering machinery is in an operating condition, the engine at this time needs to perform a regeneration operation under the operating condition, and the engine speed before regeneration is first obtained. If the engine speed before regeneration is less than the regeneration required speed, when the regeneration speed is increased, it will cause a sudden change in the output flow of the hydraulic system, so that the action of the actuator of the hydraulic system will have a sudden change, which will bring risks and uncertainties to the operation. Therefore, the control method of the present invention obtains the hydraulic pump flow after the engine regeneration, and compares it with the hydraulic pump flow before regeneration, and adjusts the hydraulic pump flow after regeneration to the same as the hydraulic pump flow before regeneration through the hydraulic system, so as to achieve the same flow before and after regeneration of the hydraulic system, and finally makes the actuator of the hydraulic system under regeneration stable, thereby improving reliability.

[0012] In addition, the regeneration control method of the hydraulic system according to the present invention may also have the following additional technical features:

[0013] In some embodiments of the present invention, obtaining the pre-regeneration hydraulic pump flow rate of the hydraulic system according to the engine pre-regeneration speed being less than the regeneration required speed comprises:

[0014] According to the engine speed before regeneration being less than the regeneration required speed, the engine output torque before regeneration, the hydraulic pump outlet pressure before regeneration and the engine speed before regeneration are obtained;

[0015] The flow rate of the hydraulic pump before regeneration is calculated using the formula T1*2π*n1=P1*η*Q1 according to the output torque of the engine before regeneration, the outlet pressure of the hydraulic pump before regeneration and the speed of the engine before regeneration;

[0016] Among them, T1 is the output torque of the engine before regeneration, n1 is the speed of the engine before regeneration, P1 is the outlet pressure of the hydraulic pump before engine regeneration, Q1 is the flow rate of the hydraulic pump before regeneration, and η is the efficiency coefficient.

[0017] In some embodiments of the present invention, performing the engine regeneration operation and obtaining the hydraulic pump flow rate of the hydraulic system after regeneration includes:

[0018] Performing an engine regeneration operation, and obtaining an output torque of the engine after regeneration, an outlet pressure of a hydraulic pump after regeneration of the engine, and a speed of the engine after regeneration;

[0019] According to the output torque of the engine after regeneration, the outlet pressure of the hydraulic pump after regeneration and the speed of the engine after regeneration, the flow rate of the hydraulic pump after regeneration is calculated using the formula T2*2π*n2=P2*η*Q2;

[0020] Among them, T2 is the output torque of the engine after regeneration, n2 is the speed of the engine after regeneration, P2 is the outlet pressure of the hydraulic pump after engine regeneration, and Q2 is the flow rate of the hydraulic pump after regeneration.

[0021] In some embodiments of the present invention, obtaining the pre-regeneration hydraulic pump flow rate of the hydraulic system according to the engine pre-regeneration speed being less than the regeneration required speed comprises:

[0022] According to the fact that the speed of the engine before regeneration is less than the speed required for regeneration, the pressure difference between the inlet and outlet of the main valve of the engine before regeneration and the opening of the main valve of the engine before regeneration are obtained;

[0023] According to the inlet and outlet pressure difference of the main valve before engine regeneration and the opening of the main valve before engine regeneration, the formula Calculate the hydraulic pump flow before regeneration;

[0024] Among them, C is the flow coefficient, A1 is the main valve opening before engine regeneration, △p1 is the inlet and outlet pressure difference of the main valve before regeneration, ρ is the density of the hydraulic medium, and Q1 is the flow rate of the hydraulic pump before regeneration.

[0025] In some embodiments of the present invention, performing the engine regeneration operation and obtaining the hydraulic pump flow rate of the hydraulic system after regeneration includes:

[0026] Performing engine regeneration operation, and obtaining the inlet and outlet pressure difference of the main valve after engine regeneration and the opening degree of the main valve after engine regeneration;

[0027] According to the inlet and outlet pressure difference of the main valve after engine regeneration and the opening of the main valve after engine regeneration, the formula Calculate the hydraulic pump flow after regeneration;

[0028] Among them, A2 is the main valve opening after engine regeneration, △p2 is the inlet and outlet pressure difference of the main valve after regeneration, and Q2 is the hydraulic pump flow before regeneration.

[0029] In some embodiments of the present invention, comparing the flow rate of the hydraulic pump before regeneration and the flow rate of the hydraulic pump after regeneration, and adjusting the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration through the hydraulic system comprises:

[0030] According to whether the flow rate of the hydraulic pump after regeneration is greater than or less than the flow rate of the hydraulic pump before regeneration, the main valve opening is controlled to decrease or increase until the flow rate of the hydraulic pump before regeneration is adjusted to be the same as the flow rate of the hydraulic pump after regeneration.

[0031] In some embodiments of the present invention, the controlling the main valve opening to decrease or increase according to the flow rate of the hydraulic pump after regeneration being greater than or less than the flow rate of the hydraulic pump before regeneration until the flow rate of the hydraulic pump before regeneration is adjusted to be the same as the flow rate of the hydraulic pump after regeneration further comprises:

[0032] According to the fact that the flow rate of the hydraulic pump after regeneration is equal to the flow rate of the hydraulic pump before regeneration, the opening degree of the main valve after regeneration and the opening degree of the main valve before regeneration are obtained;

[0033] The main valve opening proportional coefficient is obtained according to the main valve opening after regeneration and the main valve opening before regeneration.

[0034] In some embodiments of the present invention, according to the flow rate of the hydraulic pump before regeneration being greater or less than the flow rate of the hydraulic pump after regeneration, making the flow rate of the hydraulic pump before regeneration equal to the flow rate of the hydraulic pump after regeneration through the hydraulic system comprises:

[0035] According to whether the flow rate of the hydraulic pump after regeneration is greater than or less than the flow rate of the hydraulic pump before regeneration, the pressure difference override solenoid valve controlling the hydraulic pump acts on the load sensitive control valve of the hydraulic pump to reduce or increase the load sensitive action pressure difference of the hydraulic pump until the flow rate of the hydraulic pump before regeneration is adjusted to the same as the flow rate of the hydraulic pump after regeneration.

[0036] A second aspect of the present invention provides an engineering machinery control device, comprising:

[0037] An acquisition unit, used to acquire the after-treatment carbon load of the engine, the engine speed before regeneration, the hydraulic pump flow rate of the hydraulic system before regeneration, and the hydraulic pump flow rate of the hydraulic system after regeneration;

[0038] A judgment unit, used for judging that the engine aftertreatment needs a regeneration operation according to the fact that the aftertreatment carbon load is greater than the carbon load threshold and the engineering machinery is in an operating condition;

[0039] A comparison unit, used for comparing the flow rate of the hydraulic pump before regeneration and the flow rate of the hydraulic pump after regeneration;

[0040] The execution unit is used for performing the engine regeneration operation and adjusting the flow rate of the hydraulic pump after the regeneration to be the same as the flow rate of the hydraulic pump before the regeneration through the hydraulic system.

[0041] The third aspect of the present invention proposes an engineering machinery, comprising: a processor, a memory and a bus, wherein the processor is connected to the memory via the bus, the memory is used to store programs, and the processor is used to run programs, wherein the program executes the above-mentioned regeneration control method of the hydraulic system when run by the processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference numerals are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0043] Figure 1 The structure diagram of the hydraulic system with constant load-sensitive pressure difference according to the embodiment of the present invention is schematically shown;

[0044] Figure 2The structure diagram of the hydraulic system with variable load-sensitive pressure difference according to the embodiment of the present invention is schematically shown;

[0045] Figure 3 The structure diagram of a hydraulic system with variable load-sensitive pressure difference according to another embodiment of the present invention is schematically shown;

[0046] Figure 4 The overall logic flow chart of the regeneration control method of the hydraulic system according to the present invention is schematically shown;

[0047] Figure 5 Schematically shows a logic flow chart of a regeneration control method of a hydraulic system according to a first embodiment of the present invention;

[0048] Figure 6 A logic flow chart of a regeneration control method of a hydraulic system according to a second embodiment of the present invention is schematically shown;

[0049] Figure 7 A logic flow chart of a regeneration control method of a hydraulic system according to a third embodiment of the present invention is schematically shown;

[0050] Figure 8 A logic flow chart of a regeneration control method of a hydraulic system according to a fourth embodiment of the present invention is schematically shown;

[0051] Fig. 9 The structural block diagram of the engineering machinery according to the embodiment of the present invention is schematically shown.

[0052] The reference numerals in the accompanying drawings represent the following:

[0053] 10. Engine;

[0054] 20. Hydraulic pump; 21. Pressure cut-off valve; 22. Load-sensing control valve; 23. First pressure sensor; 24. Pressure differential override solenoid valve; 25. External control components;

[0055] 30. Load unit; 31. Actuator; 32. Main valve; 321. Second pressure sensor;

[0056] 100. Processor;

[0057] 200, memory;

[0058] 300. Bus. DETAILED DESCRIPTION

[0059] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0060] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0061] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0062] For ease of description, spatial relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is turned over, then the elements described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include both above and below orientations.

[0063] Figure 4The overall logic flow chart of the regeneration control method of the hydraulic system according to the present invention is schematically shown. Figure 4 As shown, the present invention proposes a regenerative control method for a hydraulic system. The regenerative control method for a hydraulic system in the invention includes:

[0064] S1: obtaining the post-treatment carbon load of the engine 10;

[0065] S2: judging that the aftertreatment carbon load is greater than the carbon load threshold and the construction machinery is in an operating condition, that the aftertreatment of the engine 10 requires a regeneration operation;

[0066] S3: According to the post-processing requirement of the engine 10 for regeneration, the speed of the engine 10 before regeneration is obtained;

[0067] S4: according to the fact that the speed of the engine 10 before regeneration is less than the speed required for regeneration, obtaining the flow rate of the hydraulic pump 20 before regeneration of the hydraulic system (i.e. the output flow rate of the hydraulic pump 20 before regeneration);

[0068] S5: performing a regeneration operation of the engine 10 and obtaining the flow rate of the hydraulic pump 20 after regeneration of the hydraulic system (ie, the output flow rate of the hydraulic pump 20 after regeneration);

[0069] S6: Compare the flow rate of the hydraulic pump 20 before regeneration and the flow rate of the hydraulic pump 20 after regeneration, and adjust the flow rate of the hydraulic pump 20 after regeneration to be the same as the flow rate of the hydraulic pump 20 before regeneration through the hydraulic system.

[0070] According to the technical solution of the present invention, when the post-treatment carbon load of the engine 10 is greater than the carbon load threshold and the engineering machinery is in an operating condition, the engine 10 at this time needs to perform a regeneration operation under the operating condition, and the speed of the engine 10 before regeneration is first obtained. If the speed of the engine 10 before regeneration is less than the regeneration required speed, when the regeneration speed is increased, it will cause a sudden change in the output flow of the hydraulic system, so that the action of the actuator of the hydraulic system will have a sudden change, which will bring risks and uncertainties to the operation. Therefore, the control method of the present invention obtains the flow of the hydraulic pump 20 after the engine 10 is regenerated, and compares it with the flow of the hydraulic pump 20 before regeneration. The flow of the hydraulic pump 20 after regeneration is adjusted to the same as the flow of the hydraulic pump 20 before regeneration through the hydraulic system, so that the flow of the hydraulic system before and after regeneration remains unchanged, and finally the actuator of the hydraulic system under regeneration is stabilized, thereby improving reliability.

[0071] Further, in this embodiment, the control method of the hydraulic system is implemented based on the hydraulic system. The hydraulic system of the present invention includes an engine 10, a hydraulic pump 20 and a load unit 30. The engine 10 provides a power source for the hydraulic system. The hydraulic pump 20 in this embodiment refers to a load-sensitive pump with mechanical settings. A first pressure sensor 23 is provided at the outlet end of the hydraulic pump 20 to detect the outlet pressure of the hydraulic pump 20 or the inlet pressure of the main valve 32. A second pressure sensor 321 is provided on the load unit 30 to detect the maximum pressure of the actuator 31, that is, the load pressure.

[0072] Specifically, the load unit 30 is provided with a main valve 32 for controlling the movement direction of the actuator 31. The load unit 30 is also provided with a pressure compensator for screening the maximum pressure of the actuator 31. The actuator 31 of the load unit 30 may be a hydraulic motor or a hydraulic cylinder for performing an action.

[0073] In the hydraulic system, the load-sensitive control valve of the hydraulic pump 20 can be divided into a fixed load-sensitive pressure difference with a simple mechanical setting and a variable load-sensitive pressure difference with overriding control according to its changing characteristics. The fixed load-sensitive pressure difference means that the load-sensitive pressure difference of the pump is set to a fixed value, and the variable load-sensitive pressure difference of the pump means that during the working process, the actual effective pressure difference of the load-sensitive pressure difference of the hydraulic pump 20 can be reduced or increased according to the overriding control.

[0074] like Figure 1 As shown, in the hydraulic system of a fixed load-sensitive differential pressure pump, a load-sensitive control valve 22 and a pressure cut-off valve 21 are provided on the hydraulic pump 20. The pressure cut-off valve 21 limits the maximum output pressure of the hydraulic pump 20. When the pressure is higher than the control pressure of the pressure cut-off valve 21, the pump displacement is reduced to keep the outlet pressure unchanged. The load-sensitive control valve 22 sets the load pressure difference of the hydraulic system, that is, the hydraulic pump 20 is controlled by the pressure difference between the pump outlet pressure and the load when the pump displacement changes. When it is lower than this value, the hydraulic pump displacement changes in the direction of the maximum displacement. When it is higher than this value, the hydraulic pump displacement changes in the direction of the minimum displacement. When it is equal to this value, the pump automatically balances the flow required by the multi-way valve.

[0075] like Figure 2 and 3As shown, in the hydraulic system of the variable load sensitive pump, the hydraulic pump 20 is provided with a load sensitive control valve 22 and a pressure differential override solenoid valve 24. The load sensitive control valve 22 sets the initial mechanical load sensitive pressure differential of the hydraulic system, that is, the hydraulic pump 20 is controlled by the pressure differential value of the pump outlet pressure and the load when the pump displacement changes. When it is lower than this value, the hydraulic pump displacement changes in the direction of the maximum displacement. When it is higher than this value, the hydraulic pump displacement changes in the direction of the minimum displacement. When it is equal to this value, the pump automatically balances the flow required by the multi-way valve. The actual load sensitive pressure differential change can be realized through the override control module (such as the pressure differential override solenoid valve 24). The pressure differential override solenoid valve 24 can reduce and increase the load pressure differential set by the load sensitive control valve 22 by changing the solenoid valve current, thereby achieving the purpose of adjusting the set pressure differential of the load sensitive hydraulic system.

[0076] In some embodiments of the present invention, according to the fact that the speed of the engine 10 before regeneration is less than the speed required for regeneration, obtaining the flow rate of the hydraulic pump 20 before regeneration of the hydraulic system includes:

[0077] According to the fact that the speed of the engine 10 before regeneration is less than the speed required for regeneration, the output torque of the engine 10 before regeneration, the outlet pressure of the hydraulic pump 20 before regeneration of the engine 10 and the speed of the engine 10 before regeneration are obtained;

[0078] The flow rate of the hydraulic pump 20 before regeneration is calculated using the formula T1*2π*n1=P1*η*Q1 according to the output torque of the engine 10 before regeneration, the outlet pressure of the hydraulic pump 20 before regeneration of the engine 10 and the speed of the engine 10 before regeneration;

[0079] Wherein, T1 is the output torque of the engine 10 before regeneration, n1 is the speed of the engine 10 before regeneration, P1 is the outlet pressure of the hydraulic pump 20 before regeneration of the engine 10, Q1 is the flow rate of the hydraulic pump 20 before regeneration, and η is the efficiency coefficient. In this embodiment, Q1 is the theoretical flow rate of the hydraulic pump before regeneration, which is the product of the hydraulic pump speed and the current displacement of the hydraulic pump, wherein the hydraulic pump speed is obtained by multiplying the engine speed n1 by the transmission ratio, and η is the efficiency coefficient, which includes mechanical efficiency and hydraulic pump volumetric efficiency.

[0080] Specifically, according to the actuator speed fluctuation requirements, if the speed stability requirement is high, the calculated hydraulic pump flow rate can be used; if the speed stability requirement is low, the engine output torque equivalent hydraulic pump flow rate can be used.

[0081] In some embodiments of the present invention, performing the regeneration operation of the engine 10 and obtaining the flow rate of the hydraulic pump 20 after the regeneration of the hydraulic system includes:

[0082] Performing a regeneration operation of the engine 10 and obtaining the output torque of the engine 10 after regeneration, the outlet pressure of the hydraulic pump 20 after regeneration of the engine 10 and the speed of the engine 10 after regeneration;

[0083] According to the output torque of the engine 10 after regeneration, the outlet pressure of the hydraulic pump 20 after regeneration of the engine 10 and the speed of the engine 10 after regeneration, the flow rate of the hydraulic pump 20 after regeneration is calculated using the formula T2*2π*n2=P2*η*Q2;

[0084] Among them, T2 is the output torque of the engine 10 after regeneration, n2 is the speed of the engine 10 after regeneration, P2 is the outlet pressure of the hydraulic pump 20 after regeneration of the engine 10, and Q2 is the flow rate of the hydraulic pump 20 after regeneration. In this embodiment, Q2 is the theoretical flow rate of the hydraulic pump before regeneration, which is the product of the speed of the hydraulic pump and the current displacement of the hydraulic pump, wherein the speed of the hydraulic pump is obtained by multiplying the engine speed n2 by the transmission ratio.

[0085] Specifically, according to the actuator speed fluctuation requirements, if the speed stability requirement is high, the calculated hydraulic pump flow rate can be used; if the speed stability requirement is low, the engine output torque equivalent hydraulic pump flow rate can be used.

[0086] Specifically, in this embodiment, because the efficiency parameter of the hydraulic pump 20 changes little under the same working condition, the useful power output by the engine 10 can be regarded as the hydraulic system power, that is:

[0087] T*2π*n=P*C*Q;

[0088] The flow rate of the hydraulic pump 20 before or after regeneration can be calculated from the output torque of the engine 10 , the outlet pressure of the hydraulic pump 20 of the engine 10 , and the rotation speed of the engine 10 .

[0089] In the implementation of the first control method of the present invention, that is, the hydraulic system is in a hydraulic working condition of a fixed load-sensitive pressure difference and the flow of the hydraulic pump 20 before regeneration and the flow of the hydraulic pump 20 after regeneration are compared by the parameters of the engine 10 (i.e., the output torque of the engine 10 and the speed of the engine 10) and the outlet pressure of the hydraulic pump 20. When the flow of the hydraulic pump 20 after regeneration exceeds the flow of Q1, the opening of the main valve 32 is closed. When the load unit 30 has multiple actuators 31, that is, when the load unit 30 is multi-action, the main valve 32 is used for control, and the openings of the multiple main valves 32 are closed according to a fixed proportion according to the current openings, so as to achieve Q1 unchanged. When the flow of the hydraulic pump 20 after regeneration is lower than the flow of Q1, the opening of the main valve 32 is opened. When the load unit 30 has multiple actuators 31, that is, when the load unit 30 is multi-action, the main valve 32 is used for control, and the openings of the multiple main valves 32 are increased according to a fixed proportion according to the current openings, so as to achieve Q1 unchanged.

[0090] Specifically, Figure 5 As shown, the control flow of the first control method is:

[0091] It is detected that the carbon deposit after the treatment of the engine 10 reaches the regeneration threshold, and the construction machinery is in an operating condition at this time, requiring a slow operating speed;

[0092] When the speed of the engine 10 before regeneration is higher than the speed required for regeneration of the engine 10, the speed of the engine 10 does not increase during regeneration, and the senseless regeneration function is not triggered (i.e., the actuator 31 does not produce a sudden change during regeneration, and there is no sense of sudden change caused by regeneration); when the speed of the engine 10 before regeneration is lower than the speed required for regeneration of the engine 10, the conditions for triggering senseless regeneration are met;

[0093] Monitor the output torque of the engine 10 before regeneration and the outlet pressure of the hydraulic pump 20 before regeneration of the engine 10 to determine the flow rate of the hydraulic pump 20 before regeneration;

[0094] After the customer confirms regeneration, the engine 10 increases the speed to enter the regeneration condition, and the output flow of the hydraulic pump 20 after regeneration is calculated in real time and compared with the flow of the hydraulic pump 20 before regeneration;

[0095] When the flow rate of the hydraulic pump 20 after regeneration is greater than the flow rate of the hydraulic pump 20 before regeneration, the opening of the main valve 32 is closed at a certain rate. When multiple actions are performed, the openings of multiple main valves 32 are closed at the same ratio according to the current openings. When the flow rate of the hydraulic pump 20 after regeneration is less than the flow rate of the hydraulic pump 20 before regeneration, the opening of the main valve 32 is opened at a certain rate. When multiple actions are performed, the openings of multiple main valves 32 are opened at the same ratio according to the current openings;

[0096] When the regeneration speed is reached and the flow rate of the hydraulic pump 20 after regeneration is equal to the flow rate of the hydraulic pump 20 before regeneration, the ratio of the control parameter of the main valve 32 after regeneration and the control parameter before regeneration is solidified as a weighted value. When the control parameter of the main valve 32 changes, the control parameter to be output in the original program state of the main valve 32 is multiplied by the weighted value to be the actual control current of the main valve 32;

[0097] The current operation is finished and the regeneration operation is not finished. The actual control parameters of the main valve 32 are determined according to whether the customer retains the non-sensing regeneration operation function.

[0098] In the implementation mode of the second control method of the present invention, that is, the hydraulic system is in a hydraulic working condition of a variable load-sensitive pressure difference and the flow rate of the hydraulic pump 20 before regeneration and the flow rate of the hydraulic pump 20 after regeneration are compared through the parameters of the engine 10 (that is, the output torque of the engine 10 and the speed of the engine 10) and the outlet pressure of the hydraulic pump 20. When the flow rate of the hydraulic pump 20 after regeneration exceeds the flow rate Q1, the load-sensitive pressure difference is reduced by overriding authority (the load-sensitive control valve 22 can be pressure-acted by the pressure difference overriding solenoid valve 24 or the pump body of the external control component 25, so that the load-sensitive control valve 22 can reduce the load pressure difference set by the load-sensitive control valve 22 by changing the solenoid valve current, thereby achieving the purpose of adjusting the set pressure difference of the load-sensitive hydraulic system), so as to achieve Q1 unchanged. When the flow rate of the hydraulic pump 20 after regeneration is lower than the flow rate of Q1, the load-sensitive pressure difference is increased by overriding authority (the pressure difference override solenoid valve 24 or the pump body of the external control component 25 can be used to apply pressure to the load-sensitive control valve 22, so that the load-sensitive control valve 22 can increase the set load pressure difference of the load-sensitive control valve 22 by changing the solenoid valve current, thereby achieving the purpose of adjusting the set pressure difference of the load-sensitive hydraulic system), so as to achieve Q1 unchanged.

[0099] Specifically, in the implementation mode of the second control method of the present invention, the load pressure difference set by the load-sensitive control valve 22 is reduced or increased by changing the pressure of the external hydraulic control oil source, so as to achieve the purpose of adjusting the set pressure difference of the load-sensitive system. In addition, it can also be achieved through measures such as air control, which can be collectively referred to as an override control module together with the load-sensitive control valve 22.

[0100] Specifically, Figure 6 As shown, the control flow of the second control method is:

[0101] It is detected that the carbon deposit after the treatment of the engine 10 reaches the regeneration threshold, and the construction machinery is in an operating condition at this time, requiring a slow operating speed;

[0102] When the engine speed before regeneration is higher than the engine speed required for regeneration, the engine speed does not increase during regeneration, and the senseless regeneration function is not triggered (i.e., the actuator 31 does not produce a sudden change during regeneration, and there is no sense of sudden change caused by regeneration). When the engine speed before regeneration is lower than the engine speed required for regeneration, the senseless regeneration condition is triggered;

[0103] Monitor the output torque of the engine 10 and the outlet pressure of the hydraulic pump 20 to determine the flow rate of the hydraulic pump 20 before regeneration;

[0104] After the customer confirms regeneration, the engine 10 increases the speed to enter the regeneration condition, and the output flow of the hydraulic pump 20 after regeneration is calculated in real time and compared with the flow of the hydraulic pump 20 before regeneration;

[0105] When the flow rate of the hydraulic pump 20 after regeneration is greater than the flow rate of the hydraulic pump 20 before regeneration, the load-sensitive pressure difference setting of the hydraulic pump 20 is reduced; when the flow rate of the hydraulic pump 20 after regeneration is less than the flow rate of the hydraulic pump 20 before regeneration, the load-sensitive pressure difference setting of the hydraulic pump 20 is increased;

[0106] When the regeneration speed is reached and the flow rate of the hydraulic pump 20 after regeneration is equal to the flow rate of the hydraulic pump 20 before regeneration, the setting value of the override control module is used as the sensorless regeneration override parameter to control the hydraulic system;

[0107] The current operation is finished and the regeneration operation is not finished. The sensorless regeneration override parameters are determined based on whether the customer retains the sensorless regeneration operation function.

[0108] In some embodiments of the present invention, according to the fact that the speed of the engine 10 before regeneration is less than the speed required for regeneration, obtaining the flow rate of the hydraulic pump 20 before regeneration of the hydraulic system includes:

[0109] According to the fact that the speed of the engine 10 before regeneration is less than the speed required for regeneration, the inlet and outlet pressure difference of the main valve 32 before regeneration of the engine 10 and the opening degree of the main valve 32 before regeneration of the engine 10 are obtained;

[0110] According to the inlet and outlet pressure difference of the main valve 32 before the regeneration of the engine 10 and the opening degree of the main valve 32 before the regeneration of the engine 10, the formula Calculate the flow rate of the hydraulic pump 20 before regeneration;

[0111] Among them, C is the flow coefficient, A1 is the opening of the main valve 32 before regeneration of the engine 10, △p1 is the inlet and outlet pressure difference of the main valve 32 before regeneration, ρ is the density of the hydraulic medium, and Q1 is the flow rate of the hydraulic pump 20 before regeneration.

[0112] In some embodiments of the present invention, performing the regeneration operation of the engine 10 and obtaining the flow rate of the hydraulic pump 20 after the regeneration of the hydraulic system includes:

[0113] Performing a regeneration operation of the engine 10, and obtaining the inlet and outlet pressure difference of the main valve 32 after the engine 10 is regenerated and the opening degree of the main valve 32 after the engine 10 is regenerated;

[0114] According to the inlet and outlet pressure difference of the main valve 32 after the engine 10 is regenerated and the opening degree of the main valve 32 after the engine 10 is regenerated, the formula Calculate the flow rate of the hydraulic pump 20 after regeneration;

[0115] Wherein, A2 is the opening of the main valve 32 after the engine 10 is regenerated, Δp2 is the inlet and outlet pressure difference of the main valve 32 after the regeneration, and Q2 is the flow rate of the hydraulic pump 20 after the regeneration.

[0116] Specifically, in this embodiment, the flow rate through the main valve 32 can be approximately described by the following formula:

[0117] Wherein Q is the flow rate through the main valve 32, which is the main determining parameter of the execution speed, C is the flow coefficient, and different valves and openings can be determined by actual measurement and query table, A is the opening of the main valve 32, that is, the operator indirectly controls the amount through the electromagnet, and there is a one-to-one correspondence with the electromagnet current, △p is the inlet and outlet pressure difference of the main valve 32 (that is, the difference between the first pressure sensor 23 and the second pressure sensor 321), ρ is the density of the hydraulic medium, and ρ is a constant when the pressure and temperature are constant.

[0118] Specifically, in the third control method of the present invention, that is, the hydraulic system is in a hydraulic working condition of a constant load-sensitive pressure difference and the flow of the hydraulic pump 20 before regeneration and the flow of the hydraulic pump 20 after regeneration are compared by comparing the inlet and outlet pressure difference of the main valve 32 of the engine 10 and the opening of the main valve 32 of the engine 10, the control parameter (current value) of the main valve 32 can determine the flow coefficient and the opening of the main valve 32. Since the opening of the main valve 32 corresponds to the control current one-to-one, the flow coefficient corresponds to the opening of the main valve 32 one-to-one, and the product of the flow coefficient and the opening of the main valve 32 corresponds to the control parameter of the main valve 32 one-to-one, by detecting the inlet and outlet pressure difference of the main valve 32, the flow of the main valve 32 before and after regeneration can be determined. After regeneration, the speed of the engine 10 increases, the inlet and outlet pressure difference of the main valve 32 changes, and according to the flow through the hydraulic pump 20 remains unchanged, the product of the flow coefficient and the opening of the main valve 32 can be determined, and then the actual current at this time is determined, so as to facilitate the opening adjustment of the main valve 32.

[0119] Specifically, Figure 7 As shown, the control flow of the third control method is:

[0120] It is detected that the carbon deposit after the treatment of the engine 10 reaches the regeneration threshold, and the construction machinery is in an operating condition at this time, requiring a slow operating speed;

[0121] When the engine speed before regeneration is higher than the required speed of engine regeneration, the engine speed will not be increased during regeneration, and the sensorless regeneration function will not be triggered. When the engine speed before regeneration is lower than the required speed of engine regeneration, the condition of triggering sensorless regeneration is met.

[0122] Monitor the inlet and outlet pressure difference of the main valve 32 before regeneration, determine the product of the flow coefficient and the opening of the main valve 32 by controlling the current of the main valve 32, and calculate and determine the flow of the hydraulic pump 20 before regeneration;

[0123] After the customer confirms regeneration, the engine 10 increases the speed to enter the regeneration condition, and the inlet and outlet pressure difference of the main valve 32 after regeneration is calculated in real time;

[0124] When the flow rate of the hydraulic pump 20 after regeneration calculated by the inlet and outlet pressure difference of the main valve 32 after regeneration is greater than the flow rate of the hydraulic pump 20 before regeneration, the main valve 32 opening is closed at a certain rate. When multiple actions are performed, the openings of multiple main valves 32 are closed at the same proportion according to the current openings. The flow coefficient and the product of the opening of the main valve 32 are determined according to the current value at this time, and multiplied by the inlet and outlet pressure difference of the main valve 32 at this time to determine the real-time flow rate after closing, and compare it with the flow rate of the hydraulic pump 20 before regeneration. If it is still greater than the flow rate of the hydraulic pump 20 before regeneration, the opening of the main valve 32 is further closed;

[0125] When the flow rate of the hydraulic pump 20 calculated by the inlet and outlet pressure difference of the main valve 32 after regeneration is less than the flow rate of the hydraulic pump 20 before regeneration, the main valve 32 is opened at a certain rate. When multiple actions are performed, the openings of multiple main valves 32 are opened at the same proportion according to the current openings. The flow coefficient and the opening of the main valve 32 are multiplied by the inlet and outlet pressure difference of the main valve 32 at this time to determine the real-time flow rate after opening, and compare them. If it is still less than the flow rate before regeneration, the opening of the main valve 32 is continued to be opened;

[0126] When the regeneration state is reached and the flow rate of the hydraulic pump 20 is equal to the flow rate before regeneration, the ratio of the control parameter of the main valve 32 after regeneration to the control parameter before regeneration is solidified as a weighted value. When the control parameter of the main valve 32 changes, the control parameter of the original program state of the main valve 32 is multiplied by the weighted value to be the actual control current of the main valve 32.

[0127] After the current operation is completed and the regeneration is not completed, the actual control parameters of the main valve 32 are determined according to whether the customer retains the non-sensing regeneration operation function.

[0128] Specifically, in the fourth control method implementation of the present invention, that is, the hydraulic system is in a hydraulic working condition of variable load-sensitive pressure difference and the flow of the hydraulic pump 20 before regeneration and after regeneration are compared through the inlet and outlet pressure difference of the main valve 32 of the engine 10 and the opening of the main valve 32 of the engine 10. It can be seen from the calculation formula of the main valve 32 that the flow of the hydraulic pump 20 corresponds to the inlet and outlet pressure difference of the main valve 32. After regeneration, the speed of the engine 10 increases, and the inlet and outlet pressure difference of the main valve 32 changes. By adjusting the output of the override control module (the load-sensitive control valve 22 can be pressure-acted through the pressure differential override solenoid valve 24 or the pump body of the external control component 25, so that the load-sensitive control valve 22 can reduce or increase the load pressure difference set by the load-sensitive control valve 22 by changing the solenoid valve current, and the purpose of adjusting the set pressure difference of the load-sensitive hydraulic system is achieved), the pressure difference before and after regeneration is guaranteed to be unchanged, and the flow of the hydraulic pump 20 before and after regeneration can be guaranteed to be unchanged. If the opening of the main valve 32 changes significantly during the regeneration engine speed increase process, the load-sensitive pressure difference at this time is determined by flow calculation, and the unchanged pressure difference before and after regeneration is not used as the condition for ending the regulation.

[0129] Specifically, Figure 8As shown, the control flow of the fourth control method is:

[0130] It is detected that the carbon deposit after the treatment of the engine 10 reaches the regeneration threshold, and the construction machinery is in an operating condition at this time, requiring a slow operating speed;

[0131] When the engine speed before regeneration is higher than the required speed of engine regeneration, the engine speed will not be increased during regeneration, and the sensorless regeneration function will not be triggered. When the engine speed before regeneration is lower than the required speed of engine regeneration, the condition of triggering sensorless regeneration is met.

[0132] Obtain the inlet and outlet pressure difference of the main valve 32, and calculate the flow rate of the hydraulic pump 20 before regeneration through the inlet and outlet pressure difference of the main valve 32;

[0133] After the customer confirms the regeneration, the inlet and outlet pressure difference of the main valve 32 is monitored and calculated, and the flow rate of the hydraulic pump 20 after regeneration is calculated through the inlet and outlet pressure difference of the main valve 32;

[0134] When the flow rate of the hydraulic pump 20 after regeneration is greater than the flow rate of the hydraulic pump 20 before regeneration, the load-sensitive pressure difference setting of the hydraulic pump 20 is reduced; when the flow rate of the hydraulic pump 20 after regeneration is less than the flow rate of the hydraulic pump 20 before regeneration, the load-sensitive pressure difference setting of the hydraulic pump 20 is increased;

[0135] When the regeneration speed is reached and the flow rate of the hydraulic pump 20 after regeneration is equal to the flow rate of the hydraulic pump 20 before regeneration, the setting value of the override control module is used as the sensorless regeneration override parameter to control the hydraulic system;

[0136] The current operation is finished and the regeneration operation is not finished. The sensorless regeneration override parameters are determined based on whether the customer retains the sensorless regeneration operation function.

[0137] Specifically, in the implementation of the fourth control method, when the engine speed before regeneration is higher than the required regeneration speed of the engine 10, the engine 10 does not increase the speed during regeneration, and the sensorless regeneration function is not triggered. When the speed is lower than the required regeneration speed of the engine 10 at this time, after the condition for triggering the sensorless regeneration is met, the following steps are further included:

[0138] After the customer confirms regeneration, the inlet and outlet pressure difference of the main valve 32 before regeneration is monitored and calculated, and compared with the set pressure difference of the hydraulic system (determined by the override control module and the mechanical set value). If the inlet and outlet pressure difference of the main valve 32 before regeneration is not less than the actual set pressure difference, the non-sensing regeneration will not be started;

[0139] When the inlet and outlet pressure difference of the main valve 32 before regeneration is less than the set pressure difference, the non-sensing regeneration mode is entered, and the inlet and outlet pressure difference of the main valve 32 after regeneration is calculated in real time. If it is greater than the inlet and outlet pressure difference of the main valve 32 before regeneration, the output of the override module is adjusted to reduce the actual pressure difference of the pump load sensitivity. If it is less than the inlet and outlet pressure difference of the main valve 32 before regeneration, the output of the override module is adjusted to increase the actual pressure difference of the pump load sensitivity.

[0140] When the regeneration speed is reached and the pressure difference between the inlet and outlet of the main valve 32 before and after regeneration is equal, it means that the flow rate of the hydraulic pump 20 before regeneration is equal to the flow rate of the hydraulic pump 20 after regeneration. If the opening of the main valve 32 changes significantly during the regeneration engine speed increase, the load-sensitive pressure difference at this time is determined by flow calculation, and the unchanged pressure difference before and after regeneration is not used as the condition for the end of regulation. The setting value of the override control module is used as the inductive regeneration override parameter to control the system;

[0141] After the current operation is completed and the regeneration is not completed, the actual control parameters of the main valve 32 are determined according to whether the customer retains the non-sensing regeneration operation function.

[0142] In some embodiments of the present invention, comparing the flow rate of the hydraulic pump 20 before regeneration and the flow rate of the hydraulic pump 20 after regeneration, and adjusting the flow rate of the hydraulic pump 20 after regeneration to be the same as the flow rate of the hydraulic pump 20 before regeneration through the hydraulic system includes:

[0143] According to whether the flow rate of the hydraulic pump 20 after regeneration is greater than or less than the flow rate of the hydraulic pump 20 before regeneration, the opening of the main valve 32 is controlled to decrease or increase until the flow rate of the hydraulic pump 20 before regeneration is adjusted to be the same as the flow rate of the hydraulic pump 20 after regeneration.

[0144] Specifically, in the control method of the present embodiment, the first control method and the third control method are hydraulic working conditions with a fixed load-sensitive pressure difference, which can adjust the flow of the hydraulic pump 20 after regeneration by controlling the opening of the main valve 32, thereby achieving consistency in the flow of the hydraulic pump 20 before and after regeneration, thereby avoiding sudden changes in movement caused by regeneration during construction machinery operations.

[0145] In some embodiments of the present invention, according to the flow rate of the hydraulic pump 20 after regeneration being greater or less than the flow rate of the hydraulic pump 20 before regeneration, the main valve 32 is controlled to decrease or increase in opening until the flow rate of the hydraulic pump 20 before regeneration is adjusted to be the same as the flow rate of the hydraulic pump 20 after regeneration, and then the method further includes:

[0146] According to the flow rate of the hydraulic pump 20 after regeneration being equal to the flow rate of the hydraulic pump 20 before regeneration, the opening degree of the main valve 32 after regeneration and the opening degree of the main valve 32 before regeneration are obtained;

[0147] The opening proportional coefficient of the main valve 32 is obtained according to the opening of the main valve 32 after regeneration and the opening of the main valve 32 before regeneration.

[0148] Specifically, in this embodiment, when the regeneration speed is reached and the flow rate of the hydraulic pump 20 after regeneration is equal to the flow rate of the hydraulic pump 20 before regeneration, the ratio of the control parameter of the main valve 32 after regeneration and the control parameter before regeneration is solidified as the main valve 32 opening proportional coefficient (also called weighted value). When the control parameter of the main valve 32 changes, the control parameter of the original program state of the main valve 32 is multiplied by the main valve 32 opening proportional coefficient as the actual control current of the main valve 32.

[0149] In some embodiments of the present invention, according to the flow rate of the hydraulic pump 20 before regeneration being greater than or less than the flow rate of the hydraulic pump 20 after regeneration, making the flow rate of the hydraulic pump 20 before regeneration equal to the flow rate of the hydraulic pump 20 after regeneration through the hydraulic system includes:

[0150] According to whether the flow rate of the hydraulic pump 20 after regeneration is greater than or less than the flow rate of the hydraulic pump 20 before regeneration, the pressure difference override solenoid valve 24 of the hydraulic pump 20 is controlled to act on the load sensitive control valve 22 of the hydraulic pump 20 to reduce or increase the load sensitive action pressure difference of the hydraulic pump 20 until the flow rate of the hydraulic pump 20 before regeneration is adjusted to the same as the flow rate of the hydraulic pump 20 after regeneration.

[0151] Specifically, in the control method of the present embodiment, the second control method and the fourth control method are hydraulic working conditions of variable load-sensitive pressure difference, which can adjust the flow of the hydraulic pump 20 after regeneration by controlling the override control module (the pressure differential override solenoid valve 24 or the pump body of the external control component 25 can be used to apply pressure to the load-sensitive control valve 22, so that the load-sensitive control valve 22 can reduce or increase the load pressure differential set by the load-sensitive control valve 22 by changing the solenoid valve current, thereby achieving the purpose of adjusting the set pressure differential of the load-sensitive hydraulic system), so as to achieve the consistency of the flow of the hydraulic pump 20 before and after regeneration, and avoid the sudden action caused by the regeneration situation during the operation of the construction machinery.

[0152] In some embodiments of the present invention, according to whether the flow rate of the hydraulic pump 20 after regeneration is greater than or less than the flow rate of the hydraulic pump 20 before regeneration, the pressure differential override solenoid valve 24 of the hydraulic pump 20 is controlled to act on the load-sensitive control valve 22 of the hydraulic pump 20 to reduce or increase the load-sensitive action pressure differential of the hydraulic pump 20, until the flow rate of the hydraulic pump 20 before regeneration is adjusted to be the same as the flow rate of the hydraulic pump 20 after regeneration, and further includes:

[0153] According to the fact that the flow rate of the hydraulic pump 20 after regeneration is equal to the flow rate of the hydraulic pump 20 before regeneration, the control parameter of the load sensing control valve 22 at this time is obtained, which may be a pressure parameter or the like.

[0154] When the regeneration speed is reached and the actual working pressure difference before and after regeneration is equal, if the main valve opening changes greatly, the flow rate is equal, the flow rate of the hydraulic pump 20 after regeneration is equal to the flow rate of the hydraulic pump 20 before regeneration, and the control parameter of the load sensitive control valve 22 is used as the inductive regeneration override parameter to control the system, so as to facilitate direct control of the hydraulic system in similar situations in the future.

[0155] Specifically, in the implementation mode of the fifth control method of the present invention, the weight values ​​of the engine speed from 10 speeds before regeneration to 10 speeds after regeneration, which are lower than the regeneration required speed, are summarized into a table through theoretical calculation, on-site actuator speed calibration, the first control method calibration, or the second control method calibration. The table is looked up according to the real-time working conditions, hydraulic system parameters, and manual operation parameters to realize the senseless regeneration. The control process is as follows:

[0156] It is detected that the carbon deposit after the treatment of the engine 10 reaches the regeneration threshold, and the construction machinery is in an operating condition at this time, requiring a slow operating speed;

[0157] When the speed of the engine 10 before regeneration is higher than the speed required for regeneration, the engine 10 does not increase the speed during regeneration, and the sensorless regeneration function is not triggered. When the speed of the engine 10 before regeneration is lower than the speed required for regeneration, the condition for triggering the sensorless regeneration is met.

[0158] Record the current value of the main valve 32, the speed before regeneration, the hydraulic system parameters, and the manual operation parameters at this time;

[0159] According to the current engine 10 speed and operating parameters, the weight value is determined by looking up the table, and the actual control current of the main valve 32 is calculated according to the weight value until the regeneration speed is reached;

[0160] After the current operation is completed and the regeneration is not completed, the actual control parameters of the main valve 32 are determined according to whether the customer retains the non-sensing regeneration operation function.

[0161] The present invention also proposes an engineering machinery control device, comprising:

[0162] An acquisition unit, used to acquire the post-treatment carbon load of the engine 10, the speed of the engine 10 before regeneration, the flow rate of the hydraulic pump 20 of the hydraulic system before regeneration, and the flow rate of the hydraulic pump 20 of the hydraulic system after regeneration;

[0163] A judgment unit, configured to judge that the aftertreatment of the engine 10 requires a regeneration operation according to the fact that the aftertreatment carbon load is greater than a carbon load threshold and the engineering machinery is in an operating condition;

[0164] The comparison unit is used to compare the flow of the hydraulic pump 20 before regeneration and the flow of the hydraulic pump 20 after regeneration; the execution unit is used to perform the regeneration operation of the engine 10 and adjust the flow of the hydraulic pump 20 after regeneration to be the same as the flow of the hydraulic pump 20 before regeneration through the hydraulic system.

[0165] The present invention also provides an engineering machine, such as Fig. 9As shown, it includes: a processor 100, a memory 200 and a bus 300, the processor 100 and the memory 200 are connected via the bus 300, the memory 200 is used to store programs, and the processor 100 is used to run the programs, wherein the program is executed by the processor 100 when it is run to execute the above-mentioned regeneration control method of the hydraulic system.

[0166] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or a combination of the two. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. The technician may implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in a departure from the scope of the present invention.

[0167] The various illustrative logic modules and circuits described in conjunction with the embodiments disclosed herein may be implemented or executed with a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in cooperation with a DSP core, or any other such configuration.

[0168] In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented as a computer program product in software, each function may be stored on or transmitted by a computer-readable medium as one or more instructions or codes. Computer-readable media include both computer storage media and communication media, including any medium that facilitates the transfer of a computer program from one place to another. Storage media may be any available medium that can be accessed by a computer. As an example and not limitation, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, a server, or other remote source using a coaxial cable, a fiber optic cable, a twisted pair, a digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of the medium. As used herein, disk and disc include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, wherein disk often reproduces data magnetically, while disc reproduces data optically with lasers. Combinations of the above should also be included within the scope of storage media.

[0169] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A regenerative control method for a hydraulic system, applied to engineering machinery, characterized in that: include: Obtaining the aftertreatment carbon loading of the engine; According to the fact that the after-treatment carbon load is greater than the carbon load threshold and the construction machinery is in an operating condition, it is determined that the engine after-treatment needs to be regenerated; According to the need for regeneration operation of the engine aftertreatment, the engine speed before regeneration is obtained; According to the engine speed before regeneration being less than the regeneration required speed, the hydraulic pump flow rate before regeneration of the hydraulic system is obtained; Perform engine regeneration operation and obtain the hydraulic pump flow rate of the hydraulic system after regeneration; The hydraulic pump flow rate before regeneration and the hydraulic pump flow rate after regeneration are compared, and the hydraulic pump flow rate after regeneration is adjusted to be the same as the hydraulic pump flow rate before regeneration through the hydraulic system.

2. The regenerative control method of the hydraulic system according to claim 1, characterized in that: The obtaining of the hydraulic pump flow rate of the hydraulic system before regeneration according to the engine speed before regeneration being less than the regeneration required speed comprises: According to the engine speed before regeneration being less than the regeneration required speed, the engine output torque before regeneration, the hydraulic pump outlet pressure before regeneration and the engine speed before regeneration are obtained; The flow rate of the hydraulic pump before regeneration is calculated using the formula T1*2π*n1=P1*η*Q1 according to the output torque of the engine before regeneration, the outlet pressure of the hydraulic pump before regeneration and the speed of the engine before regeneration; Among them, T1 is the output torque of the engine before regeneration, n1 is the speed of the engine before regeneration, P1 is the outlet pressure of the hydraulic pump before engine regeneration, Q1 is the flow rate of the hydraulic pump before regeneration, and η is the efficiency coefficient.

3. The regenerative control method of the hydraulic system according to claim 2, characterized in that: The performing of the engine regeneration operation and obtaining the hydraulic pump flow rate after regeneration of the hydraulic system includes: Performing an engine regeneration operation, and obtaining an output torque of the engine after regeneration, an outlet pressure of a hydraulic pump after regeneration of the engine, and a speed of the engine after regeneration; According to the output torque of the engine after regeneration, the outlet pressure of the hydraulic pump after regeneration and the speed of the engine after regeneration, the flow rate of the hydraulic pump after regeneration is calculated using the formula T2*2π*n2=P2*η*Q2; Among them, T2 is the output torque of the engine after regeneration, n2 is the speed of the engine after regeneration, P2 is the outlet pressure of the hydraulic pump after engine regeneration, and Q2 is the flow rate of the hydraulic pump after regeneration.

4. The regenerative control method of a hydraulic system according to claim 1, characterized in that: The obtaining of the hydraulic pump flow rate of the hydraulic system before regeneration according to the engine speed before regeneration being less than the regeneration required speed comprises: According to the fact that the speed of the engine before regeneration is less than the speed required for regeneration, the pressure difference between the inlet and outlet of the main valve of the engine before regeneration and the opening of the main valve of the engine before regeneration are obtained; According to the inlet and outlet pressure difference of the main valve before engine regeneration and the opening of the main valve before engine regeneration, the formula Calculate the hydraulic pump flow before regeneration; Among them, C is the flow coefficient, A1 is the main valve opening before engine regeneration, △p1 is the inlet and outlet pressure difference of the main valve before regeneration, ρ is the density of the hydraulic medium, and Q1 is the flow rate of the hydraulic pump before regeneration.

5. The regenerative control method of the hydraulic system according to claim 4, characterized in that: The performing of the engine regeneration operation and obtaining the hydraulic pump flow rate after regeneration of the hydraulic system includes: Performing engine regeneration operation, and obtaining the inlet and outlet pressure difference of the main valve after engine regeneration and the opening degree of the main valve after engine regeneration; According to the inlet and outlet pressure difference of the main valve after engine regeneration and the opening of the main valve after engine regeneration, the formula Calculate the hydraulic pump flow after regeneration; Among them, A2 is the main valve opening after engine regeneration, △p2 is the inlet and outlet pressure difference of the main valve after regeneration, and Q2 is the hydraulic pump flow before regeneration.

6. The regenerative control method of a hydraulic system according to claim 1, characterized in that: The comparing the flow rate of the hydraulic pump before regeneration and the flow rate of the hydraulic pump after regeneration, and adjusting the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration through the hydraulic system comprises: According to whether the flow rate of the hydraulic pump after regeneration is greater than or less than the flow rate of the hydraulic pump before regeneration, the main valve opening is controlled to decrease or increase until the flow rate of the hydraulic pump before regeneration is adjusted to be the same as the flow rate of the hydraulic pump after regeneration.

7. The regenerative control method of a hydraulic system according to claim 6, characterized in that: According to the flow rate of the hydraulic pump after regeneration being greater or less than the flow rate of the hydraulic pump before regeneration, the main valve opening is controlled to decrease or increase until the flow rate of the hydraulic pump before regeneration is adjusted to be the same as the flow rate of the hydraulic pump after regeneration, and the method further includes: According to the fact that the flow rate of the hydraulic pump after regeneration is equal to the flow rate of the hydraulic pump before regeneration, the opening degree of the main valve after regeneration and the opening degree of the main valve before regeneration are obtained; The main valve opening proportional coefficient is obtained according to the main valve opening after regeneration and the main valve opening before regeneration.

8. The regenerative control method of a hydraulic system according to claim 1, characterized in that: The method of making the flow rate of the hydraulic pump before regeneration equal to the flow rate of the hydraulic pump after regeneration by the hydraulic system according to the flow rate of the hydraulic pump before regeneration being greater than or less than the flow rate of the hydraulic pump after regeneration comprises: According to whether the flow rate of the hydraulic pump after regeneration is greater than or less than the flow rate of the hydraulic pump before regeneration, the pressure difference override solenoid valve controlling the hydraulic pump acts on the load sensitive control valve of the hydraulic pump to reduce or increase the load sensitive action pressure difference of the hydraulic pump until the flow rate of the hydraulic pump before regeneration is adjusted to the same as the flow rate of the hydraulic pump after regeneration.

9. A control device for construction machinery, characterized in that: include: An acquisition unit, used to acquire the after-treatment carbon load of the engine, the engine speed before regeneration, the hydraulic pump flow rate of the hydraulic system before regeneration, and the hydraulic pump flow rate of the hydraulic system after regeneration; A judgment unit, used for judging that the engine aftertreatment needs a regeneration operation according to the fact that the aftertreatment carbon load is greater than the carbon load threshold and the engineering machinery is in an operating condition; A comparison unit, used for comparing the flow rate of the hydraulic pump before regeneration and the flow rate of the hydraulic pump after regeneration; The execution unit is used for performing the engine regeneration operation and adjusting the flow rate of the hydraulic pump after the regeneration to be the same as the flow rate of the hydraulic pump before the regeneration through the hydraulic system.

10. An engineering machine, characterized in that: include: A processor, a memory and a bus, wherein the processor and the memory are connected via the bus, the memory is used to store programs, and the processor is used to run programs, wherein the program, when run by the processor, executes the regeneration control method of the hydraulic system according to any one of claims 1 to 8.

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