Regeneration control method of hydraulic system, construction machine control device, and construction machine

Abstract

The present application belongs to the field of engine aftertreatment regeneration technology, and particularly relates to a regeneration control method of a hydraulic system. The regeneration control method of the hydraulic system in the present application comprises: obtaining the carbon load of the engine aftertreatment; judging that the engine aftertreatment needs regeneration operation according to the carbon load of the engine aftertreatment being greater than a carbon load threshold and the engineering machinery being in a working condition; obtaining the engine speed before regeneration according to the engine aftertreatment needing regeneration operation; obtaining the hydraulic pump flow of the hydraulic system before regeneration according to the engine speed before regeneration being less than a regeneration required speed; performing engine regeneration operation and obtaining the hydraulic pump flow of the hydraulic system after regeneration; comparing the hydraulic pump flow before regeneration with the hydraulic pump flow after regeneration, and adjusting the hydraulic pump flow after regeneration to be the same as the hydraulic pump flow before regeneration through the hydraulic system. According to the technical scheme of the present application, the executing element of the hydraulic system after regeneration is stable, and the reliability is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of engine aftertreatment regeneration technology, and particularly relates to a regeneration control method of a hydraulic system, a construction machinery control device and construction machinery. BACKGROUND

[0002] Now, the hydraulic system (mainly construction machinery) taking diesel engine as a power source needs to eliminate the carbon deposition of the aftertreatment regularly due to emission requirements, mainly through increasing the rotational speed to increase the exhaust temperature to eliminate the carbon deposition. Most of the existing methods are to increase the engine rotational speed by mechanical shutdown, but energy and time are wasted. Some manufacturers can perform regeneration operation during operation, but the engine rotational speed increase will cause a sudden change in the hydraulic system flow, and the hydraulic actuator action will also have a sudden change, which brings risks and uncertainties to the operation. SUMMARY

[0003] The application aims to at least solve the problem of sudden change of the hydraulic system during regeneration operation. The application is achieved by the following technical scheme:

[0004] The first aspect of the application provides a regeneration control method of a hydraulic system, comprising:

[0005] obtaining the carbon deposition of the engine aftertreatment;

[0006] determining that the engine aftertreatment needs regeneration operation according to the carbon deposition of the engine aftertreatment being greater than a carbon deposition threshold value and the construction machinery being in an operation condition;

[0007] obtaining the engine rotational speed before regeneration according to the engine aftertreatment needing regeneration operation;

[0008] obtaining the hydraulic pump flow of the hydraulic system before regeneration according to the engine rotational speed before regeneration being less than a regeneration required rotational speed;

[0009] performing engine regeneration operation and obtaining the hydraulic pump flow of the hydraulic system after regeneration;

[0010] comparing the hydraulic pump flow before regeneration and the hydraulic pump flow after regeneration, and adjusting the hydraulic pump flow after regeneration to be the same as the hydraulic pump flow before regeneration through the hydraulic system.

[0011] According to the technical scheme of the application, when the post-processing carbon load of the engine is greater than the carbon load threshold and the engineering machinery is in a working condition, the engine needs to be regenerated in the working condition, the engine speed before regeneration is obtained first, if the engine speed before regeneration is less than the regeneration required speed, the output flow of the hydraulic system will be suddenly changed in the case of regeneration speed increase, the action of the executing element of the hydraulic system will be suddenly changed, which will bring risks and uncertainties to the work, therefore, the control method of the application obtains the hydraulic pump flow after engine regeneration and compares it with the hydraulic pump flow before regeneration, adjusts the hydraulic pump flow after regeneration to be the same as the hydraulic pump flow before regeneration through the hydraulic system, realizes the invariable flow of the hydraulic system before and after regeneration, and finally makes the executing element of the hydraulic system stable after regeneration, and improves the reliability.

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

[0013] In some embodiments of the application, the obtaining of the hydraulic pump flow before regeneration of the hydraulic system according to the engine speed before regeneration being less than the regeneration required speed comprises:

[0014] obtaining the output torque before engine regeneration, the outlet pressure of the hydraulic pump before engine regeneration and the engine speed before engine regeneration according to the engine speed before regeneration being less than the regeneration required speed;

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

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

[0017] In some embodiments of the application, the obtaining of the hydraulic pump flow after regeneration of the hydraulic system comprises:

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

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

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

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

[0022] obtaining the pre-regeneration main valve inlet and outlet pressure difference and the pre-regeneration main valve opening degree according to the engine speed before regeneration being less than the regeneration required speed;

[0023] calculating the pre-regeneration hydraulic pump flow according to the pre-regeneration main valve inlet and outlet pressure difference and the pre-regeneration main valve opening degree by using the formula

[0024] wherein C is the flow coefficient, A1 is the pre-regeneration main valve opening degree, Δp1 is the pre-regeneration main valve inlet and outlet pressure difference, ρ is the hydraulic medium density, and Q1 is the pre-regeneration hydraulic pump flow.

[0025] In some embodiments of the application, the performing the engine regeneration operation and obtaining the post-regeneration hydraulic pump flow of the hydraulic system comprises:

[0026] performing the engine regeneration operation and obtaining the post-regeneration main valve inlet and outlet pressure difference and the post-regeneration main valve opening degree;

[0027] calculating the post-regeneration hydraulic pump flow according to the post-regeneration main valve inlet and outlet pressure difference and the post-regeneration main valve opening degree by using the formula

[0028] wherein A2 is the post-regeneration main valve opening degree, Δp2 is the post-regeneration main valve inlet and outlet pressure difference, and Q2 is the pre-regeneration hydraulic pump flow.

[0029] In some embodiments of the application, the comparing the pre-regeneration hydraulic pump flow and the post-regeneration hydraulic pump flow and adjusting the post-regeneration hydraulic pump flow to be the same as the pre-regeneration hydraulic pump flow through the hydraulic system comprises:

[0030] controlling the main valve opening degree to decrease or increase according to the post-regeneration hydraulic pump flow being greater than or less than the pre-regeneration hydraulic pump flow until the pre-regeneration hydraulic pump flow is adjusted to be the same as the post-regeneration hydraulic pump flow.

[0031] In some embodiments of the application, the controlling the main valve opening degree to decrease or increase according to the post-regeneration hydraulic pump flow being greater than or less than the pre-regeneration hydraulic pump flow until the pre-regeneration hydraulic pump flow is adjusted to be the same as the post-regeneration hydraulic pump flow further comprises:

[0032] obtaining the post-regeneration main valve opening degree and the pre-regeneration main valve opening degree according to the post-regeneration hydraulic pump flow being equal to the pre-regeneration hydraulic pump flow;

[0033] ​​According to the main valve opening degree after regeneration and the main valve opening degree before regeneration, a main valve opening degree proportionality coefficient is obtained.

[0034] In some embodiments of the present application, the hydraulic pump flow before regeneration is equal to the hydraulic pump flow after regeneration by the hydraulic system comprises:

[0035] According to the hydraulic pump flow after regeneration being greater than or less than the hydraulic pump flow before regeneration, a differential pressure override solenoid valve of the hydraulic pump is controlled to act on a load sensing control valve of the hydraulic pump to reduce or increase a load sensing pressure difference of the hydraulic pump until the hydraulic pump flow before regeneration is adjusted to be the same as the hydraulic pump flow after regeneration.

[0036] The second aspect of the present application provides an engineering machine control device, comprising:

[0037] An obtaining unit is configured to obtain a post-processing carbon load of an engine, an engine speed before regeneration, a hydraulic pump flow before regeneration of a hydraulic system, and a hydraulic pump flow after regeneration of the hydraulic system;

[0038] A judging unit is configured to judge that the engine post-processing needs a regeneration operation according to the post-processing carbon load being greater than a carbon load threshold value and the engineering machine being in a working condition;

[0039] A comparing unit is configured to compare the hydraulic pump flow before regeneration and the hydraulic pump flow after regeneration;

[0040] An executing unit is configured to perform an engine regeneration operation and adjust the hydraulic pump flow after regeneration to be the same as the hydraulic pump flow before regeneration by a hydraulic system.

[0041] The third aspect of the present application provides an engineering machine, comprising a processor, a memory and a bus, the processor is connected with the memory through the bus, the memory is used for storing a program, and the processor is used for running the program, wherein the program is executed by the processor to perform the regeneration control method of the hydraulic system. BRIEF DESCRIPTION OF DRAWINGS

[0042] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of preferred embodiments, and are not meant to limit the present application. Moreover, the same reference numerals in the attached drawings refer to the same or like components throughout the several drawings. In the drawings:

[0043] Figure 1 A structural schematic diagram of the load sensing differential pressure hydraulic system according to the embodiments of the present application is schematically shown;

[0044] Figure 2A structural schematic diagram of a variable load sensitive differential pressure hydraulic system according to an embodiment of the present application is schematically shown.

[0045] Figure 3 A structural schematic diagram of a variable load sensitive differential pressure hydraulic system according to another embodiment of the present application is schematically shown.

[0046] Figure 4 A general logic flow chart of a regeneration control method of a hydraulic system according to the present application is schematically shown.

[0047] Figure 5 A logic flow chart of a regeneration control method of a hydraulic system according to a first embodiment of the present application is schematically shown.

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

[0051] Figure 9 A structural block diagram of a working machine according to an embodiment of the present application is schematically shown.

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

[0053] 10, engine;

[0054] 20, hydraulic pump; 21, pressure cut valve; 22, load sensitive control valve; 23, first pressure sensor; 24, differential pressure override solenoid valve; 25, externally controlled component;

[0055] 30, load unit; 31, actuating element; 32, main valve; 321, second pressure sensor;

[0056] 100, processor;

[0057] 200, memory;

[0058] 300, bus. DETAILED DESCRIPTION

[0059] Example embodiments of the present disclosure will be described below in greater detail with reference to the accompanying drawings. While example embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be thoroughly and completely understood, and will fully convey the scope of the present disclosure to those skilled in the art.

[0060] It is to be understood that the terms used herein are merely for the purpose of describing particular example embodiments and are by no means intended to be limiting. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and the like are inclusive and therefore specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order in which they are described, unless specifically identified as an order dependent step. It is also to be understood that additional or alternative steps can be employed.

[0061] Although the terms first, second, third, and the like can be used herein to describe various 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 be only used to distinguish one element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first," "second," and the like are used herein to describe a variety of elements, components, regions, layers and / or sections, and do not imply an order or sequence unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of example embodiments.

[0062] Spatially relative terms, such as "inner," "outer," "inwardly," "outwardly," "lower," "bottom," "top," "upper," and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Spatially relative terms can be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below" can encompass both an orientation of above and below. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0063] Figure 4The overall logic flowchart of the regeneration control method of the hydraulic system according to the present application is schematically shown. As shown in Figure 4 The present application proposes a regeneration control method of a hydraulic system. The regeneration control method of the hydraulic system in the present application comprises:

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

[0065] S2: judging that the engine 10 needs a regeneration operation according to that the post-processing carbon load is greater than the carbon load threshold value and the working machine is in a working condition;

[0066] S3: obtaining the engine 10 speed before regeneration according to that the engine 10 needs a regeneration operation;

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

[0068] S5: performing the engine 10 regeneration operation and obtaining the hydraulic pump 20 flow of the hydraulic system after regeneration (i.e. the hydraulic pump 20 output flow after regeneration);

[0069] S6: comparing the hydraulic pump 20 flow before regeneration and the hydraulic pump 20 flow after regeneration, and adjusting the hydraulic pump 20 flow after regeneration to be the same as the hydraulic pump 20 flow before regeneration through the hydraulic system.

[0070] According to the technical solution of the present application, when the post-processing carbon load of the engine 10 is greater than the carbon load threshold value and the working machine is in a working condition, the engine 10 needs a regeneration operation in the working condition at this time, the engine 10 speed before regeneration is obtained first, if the engine 10 speed before regeneration is less than the regeneration required speed, the output flow of the hydraulic system will be suddenly changed in the case of regeneration speed increase, which will cause the action of the executing element of the hydraulic system to be suddenly changed, and bring risks and uncertainties to the work. Therefore, the control method of the present application obtains the hydraulic pump 20 flow after regeneration of the engine 10, compares it with the hydraulic pump 20 flow before regeneration, and adjusts the hydraulic pump 20 flow after regeneration to be the same as the hydraulic pump 20 flow before regeneration through the hydraulic system, so as to realize that the hydraulic pump 20 flow before regeneration is the same as the hydraulic pump 20 flow after regeneration, and finally make the executing element of the hydraulic system after regeneration stable, and improve the reliability.

[0071] Further, in the present embodiment, the control method of the hydraulic system is based on the hydraulic system, which comprises 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 the present embodiment refers to a load-sensing pump with mechanical setting. The outlet end of the hydraulic pump 20 is provided with a first pressure sensor 23 for detecting the outlet pressure of the hydraulic pump 20 or the inlet pressure of the main valve 32. The load unit 30 is provided with a second pressure sensor 321 for detecting the maximum pressure of the actuator 31, i.e. 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, and is also provided with a pressure compensator for screening the maximum pressure of the actuator 31. The actuator 31 of the load unit 30 can be a hydraulic motor or a hydraulic cylinder for performing actions.

[0073] In the hydraulic system, the load-sensing control valve of the hydraulic pump 20 can be divided into a fixed load-sensing differential pressure with simple mechanical setting and a variable load-sensing differential pressure which can be controlled by overriding according to its variable characteristics. The fixed load-sensing differential pressure refers to the load-sensing differential pressure of the pump being set to a fixed value, and the variable load-sensing differential pressure of the pump refers to the actual load-sensing differential pressure of the hydraulic pump 20 during operation, which can be reduced and increased by overriding.

[0074] As shown in Figure 1 , in the hydraulic system of the fixed load-sensing differential pressure pump, the hydraulic pump 20 is provided with a load-sensing control valve 22 and a pressure cut-off valve 21, the pressure cut-off valve 21 limits the maximum output pressure of the hydraulic pump 20, and when the control pressure of the pressure cut-off valve 21 is higher, the pump displacement is reduced to keep the outlet pressure unchanged. The load-sensing control valve 22 sets the load pressure difference of the hydraulic system, i.e. the pump variable displacement of the hydraulic pump 20 is controlled by the pressure difference between the pump outlet pressure and the load, when the value is lower, the hydraulic pump displacement changes in the direction of maximum displacement, when the value is higher, the hydraulic pump displacement changes in the direction of minimum displacement, and when the value is equal, the pump automatically balances at the flow demand of the multi-way valve.

[0075] As shown in Figure 2 and 3As shown, in the hydraulic system of the variable load sensitive pump, the load sensitive control valve 22 and the differential pressure override solenoid valve 24 are arranged on the hydraulic pump 20, the load sensitive control valve 22 sets the initial mechanical load sensitive differential pressure of the hydraulic system, that is, the differential pressure value of the pump outlet pressure and the load controls the pump variable displacement of the hydraulic pump 20, when the value is lower than the value, the hydraulic pump displacement changes in the direction of the maximum displacement, when the value is higher than the value, the hydraulic pump displacement changes in the direction of the minimum displacement, and when the value is equal to the value, the pump is automatically balanced at the flow required by the multi-way valve, and the actual load sensitive differential pressure change can be realized through the override control module (such as the differential pressure override solenoid valve 24). The differential pressure override solenoid valve 24 can reduce and increase the load sensitive control valve 22 set load differential pressure by changing the solenoid valve current, so as to realize the purpose of adjusting the set differential pressure of the load sensitive hydraulic system.

[0076] In some embodiments of the present application, according to the fact that the engine 10 speed before regeneration is less than the regeneration required speed, the hydraulic pump 20 flow of the hydraulic system before regeneration is obtained, including:

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

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

[0079] Wherein, T1 is the engine 10 output torque before regeneration, n1 is the engine 10 speed before regeneration, P1 is the hydraulic pump 20 outlet pressure before regeneration of the engine 10, Q1 is the hydraulic pump 20 flow before regeneration, and η is the efficiency coefficient. Q1 in the embodiment is the hydraulic pump theoretical flow 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, including mechanical efficiency and hydraulic pump volumetric efficiency.

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

[0081] In some embodiments of the present application, the engine 10 regeneration operation is performed, and the hydraulic pump 20 flow of the hydraulic system after regeneration is obtained, including:

[0082] The engine 10 regeneration operation is performed, and the engine 10 output torque after regeneration, the hydraulic pump 20 outlet pressure after regeneration of the engine 10 and the engine 10 speed after regeneration are obtained;

[0083] The flow rate of the hydraulic pump 20 after regeneration is calculated using the formula T2*2π*n2=P2*η*Q2 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;

[0084] Wherein, 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 hydraulic pump speed and the current displacement of the hydraulic pump. The hydraulic pump speed 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, since 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 based on the output torque of the engine 10 , the outlet pressure of the hydraulic pump 20 of the engine 10 , and the rotational speed of the engine 10 .

[0089] In the first embodiment of the control method of the present invention, the hydraulic system is in a hydraulic operating condition with a constant 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 based on 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 rate of the hydraulic pump 20 after regeneration exceeds the flow rate Q1, the opening of the main valve 32 is reduced. When the load unit 30 has multiple actuators 31, i.e., the load unit 30 is multi-actuated, the main valve 32 is used for control, and the openings of the multiple main valves 32 are reduced in a fixed proportion based on the current openings, thereby achieving a constant Q1. When the flow rate of the hydraulic pump 20 after regeneration is lower than the flow rate Q1, the main valve 32 is opened. When the load unit 30 has multiple actuators 31, i.e., the load unit 30 is multi-actuated, the main valve 32 is used for control, and the openings of the multiple main valves 32 are increased in a fixed proportion based on the current openings, thereby achieving a constant Q1.

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

[0091] It is detected that the carbon deposits after the treatment of the engine 10 have reached the regeneration threshold, and the construction machine is in an operating state at this time, requiring a slow operating speed;

[0092] When the engine 10 regeneration before the speed is higher than the engine 10 regeneration demand speed, the engine 10 regeneration does not increase the speed, and the non-inductive regeneration function is not triggered (i.e. the regeneration execution element 31 does not produce a sudden change, and there is no sudden change feeling generated by regeneration), and when the engine 10 regeneration before the speed is lower than the engine 10 regeneration demand speed, the condition for triggering non-inductive regeneration is met;

[0093] The output torque before the engine 10 regeneration, the hydraulic pump 20 outlet pressure before the engine 10 regeneration is monitored to determine the hydraulic pump 20 flow before regeneration;

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

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

[0096] When the regeneration speed is reached and the hydraulic pump 20 flow after regeneration is equal to the hydraulic pump 20 flow before regeneration, the ratio of the main valve 32 control parameter after regeneration to the control parameter before regeneration is fixed as a weighting value, and when the main valve 32 control parameter changes, the original program state of the main valve 32 is multiplied by the weighting value to obtain the actual control current of the main valve 32.

[0097] When the current operation is completed and the regeneration operation is not completed, whether the customer retains the non-inductive regeneration operation function is determined to determine the actual control parameter of the main valve 32.

[0098] In the second control method of the application, when the hydraulic system is a variable load sensitive differential pressure hydraulic working condition and the comparison of the hydraulic pump 20 flow before regeneration and the hydraulic pump 20 flow after regeneration is made by the parameters of the engine 10 (i.e. the engine 10 output torque and the engine 10 speed) and the hydraulic pump 20 outlet pressure, according to the hydraulic pump 20 flow after regeneration exceeding the Q1 flow, the load sensitive differential pressure is lowered by force (the load sensitive control valve 22 can be pressed by the differential pressure forced electromagnetic valve 24 or the pump body of the external control component 25, and then the load sensitive control valve 22 can lower the load sensitive control valve 22 set load differential pressure by changing the electromagnetic valve current, so as to adjust the load sensitive hydraulic system set differential pressure), so as to realize the Q1 unchanged. According to the hydraulic pump 20 flow after regeneration being lower than the Q1 flow, the load sensitive differential pressure is raised by force (the load sensitive control valve 22 can be pressed by the differential pressure forced electromagnetic valve 24 or the pump body of the external control component 25, and then the load sensitive control valve 22 can raise the load sensitive control valve 22 set load differential pressure by changing the electromagnetic valve current, so as to adjust the load sensitive hydraulic system set differential pressure), so as to realize the Q1 unchanged.

[0099] Specifically, in the second control method of the application, the load sensitive control valve 22 set load differential pressure is lowered and raised by the change of the external hydraulic control oil source pressure, so as to adjust the load sensitive system set differential pressure, and the gas control and other measures can also be used, which can be collectively referred to as the forced control module of the load sensitive control valve 22.

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

[0101] When the engine 10 aftertreatment carbon deposit reaches the regeneration threshold, and at this time the working machine is in the working condition, the working speed is required to be gentle;

[0102] When the engine 10 speed before regeneration is higher than the engine 10 regeneration demand speed, the engine 10 regeneration speed is not raised, and the non-inductive regeneration function is not triggered (i.e. the execution element 31 does not produce a sudden change, and there is no sudden change feeling during regeneration), and at this time the engine 10 speed before regeneration is lower than the engine 10 regeneration demand speed, and the non-inductive regeneration condition is met;

[0103] The engine 10 output torque and the hydraulic pump 20 outlet pressure are monitored to determine the hydraulic pump 20 flow before regeneration;

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

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

[0106] When the regeneration speed is reached and the hydraulic pump 20 flow after regeneration is equal to the hydraulic pump 20 flow before regeneration, the override module setting value is set as the non-inductive regeneration override parameter, and the hydraulic system is controlled;

[0107] When the current operation is completed and the regeneration operation is not completed, whether the non-inductive regeneration operation function is retained by the customer is determined to determine the non-inductive regeneration override parameter.

[0108] In some embodiments of the present application, the hydraulic pump 20 flow before regeneration of the hydraulic system is obtained according to the engine 10 speed before regeneration being less than the regeneration required speed, comprising:

[0109] 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 according to the engine 10 speed before regeneration being less than the regeneration required speed;

[0110] According to 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, the hydraulic pump 20 flow before regeneration is calculated by the formula

[0111] Wherein, C is the flow coefficient, A1 is the opening degree 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 hydraulic pump 20 flow before regeneration.

[0112] In some embodiments of the present application, the engine 10 regeneration operation is performed, and the hydraulic pump 20 flow after regeneration of the hydraulic system is obtained, comprising:

[0113] The engine 10 regeneration operation is performed, and the inlet and outlet pressure difference of the main valve 32 after regeneration of the engine 10 and the opening degree of the main valve 32 after regeneration of the engine 10 are obtained;

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

[0115] Wherein, A2 is the opening degree of the main valve 32 after regeneration of the engine 10, △p2 is the inlet and outlet pressure difference of the main valve 32 after regeneration, and Q2 is the hydraulic pump 20 flow after regeneration.

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

[0117] ​​In the formula, Q is the flow rate through the main valve 32, C is the flow coefficient, A is the opening degree of the main valve 32, i.e., the indirect control quantity of the operator through the electromagnet, and the electromagnet current has a one-to-one correspondence relationship, Δp is the inlet and outlet pressure difference of the main valve 32 (i.e., the difference between the first pressure sensor 23 and the second pressure sensor 321), and ρ is the density of the hydraulic medium, which is a constant value at a constant pressure and temperature.

[0118] Specifically, in the third control method of the present application, i.e., the hydraulic system is a constant load sensitive differential pressure hydraulic working condition, and the inlet and outlet pressure difference of the main valve 32 of the engine 10 and the opening degree of the main valve 32 of the engine 10 are used to compare the flow rate of the hydraulic pump 20 before regeneration and the flow rate of the hydraulic pump 20 after regeneration, the control parameter (current value) of the main valve 32 can determine the flow coefficient and the opening degree of the main valve 32. Since the opening degree of the main valve 32 has a one-to-one correspondence with the control current, the flow coefficient has a one-to-one correspondence with the opening degree of the main valve 32, and the product of the flow coefficient and the opening degree of the main valve 32 has a one-to-one correspondence with the control parameter of the main valve 32, by detecting the inlet and outlet pressure difference of the main valve 32, the flow rate of the main valve 32 before and after regeneration can be determined. After regeneration, the engine 10 speed is increased, the inlet and outlet pressure difference of the main valve 32 changes, and according to the unchanged flow rate through the hydraulic pump 20, the product of the flow coefficient and the opening degree of the main valve 32 can be determined, and the actual current at this time can be determined, so as to adjust the opening degree of the main valve 32.

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

[0120] When the engine 10 aftertreatment carbon deposit reaches the regeneration threshold value, and at this time the working machine is in a working condition, the working speed is required to be gentle;

[0121] When the engine 10 speed before regeneration is higher than the engine 10 regeneration required speed, the engine 10 regeneration does not increase the speed, and the non-inductive regeneration function is not triggered. When the engine 10 speed before regeneration is lower than the engine 10 regeneration required speed, the non-inductive regeneration condition is met;

[0122] The inlet and outlet pressure difference of the main valve 32 before regeneration is monitored, the product of the flow coefficient and the opening degree of the main valve 32 is determined through the control current of the main valve 32, and the flow rate of the hydraulic pump 20 before regeneration is calculated and determined;

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

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

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

[0126] When the hydraulic pump 20 flow calculated by the inlet and outlet pressure difference of the main valve 32 after regeneration is less than the hydraulic pump 20 flow before regeneration, the opening of the main valve 32 is opened at a certain rate, and when multiple actions are performed, the openings of multiple main valves 32 are opened according to the current openings at the same ratio. The product of the flow coefficient and the opening of the main valve 32 is determined according to the current current value, multiplied by the inlet and outlet pressure difference of the main valve 32 at this time, to determine the real-time flow after the opening is opened, and compared with the hydraulic pump 20 flow before regeneration. If it is still less than the hydraulic pump 20 flow before regeneration, the opening of the main valve 32 is continued to be opened.

[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-inductive regeneration operation function.

[0128] Specifically, in the fourth control method of the present application, that is, the hydraulic system is a variable load sensitive differential pressure hydraulic working condition, and the hydraulic pump 20 flow before regeneration and the hydraulic pump 20 flow after regeneration are compared through the inlet and outlet pressure difference of the main valve 32 and the opening of the main valve 32 of the engine 10. It can be seen from the main valve 32 calculation formula that the hydraulic pump 20 flow is one-to-one corresponding to the inlet and outlet pressure difference of the main valve 32. After regeneration, the engine 10 speed is increased, the inlet and outlet pressure difference of the main valve 32 is changed, and the preset pressure difference of the load sensitive hydraulic system is adjusted by adjusting the output of the over-ride control module (the pump body or other components of the external control component 25 can act on the load sensitive control valve 22 through the differential pressure over-ride solenoid valve 24, so that the load sensitive control valve 22 can reduce or increase the load sensitive control valve 22 set load pressure difference by changing the solenoid current, to achieve the purpose of adjusting the load sensitive hydraulic system set pressure difference). The pressure difference before and after regeneration is constant, which can ensure that the hydraulic pump 20 flow before and after regeneration is constant. If the opening of the main valve 32 changes greatly during the regeneration engine speed increasing process, the load sensitive pressure difference at this time is determined by flow calculation, and the constant pressure difference before and after regeneration is not used as the adjustment end condition.

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

[0130] After detecting that the engine 10 post-processing carbon reaches the regeneration threshold, and at this time the working machine is in the working condition, the working speed is required to be gentle;

[0131] When the engine regeneration speed before 10 is higher than the engine 10 regeneration speed, the engine 10 regeneration speed is not raised, and the no-sense regeneration function is not triggered. When the engine regeneration speed before 10 is lower than the engine 10 regeneration speed, the no-sense regeneration condition is met.

[0132] The inlet and outlet pressure difference of the main valve 32 is obtained, and the hydraulic pump 20 flow before regeneration is calculated through the inlet and outlet pressure difference of the main valve 32.

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

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

[0135] When the regeneration speed is reached and the hydraulic pump 20 flow after regeneration is equal to the hydraulic pump 20 flow before regeneration, the over-ride module setting value is used as the no-sense regeneration over-ride parameter to control the hydraulic system.

[0136] When the current work is finished and the regeneration operation is not finished, whether the no-sense regeneration function is retained by the customer is determined to determine the no-sense regeneration over-ride parameter.

[0137] Specifically, in the fourth control method, when the engine regeneration speed before 10 is higher than the engine 10 regeneration speed, the engine 10 regeneration speed is not raised, and the no-sense regeneration function is not triggered. After the speed is lower than the engine 10 regeneration speed, the no-sense regeneration condition is met, which further includes:

[0138] After the customer determines the regeneration, the inlet and outlet pressure difference of the main valve 32 before regeneration is monitored and calculated, and compared with the hydraulic system set pressure difference (determined by the over-ride control module and the mechanical setting value), if the inlet and outlet pressure difference of the main valve 32 before regeneration is not less than the actual set pressure difference, no-sense regeneration is not entered.

[0139] When the inlet and outlet pressure difference of the main valve 32 before regeneration is less than the set pressure difference, the no-sense 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 over-ride module output is adjusted to reduce the actual action 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 over-ride module output is adjusted to increase the actual action pressure difference of the pump load sensitivity.

[0140] When the regeneration rotation speed is reached and the inlet and outlet pressure difference of the main valve 32 before and after regeneration is equal, it means that the flow of the hydraulic pump 20 before regeneration is equal to the flow of the hydraulic pump 20 after regeneration. If the opening degree of the main valve 32 changes greatly during the process of increasing the engine rotation speed, the load-sensitive pressure difference at this time is determined by flow calculation, and the condition that the pressure difference before and after regeneration is not changed is not used as the ending condition of adjustment. The set value of the over-ride control module is used as the over-ride parameter of the non-inductive regeneration, and the system is controlled;

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

[0142] In some embodiments of the present application, the flow of the hydraulic pump 20 before regeneration and the flow of the hydraulic pump 20 after regeneration are compared, and the flow of the hydraulic pump 20 after regeneration is adjusted to be the same as the flow of the hydraulic pump 20 before regeneration through the hydraulic system, which comprises:

[0143] According to whether the flow of the hydraulic pump 20 after regeneration is greater than or less than the flow of the hydraulic pump 20 before regeneration, the opening degree of the main valve 32 is controlled to decrease or increase until the flow of the hydraulic pump 20 before regeneration is adjusted to be the same as the flow 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 the hydraulic working conditions of the constant load-sensitive pressure difference, and the flow of the hydraulic pump 20 after regeneration can be adjusted by controlling the opening degree of the main valve 32, and then the flow of the hydraulic pump 20 before regeneration and the flow of the hydraulic pump 20 after regeneration are kept consistent, thereby avoiding the action mutation of the construction machinery during the regeneration.

[0145] In some embodiments of the present application, after the flow of the hydraulic pump 20 before regeneration is adjusted to be the same as the flow of the hydraulic pump 20 after regeneration according to whether the flow of the hydraulic pump 20 after regeneration is greater than or less than the flow of the hydraulic pump 20 before regeneration, the opening degree of the main valve 32 is further controlled to decrease or increase, which comprises:

[0146] According to the flow of the hydraulic pump 20 after regeneration being equal to the flow 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] According to the opening degree of the main valve 32 after regeneration and the opening degree of the main valve 32 before regeneration, the opening degree proportionality coefficient of the main valve 32 is obtained.

[0148] Specifically, in the present embodiment, when the regeneration rotation speed is reached and the flow of the hydraulic pump 20 after regeneration is equal to the flow of the hydraulic pump 20 before regeneration, the ratio of the control parameter after regeneration and the control parameter before regeneration is solidified as the opening degree proportionality coefficient (which can also be called as the weighting value) of the main valve 32, and when the control parameter of the main valve 32 changes, the original program state output control parameter of the main valve 32 is multiplied by the opening degree proportionality coefficient of the main valve 32 as the actual control current of the main valve 32.

[0149] In some embodiments of the application, the hydraulic system adjusts the flow of the hydraulic pump 20 before regeneration to be equal to the flow of the hydraulic pump 20 after regeneration according to whether the flow of the hydraulic pump 20 before regeneration is greater than or less than the flow of the hydraulic pump 20 after regeneration, including:

[0150] According to whether the flow of the hydraulic pump 20 after regeneration is greater than or less than the flow of the hydraulic pump 20 before regeneration, the pressure differential override solenoid valve 24 of the hydraulic pump 20 controls the load sensing control valve 22 of the hydraulic pump 20 to reduce or increase the load sensing pressure differential of the hydraulic pump 20 until the flow of the hydraulic pump 20 before regeneration is adjusted to be the same as the flow of the hydraulic pump 20 after regeneration.

[0151] Specifically, in the control method of the embodiment, the second control method and the fourth control method are hydraulic working conditions with variable load sensing pressure differentials, and the flow of the hydraulic pump 20 after regeneration can be adjusted by controlling the override control module (the load sensing control valve 22 can be subjected to pressure action by the pump body or other components of the pressure differential override solenoid valve 24 or the external control component 25, and then the load sensing control valve 22 can reduce or increase the load pressure differential set by the load sensing control valve 22 by changing the solenoid current, so as to achieve the purpose of adjusting the set pressure differential of the load sensing hydraulic system), and then the flow of the hydraulic pump 20 before regeneration and the flow of the hydraulic pump 20 after regeneration are kept consistent, avoiding the sudden change of the engineering machinery during operation under the regeneration condition.

[0152] In some embodiments of the application, according to whether the flow of the hydraulic pump 20 after regeneration is greater than or less than the flow of the hydraulic pump 20 before regeneration, the pressure differential override solenoid valve 24 of the hydraulic pump 20 acts on the load sensing control valve 22 of the hydraulic pump 20 to reduce or increase the load sensing pressure differential of the hydraulic pump 20, and then the flow of the hydraulic pump 20 before regeneration is adjusted to be the same as the flow of the hydraulic pump 20 after regeneration, and further including:

[0153] According to whether the flow of the hydraulic pump 20 after regeneration is equal to the flow of the hydraulic pump 20 before regeneration, the control parameter of the load sensing control valve 22 at this time can be a pressure parameter.

[0154] When the regeneration speed is reached and the actual working pressure differentials before and after regeneration are equal, if the main valve opening degree changes greatly, the flow is equal, the flow of the hydraulic pump 20 after regeneration is equal to the flow of the hydraulic pump 20 before regeneration, and the control parameter of the load sensing control valve 22 is used as the non-inductive regeneration override parameter to control the system, which is convenient for subsequent similar situations.

[0155] Specifically, in the fifth control method of the present application, the weight values of the 10 engine speeds before and after engine regeneration lower than the regeneration demand speed are summarized into a table by theoretical calculation, on-site execution element speed calibration, first control method calibration, or second control method calibration, and the table is consulted according to real-time operation conditions, hydraulic system parameters, and artificial operation parameters to realize the no-sense regeneration, and the control process is as follows:

[0156] The engine 10 aftertreatment carbon deposition is detected to reach the regeneration threshold, and at this time the engineering machinery is in the operation condition, and the operation speed is required to be gentle;

[0157] When the engine 10 speed before regeneration is higher than the regeneration demand speed, the engine 10 regeneration speed is not raised, and the no-sense regeneration function is not triggered, and when the engine 10 speed before regeneration is lower than the engine 10 regeneration demand speed, the no-sense regeneration condition is met;

[0158] The current value of the main valve 32, the speed before regeneration, the hydraulic system parameters, and the artificial operation parameters are recorded;

[0159] According to the current engine 10 speed, the operation parameters, the weight value is looked up, the main valve 32 actual control current is calculated according to the weight value, and the regeneration speed is reached;

[0160] After the current operation is finished and the regeneration is not finished, according to whether the customer retains the no-sense regeneration operation function, the main valve 32 actual control parameters are determined.

[0161] The present application also provides an engineering machinery control device, comprising:

[0162] The acquisition unit is used for acquiring the engine 10 aftertreatment carbon load, the engine 10 speed before regeneration, the hydraulic system pre-regeneration hydraulic pump 20 flow, and the hydraulic system post-regeneration hydraulic pump 20 flow;

[0163] The judgment unit is used for judging that the engine 10 aftertreatment needs regeneration operation according to the aftertreatment carbon load being greater than the carbon load threshold value and the engineering machinery being in the operation condition;

[0164] The comparison unit is used for comparing the pre-regeneration hydraulic pump 20 flow and the post-regeneration hydraulic pump 20 flow; the execution unit is used for performing the engine 10 regeneration operation, and adjusting the post-regeneration hydraulic pump 20 flow to be the same as the pre-regeneration hydraulic pump 20 flow through the hydraulic system.

[0165] The present application also provides an engineering machinery, such as Figure 9As shown, it comprises: a processor 100, a memory 200 and a bus 300, the processor 100 and the memory 200 are connected through the bus 300, the memory 200 is used for storing programs, and the processor 100 is used for running the programs, wherein the programs are executed by the processor 100 to perform the above-mentioned hydraulic system regeneration control method.

[0166] Those skilled in the art will further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

[0167] The various illustrative logical blocks, and circuits described in connection with the embodiments disclosed herein can be implemented or performed 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. The general purpose processor can be a microprocessor, but in the alternative, the processor can be any conventional processor, controller, microcontroller, or state machine. A processor can 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 conjunction with a DSP core, or any other such configuration.

[0168] In one or more exemplary embodiments, the functions described can be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions can be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media can be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0169] The above descriptions are only the preferred embodiments of the present application, but the protection scope of the present application is not limited to this, and any person skilled in the art can easily think of the changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for regenerative control of a hydraulic system, applied to a working machine, characterized in that, The method comprises: acquiring a post-processing carbon load of an engine; judging that the engine post-processing needs a regeneration operation according to the post-processing carbon load being greater than a carbon load threshold and the engineering machinery being in a working condition; acquiring an engine pre-regeneration rotating speed according to the engine post-processing needing the regeneration operation; acquiring a hydraulic system pre-regeneration hydraulic pump flow according to the engine pre-regeneration rotating speed being less than a regeneration demand rotating speed, the hydraulic system having a trigger non-inductive regeneration condition after the engine pre-regeneration rotating speed is less than the regeneration demand rotating speed, and the hydraulic system pre-regeneration hydraulic pump flow being acquired after the engine pre-regeneration rotating speed is less than the regeneration demand rotating speed, and the hydraulic system having the trigger non-inductive regeneration condition including: monitoring a pre-regeneration main valve inlet and outlet pressure difference and comparing the pre-regeneration main valve inlet and outlet pressure difference with a hydraulic system set pressure difference, if the pre-regeneration main valve inlet and outlet pressure difference is not less than the set pressure difference, not entering a non-inductive regeneration mode, and when the pre-regeneration main valve inlet and outlet pressure difference is less than the set pressure difference, entering the non-inductive regeneration mode; performing an engine regeneration operation and acquiring a hydraulic system post-regeneration hydraulic pump flow; comparing the hydraulic system pre-regeneration hydraulic pump flow and the hydraulic system post-regeneration hydraulic pump flow, and adjusting the hydraulic system post-regeneration hydraulic pump flow to be the same as the hydraulic system pre-regeneration hydraulic pump flow through the hydraulic system.

2. The regeneration control method of a hydraulic system according to claim 1, characterized by, The acquiring the hydraulic system pre-regeneration hydraulic pump flow according to the engine pre-regeneration rotating speed being less than the regeneration demand rotating speed comprises: acquiring an engine pre-regeneration output torque, an engine pre-regeneration hydraulic pump outlet pressure and an engine pre-regeneration rotating speed according to the engine pre-regeneration rotating speed being less than the regeneration demand rotating speed; calculating the hydraulic system pre-regeneration hydraulic pump flow by using a formula T1*2π*n1=P1*ɳ*Q1 according to the engine pre-regeneration output torque, the engine pre-regeneration hydraulic pump outlet pressure and the engine pre-regeneration rotating speed; wherein, in the formula, T1 is the engine pre-regeneration output torque, n1 is the engine pre-regeneration rotating speed, P1 is the engine pre-regeneration hydraulic pump outlet pressure, Q1 is the hydraulic system pre-regeneration hydraulic pump flow, and ɳ is an efficiency coefficient.

3. The regeneration control method of a hydraulic system according to claim 2, characterized by, The performing the engine regeneration operation and acquiring the hydraulic system post-regeneration hydraulic pump flow comprises: performing the engine regeneration operation and acquiring an engine post-regeneration output torque, an engine post-regeneration hydraulic pump outlet pressure and an engine post-regeneration rotating speed; calculating the hydraulic system post-regeneration hydraulic pump flow by using a formula T2*2π*n2=P2*ɳ*Q2 according to the engine post-regeneration output torque, the engine post-regeneration hydraulic pump outlet pressure and the engine post-regeneration rotating speed; wherein, in the formula, T2 is the engine post-regeneration output torque, n2 is the engine post-regeneration rotating speed, P2 is the engine post-regeneration hydraulic pump outlet pressure, and Q2 is the hydraulic system post-regeneration hydraulic pump flow.

4. The regeneration control method of a hydraulic system according to claim 1, characterized by The acquiring the hydraulic system pre-regeneration hydraulic pump flow according to the engine pre-regeneration rotating speed being less than the regeneration demand rotating speed comprises: acquiring an engine pre-regeneration main valve inlet and outlet pressure difference and an engine pre-regeneration main valve opening degree according to the engine pre-regeneration rotating speed being less than the regeneration demand rotating speed; According to the differential pressure of the inlet and outlet of the main valve before engine regeneration and the opening of the main valve before engine regeneration, the hydraulic pump flow before regeneration is calculated by the formula Qpump = (P1 - P2) / (Kv * (1 - Vv / Vp)) wherein, in the formula, C is a flow coefficient, A1 is the engine pre-regeneration main valve opening degree, △p1 is the engine pre-regeneration main valve inlet and outlet pressure difference, ρ is a hydraulic medium density, and Q1 is the hydraulic system pre-regeneration hydraulic pump flow.

5. The regeneration control method of a hydraulic system according to claim 4, characterized by The performing the engine regeneration operation and acquiring the hydraulic system post-regeneration hydraulic pump flow comprises: performing the engine regeneration operation and acquiring an engine post-regeneration main valve inlet and outlet pressure difference and an engine post-regeneration main valve opening degree; According to the differential pressure of the inlet and outlet of the main valve after engine regeneration and the opening of the main valve after engine regeneration, the formula is used to calculate the flow of the hydraulic pump after regeneration. wherein, A2 is the engine post-regeneration main valve opening degree, △p2 is the engine post-regeneration main valve inlet and outlet pressure difference, and Q2 is the hydraulic system pre-regeneration hydraulic pump flow.

6. The regeneration control method of a hydraulic system according to claim 1, characterized by The comparison of the hydraulic pump flow before regeneration and the hydraulic pump flow after regeneration, and the adjustment of the hydraulic pump flow after regeneration to the same as the hydraulic pump flow before regeneration by the hydraulic system comprises: According to the hydraulic pump flow after regeneration being greater or less than the hydraulic pump flow before regeneration, the control of the main valve opening degree to decrease or increase until the hydraulic pump flow before regeneration is adjusted to the same as the hydraulic pump flow after regeneration.

7. The regeneration control method of a hydraulic system according to claim 6, characterized by The control of the main valve opening degree to decrease or increase according to the hydraulic pump flow after regeneration being greater or less than the hydraulic pump flow before regeneration, until the hydraulic pump flow before regeneration is adjusted to the same as the hydraulic pump flow after regeneration further comprises: According to the hydraulic pump flow after regeneration being equal to the hydraulic pump flow before regeneration, the acquisition of the main valve opening degree after regeneration and the main valve opening degree before regeneration; According to the main valve opening degree after regeneration and the main valve opening degree before regeneration, the acquisition of the main valve opening degree proportion coefficient.

8. The regeneration control method of a hydraulic system according to claim 1, characterized by The comparison of the hydraulic pump flow before regeneration being greater or less than the hydraulic pump flow after regeneration, and the adjustment of the hydraulic pump flow before regeneration to the same as the hydraulic pump flow after regeneration by the hydraulic system comprises: According to the hydraulic pump flow after regeneration being greater or less than the hydraulic pump flow before regeneration, the control of the differential pressure override solenoid valve of the hydraulic pump to act on the load sensing control valve of the hydraulic pump to decrease or increase the load sensing action differential pressure of the hydraulic pump, until the hydraulic pump flow before regeneration is adjusted to the same as the hydraulic pump flow after regeneration.

9. A control device for a construction machine, characterized by The steps for executing the regeneration control method of the hydraulic system as claimed in any one of claims 1-8 comprise: An acquisition unit is configured to acquire the aftertreatment carbon load of the engine, the engine speed before regeneration, the hydraulic pump flow before regeneration of the hydraulic system, and the hydraulic pump flow after regeneration of the hydraulic system; A judgment unit is configured to judge that the engine aftertreatment needs regeneration operation according to the aftertreatment carbon load being greater than the carbon load threshold and the working machine being in the working condition; A comparison unit is configured to compare the hydraulic pump flow before regeneration and the hydraulic pump flow after regeneration; An execution unit is configured to perform the engine regeneration operation, and adjust the hydraulic pump flow after regeneration to the same as the hydraulic pump flow before regeneration by the hydraulic system.

10. A working machine, characterized in that Comprise: A processor, a memory and a bus, the processor and the memory are connected through the bus, the memory is used to store programs, and the processor is used to run programs, wherein the programs are executed by the processor to perform the regeneration control method of the hydraulic system as claimed in any one of claims 1-8.

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