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; hydraulic system operation parameters before regeneration are obtained according to the fact that the engine before-regeneration rotating speed is smaller than the regeneration required rotating speed; engine regeneration operation is carried out, and operation parameters of the regenerated hydraulic system are obtained; and according to the hydraulic system operation parameters before regeneration and the hydraulic system operation parameters after regeneration, an electromagnetic control valve is controlled to adjust the flow of the hydraulic pump after regeneration to be the same as the flow of the hydraulic pump before regeneration. 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 aftertreatment carbon load is greater than the carbon load threshold and the construction machinery is in an operating condition, it is determined that the engine aftertreatment needs a regeneration operation;

[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 system operation parameters before regeneration are obtained;

[0009] Perform engine regeneration operation and obtain hydraulic system operating parameters after regeneration;

[0010] According to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, the electromagnetic control valve is controlled to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration.

[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 controls and adjusts the electromagnetic control valve according to the operating parameters of the hydraulic system before and after the engine regeneration, so as to adjust the flow of the hydraulic pump after regeneration to the same as the flow of the hydraulic pump before regeneration, so as to achieve the unchanged flow of the hydraulic system before and after regeneration, and finally make 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, the hydraulic system operating parameters before regeneration include the control current value of the electromagnetic control valve before regeneration and the engine speed before regeneration, and the hydraulic system operating parameters after regeneration include the engine speed after regeneration.

[0014] In some embodiments of the present invention, controlling the electromagnetic control valve to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration according to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration includes:

[0015] According to the control current value of the electromagnetic control valve before regeneration, the engine speed before regeneration and the engine speed after regeneration, the control current value of the electromagnetic control valve after regeneration is calculated using the formula I2=I1*n1 / n2;

[0016] According to the control current value of the electromagnetic control valve after regeneration, the opening of the electromagnetic control valve is adjusted so that the flow rate of the hydraulic pump after regeneration is the same as the flow rate of the hydraulic pump before regeneration;

[0017] Wherein, I1 is the control current value of the electromagnetic control valve before regeneration, I2 is the control current value of the electromagnetic control valve after regeneration, n1 is the engine speed before regeneration, and n2 is the engine speed after regeneration.

[0018] In some embodiments of the present invention, the obtaining of the hydraulic system operating parameters before regeneration according to the engine speed before regeneration being less than the regeneration required speed comprises:

[0019] According to the fact that the engine speed before regeneration is less than the regeneration required speed, the output torque of the engine before regeneration and the outlet pressure of the hydraulic pump before regeneration of the engine are obtained;

[0020] According to the engine output torque before regeneration and the engine speed before regeneration, the hydraulic pump flow before regeneration is calculated using the formula T1*2π*n1=η*P1*Q1;

[0021] 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.

[0022] In some embodiments of the present invention, performing the engine regeneration operation and obtaining the hydraulic system operating parameters after regeneration includes:

[0023] 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;

[0024] According to the output torque after engine regeneration, the outlet pressure of the hydraulic pump after engine regeneration and the speed after engine regeneration, the flow rate of the hydraulic pump after regeneration is calculated using the formula T2*2π*n2=P2*η*Q2;

[0025] 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.

[0026] In some embodiments of the present invention, controlling the electromagnetic control valve to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration according to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration includes:

[0027] According to the fact that the flow rate of the hydraulic pump after regeneration is greater than the flow rate of the hydraulic pump before regeneration, the control current value of the electromagnetic control valve is reduced until the flow rate of the hydraulic pump after regeneration is the same as the flow rate of the hydraulic pump before regeneration.

[0028] In some embodiments of the present invention, controlling the electromagnetic control valve to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration according to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration includes:

[0029] According to the fact that the flow rate of the hydraulic pump after regeneration is less than the flow rate of the hydraulic pump before regeneration, the control current value of the electromagnetic control valve is increased until the flow rate of the hydraulic pump after regeneration is the same as the flow rate of the hydraulic pump before regeneration.

[0030] In some embodiments of the present invention, after controlling the electromagnetic control valve to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration according to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, the method further comprises:

[0031] When the engine speed reaches the regeneration speed after regeneration and the hydraulic pump flow after regeneration is equal to the hydraulic pump flow before regeneration, the control current value of the electromagnetic control valve at this time is used as the non-inductive regeneration current value, and the non-inductive regeneration current value is maintained to control the hydraulic system.

[0032] A second aspect of the present invention provides an engineering machinery control device, comprising:

[0033] An acquisition unit, used to acquire the post-treatment carbon load of the engine, the engine speed before regeneration, the hydraulic system operating parameters before regeneration, and the hydraulic system operating parameters after regeneration;

[0034] 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;

[0035] The execution unit is used for performing the engine regeneration operation and controlling the electromagnetic control valve to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration.

[0036] 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

[0037] 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:

[0038] Figure 1 The structure diagram of the open hydraulic system according to the embodiment of the present invention is schematically shown;

[0039] Figure 2 The structure diagram of the closed hydraulic system according to the embodiment of the present invention is schematically shown;

[0040] Figure 3 The overall logic flow chart of the regeneration control method of the hydraulic system according to the present invention is schematically shown;

[0041] Figure 4 Schematically shows a logic flow chart of a regeneration control method of a hydraulic system according to a first embodiment of the present invention;

[0042] Figure 5A logic flow chart of a regeneration control method of a hydraulic system according to a second embodiment of the present invention is schematically shown;

[0043] Figure 6 The structural block diagram of the engineering machinery according to the embodiment of the present invention is schematically shown.

[0044] The reference numerals in the accompanying drawings represent the following:

[0045] 10. Engine;

[0046] 20. Hydraulic pump; 21. Solenoid control valve; 22. Pressure sensor;

[0047] 30. Load cell;

[0048] 40. Directional control valve;

[0049] 100. Processor;

[0050] 200, memory;

[0051] 300. Bus. DETAILED DESCRIPTION

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] At present, hydraulic systems that use diesel engines as power sources are mainly used in construction machinery. Due to emission requirements, it is necessary to regularly eliminate carbon deposits from post-treatment. The elimination is mainly achieved by increasing the speed and increasing the exhaust temperature. The existing method is to increase the engine speed by mechanical shutdown, which wastes energy. Diesel engine manufacturers now support regeneration 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 be sudden, which will bring risks and uncertainties to the operation. In order to avoid sudden changes in the action of the actuator before and after regeneration, the present invention proposes a regeneration control method for the hydraulic system, which achieves the same flow before and after regeneration of the hydraulic system through control, and smooth regeneration. This control method is applicable to the situation where the regeneration condition is triggered during operation and the engine speed before regeneration is lower than the regeneration required speed.

[0057] Figure 3 The overall logic flow chart of the regeneration control method of the hydraulic system according to the present invention is schematically shown. Figure 3 As shown, the present invention proposes a regenerative control method for a hydraulic system. The regenerative control method for a hydraulic system in the present invention includes:

[0058] S1: obtaining the post-treatment carbon load of the engine 10; judging that the post-treatment carbon load is greater than the carbon load threshold and the construction machinery is in an operating condition, determining that the post-treatment of the engine 10 requires a regeneration operation;

[0059] S2: According to the post-processing requirement of the engine 10 for regeneration operation, the speed of the engine 10 before regeneration is obtained;

[0060] S3: acquiring hydraulic system operating parameters before regeneration according to the speed of the engine 10 before regeneration being less than the speed required for regeneration;

[0061] S4: performing a regeneration operation of the engine 10 and obtaining operating parameters of the hydraulic system after regeneration;

[0062] S5: According to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, the electromagnetic control valve 21 is controlled to 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.

[0063] 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 controls and adjusts the electromagnetic control valve 21 according to the hydraulic system operating parameters before and after the regeneration of the engine 10, so as to adjust the flow of the hydraulic pump 20 after regeneration to the same as the flow of the hydraulic pump 20 before regeneration, so as to achieve the unchanged flow of the hydraulic system before and after regeneration, and finally make the actuator of the hydraulic system under regeneration stable, thereby improving reliability.

[0064] Furthermore, if Figure 1 and 2 As shown, 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 hydraulic pump 20 in this embodiment is an electronically controlled hydraulic pump 20, a variable hydraulic pump 20, which is divided into an open pump and a closed pump. The open pump is used for an open circuit. The displacement of the hydraulic pump 20 is adjusted by adjusting the given current of the electromagnetic control valve 21, and the oil flow direction is changed by the direction control valve 40. The closed pump is used for a closed circuit. The displacement of the hydraulic pump 20 is adjusted by adjusting the given current of the electromagnetic control valve 21. By giving different electromagnetic valve currents, the direction of the output high-pressure oil is controlled, and the hydraulic motor is controlled to rotate clockwise or counterclockwise.

[0065] like Figure 1 and 2As shown, the hydraulic system in this embodiment includes two types, one is an open hydraulic system and the other is a closed hydraulic system. Figure 1 As shown, in the open hydraulic system, the engine 10 is connected to the hydraulic pump 20, and can provide a power source for the hydraulic pump 20. The outlet end of the hydraulic pump 20 is connected to the load unit 30. The load unit 30 includes an actuator, which can drive the actuator to work through the drive of the hydraulic pump 20. In the open hydraulic system, a first pressure sensor 22 is provided at the outlet end of the hydraulic pump 20 to detect the outlet pressure of the hydraulic pump 20. The open hydraulic system also includes an electromagnetic control valve 21. The current value of each electromagnetic control valve 21 corresponds to the opening of the electromagnetic control valve 21. The opening of the electromagnetic control valve 21 is positively correlated with the displacement of the hydraulic pump 20, thereby controlling the hydraulic pump 20.

[0066] like Figure 2 As shown, in the closed hydraulic system, the engine 10 is connected to the hydraulic pump 20, which can provide a power source for the hydraulic pump 20. The two ends of the hydraulic pump 20 are respectively connected to the load unit 30. The load unit 30 includes an actuator, which can drive the actuator to work through the drive of the hydraulic pump 20. In the closed hydraulic system, the two ends of the hydraulic pump 20 are respectively provided with a second pressure sensor 22. Since the hydraulic pump 20 in the closed hydraulic system can rotate forward and reverse, the two second pressure sensors 22 can detect the outlet pressure of the hydraulic pump 20 in the forward and reverse conditions respectively. The closed hydraulic system also includes an electromagnetic control valve 21. The current value of the electromagnetic control valve 21 corresponds to the opening of the electromagnetic control valve 21. The opening of the electromagnetic control valve 21 corresponds to the displacement of the hydraulic pump 20. The electromagnetic control valve 21 can be turned left and right to control the hydraulic pump 20. Two electromagnetic control valves 21 are provided in the closed hydraulic system, which are respectively connected to the hydraulic pump 20 and control the hydraulic pump 20 in the forward rotation and reverse rotation of the hydraulic pump 20 .

[0067] Specifically, the regeneration control method of the hydraulic system of the present invention can be implemented not only on an open hydraulic system but also on a closed hydraulic system.

[0068] In some embodiments of the present invention, Figure 4 As shown, the hydraulic system operating parameters before regeneration include the control current value of the electromagnetic control valve 21 before regeneration and the speed of the engine 10 before regeneration, and the hydraulic system operating parameters after regeneration include the speed of the engine 10 after regeneration.

[0069] In some embodiments of the present invention, Figure 4 As shown, according to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, controlling the electromagnetic control valve 21 to adjust the flow rate of the hydraulic pump 20 after regeneration to the same as the flow rate of the hydraulic pump 20 before regeneration includes:

[0070] According to the control current value of the electromagnetic control valve 21 before regeneration, the speed of the engine 10 before regeneration and the speed of the engine 10 after regeneration, the control current value of the electromagnetic control valve 21 after regeneration is calculated using the formula I2=I1*n1 / n2;

[0071] According to the control current value of the electromagnetic control valve 21 after regeneration, the opening of the electromagnetic control valve 21 is adjusted so that the flow rate of the hydraulic pump 20 after regeneration is the same as the flow rate of the hydraulic pump 20 before regeneration;

[0072] Wherein, I1 is the control current value of the electromagnetic control valve 21 before regeneration, I2 is the control current value of the electromagnetic control valve 21 after regeneration, n1 is the speed of the engine 10 before regeneration, and n2 is the speed of the engine 10 after regeneration.

[0073] Specifically, in the implementation of the first control method of the present invention, the efficiency parameter of the hydraulic pump 20 under the same hydraulic system working condition changes slightly, and the useful power output by the engine 10 can be regarded as the hydraulic system power, that is:

[0074] T*2π*n0=eta*P*Q=C*P*V*n00;

[0075] Wherein T is the output torque calculated by removing the friction internal torque and the accessory torque of the engine 10, n0 is the actual speed of the engine 10, n00 is the speed of the hydraulic pump 20, which is obtained by multiplying the engine speed n0 by the transmission ratio, P is the outlet pressure of the hydraulic pump 20, Q is the output flow of the hydraulic pump 20, V is the displacement of the hydraulic pump 20, and η is the efficiency coefficient, which includes the mechanical efficiency and the volumetric efficiency of the hydraulic pump.

[0076] It can be seen from the above formula that when the engine 10 increases its speed, if the hydraulic system does not change accordingly, the output flow of the hydraulic pump 20 will increase with the increase in the speed of the engine 10, and the working speed of the actuator will change suddenly. In order to avoid this sudden change, it can be seen from the above formula that the increase in the speed of the engine 10 after regeneration will drive the speed of the hydraulic pump 20 to increase. If the flow of the hydraulic pump 20 needs to remain unchanged, it is necessary to adjust the displacement of the hydraulic pump 20, that is, to adjust the electromagnetic control valve 21. In this embodiment, the formula I2=I1*n1 / n2 is directly used to calculate the control current value of the electromagnetic control valve 21 after regeneration, and then the displacement of the hydraulic pump 20 is affected, so that the flow of the hydraulic pump 20 after regeneration can be the same as the flow of the hydraulic pump 20 before regeneration.

[0077] Specifically, Figure 4 As shown, the control flow of the first control method is:

[0078] 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;

[0079] 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. 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 (i.e., the actuator does not produce a sudden change during regeneration, and there is no sudden change sensation caused by regeneration);

[0080] Monitoring the speed of the engine 10 before regeneration and the control current value of the electromagnetic control valve 21 before regeneration;

[0081] After the customer confirms regeneration, the engine 10 enters a regeneration condition, and the ratio of the speed of the engine 10 after regeneration to the speed of the engine 10 before regeneration is obtained;

[0082] Divide the control current value of the electromagnetic control valve 21 before regeneration by the ratio of the speed of the engine 10 after regeneration to the speed of the engine 10 before regeneration, obtain the control current value of the electromagnetic control valve 21 after regeneration, and adjust the current value of the electromagnetic control valve 21 to the control current value of the electromagnetic control valve 21 after regeneration;

[0083] The current operation is finished and the regeneration operation is not finished. According to whether the customer retains the inductive regeneration operation function, the control current value of the electromagnetic control valve 21 after regeneration is determined to facilitate the subsequent table lookup operation.

[0084] In some embodiments of the present invention, Figure 5 As shown, according to the fact that the speed of the engine 10 before regeneration is less than the speed required for regeneration, obtaining the hydraulic system operating parameters before regeneration includes:

[0085] 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 and the outlet pressure of the hydraulic pump 20 before regeneration of the engine 10 are obtained;

[0086] According to the output torque of the engine 10 before regeneration and the speed of the engine 10 before regeneration, the flow rate of the hydraulic pump 20 before regeneration is calculated using the formula T1*2π*n1=η*P1*Q1;

[0087] Among them, 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 theoretical flow of the hydraulic pump 20 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.

[0088] Specifically, in this embodiment, according to the actuator speed fluctuation requirement, 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.

[0089] In some embodiments of the present invention, Figure 5 As shown, performing the regeneration operation of the engine 10 and obtaining the hydraulic system operating parameters after regeneration include:

[0090] 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;

[0091] 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;

[0092] 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, Q2 is the theoretical flow of the hydraulic pump 20 after 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 n2 by the transmission ratio, and η is the efficiency coefficient, which includes mechanical efficiency and hydraulic pump volumetric efficiency.

[0093] Specifically, in this embodiment, according to the actuator speed fluctuation requirement, 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.

[0094] In some embodiments of the present invention, Figure 5 As shown, according to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, controlling the electromagnetic control valve 21 to adjust the flow rate of the hydraulic pump 20 after regeneration to the same as the flow rate of the hydraulic pump 20 before regeneration includes:

[0095] According to the fact that the flow rate of the hydraulic pump 20 after regeneration is greater than the flow rate of the hydraulic pump 20 before regeneration, the control current value of the electromagnetic control valve 21 is reduced until the flow rate of the hydraulic pump 20 after regeneration is the same as the flow rate of the hydraulic pump 20 before regeneration.

[0096] In some embodiments of the present invention, Figure 5 As shown, according to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, controlling the electromagnetic control valve 21 to adjust the flow rate of the hydraulic pump 20 after regeneration to the same as the flow rate of the hydraulic pump 20 before regeneration includes:

[0097] According to the fact that the flow rate of the hydraulic pump 20 after regeneration is less than the flow rate of the hydraulic pump 20 before regeneration, the control current value of the electromagnetic control valve 21 is increased until the flow rate of the hydraulic pump 20 after regeneration is the same as the flow rate of the hydraulic pump 20 before regeneration.

[0098] Specifically, Figure 5 As shown, the control flow of the second control method is:

[0099] 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;

[0100] 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 will not be increased during regeneration, and the sensorless regeneration function will not be triggered. When the speed of the engine 10 before regeneration is lower than the speed required for regeneration of the engine 10, the condition for triggering the sensorless regeneration is met;

[0101] 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;

[0102] After the customer confirms regeneration, the engine 10 increases the speed to enter the regeneration condition, and the flow rate of the hydraulic pump 20 after regeneration is calculated in real time and compared with the flow rate of the hydraulic pump 20 before regeneration;

[0103] 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 control current value of the electromagnetic control valve 21 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 control current value of the electromagnetic control valve 21 of the hydraulic pump 20 is increased;

[0104] 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 control current value of the electromagnetic control valve 21 after regeneration is solidified to be the non-inductive regeneration current. When the operating parameters change, the normal output current of the control program changes according to the ratio of the speed of the engine 10 before and after regeneration;

[0105] The current operation is finished and the regeneration operation is not finished. According to whether the customer retains the inductive regeneration operation function, the control current value of the electromagnetic control valve 21 after regeneration is determined to facilitate the subsequent table lookup operation.

[0106] In some embodiments of the present invention, according to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, after controlling the electromagnetic control valve 21 to 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, the method further includes:

[0107] According to the fact that the speed of the engine 10 after regeneration reaches the regeneration speed 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 control current value of the electromagnetic control valve 21 at this time is used as the non-inductive regeneration current value, and the non-inductive regeneration current value is maintained to control the hydraulic system. The ratio of the current before and after regeneration is used as the control weighted number. During the stable regeneration process, if the speed is artificially changed, the theoretical control current and the weighted number are converted to obtain the actual control current to control the hydraulic pump.

[0108] Specifically, in this embodiment, when the speed of the engine 10 after regeneration reaches the regeneration speed and the flow of the hydraulic pump 20 after regeneration is equal to the flow of the hydraulic pump 20 before regeneration, the control current value of the electromagnetic control valve 21 at this time is used as the inductive regeneration current value, and then the flow of the regeneration hydraulic pump 20 is controlled to be the same as the flow of the hydraulic pump 20 after regeneration, and the situation that the speed of the engine 10 is increased and the operation of the actuator of the load unit 30 is not suddenly changed. If the subsequent operating parameters (such as the opening of the handle of the electromagnetic control valve 21) change, the electromagnetic control valve 21 is adjusted accordingly according to the ratio of the speed of the engine 10 after regeneration to the speed of the engine 10 before regeneration, so as to always ensure that the flow of the regeneration hydraulic pump 20 is the same as the flow of the hydraulic pump 20 after regeneration, thereby improving reliability.

[0109] The present invention also proposes an engineering machinery control device, comprising:

[0110] An acquisition unit is used to acquire the post-treatment carbon load of the engine 10, the speed of the engine 10 before regeneration, the hydraulic system operating parameters before regeneration, and the hydraulic system operating parameters after regeneration; a judgment unit is used to judge that the post-treatment of the engine 10 needs a regeneration operation according to the fact that the post-treatment carbon load is greater than the carbon load threshold and the engineering machinery is in an operating condition;

[0111] The execution unit is used to perform the regeneration operation of the engine 10 and control the electromagnetic control valve 21 to 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.

[0112] The present invention also provides an engineering machine, such as Figure 6 As 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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, 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 system operation parameters before regeneration are obtained; Perform engine regeneration operation and obtain hydraulic system operating parameters after regeneration; According to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, the electromagnetic control valve is controlled to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration.

2. The regenerative control method of the hydraulic system according to claim 1, characterized in that: The hydraulic system operating parameters before regeneration include the control current value of the electromagnetic control valve before regeneration and the engine speed before regeneration, and the hydraulic system operating parameters after regeneration include the engine speed after regeneration.

3. The regenerative control method of the hydraulic system according to claim 2, characterized in that: According to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, controlling the electromagnetic control valve to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration includes: According to the control current value of the electromagnetic control valve before regeneration, the engine speed before regeneration and the engine speed after regeneration, the control current value of the electromagnetic control valve after regeneration is calculated using the formula I2=I1*n1 / n2; According to the control current value of the electromagnetic control valve after regeneration, the opening of the electromagnetic control valve is adjusted so that the flow rate of the hydraulic pump after regeneration is the same as the flow rate of the hydraulic pump before regeneration; Wherein, I1 is the control current value of the electromagnetic control valve before regeneration, I2 is the control current value of the electromagnetic control valve after regeneration, n1 is the engine speed before regeneration, and n2 is the engine speed after regeneration.

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

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 system operating parameters after the regeneration 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.

6. The regenerative control method of a hydraulic system according to claim 5, characterized in that: According to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, controlling the electromagnetic control valve to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration includes: According to the fact that the flow rate of the hydraulic pump after regeneration is greater than the flow rate of the hydraulic pump before regeneration, the control current value of the electromagnetic control valve is reduced until the flow rate of the hydraulic pump after regeneration is the same as the flow rate of the hydraulic pump before regeneration.

7. The regenerative control method of a hydraulic system according to claim 5, characterized in that: According to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, controlling the electromagnetic control valve to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration includes: According to the fact that the flow rate of the hydraulic pump after regeneration is less than the flow rate of the hydraulic pump before regeneration, the control current value of the electromagnetic control valve is increased until the flow rate of the hydraulic pump after regeneration is the same as the flow rate of the hydraulic pump before regeneration.

8. The regenerative control method of a hydraulic system according to claim 1, characterized in that: After the solenoid control valve is controlled to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration according to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, the method further includes: When the engine speed reaches the regeneration speed after regeneration and the hydraulic pump flow after regeneration is equal to the hydraulic pump flow before regeneration, the control current value of the electromagnetic control valve at this time is used as the non-inductive regeneration current value, and the non-inductive regeneration current value is maintained to control the hydraulic system.

9. A control device for construction machinery, characterized in that: include: An acquisition unit, used to acquire the post-treatment carbon load of the engine, the engine speed before regeneration, the hydraulic system operating parameters before regeneration, and the hydraulic system operating parameters 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; The execution unit is used for performing the engine regeneration operation and controlling the electromagnetic control valve to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration.

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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