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

Abstract

A regeneration control method for a hydraulic system, a construction machine control device, and a construction machine. 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, a power adjusting module of the hydraulic system 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] Obtain the aftertreatment carbon loading of the engine;

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

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

[0008] According to the engine speed before regeneration being less than the regeneration required speed, the hydraulic 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, a power regulation module controlling the hydraulic system regulates 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 power regulation module of the hydraulic system 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, obtaining the hydraulic system operating parameters before regeneration according to the engine speed before regeneration being less than the regeneration required speed includes:

[0014] 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;

[0015] 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;

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

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

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

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

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

[0021] In some embodiments of the present invention, controlling the power regulation module of the hydraulic system 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 operating parameters of the hydraulic system before regeneration and the operating parameters of the hydraulic system after regeneration comprises:

[0022] The flow rate of the hydraulic pump after regeneration is compared with the flow rate of the hydraulic pump before regeneration, and the power of the hydraulic pump is adjusted through a power adjustment module of the hydraulic pump so that the flow rate of the hydraulic pump after regeneration is the same as the flow rate of the hydraulic pump before regeneration.

[0023] In some embodiments of the present invention, the hydraulic system operating parameters before regeneration include the engine output torque before regeneration, the engine speed before regeneration and the hydraulic pump outlet pressure before regeneration, and the hydraulic system operating parameters after regeneration include the engine speed after regeneration.

[0024] In some embodiments of the present invention, controlling the power regulation module of the hydraulic system 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 operating parameters of the hydraulic system before regeneration and the operating parameters of the hydraulic system after regeneration comprises:

[0025] According to the fact that the outlet pressure of the hydraulic pump before the engine regeneration is greater than or equal to the starting pressure of the hydraulic pump, it is judged that the hydraulic pump is in a constant torque state;

[0026] According to the hydraulic pump being in a constant torque state, the output torque of the engine after regeneration is calculated using the formula T3*2π*n3=T4*2π*n4;

[0027] According to the output torque of the engine after regeneration, a first power value of the power adjustment module is obtained, and the power of the hydraulic pump is adjusted to the first power value so that the flow rate of the hydraulic pump after regeneration is the same as the flow rate of the hydraulic pump before regeneration;

[0028] Among them, T3 is the output torque of the engine before regeneration, n3 is the speed of the engine before regeneration, T4 is the output torque of the engine after regeneration, and n4 is the speed of the engine after regeneration.

[0029] In some embodiments of the present invention, the hydraulic system operating parameters before regeneration include the hydraulic pump outlet pressure and the hydraulic pump flow before regeneration of the engine, and the hydraulic system operating parameters after regeneration include the engine speed after regeneration.

[0030] In some embodiments of the present invention, controlling the power regulation module of the hydraulic system 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 operating parameters of the hydraulic system before regeneration and the operating parameters of the hydraulic system after regeneration comprises:

[0031] According to the fact that the outlet pressure of the hydraulic pump before the engine regeneration is less than or equal to the starting pressure of the hydraulic pump, it is judged that the hydraulic pump is in a non-constant torque state;

[0032] According to the hydraulic pump being in a non-constant torque state, the output torque of the engine after regeneration is calculated using the formula η*P3*Q3=T5*2π*n5;

[0033] According to the output torque of the engine after regeneration, a second power value of the power regulating module is obtained, and the power of the hydraulic pump is adjusted to the second power value so that the flow rate of the hydraulic pump after regeneration is the same as the flow rate of the hydraulic pump before regeneration;

[0034] Among them, P3 is the outlet pressure of the hydraulic pump before engine regeneration, Q3 is the flow rate of the engine hydraulic pump, T5 is the output torque of the engine before regeneration, n5 is the speed of the engine after regeneration, and η is the efficiency coefficient.

[0035] A second aspect of the present invention provides an engineering machinery control device, comprising:

[0036] 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;

[0037] 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;

[0038] The execution unit is used to perform engine regeneration operation and control the power regulation module of the hydraulic system 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.

[0039] 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 stored in the memory executes the above-mentioned regeneration control method of the hydraulic system when run by the processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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:

[0041] Figure 1 The structure diagram of the hydraulic system according to the embodiment of the present invention is schematically shown;

[0042] Figure 2The overall logic flow chart of the regeneration control method of the hydraulic system according to the embodiment of the present invention is schematically shown;

[0043] Figure 3 Schematically shows a logic flow chart of a regeneration control method of a hydraulic system according to a first embodiment of the present invention;

[0044] Figure 4 A logic flow chart of a regeneration control method of a hydraulic system according to a second embodiment of the present invention is schematically shown;

[0045] Figure 5 The structural block diagram of the engineering machinery according to the embodiment of the present invention is schematically shown.

[0046] The reference numerals in the accompanying drawings represent the following:

[0047] 10. Engine;

[0048] 20. Hydraulic pump; 21. Power regulation module; 22. First pressure sensor;

[0049] 30. Load unit; 31. Actuator; 32. Main valve;

[0050] 100. Processor;

[0051] 200, memory;

[0052] 300. Bus. DETAILED DESCRIPTION

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] Figure 1 The structural diagram of the hydraulic system according to the embodiment of the present invention is schematically shown. Figure 2 The overall logic flow chart of the regeneration control method of the hydraulic system according to the embodiment of the present invention is schematically shown. Figure 1 and 2 As shown, the present invention proposes a regenerative control method for a hydraulic system, comprising:

[0058] S1: obtaining the post-treatment carbon load of the engine 10;

[0059] S2: judging that the aftertreatment carbon load is greater than the carbon load threshold and the construction machinery is in an operating condition, that the aftertreatment of the engine 10 requires a regeneration operation;

[0060] S3: According to the post-processing requirement of the engine 10 for regeneration, the speed of the engine 10 before regeneration is obtained;

[0061] S4: acquiring hydraulic system operating parameters before regeneration according to the fact that the speed of the engine 10 before regeneration is less than the speed required for regeneration;

[0062] S5: Perform engine 10 regeneration operation and obtain hydraulic system operating parameters after regeneration; S6: According to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, control the power regulation module 21 of the hydraulic system to adjust the flow of the hydraulic pump 20 after regeneration to the same as the flow 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 10 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 31 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 power regulation module 21 of the hydraulic system 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 31 of the hydraulic system under regeneration stable, thereby improving reliability.

[0064] Further, in this embodiment, if Figure 1 As shown, the control method of the hydraulic system is implemented based on the hydraulic system. The hydraulic system of the present invention includes an engine 10, a hydraulic pump 20 and a load unit 30. The engine 10 provides a power source for the hydraulic system. The hydraulic pump 20 converts mechanical energy into hydraulic energy. In this embodiment, it is a pump with a power control function. A first pressure sensor 22 is provided at the outlet end of the hydraulic pump 20 for detecting the outlet pressure of the hydraulic pump 20 or the inlet pressure of the main valve 32. A second pressure sensor is provided on the load unit 30 for detecting the highest pressure of the actuator 31, that is, the load pressure.

[0065] Specifically, Figure 1 As shown, a main valve 32 is provided on the load unit 30, and the main valve 32 is used to control the movement direction of the actuator 31. The actuator 31 of the load unit 30 can be a hydraulic motor or a hydraulic cylinder, which is used to perform an action.

[0066] Specifically, Figure 1 As shown, the power regulating module 21 of the hydraulic system can be a part of the hydraulic pump 20, or can be a separate module independent of the hydraulic pump 20, and is mainly used to set the power of the hydraulic pump 20 (essentially, it is a torque limit, but it is generally called power setting in the industry).

[0067] In some embodiments of the present invention, according to the fact that the speed of the engine 10 before regeneration is less than the speed required for regeneration, obtaining the hydraulic system operating parameters before regeneration includes:

[0068] 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;

[0069] 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;

[0070] 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 flow rate of the hydraulic pump 20 before regeneration, and η is the efficiency coefficient.

[0071] Specifically, in this embodiment, Q1 is the theoretical flow of the hydraulic pump 20 before regeneration, which is the product of the rotation speed of the hydraulic pump 20 and the current displacement of the hydraulic pump 20, wherein the rotation speed of the hydraulic pump 20 is obtained by multiplying the engine 10 rotation speed n1 by the transmission ratio, and η is the efficiency coefficient, which includes the mechanical efficiency and the volumetric efficiency of the hydraulic pump 20.

[0072] In addition, in this embodiment, according to the actuator speed fluctuation requirement, if the speed stability requirement is high, the flow rate of the hydraulic pump 20 can be calculated; if the speed stability requirement is low, the flow rate of the hydraulic pump 20 equivalent to the output torque of the engine 10 can be used.

[0073] In some embodiments of the present invention, performing the regeneration operation of the engine 10 and obtaining the hydraulic system operating parameters after the regeneration includes:

[0074] 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;

[0075] 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=η*P2*Q2;

[0076] Among them, T2 is the output torque of the engine 10 after regeneration, n2 is the speed of the engine 10 after regeneration, P2 is the outlet pressure of the hydraulic pump 20 after regeneration of the engine 10, and Q2 is the flow rate of the hydraulic pump 20 after regeneration.

[0077] Specifically, in this embodiment, Q2 is the theoretical flow of the hydraulic pump 20 before regeneration, which is the product of the rotation speed of the hydraulic pump 20 and the current displacement of the hydraulic pump 20, wherein the rotation speed of the hydraulic pump 20 is obtained by multiplying the engine 10 rotation speed n2 by the transmission ratio, and η is the efficiency coefficient, which includes the mechanical efficiency and the volumetric efficiency of the hydraulic pump 20.

[0078] In addition, in this embodiment, according to the actuator speed fluctuation requirement, if the speed stability requirement is high, the flow rate of the hydraulic pump 20 can be calculated; if the speed stability requirement is low, the flow rate of the hydraulic pump 20 equivalent to the output torque of the engine 10 can be used.

[0079] In some embodiments of the present invention, according to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, controlling the power adjustment module 21 of the hydraulic system 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 includes:

[0080] The flow rate of the hydraulic pump 20 after regeneration is compared with the flow rate of the hydraulic pump 20 before regeneration, and the power of the hydraulic pump 20 is adjusted by the power adjustment module 21 of the hydraulic pump 20 to make the flow rate of the hydraulic pump 20 after regeneration the same as the flow rate of the hydraulic pump 20 before regeneration.

[0081] Specifically, in this embodiment, in the process of comparing the flow rate of the hydraulic pump 20 after regeneration and the flow rate of the hydraulic pump 20 before regeneration, if the flow rate of the hydraulic pump 20 after regeneration exceeds the flow rate of the hydraulic pump 20 before regeneration, the output of the power regulating module 21 of the hydraulic pump 20 is adjusted, that is, the power setting of the hydraulic pump 20 is reduced, 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. If the flow rate of the hydraulic pump 20 after regeneration is lower than the flow rate of the hydraulic pump 20 before regeneration, the output of the power regulating module 21 of the hydraulic pump 20 is adjusted, that is, the power setting of the hydraulic pump 20 is increased, 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.

[0082] Specifically, Figure 3 As shown, the control flow of the first control method is:

[0083] 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;

[0084] When the speed of the engine 10 before regeneration is higher than the speed required for regeneration of the engine 10, the speed of the engine 10 does not increase during regeneration, and the senseless regeneration function is not triggered (i.e., the actuator 31 does not produce a sudden change during regeneration, and there is no sense of sudden change caused by regeneration); when the speed of the engine 10 before regeneration is lower than the speed required for regeneration of the engine 10, the conditions for triggering senseless regeneration are met;

[0085] Detecting the output torque of the engine 10 before regeneration and the outlet pressure of the hydraulic pump 20 before regeneration of the engine 10, and determining the flow rate of the hydraulic pump 20 before regeneration;

[0086] After the customer confirms regeneration, the engine 10 increases the speed to enter the regeneration condition, and the output flow of the hydraulic pump 20 after regeneration is calculated in real time and compared with the flow of the hydraulic pump 20 before regeneration;

[0087] 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 power setting of the hydraulic pump 20 is reduced; when the flow rate of the hydraulic pump 20 after regeneration is less than the flow rate of the hydraulic pump 20 before regeneration, the power setting of the hydraulic pump 20 is increased;

[0088] 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 power setting value of the hydraulic pump 20 is used as the sensorless regeneration override parameter to control the hydraulic system;

[0089] The current operation is completed and the regeneration operation is not completed. It depends on whether the customer retains the non-contact regeneration operation function.

[0090] In some embodiments of the present invention, the hydraulic system operating parameters before regeneration include the output torque of the engine 10 before regeneration, the speed of the engine 10 before regeneration and the outlet pressure of the hydraulic pump 20 before regeneration of the engine 10, and the hydraulic system operating parameters after regeneration include the speed of the engine 10 after regeneration.

[0091] In some embodiments of the present invention, according to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, controlling the power adjustment module 21 of the hydraulic system 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 includes:

[0092] According to the outlet pressure of the hydraulic pump 20 being greater than or equal to the starting pressure of the hydraulic pump 20 before the engine 10 is regenerated, it is determined that the hydraulic pump 20 is in a constant torque state;

[0093] According to the hydraulic pump 20 being in a constant torque state, the output torque of the engine 10 after regeneration is calculated using the formula T3*2π*n3=T4*2π*n4;

[0094] According to the output torque of the engine 10 after regeneration, the first power value of the power adjustment module 21 is obtained, and the power of the hydraulic pump 20 is adjusted to the first power value 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;

[0095] Among them, T3 is the output torque of the engine 10 before regeneration, n3 is the speed of the engine 10 before regeneration, T4 is the output torque of the engine 10 after regeneration, and n4 is the speed of the engine 10 after regeneration.

[0096] Specifically, in this embodiment, the hydraulic pump 20 has two states, the first is a constant torque state (torque has reached the maximum and remains unchanged, power remains unchanged at a constant speed, and the outlet pressure of the hydraulic pump 20 is inversely proportional to the displacement), and the second is a non-constant torque state (torque is lower than the constant torque condition, and the outlet pressure of the hydraulic pump 20 has no relationship with the displacement). Whether the constant torque condition is reached is determined by whether the outlet pressure of the hydraulic pump 20 before regeneration reaches the starting pressure set by the torque at this time. When the outlet pressure of the hydraulic pump 20 before regeneration is not lower than the starting pressure, it is a constant torque condition, and when the outlet pressure of the hydraulic pump 20 before regeneration is lower than the starting pressure, it is a non-constant torque condition.

[0097] Furthermore, in this embodiment, since the outlet pressure of the hydraulic pump 20 after the engine 10 is regenerated is greater than or equal to the starting pressure of the hydraulic pump 20, it is in a constant torque state, and it can be known from the formula T3*2π*n3=T4*2π*n4 that when the torque is inversely proportional to the speed of the engine 10 and the product is constant, the flow of the hydraulic pump 20 is basically constant. Therefore, the flow of the hydraulic pump 20 before regeneration can be calculated by the output torque of the engine 10 before regeneration and the speed of the engine 10 before regeneration, and then the corresponding output torque of the engine 10 after regeneration is calculated by the increased speed of the engine 10 after regeneration, and the hydraulic pump 20 is acted on by the power regulation module 21, thereby maintaining the flow of the hydraulic pump 20 before and after regeneration.

[0098] Specifically, in the present embodiment, the output torque of the engine 10 after regeneration is proportional to the output torque of the hydraulic pump 20, which can be obtained through a corresponding proportional coefficient. At the same time, there is also a corresponding proportional coefficient between the output torque of the hydraulic pump 20 and the power regulation module 21 of the hydraulic pump 20. The first power value of the power regulation module 21 can be obtained according to the output torque of the engine 10 after regeneration, and then the power of the hydraulic pump 20 can be adjusted to the first power value, 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.

[0099] In some embodiments of the present invention, the hydraulic system operating parameters before regeneration include the outlet pressure of the hydraulic pump 20 and the flow rate of the hydraulic pump 20 before regeneration of the engine 10, and the hydraulic system operating parameters after regeneration include the speed of the engine 10 after regeneration.

[0100] In some embodiments of the present invention, according to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, controlling the power adjustment module 21 of the hydraulic system 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 includes:

[0101] According to the outlet pressure of the hydraulic pump 20 being less than or equal to the starting pressure of the hydraulic pump 20 before the engine 10 is regenerated, it is determined that the hydraulic pump 20 is in a non-constant torque state;

[0102] According to the non-constant torque state of the hydraulic pump 20, the output torque of the engine 10 after regeneration is calculated using the formula η*P3*Q3=T5*2π*n5;

[0103] According to the output torque of the engine 10 after regeneration, the second power value of the power adjustment module 21 is obtained, and the power of the hydraulic pump 20 is adjusted to the second power value 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;

[0104] Among them, P3 is the outlet pressure of the hydraulic pump 20 before the engine 10 is regenerated, Q3 is the flow rate of the hydraulic pump 20 before regeneration, T5 is the output torque of the engine 10 after regeneration, n5 is the speed of the engine 10 after regeneration, and η is the efficiency coefficient.

[0105] Furthermore, in this embodiment, the flow rate of the hydraulic pump 20 before regeneration can be accurately measured by a flow meter at the outlet of the hydraulic pump. The flow rate of the hydraulic pump 20 before regeneration can also be calculated by obtaining the output torque of the engine 10 before regeneration, the speed of the engine 10 before regeneration, and the outlet pressure of the hydraulic pump 20 before regeneration of the engine 10, and using the formula T*2π*n=η*P*Q.

[0106] Specifically, when load sensing does not work in the hydraulic system, the flow rate of the hydraulic pump 20 before regeneration can also be calculated by the formula Q=V*n, where V is the displacement of the hydraulic pump and n is the engine speed before regeneration.

[0107] Among them, it can be known from the formula η*P3*Q3=T5*2π*n5 that when the torque is inversely proportional to the speed of the engine 10 and the product is unchanged, the flow of the hydraulic pump 20 is basically unchanged. Therefore, the flow of the hydraulic pump 20 before regeneration can be calculated by the above method, and then the corresponding output torque of the engine 10 after regeneration can be calculated by the increased speed of the engine 10 after regeneration, and the hydraulic pump 20 is acted on by the power regulation module 21, so as to maintain the flow of the hydraulic pump 20 before and after regeneration unchanged.

[0108] Specifically, in the present embodiment, the output torque of the engine 10 after regeneration is proportional to the output torque of the hydraulic pump 20, which can be obtained through a corresponding proportional coefficient. At the same time, there is also a corresponding proportional coefficient between the output torque of the hydraulic pump 20 and the power regulation module 21 of the hydraulic pump 20. The second power value of the power regulation module 21 can be obtained according to the output torque of the engine 10 after regeneration, and then the power of the hydraulic pump 20 can be adjusted to the second power value, 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.

[0109] Specifically, Figure 4 As shown, the control flow of the second control method is:

[0110] 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;

[0111] When the speed of the engine 10 before regeneration is higher than the speed required for regeneration of the engine 10, the speed of the engine 10 does not increase during regeneration, and the senseless regeneration function is not triggered (i.e., the actuator 31 does not produce a sudden change during regeneration, and there is no sense of sudden change caused by regeneration); when the speed of the engine 10 before regeneration is lower than the speed required for regeneration of the engine 10, the conditions for triggering senseless regeneration are met;

[0112] 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;

[0113] After the customer confirms regeneration, the engine 10 increases the speed to enter the regeneration condition, and the outlet pressure of the hydraulic pump 20 after the adjustment pressure and regeneration is compared;

[0114] When the outlet pressure of the hydraulic pump 20 before regeneration is not lower than the starting pressure, the hydraulic pump 20 is in a constant torque condition (constant power), and the output torque of the engine 10 after regeneration is calculated using the formula T3*2π*n3=T4*2π*n4, and the first power value is determined by the output torque of the engine 10 after regeneration;

[0115] When the outlet pressure of the hydraulic pump 20 before regeneration is lower than the starting pressure, the hydraulic pump 20 is in a non-constant torque condition (non-constant power), and the output torque of the engine 10 after regeneration is calculated using the formula η*P3*Q3=T5*2π*n5, and the second power value is determined by the output torque of the engine 10 after regeneration;

[0116] 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 power setting value of the hydraulic pump 20 is used as the sensorless regeneration override parameter to control the hydraulic system;

[0117] The current operation is completed and the regeneration operation is not completed. It depends on whether the customer retains the non-contact regeneration operation function.

[0118] Specifically, in the implementation mode of the third control method of the present invention, the parameters of each speed override module lower than the regeneration speed are set by theoretical calculation, on-site actuator speed calibration, first control method calibration, or second control method calibration, and the senseless regeneration is realized by looking up the table according to the real-time working conditions (system pressure, etc.) and operating parameters (handle opening, etc.). The control process is as follows:

[0119] 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;

[0120] When the speed of the engine 10 before regeneration is higher than the speed required for regeneration, the engine 10 does not increase the speed during regeneration, and the sensorless regeneration function is not triggered. When the speed of the engine 10 before regeneration is lower than the speed required for regeneration, the condition for triggering the sensorless regeneration is met.

[0121] Record the engine 10 speed, hydraulic system parameters and manual operation parameters at this time;

[0122] According to the current engine 10 speed, hydraulic system parameters and manual operation parameters, during regeneration, the engine 10 speeds up, and according to the engine 10 speed, hydraulic system parameters and manual operation parameters, the power control module parameters are determined by looking up a table;

[0123] After the current operation is completed and the regeneration is not completed, the actual control parameters of the main valve 32 are determined according to whether the customer retains the non-sensing regeneration operation function.

[0124] The present invention also proposes an engineering machinery control device, comprising:

[0125] An acquisition unit, 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;

[0126] A judgment unit, configured to judge that the aftertreatment of the engine 10 requires a regeneration operation according to the fact that the aftertreatment carbon load is greater than a carbon load threshold and the engineering machinery is in an operating condition;

[0127] The execution unit is used to perform the regeneration operation of the engine 10, and control the power adjustment module 21 of the hydraulic system to adjust the flow of the hydraulic pump 20 after regeneration to the same as the flow of the hydraulic pump 20 before regeneration according to the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration.

[0128] The present invention also provides an engineering machine, such as Figure 5 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 programs, wherein the program stored in the memory is executed by the processor 100 when it is run to execute the above-mentioned regeneration control method of the hydraulic system.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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, a power regulation module controlling the hydraulic system regulates 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 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.

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

4. The regenerative control method of the hydraulic system according to claim 3, characterized in that: The controlling the power regulating module of the hydraulic system 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 operating parameters of the hydraulic system before regeneration and the operating parameters of the hydraulic system after regeneration comprises: The flow rate of the hydraulic pump after regeneration is compared with the flow rate of the hydraulic pump before regeneration, and the power of the hydraulic pump is adjusted through a power adjustment module of the hydraulic pump so that the flow rate of the hydraulic pump after regeneration is the same as the flow rate of the hydraulic pump before regeneration.

5. The regenerative control method of a hydraulic system according to claim 1, characterized in that: The hydraulic system operating parameters before regeneration include the engine output torque before regeneration, the engine speed before regeneration and the hydraulic pump outlet pressure before regeneration, and the hydraulic system operating parameters after regeneration include the engine speed after regeneration.

6. The regenerative control method of the hydraulic system according to claim 5, characterized in that: The controlling the power regulating module of the hydraulic system 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 operating parameters of the hydraulic system before regeneration and the operating parameters of the hydraulic system after regeneration comprises: According to the fact that the outlet pressure of the hydraulic pump before the engine regeneration is greater than or equal to the starting pressure of the hydraulic pump, it is judged that the hydraulic pump is in a constant torque state; According to the hydraulic pump being in a constant torque state, the output torque of the engine after regeneration is calculated using the formula T3*2π*n3=T4*2π*n4; According to the output torque of the engine after regeneration, a first power value of the power adjustment module is obtained, and the power of the hydraulic pump is adjusted to the first power value so that the flow rate of the hydraulic pump after regeneration is the same as the flow rate of the hydraulic pump before regeneration; Among them, T3 is the output torque of the engine before regeneration, n3 is the speed of the engine before regeneration, T4 is the output torque of the engine after regeneration, and n4 is the speed of the engine after regeneration.

7. The regenerative control method of a hydraulic system according to claim 1, characterized in that: The hydraulic system operating parameters before regeneration include the hydraulic pump outlet pressure and the hydraulic pump flow rate before regeneration, and the hydraulic system operating parameters after regeneration include the engine speed after regeneration.

8. The regenerative control method of a hydraulic system according to claim 7, characterized in that: The controlling the power regulating module of the hydraulic system 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 operating parameters of the hydraulic system before regeneration and the operating parameters of the hydraulic system after regeneration comprises: According to the fact that the outlet pressure of the hydraulic pump before the engine regeneration is less than or equal to the starting pressure of the hydraulic pump, it is judged that the hydraulic pump is in a non-constant torque state; According to the hydraulic pump being in a non-constant torque state, the output torque of the engine after regeneration is calculated using the formula η*P3*Q3=T5*2π*n5; According to the output torque of the engine after regeneration, a second power value of the power regulating module is obtained, and the power of the hydraulic pump is adjusted to the second power value so that the flow rate of the hydraulic pump after regeneration is the same as the flow rate of the hydraulic pump before regeneration; Among them, P3 is the hydraulic pump outlet pressure before engine regeneration, Q3 is the hydraulic pump flow before regeneration, T5 is the engine output torque before regeneration, n5 is the engine speed after regeneration, and η is the efficiency coefficient.

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 to perform engine regeneration operation and control the power regulation module of the hydraulic system 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.

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 stored in the memory is executed by the processor to execute the regeneration control method of the hydraulic system according to any one of claims 1 to 8.

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