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

Abstract

The application belongs to the field of engine aftertreatment regeneration technology, and particularly relates to a regeneration control method of a hydraulic system. The regeneration control method of the hydraulic system comprises the following steps: obtaining the carbon load of engine aftertreatment; judging that the engine aftertreatment needs a regeneration operation according to the condition that the carbon load of the engine aftertreatment is greater than a carbon load threshold value and the construction machinery is in a working condition; obtaining the engine speed before regeneration according to the condition that the engine aftertreatment needs the regeneration operation; obtaining the hydraulic system working parameter before regeneration according to the condition that the engine speed before regeneration is less than a regeneration required speed; performing the engine regeneration operation and obtaining the hydraulic system working parameter after regeneration; and controlling the power regulation module of the hydraulic system to regulate the hydraulic pump flow after regeneration to be the same as the hydraulic pump flow before regeneration according to the hydraulic system working parameter before regeneration and the hydraulic system working parameter after regeneration. According to the technical scheme, the execution element of the hydraulic system after regeneration is stable, and the reliability is improved.

Description

Technical Field

[0001] This invention belongs to the field of engine aftertreatment regeneration technology, specifically relating to a regeneration control method for a hydraulic system, a control device for engineering machinery, and engineering machinery. Background Technology

[0002] Currently, hydraulic systems powered by diesel engines (primarily used in construction machinery) require periodic removal of carbon deposits from the aftertreatment system due to emission requirements. This is mainly achieved by increasing engine speed and exhaust temperature, and most existing systems use mechanical shutdown to increase engine speed, which is wasteful of energy and time. Some manufacturers can perform regeneration during operation, but increasing engine speed causes sudden changes in hydraulic system flow, leading to abrupt changes in the action of hydraulic actuators, introducing risks and uncertainties into the operation. Summary of the Invention

[0003] The objective of this invention is to at least solve the problem of sudden changes in the hydraulic system during regeneration operations. This objective is achieved through the following technical solution:

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

[0005] Obtain the aftertreatment carbon load of the engine;

[0006] Based on the fact that the carbon load in the aftertreatment is greater than the carbon load threshold and the construction machinery is in operation, it is determined that the engine aftertreatment needs to be regenerated.

[0007] Based on the engine aftertreatment requirements for regeneration, obtain the engine speed before regeneration.

[0008] Based on the fact that the engine speed before regeneration is less than the speed required for regeneration, obtain the hydraulic system operating parameters before regeneration;

[0009] Perform engine regeneration and obtain the operating parameters of the regenerated hydraulic system;

[0010] Based on the hydraulic system operating parameters before and after regeneration, the power regulation module of the control hydraulic system adjusts the flow rate of the hydraulic pump after regeneration to be the same as that of the hydraulic pump before regeneration.

[0011] According to the technical solution of the present invention, when the after-treatment carbon load of the engine is greater than the carbon load threshold and the construction machinery is in operation, the engine needs to perform a regeneration operation under the operation condition. First, the engine speed before regeneration is obtained. If the engine speed before regeneration is less than the speed required for regeneration, the output flow of the hydraulic system will change abruptly when the speed is increased during regeneration. This will cause abrupt changes in the action of the hydraulic system's actuators, bringing risks and uncertainties to the operation. Therefore, the control method of the present invention controls and adjusts the power adjustment module of the hydraulic system according to the hydraulic system operation parameters before and after engine regeneration, so as to adjust the hydraulic pump flow after regeneration to be the same as the hydraulic pump flow before regeneration, so as to keep the hydraulic system flow unchanged before and after regeneration, and finally make the actuators of the hydraulic system under regeneration stable, thus improving reliability.

[0012] In addition, the regeneration control method for 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 based on the fact that the engine speed before regeneration is less than the required regeneration speed includes:

[0014] Based on the fact that the engine speed before regeneration is less than the speed required for regeneration, obtain the engine output torque before regeneration and the hydraulic pump outlet pressure before engine regeneration.

[0015] Based on the engine output torque and engine speed before regeneration, the hydraulic pump flow rate before regeneration is calculated using the formula T1*2π*n1=η*P1*Q1.

[0016] Wherein, T1 is the output torque of the engine before regeneration, n1 is the engine speed before regeneration, P1 is the outlet pressure of the hydraulic pump before 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, the step of performing engine regeneration and obtaining the operating parameters of the regenerated hydraulic system includes:

[0018] Perform engine regeneration operation and obtain the output torque, hydraulic pump outlet pressure and engine speed after engine regeneration;

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

[0020] Wherein, T2 is the output torque after engine regeneration, n2 is the engine speed after regeneration, P2 is the hydraulic pump outlet pressure after engine regeneration, and Q2 is the hydraulic pump flow rate 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, based on the operating parameters of the hydraulic system before regeneration and the operating parameters of the hydraulic system after regeneration, includes:

[0022] The flow rate of the hydraulic pump after regeneration is compared with that before regeneration, and the power of the hydraulic pump is adjusted through the power adjustment module of the hydraulic pump to make the flow rate of the hydraulic pump after regeneration the same as that 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 engine 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, based on the operating parameters of the hydraulic system before regeneration and the operating parameters of the hydraulic system after regeneration, includes:

[0025] Based on the fact that the hydraulic pump outlet pressure before engine regeneration is greater than or equal to the hydraulic pump's starting pressure, it is determined that the hydraulic pump is in a constant torque state.

[0026] Based on the fact that the hydraulic pump is in a constant torque state, and using the formula T3*2π*n3=T4*2π*n4 to calculate the output torque of the engine after regeneration;

[0027] Based on the output torque of the engine after regeneration, the 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 that of the hydraulic pump before regeneration.

[0028] Wherein, T3 is the engine output torque before regeneration, n3 is the engine speed before regeneration, T4 is the engine output torque before regeneration, and n4 is the engine speed 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 rate before regeneration, 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, based on the operating parameters of the hydraulic system before regeneration and the operating parameters of the hydraulic system after regeneration, includes:

[0031] Based on the fact that the hydraulic pump outlet pressure before engine regeneration is less than or equal to the hydraulic pump's starting pressure, it is determined that the hydraulic pump is in a non-constant torque state.

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

[0033] Based on the output torque after engine regeneration, the second power value of the power adjustment 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 that of the hydraulic pump before regeneration.

[0034] Wherein, 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 engine speed after regeneration, and η is the efficiency coefficient.

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

[0036] The acquisition unit is used to acquire the after-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] The judgment unit is used to determine that the engine aftertreatment needs to be regenerated if the aftertreatment carbon load is greater than the carbon load threshold and the construction machinery is in operation.

[0038] The actuator is used to perform engine regeneration operations and, based on the hydraulic system operating parameters before and after regeneration, control the hydraulic system power regulation module to adjust the hydraulic pump flow rate after regeneration to be the same as the hydraulic pump flow rate before regeneration.

[0039] A third aspect of the present invention provides an engineering machine, comprising: a processor, a memory, and a bus, wherein the processor and the memory are connected via the bus, the memory is used to store a program, and the processor is used to run the program, wherein the program stored in the memory is executed by the processor to perform the above-described regeneration control method for a hydraulic system. Attached Figure Description

[0040] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0041] Figure 1 A schematic diagram of the structure of a hydraulic system according to an embodiment of the present invention is shown.

[0042] Figure 2A schematic diagram of the overall logic flow of a regeneration control method for a hydraulic system according to an embodiment of the present invention is shown.

[0043] Figure 3 A schematic flowchart of a regeneration control method for a hydraulic system according to a first embodiment of the present invention is shown.

[0044] Figure 4 A schematic flowchart of a regeneration control method for a hydraulic system according to a second embodiment of the present invention is shown.

[0045] Figure 5 A schematic block diagram of an engineering machine according to an embodiment of the present invention is shown.

[0046] The labels in the attached diagram are as follows:

[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 Implementation

[0053] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0054] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0055] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0056] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations.

[0057] Figure 1 A schematic diagram of the structure of a hydraulic system according to an embodiment of the present invention is shown. Figure 2 A schematic diagram illustrating the overall logic flow of a regeneration control method for a hydraulic system according to an embodiment of the present invention is shown. Figure 1 and 2 As shown, this invention proposes a regenerative control method for a hydraulic system, comprising:

[0058] S1: Obtain the aftertreatment carbon load of engine 10;

[0059] S2: Based on the fact that the carbon load of the aftertreatment is greater than the carbon load threshold and the construction machinery is in operation, it is determined that the engine 10 aftertreatment needs to be regenerated.

[0060] S3: Based on the regeneration operation required by the aftertreatment of engine 10, obtain the engine speed before regeneration of engine 10;

[0061] S4: Based on the fact that the engine speed before regeneration is less than the speed required for regeneration, obtain the hydraulic system operating parameters before regeneration;

[0062] S5: Perform engine 10 regeneration operation and obtain the hydraulic system operating parameters after regeneration; S6: Based on the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, control the hydraulic system power adjustment module 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.

[0063] According to the technical solution of the present invention, when the after-treatment carbon load of the engine 10 is greater than the carbon load threshold and the construction machinery 10 is in operation, the engine 10 needs to perform a regeneration operation under the operation condition. First, the engine speed before regeneration is obtained. If the engine speed before regeneration is less than the speed required for regeneration, the output flow of the hydraulic system will change suddenly when the speed is increased during regeneration. This will cause the actuator 31 of the hydraulic system to move abruptly, bringing risks and uncertainties to the operation. Therefore, the control method of the present invention controls and adjusts the power adjustment module 21 of the hydraulic system according to the hydraulic system operation parameters before and after regeneration of the engine 10, so as to adjust the flow of the hydraulic pump 20 after regeneration to be the same as the flow of the hydraulic pump 20 before regeneration, so as to keep the flow of the hydraulic system unchanged before and after regeneration, and finally make the actuator 31 of the hydraulic system under regeneration stable, thus improving reliability.

[0064] Furthermore, in this embodiment, such as Figure 1 As shown, the control method of the hydraulic system is implemented based on the hydraulic system. The hydraulic system of this invention includes an engine 10, a hydraulic pump 20, and a load unit 30. The engine 10 provides the power source for the hydraulic system. The hydraulic pump 20 converts mechanical energy into hydraulic energy; in this embodiment, it is a pump with power control function. 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 or the inlet pressure of the main valve 32. A second pressure sensor is provided on the load unit 30 to detect the maximum pressure of the actuator 31, i.e., the load pressure.

[0065] Specifically, such as Figure 1 As shown, a main valve 32 is provided on the load unit 30, which 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, used to perform actions.

[0066] Specifically, such as Figure 1 As shown, the power adjustment module 21 of the hydraulic system can be part of the hydraulic pump 20 or a separate module independent of the hydraulic pump 20. It mainly sets the power of the hydraulic pump 20 (essentially limiting the torque, but it is generally referred to as setting the power in the industry).

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

[0068] Based on the fact that the engine speed before regeneration is less than the speed required for regeneration, the output torque of engine 10 before regeneration and the outlet pressure of hydraulic pump 20 before regeneration are obtained.

[0069] Based on the output torque and speed of engine 10 before regeneration, the flow rate of hydraulic pump 20 before regeneration is calculated using the formula T1*2π*n1=η*P1*Q1.

[0070] Wherein, T1 is the output torque of engine 10 before regeneration, n1 is the speed of engine 10 before regeneration, P1 is the outlet pressure of hydraulic pump 20 before regeneration, Q1 is the flow rate of hydraulic pump 20 before regeneration, and η is the efficiency coefficient.

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

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

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

[0074] Perform engine 10 regeneration operation and obtain the output torque of engine 10 after regeneration, the outlet pressure of hydraulic pump 20 after engine 10 regeneration, and the speed of engine 10 after regeneration.

[0075] Based on the output torque of engine 10 after regeneration, the outlet pressure of hydraulic pump 20 after engine 10 regeneration, and the speed of engine 10 after regeneration, the flow rate of hydraulic pump 20 after regeneration is calculated using the formula T2*2π*n2=η*P2*Q2.

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

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

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

[0079] In some embodiments of the present invention, 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, based on the operating parameters of the hydraulic system before regeneration and the operating parameters of the hydraulic system after 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 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.

[0081] Specifically, in this embodiment, during the comparison of 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 adjustment 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 adjustment 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, such as Figure 3 As shown, the control flow of the first control method is as follows:

[0083] The engine's aftertreatment carbon deposits were detected to have reached the regeneration threshold, and the construction machinery was in operation at this time, requiring a slow operating speed.

[0084] When the engine speed before regeneration is higher than the engine speed required for regeneration, the engine speed will not be increased during regeneration, and the sensorless regeneration function will not be triggered (i.e., the actuator 31 will not produce a sudden change during regeneration, and there will be no sudden change sensation during regeneration). When the engine speed before regeneration is lower than the engine speed required for regeneration, the conditions for triggering sensorless regeneration are met.

[0085] Detect the output torque of engine 10 before regeneration and the outlet pressure of hydraulic pump 20 before regeneration of engine 10, and determine the flow rate of hydraulic pump 20 before regeneration.

[0086] After the customer confirms regeneration, the engine 10 increases its speed to enter the regeneration condition, and the output flow of the hydraulic pump 20 after regeneration is calculated 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] Once the regeneration speed is reached and the flow rate of hydraulic pump 20 after regeneration is equal to the flow rate of hydraulic pump 20 before regeneration, the power setting value of this hydraulic pump 20 is used as the sensorless regeneration overriding parameter to control the hydraulic system.

[0089] The current job has ended but the regeneration operation has not ended. The function depends on whether the customer retains the seamless 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. The hydraulic system operating parameters after regeneration include the speed of the engine 10 after regeneration.

[0091] In some embodiments of the present invention, 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, based on the operating parameters of the hydraulic system before regeneration and the operating parameters of the hydraulic system after regeneration, includes:

[0092] Based on the fact that the outlet pressure of hydraulic pump 20 before engine 10 regeneration is greater than or equal to the starting pressure of hydraulic pump 20, it is determined that hydraulic pump 20 is in a constant torque state.

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

[0094] Based on 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] Wherein, T3 is the output torque of engine 10 before regeneration, n3 is the speed of engine 10 before regeneration, T4 is the output torque of engine 10 before regeneration, and n4 is the speed of engine 10 after regeneration.

[0096] Specifically, in this embodiment, the hydraulic pump 20 has two states: the first is a constant torque state (the torque has reached its maximum and remains constant; the power remains constant at a constant speed; the outlet pressure of the hydraulic pump 20 is inversely proportional to its displacement); the second is a non-constant torque state (the torque is lower than the constant torque condition; the outlet pressure of the hydraulic pump 20 is unrelated to its displacement). Whether the constant torque condition is achieved is determined by whether the outlet pressure of the hydraulic pump 20 before regeneration reaches the starting adjustment pressure set for the current torque. When the outlet pressure of the hydraulic pump 20 before regeneration is not lower than the starting adjustment pressure, it is a constant torque condition; when the outlet pressure of the hydraulic pump 20 before regeneration is lower than the starting adjustment pressure, it is a non-constant torque condition.

[0097] Furthermore, in this embodiment, since the outlet pressure of the hydraulic pump 20 after engine 10 regeneration is greater than or equal to the starting pressure of the hydraulic pump 20, it is in a constant torque state. And as can be seen from the formula T3*2π*n3=T4*2π*n4, when the torque is inversely proportional to the engine speed and the product remains constant, the flow rate of the hydraulic pump 20 remains essentially unchanged. Therefore, the flow rate of the hydraulic pump 20 before regeneration can be calculated using the output torque and engine speed of the engine 10 before regeneration. Then, using the increased engine speed after regeneration, the corresponding output torque of the engine 10 after regeneration can be calculated. The power adjustment module 21 then acts on the hydraulic pump 20 to maintain a constant flow rate of the hydraulic pump 20 before and after regeneration.

[0098] Specifically, in this 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 proportionality coefficient. At the same time, the output torque of the hydraulic pump 20 and the power adjustment module 21 of the hydraulic pump 20 also have a corresponding proportionality coefficient. The first power value of the power adjustment 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 before regeneration of the engine 10 and the flow rate of the hydraulic pump 20 before regeneration, and the hydraulic system operating parameters after regeneration include the rotational speed of the engine 10 after regeneration.

[0100] In some embodiments of the present invention, 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, based on the operating parameters of the hydraulic system before regeneration and the operating parameters of the hydraulic system after regeneration, includes:

[0101] Based on the fact that the outlet pressure of hydraulic pump 20 before engine 10 regeneration is less than or equal to the starting pressure of hydraulic pump 20, it is determined that hydraulic pump 20 is in a non-constant torque state.

[0102] Based on the fact that hydraulic pump 20 is in a non-constant torque state, and using the formula η*P3*Q3=T5*2π*n5, the output torque of engine 10 after regeneration is calculated;

[0103] Based on 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] Wherein, P3 is the outlet pressure of hydraulic pump 20 before regeneration of engine 10, Q3 is the flow rate of hydraulic pump 20 before regeneration, T5 is the output torque of engine 10 before regeneration, n5 is the speed of engine 10 after regeneration, and η is the efficiency coefficient.

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

[0106] Specifically, when the load sensitivity of the hydraulic system is not working, the flow rate of the hydraulic pump 20 before regeneration can 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] As shown in the formula η*P3*Q3=T5*2π*n5, when the torque is inversely proportional to the engine speed of 10 and the product remains constant, the flow rate of hydraulic pump 20 remains essentially unchanged. Therefore, the flow rate of hydraulic pump 20 before regeneration can be calculated using the above method. Then, based on the increased engine speed of 10 after regeneration, the corresponding output torque of engine 10 after regeneration can be calculated. The power adjustment module 21 then acts on hydraulic pump 20 to maintain the flow rate of hydraulic pump 20 before and after regeneration.

[0108] Specifically, in this 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 proportionality coefficient. At the same time, the output torque of the hydraulic pump 20 and the power adjustment module 21 of the hydraulic pump 20 also have a corresponding proportionality coefficient. The second power value of the power adjustment 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, such as Figure 4 As shown, the control flow of the second control method is as follows:

[0110] The engine's aftertreatment carbon deposits were detected to have reached the regeneration threshold, and the construction machinery was in operation at this time, requiring a slow operating speed.

[0111] When the engine speed before regeneration is higher than the engine speed required for regeneration, the engine speed will not be increased during regeneration, and the sensorless regeneration function will not be triggered (i.e., the actuator 31 will not produce a sudden change during regeneration, and there will be no sudden change sensation during regeneration). When the engine speed before regeneration is lower than the engine speed required for regeneration, the conditions for triggering sensorless regeneration are met.

[0112] Monitor the output torque of engine 10 before regeneration and the outlet pressure of hydraulic pump 20 before regeneration of engine 10 to determine the flow rate of hydraulic pump 20 before regeneration.

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

[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 constant torque condition (constant power). 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). 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] Once the regeneration speed is reached and the flow rate of hydraulic pump 20 after regeneration is equal to the flow rate of hydraulic pump 20 before regeneration, the power setting value of this hydraulic pump 20 is used as the sensorless regeneration overriding parameter to control the hydraulic system.

[0117] The current job has ended but the regeneration operation has not ended. The function depends on whether the customer retains the seamless regeneration operation function.

[0118] Specifically, in the third implementation of the control method of the present invention, parameters are set by the overriding modules of each speed below the regeneration speed through theoretical calculation, field actuator speed calibration, calibration of the first control method, or calibration of the second control method. Sensorless regeneration is achieved by looking up tables based on real-time operating conditions (system pressure, etc.) and operating parameters (handle opening, etc.). The control process is as follows:

[0119] The engine's aftertreatment carbon deposits were detected to have reached the regeneration threshold, and the construction machinery was in operation at this time, requiring a slow operating speed.

[0120] When the engine speed before regeneration is higher than the required speed for regeneration, the engine speed will not be increased during regeneration and the sensorless regeneration function will not be triggered. When the engine speed before regeneration is lower than the required speed for regeneration, the conditions for triggering sensorless regeneration are met.

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

[0122] Based on the current engine speed, hydraulic system parameters, and human operation parameters, during regeneration, engine speed is increased, and the power control module parameters are determined by referring to a table based on the engine speed, hydraulic system parameters, and human operation parameters.

[0123] After the current operation is completed but regeneration is not yet finished, determine the actual control parameters of the main valve 32 based on whether the customer retains the sensorless regeneration operation function.

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

[0125] The acquisition unit is used to acquire the after-treatment carbon load of the engine 10, the engine speed before regeneration, the hydraulic system operating parameters before regeneration, and the hydraulic system operating parameters after regeneration.

[0126] The judgment unit is used to determine that the engine 10 aftertreatment needs to be regenerated if the aftertreatment carbon load is greater than the carbon load threshold and the construction machinery is in operation.

[0127] An execution unit is used to perform engine 10 regeneration operation and, based on the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, control 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.

[0128] This invention also proposes an engineering machine, such as Figure 5 As shown, it includes: processor 100, memory 200 and bus 300. Processor 100 and memory 200 are connected through bus 300. Memory 200 is used to store programs and processor 100 is used to run programs. The programs stored in memory are executed by processor 100 to perform the above-mentioned regeneration control method of 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 can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps are described above in a generalized manner 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. Those skilled in the art may implement the described functionality in different ways for each specific application, but such implementation decisions should not be construed as departing from the scope of the invention.

[0130] The various illustrative logic modules and circuits described in conjunction with the embodiments disclosed herein may be implemented or performed using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The general-purpose processor may be a microprocessor, but in alternatives, it 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, multiple microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.

[0131] In one or more exemplary embodiments, the described functionality may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functionality may be stored or transmitted as one or more instructions or code on or through a computer-readable medium. A computer-readable medium includes both computer storage media and communication media, encompassing any medium that facilitates the transfer of a computer program from one location to another. A storage medium may be any available medium accessible to a computer. By way of example and not limitation, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and is accessible to a computer. Any connection is also legitimately referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of a medium. As used in this article, disks and discs include compact discs (CDs), laser discs, optical discs, digital multi-purpose discs (DVDs), floppy disks, and Blu-ray discs. Disks typically reproduce data magnetically, while discs reproduce data optically using lasers. Combinations of these should also be included within the scope of storage media.

[0132] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A regenerative control method for a hydraulic system, characterized in that, include: Obtain the aftertreatment carbon load of the engine; Based on the fact that the carbon load in the aftertreatment is greater than the carbon load threshold and the construction machinery is in operation, it is determined that the engine aftertreatment needs to be regenerated. Based on the engine aftertreatment requirements for regeneration, obtain the engine speed before regeneration. Based on the fact that the engine speed before regeneration is less than the required speed for regeneration, the hydraulic system operating parameters before regeneration are obtained; the hydraulic system operating parameters before regeneration include the hydraulic pump outlet pressure before regeneration. Perform engine regeneration and obtain the operating parameters of the regenerated hydraulic system; The hydraulic pump has a constant torque state and a non-constant torque state. Whether the hydraulic pump has reached the constant torque state and the non-constant torque state is determined by whether the hydraulic pump outlet pressure before regeneration reaches the starting pressure of the hydraulic pump at this time. The corresponding output torque of the engine after regeneration is calculated based on the constant torque state and the non-constant torque state. The power adjustment module acts on the hydraulic pump to maintain the hydraulic pump flow rate before and after regeneration.

2. The regenerative control method for a hydraulic system according to claim 1, characterized in that, The process of obtaining the hydraulic system operating parameters before regeneration based on the fact that the engine speed before regeneration is less than the required regeneration speed includes: Based on the fact that the engine speed before regeneration is less than the speed required for regeneration, obtain the engine output torque before regeneration and the hydraulic pump outlet pressure before engine regeneration. Based on the engine output torque and engine speed before regeneration, the hydraulic pump flow rate before regeneration is calculated using the formula T1*2π*n1=η*P1*Q1. Wherein, T1 is the output torque of the engine before regeneration, n1 is the engine speed before regeneration, P1 is the outlet pressure of the hydraulic pump before regeneration, Q1 is the flow rate of the hydraulic pump before regeneration, and η is the efficiency coefficient.

3. The regenerative control method for a hydraulic system according to claim 2, characterized in that, The process of performing engine regeneration and obtaining the operating parameters of the regenerated hydraulic system includes: Perform engine regeneration operation and obtain the output torque, hydraulic pump outlet pressure and engine speed after engine regeneration; Based on the engine regeneration output torque, the engine regeneration hydraulic pump outlet pressure, and the engine regeneration speed, the regeneration hydraulic pump flow rate is calculated using the formula T2*2π*n2=η*P2*Q2; Wherein, T2 is the output torque after engine regeneration, n2 is the engine speed after regeneration, P2 is the hydraulic pump outlet pressure after engine regeneration, and Q2 is the hydraulic pump flow rate after regeneration.

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

5. The regenerative control method for 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. The hydraulic system operating parameters after regeneration include the engine speed after regeneration.

6. The regenerative control method for a hydraulic system according to claim 5, characterized in that, Based on the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, 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 includes: Based on the fact that the hydraulic pump outlet pressure before engine regeneration is greater than or equal to the hydraulic pump's starting pressure, it is determined that the hydraulic pump is in a constant torque state. Based on the fact that the hydraulic pump is in a constant torque state, and using the formula T3*2π*n3=T4*2π*n4 to calculate the output torque of the engine after regeneration; Based on the output torque of the engine after regeneration, the 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 that of the hydraulic pump before regeneration. Wherein, T3 is the engine output torque before regeneration, n3 is the engine speed before regeneration, T4 is the engine output torque before regeneration, and n4 is the engine speed after regeneration.

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

8. The regenerative control method for a hydraulic system according to claim 7, characterized in that, Based on the hydraulic system operating parameters before regeneration and the hydraulic system operating parameters after regeneration, 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 includes: Based on the fact that the hydraulic pump outlet pressure before engine regeneration is less than or equal to the hydraulic pump's starting pressure, it is determined that the hydraulic pump is in a non-constant torque state. Based on the fact that the hydraulic pump operates under non-constant torque conditions, and using the formula... Calculate the output torque after engine regeneration; Based on the output torque of the engine after regeneration, the second power value of the power adjustment 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 that of the hydraulic pump before regeneration. Wherein, P3 is the outlet pressure of the hydraulic pump before engine regeneration, Q3 is the flow rate of the hydraulic pump before regeneration, T5 is the output torque of the engine before regeneration, n5 is the engine speed after regeneration, and η is the efficiency coefficient.

9. A control device for engineering machinery, characterized in that, The steps for performing the regenerative control method for the hydraulic system as described in any one of claims 1-8 include: The acquisition unit is used to acquire the after-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. The judgment unit is used to determine that the engine aftertreatment needs to be regenerated if the aftertreatment carbon load is greater than the carbon load threshold and the construction machinery is in operation. The actuator is used to perform engine regeneration operations and, based on the hydraulic system operating parameters before and after regeneration, control the hydraulic system power regulation module to adjust the hydraulic pump flow rate after regeneration to be the same as the hydraulic pump flow rate before regeneration.

10. An engineering machinery, characterized in that, include: The system includes a processor, a memory, and a bus, wherein the processor and the memory are connected via the bus, the memory is used to store a program, and the processor is used to run the program, wherein the program stored in the memory is executed by the processor to perform the regeneration control method of the hydraulic system according to any one of claims 1-8.

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