Driving method of boom system in engineering machinery, controller and engineering machinery

Abstract

The embodiment of the invention provides a driving method of a boom system in engineering machinery, a controller and the engineering machinery. The engineering machinery comprises a cantilever crane system, a hydraulic system and a driving motor, wherein the driving motor drives the cantilever crane system through the hydraulic system; comprising the following steps: receiving a target speed of the boom system; according to the corresponding relation between the target speed of the boom system and the flow of the hydraulic system and the corresponding relation between the flow of the hydraulic system and the motor rotating speed of the driving motor, the motor rotating speed of the driving motor is controlled so as to drive the boom system to conduct boom operation. The method is used for achieving the effect of improving the energy utilization rate of engineering machinery.

Description

Technical Field

[0001] The present application relates to the technical field of construction machinery, and in particular, to a driving method, a controller and a construction machinery for a boom system in construction machinery. Background Art

[0002] Construction machinery includes a boom system and a pumping system for upper mounting operations.

[0003] In the related art, the power output by the engine of the construction machinery is transmitted to a power take-off box, and the power take-off box controls the switching between driving power and upper mounting power through a valve. Among them, the main oil pump for driving the pumping system and the boom pump for driving the boom system share the upper mounting power.

[0004] However, in the above method, there are many power transmission links, resulting in large energy loss in the power transmitted to the boom system, that is, low energy utilization rate. Summary of the Invention

[0005] The embodiments of the present application provide a driving method, a controller and a construction machinery for a boom system in construction machinery, so as to achieve the effect of improving the energy utilization rate of the construction machinery.

[0006] In a first aspect, the embodiments of the present application provide a driving method for a boom system in construction machinery. The construction machinery includes a boom system, a hydraulic system and a driving motor, and the driving motor drives the boom system through the hydraulic system. The method includes:

[0007] Receiving the target speed of the boom system;

[0008] According to the correspondence between the target speed of the boom system and the flow rate of the hydraulic system, and the correspondence between the flow rate of the hydraulic system and the motor speed of the driving motor, controlling the motor speed of the driving motor to drive the boom system to perform boom operations.

[0009] In a possible implementation manner, according to the correspondence between the target speed of the boom system and the flow rate of the hydraulic system, and the correspondence between the flow rate of the hydraulic system and the motor speed of the driving motor, controlling the motor speed of the driving motor includes:

[0010] Determining the flow rate of the hydraulic system according to the target speed of the boom system and the correspondence between the target speed of the boom system and the flow rate of the hydraulic system;

[0011] Determining the motor speed of the driving motor according to the flow rate of the hydraulic system and the correspondence between the flow rate of the hydraulic system and the motor speed of the driving motor, and controlling the driving motor according to the motor speed.

[0012] In a possible implementation, according to the target speed of the boom system and the corresponding relationship between the target speed of the boom system and the flow rate of the hydraulic system, determining the flow rate of the hydraulic system includes:

[0013] Obtaining the current speed of the boom system; and determining the speed difference between the target speed and the current speed;

[0014] According to the speed difference and the corresponding relationship between the speed difference and the flow rate of the hydraulic system, determining the flow rate of the hydraulic system.

[0015] In a possible implementation, according to the speed difference and the corresponding relationship between the speed difference and the flow rate of the hydraulic system, determining the flow rate of the hydraulic system includes:

[0016] Obtaining the current inclination change amount of the boom system;

[0017] According to the speed difference and the current inclination change amount, and the corresponding relationship among the speed difference, the inclination change amount and the flow rate difference of the hydraulic system, determining the flow rate difference of the hydraulic system; wherein, the flow rate difference represents the flow rate value required to reach the target speed from the current speed.

[0018] According to the flow rate difference of the hydraulic system and the historical flow rate of the hydraulic system, determining the flow rate of the hydraulic system.

[0019] In a possible implementation, obtaining the current speed of the boom system includes:

[0020] Obtaining the current tilt angle of the boom system;

[0021] According to the current tilt angle, determining the current inclination change amount;

[0022] According to the current inclination change amount, determining the current speed of the boom system.

[0023] In a possible implementation, according to the flow rate of the hydraulic system and the corresponding relationship between the flow rate of the hydraulic system and the motor speed of the drive motor, determining the motor speed of the drive motor includes:

[0024] According to the flow rate of the hydraulic system and a preset ratio value, determining the rotational speed of the hydraulic pump of the hydraulic system; wherein, the preset ratio value represents the ratio between the flow rate of the hydraulic system and the rotational speed of the hydraulic pump of the hydraulic system.

[0025] According to the rotational speed of the hydraulic pump of the hydraulic system and a preset transmission ratio, determining the motor speed of the drive motor; wherein, the preset transmission ratio represents the proportional relationship between the rotational speed of the hydraulic pump and the motor speed of the drive motor.

[0026] In a possible implementation, the method further includes:

[0027] According to the corresponding relationship between the speed difference and the flow rate of the hydraulic system, construct the corresponding relationship between the target speed of the boom system and the flow rate of the hydraulic system; wherein, the speed difference is the speed difference between the target speed of the boom system and the current speed of the boom system.

[0028] In a possible implementation manner, the method further includes:

[0029] According to the ratio between the flow rate of the hydraulic system and the rotational speed of the hydraulic pump of the hydraulic system, and the ratio relationship between the rotational speed of the hydraulic pump and the rotational speed of the drive motor, construct the corresponding relationship between the flow rate of the hydraulic system and the rotational speed of the drive motor.

[0030] In a possible implementation manner, the construction machinery further includes a transmission mechanism, and the transmission mechanism is arranged between the drive motor and the hydraulic system; the drive motor transmits power to the hydraulic system through the transmission mechanism to drive the boom system.

[0031] In a second aspect, an embodiment of the present application provides a driving device for a boom system in construction machinery. The construction machinery includes a boom system, a hydraulic system, and a drive motor, and the drive motor drives the boom system through the hydraulic system; the device includes:

[0032] A receiving module, configured to receive the target speed of the boom system;

[0033] A control module, configured to control the rotational speed of the drive motor according to the corresponding relationship between the target speed of the boom system and the flow rate of the hydraulic system, and the corresponding relationship between the flow rate of the hydraulic system and the rotational speed of the drive motor, so as to drive the boom system to perform boom operations.

[0034] In a third aspect, an embodiment of the present application provides a controller, and the controller is configured to execute the above first aspect and / or various possible implementation manners of the first aspect.

[0035] In a fourth aspect, an embodiment of the present application provides a construction machinery, and at least a drive motor, a boom system, a hydraulic system, and a controller as in the third aspect are provided in the construction machinery;

[0036] wherein, the drive motor is connected to the hydraulic system, and the hydraulic system is connected to the boom system; the controller is respectively connected to the boom system, the hydraulic system, and the drive motor.

[0037] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, and computer-executable instructions are stored in the computer-readable storage medium. When the computer-executable instructions are executed by the controller, they are used to implement the above first aspect and / or various possible implementation manners of the first aspect.

[0038] Sixthly, an embodiment of the present application provides a computer program product, including a computer program, which when executed by a controller implements the first aspect and / or various possible implementation manners of the first aspect as described above.

[0039] For the driving method, controller and construction machinery of the boom system in the construction machinery provided by the embodiments of the present application, in the construction machinery where one end of the driving motor is connected to the hydraulic system and the hydraulic system is connected to the boom system, after receiving the target speed required by the boom system, the controller can control the motor speed of the driving motor through the corresponding relationship between the target speed of the boom system and the flow rate of the hydraulic system, and the corresponding relationship between the flow rate of the hydraulic system and the motor speed of the driving motor, and then transmit the power to the boom system through the hydraulic system to realize the driving of the boom system. In this way, the controller can drive the hydraulic system by controlling the motor speed of the driving motor to realize the driving of the boom system, without going through multiple power transmission links such as a gearbox, improving the energy utilization rate. At the same time, through the closed-loop control logic of target speed → hydraulic flow → motor speed, the output speed of the driving motor can be adjusted in real time following the actual operation requirements of the boom system; moreover, the corresponding relationship between the target speed, the flow rate of the hydraulic system and the motor speed can improve the speed control accuracy and response speed of the boom movement. Description of the Drawings

[0040] The drawings here are incorporated into the description and form a part of this description, showing embodiments consistent with the present application and used together with the description to explain the principles of the present application.

[0041] Figure 1 Structural schematic diagram of a construction machinery provided by the present application Figure 1 ;

[0042] Figure 2 Structural schematic diagram of a construction machinery provided by the present application Figure 2 ;

[0043] Figure 3 Structural schematic diagram of a construction machinery provided by the present application Figure 3 ;

[0044] Figure 4 Structural schematic diagram of a construction machinery provided by the present application Figure 4 ;

[0045] Figure 5 Structural schematic diagram of a construction machinery provided by the present application Figure 5 ;

[0046] Figure 6 Flow schematic diagram of the driving method of the boom system in the construction machinery provided by the present application Figure 1 ;

[0047] Figure 7 Schematic flowchart of the driving method for the boom system in the construction machinery provided by this application Figure 2 ;

[0048] Figure 8 Schematic structural diagram of the driving device for the boom system in the construction machinery provided by this application;

[0049] Figure 9 Schematic structural diagram of the controller provided by this application.

[0050] Reference numerals:

[0051] 101: Construction machinery;

[0052] 102: Driving motor;

[0053] 103: Boom system;

[0054] 104: Hydraulic system;

[0055] 105: First output end;

[0056] 106: Second output end;

[0057] 107: Other systems;

[0058] 108: Transmission mechanism;

[0059] 109: Pumping system;

[0060] 110: First hydraulic system;

[0061] 111: First power take-off;

[0062] 112: Second power take-off;

[0063] 113: Controller;

[0064] 114: Power unit;

[0065] 115: Multi-in-one module;

[0066] 116: Battery;

[0067] 117: Range extender;

[0068] 118: High-voltage box.

[0069] Through the above-mentioned drawings, specific embodiments of this application have been shown, and there will be more detailed descriptions hereinafter. These drawings and written descriptions are not intended to limit the scope of the concept of this application in any way, but to illustrate the concept of this application to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0070] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0071] In the related art, the power output by the engine of a construction machine is input into a transfer case via a main motor and a gearbox, and the travel and upper-mounted power are switched by valve control in the transfer case. Among them, the main oil pump for driving the pumping system and the boom pump for driving the boom system share the upper-mounted power. However, in the above method, there are many power transmission links, resulting in large energy losses transmitted to the boom system, that is, low energy utilization rate.

[0072] In view of this, the present application provides a driving method for a boom system in a construction machine, which directly connects the boom system to a driving motor through a hydraulic system, controls the output power of the driving motor by controlling the rotation speed of the driving motor, and the output power can be directly transmitted to the boom system through the hydraulic system, reducing the power transmission links and improving the energy utilization rate of the construction machine.

[0073] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0074] First, the structure of the construction machine provided by the present application will be described. Figure 1 A structural schematic of a construction machine provided by the present application Figure 1 , as Figure 1 shown, the construction machine 101 includes a driving motor 102, a boom system 103, and a hydraulic system 104; the driving motor 102 has a through shaft, and a first output end 105 is arranged in the through shaft; wherein, the first output end 105 of the through shaft is connected to the hydraulic system 104, and the hydraulic system 104 is connected to the boom system 103. Optionally, the construction machine may further include other systems 107, a second output end 106 is arranged in the through shaft, and the second output end 106 of the through shaft is connected to the other systems 107. Among them, the other systems 107 may be a travel system, a pumping system, an auxiliary drive system, etc., which are not limited in the embodiments of the present application.

[0075] The above construction machine may be a pump truck (or called a concrete pump truck), a wet shotcreting machine, a fire truck, etc., which are not limited in the embodiments of the present application.

[0076] The hydraulic system 104 is used to convert the mechanical energy of the drive motor 102 into hydraulic energy through a hydraulic pump, and then convert the hydraulic energy into the mechanical motion required by the boom system 103 through an actuator (hydraulic cylinder / motor). For example, the hydraulic pump sucks in hydraulic oil from the fuel tank and pressurizes it. The high-pressure oil enters the corresponding hydraulic cylinder or hydraulic motor, driving the boom system 103 to perform telescopic, pitching or slewing actions.

[0077] The boom system 103 is a device for extending and positioning the pumping pipeline so that concrete can be accurately conveyed to the pouring position. The boom system 103 generally includes multiple boom sections, connecting hinge points, hydraulic cylinders, slewing mechanisms and other components. The booms are connected to each other through the connecting hinge points and can be extended and folded under the drive of the hydraulic cylinders; the slewing mechanism is installed at the bottom of the boom, enabling the boom to rotate in the horizontal direction, thereby realizing all-round placing operations. After receiving the power drive, the boom system extends, folds and rotates the boom and other actions to extend the pumping pipeline to different positions and heights, expanding the concrete pouring range and improving the flexibility and convenience of construction.

[0078] The drive motor 102 is the power source for driving the upper structure operation or traveling of the construction machinery. The drive motor 102 is a motor with a through-shaft. The through-shaft is a shaft that runs through the interior of the motor. The through-shaft is provided with a first output end 105 and a second output end 106 for connecting to different components. The output end part is provided with interface structures suitable for connecting to the hydraulic system 104 and other systems 107, such as splines, couplings, electromagnetic control devices or hydraulic clutch mechanisms, etc., in order to achieve reliable mechanical connection and power transmission. It should be noted that the embodiments of the present application do not limit the connection method between the output end of the through-shaft and other components.

[0079] The drive motor 102 can drive the boom system 103 through the hydraulic system 104. Exemplarily, the drive motor 102 can include a first operation mode or a second operation mode. Among them, the first operation mode is used to represent the boom operation of the construction machinery, and the second operation mode is used to represent other operations of the construction machinery, such as pumping operation, traveling operation, waiting-for-material operation, etc.

[0080] In the first operation mode, the first output end 105 of the through shaft is communicated with the hydraulic system 104 to drive the hydraulic system 104 to drive the boom system 103 to perform boom operations. At the same time, the second output end 106 of the through shaft is disengaged from the other system 107. For example, the drive motor 102 can drive the interface structure of the first output end 105 of the through shaft, such as an electromagnetic control device or a hydraulic clutch mechanism, to gradually establish a stable connection between the first output end 105 of the through shaft and the hydraulic system 104, and control the interface structure of the second output end 106 of the through shaft to disengage the second output end 106 of the through shaft from the other system 107. After the connection is established, the hydraulic system 104 receives the power transmitted by the drive motor 102 through the first output end 105 of the through shaft and transmits it to the boom system 103 to drive the boom system 103 to perform boom operations.

[0081] Similarly, in the second operation mode, the second output end 106 of the through shaft is communicated with the other system 107 to drive the other system 107 to perform operations. At the same time, the first output end 105 of the through shaft is disengaged from the hydraulic system 104.

[0082] The construction machinery provided by the embodiments of the present application includes a drive motor with a through shaft, a boom system, and a hydraulic system. In the first operation mode of the drive motor, the first output end of the through shaft is communicated with the hydraulic system to drive the boom system to perform boom operations. At the same time, the second output end of the through shaft is disengaged from the other system; in the second operation mode of the drive motor, the second output end of the through shaft is communicated with the other system to drive the other system to perform operations. At the same time, the first output end of the through shaft is disengaged from the hydraulic system. In this way, the construction machinery realizes the drive of the boom system based on the drive of the hydraulic system by the drive motor. Compared with the prior art in which a gearbox and a power take-off are used to drive the hydraulic system to drive the boom system, the power transmission link of the boom system is reduced, and the energy utilization rate of the construction machinery is improved.

[0083] In some embodiments, Figure 2 is a schematic structure of a construction machinery provided by the present application Figure 2 , as Figure 2 shown, the construction machinery 101 further includes a transmission mechanism 108, and the transmission mechanism 108 is arranged between the drive motor 102 and the hydraulic system 104; the drive motor 102 transmits power to the hydraulic system 104 through the transmission mechanism 108 to drive the boom system 103.

[0084] The transmission mechanism 108 is a mechanism for power transmission. The type of this transmission mechanism can be, for example, a gear transmission mechanism, a chain transmission mechanism, a belt transmission mechanism, etc., which is not limited in the embodiments of this application. Taking the gear transmission mechanism as an example, the gear transmission mechanism includes a plurality of meshing gears, including a driving gear and a driven gear. The driving gear is installed on the first output end 105 of the through shaft and rotates together with the through shaft. The driven gear meshes with the driving gear and is connected to the hydraulic system 104 through a gear shaft. The principles of other types of transmission mechanisms are similar and will not be exemplified one by one here.

[0085] Transmitting the power of the driving motor to the hydraulic system through the transmission mechanism and then driving the boom system can have the following advantages:

[0086] (1) The transmission mechanism can adjust the speed and torque of the driving motor to appropriate values required by the boom system through different transmission ratios.

[0087] (2) The transmission mechanism can flexibly change the direction and path of power transmission, making the spatial layout of the driving motor, hydraulic system and boom system more reasonable. In the limited space of construction machinery, the driving motor can be installed in a more appropriate position, and then the power is transmitted to the working part through the transmission mechanism, optimizing the overall structure of the vehicle and improving the space utilization rate.

[0088] (3) The transmission mechanism exists as an independent component, which is convenient for separate inspection, maintenance or replacement during equipment maintenance and repair, reducing the maintenance cost and difficulty. Moreover, the existence of the transmission mechanism makes the connection between the driving motor, hydraulic system and boom system more flexible, facilitating the replacement of different types or specifications of boom systems to adapt to different work tasks and working conditions. According to the parameters of the new boom system, a suitable transmission mechanism can be selected without large-scale modification of the driving motor, improving the versatility and compatibility of the equipment.

[0089] As mentioned above, in the construction machinery in the prior art, the main oil pump of the pumping system and the boom pump of the boom system share the upper-mounted power for driving. During transfer, the main oil pump idles, and during pumping, the boom pump idles, which will generate ineffective energy consumption and result in low energy utilization rate.

[0090] Therefore, in some embodiments, Figure 3 is a structural schematic diagram of a construction machinery provided by this application Figure 3 , as Figure 3As shown, the construction machinery 101 further includes a pumping system 109 and a first hydraulic system 110; there are two power take - offs (PTOs) provided in the transmission mechanism 108. Among them, a first power take - off (PTO) 111 and a second power take - off 112 are provided in the transmission mechanism 108. The first power take - off 111 is connected to the hydraulic system 104, and the hydraulic system 104 is connected to the boom system 103; the second power take - off 112 is connected to the first hydraulic system 110, and the first hydraulic system 110 is connected to the pumping system 109.

[0091] A power take - off is a device that can extract the power of a power source and transfer it to other devices or systems that require power. A PTO usually includes components such as gears, shafts, and clutches, which are connected to the output shaft of the power source and transfer the power to the required place through gear transmission or other transmission methods. The power take - off is used to achieve power distribution. By taking power through the PTO, the power of the drive motor 102 can be respectively distributed to the pumping system or the boom system, enabling them to operate independently according to their respective working requirements and realizing different functions.

[0092] The pumping system 109 is a device in the boom system 103 for transporting fluid materials such as concrete from the ground to high places or far distances. The pumping system 109 usually includes components such as a concrete cylinder, a piston, a conveying pipeline, a distribution valve, and a hopper. The piston reciprocates in the concrete cylinder to achieve the suction and discharge of concrete. The distribution valve is used to control the flow direction of concrete between different pipelines. The hopper is used to store the concrete to be transported, and the conveying pipeline transports the concrete from the hopper to the working point. After receiving power drive, the pumping system sucks in and pressurizes the concrete, and then transports the concrete to the designated position through the pipeline, realizing efficient and continuous material transportation to meet the requirements of operations such as concrete pouring in construction.

[0093] It should be noted that the principle of the first hydraulic system is similar to that of the aforementioned hydraulic system and is used to drive the pumping system, which will not be elaborated here.

[0094] In this implementation manner, the transmission mechanism has multiple transmission modes. In each transmission mode, the power take - off for power transmission by the transmission mechanism is different, and thus the corresponding operation types are different. Taking the construction machinery as a concrete pump truck as an example, the transmission modes can include, for example, a first transmission mode and a second transmission mode. Among them, the first transmission mode means that the transmission mechanism transfers power to the first power take - off to achieve boom operation; the second transmission mode means that the transmission mechanism transfers power to the second power take - off to achieve pumping operation. It should be noted that the number and content of the transmission modes in the embodiments of the present application are not limited.

[0095] Exemplarily, the transmission mechanism 108 has a universal power output shaft, and each power take-off is correspondingly provided with an interface mechanism, which is used to engage or disengage with the power output shaft of the transmission mechanism 108. The interface mechanism can be a clutch or a gear mechanism, wherein the type of clutch is not limited in the embodiment of the present application, and can be, for example, an electromagnetic clutch or a wet multi-plate clutch.

[0096] In this way, the power take-off in the transmission mechanism can provide power to the pumping system and the boom system respectively, thereby achieving power decoupling.

[0097] In this embodiment, the power take-off in the transmission mechanism is used to provide power to the pumping system and the boom system respectively, and power decoupling is achieved. At the same time, the power can be accurately distributed to the systems actually needed based on the power take-off, so that the power of each system can be controlled separately and does not interfere with each other. In addition, only the systems that need to work can obtain power, reducing unnecessary energy loss and component wear. For example, when the boom is operating, only the first power take-off is engaged, allowing the boom system to work alone, and other systems are in a non-working state, thereby reducing overall energy consumption and extending the service life of non-working parts.

[0098] Figure 4 A schematic diagram of the structure of an engineering machinery provided for this application Figure 4 . refer to Figure 4 As shown, the engineering machinery 101 also includes a power unit 114, and the drive motor 102 is connected to the all-in-one module 115 in the power unit 114; wherein, the power unit 114 also includes a battery 116, a range extender 117, and a high-voltage box 118; the battery 116, the range extender 117, and the all-in-one module 115 are respectively connected to the high-voltage box 118.

[0099] The power unit 114 is a device that provides electrical energy to the construction machine 101 .

[0100] The all-in-one module 115 is a power electronic device that integrates multiple functions. It integrates multiple different circuit functions into one module to achieve comprehensive control and management of electric energy. The all-in-one module 115 may include power electronic devices, control circuits, heat dissipation devices, etc. The power electronic devices are used to handle high current and high voltage power conversion, such as AC / DC conversion; the control circuit is responsible for implementing various control algorithms to accurately control the operation of the drive motor; the heat dissipation device is used to dissipate the heat generated by the power electronic devices during operation to ensure the normal operating temperature of the module. It should be noted that the embodiments of the present application do not limit the structure and function of the all-in-one module.

[0101] The battery 116 is used to store the electric energy inputted by the range extender or the external charging device, and to provide direct current to the drive motor 102, the all-in-one module 115 and other electric devices when the engineering machine 101 is running, so as to drive the engineering machine to travel and support the operation of the upper loading operation system. It should be noted that the embodiment of the present application does not limit the type of battery.

[0102] The range extender 117 is a device used to increase the range of the vehicle, usually including an engine or other power device, which is started when the battery power is low to provide additional electrical energy for the vehicle.

[0103] The high-voltage box 118 is a device for centralized management and distribution of high-voltage electric energy, and usually includes electrical components such as high-voltage busbars, contactors, fuses, relays, capacitors, inductors, etc. The high-voltage box 118 is used to distribute and transmit high-voltage electric energy, and safely and reliably transmit the high-voltage direct current generated by the battery and the range extender to the all-in-one module and other equipment that requires a high-voltage power supply. At the same time, it can also realize the protection, monitoring and control of the high-voltage circuit, such as over-current protection, over-voltage protection, leakage protection, etc., to ensure the safe operation of the entire engineering machinery.

[0104] Optionally, a charging port may be provided in the high voltage box, and the charging port may be connected to an external AC mains or a mobile power supply vehicle to charge the battery or directly drive the drive motor 102 through the all-in-one module.

[0105] In this embodiment, the engineering machinery includes an all-in-one module, a battery, a range extender, and a high-voltage box. The battery, the range extender, and the all-in-one module are respectively connected to the high-voltage box, and the drive motor is connected to the all-in-one module in the power unit. The battery and the range extender can provide electrical energy for the drive motor of the engineering machinery. In this way, the battery and the range extender can jointly provide electrical energy for the drive motor to meet the needs of driving or loading operations. For example, when the driving power required by the drive motor is greater than the power supply power of the battery, the range extender can generate electricity to realize parallel power supply with the battery to meet the power demand of the drive motor.

[0106] Figure 5 A schematic diagram of the structure of an engineering machinery provided for this application Figure 5 .like Figure 5 As shown, the engineering machine 101 further includes a controller 113, and the controller 113 is respectively connected to the drive motor 102, the boom system 103, and the hydraulic system 104;

[0107] A controller 113 is configured to send control instructions to the drive motor 102, and the control instructions are used to indicate the operating mode of the drive motor. The controller can be an electronic device with processing capabilities, such as an additional Electronic Control Unit (ECU), a Field Programmable Gate Array (FPGA), etc., or a controller already existing in the construction machinery 101, such as a Transmission Control Unit (TCU) or a Vehicle Control Unit (VCU), etc. The embodiments of the present application do not make any limitations here, and can be specifically set according to actual requirements.

[0108] As described in the foregoing embodiments, the construction machinery is provided with a controller, a drive motor, a boom system, and a hydraulic system; one end of the drive motor is connected to the hydraulic system, and the hydraulic system is connected to the boom system; after the hydraulic system is connected to one end of the coaxial shaft of the drive motor, the drive motor can drive the boom system through the hydraulic system. Furthermore, the controller can control the output power of the drive motor by controlling the rotational speed of the drive motor, and then transmit the output power to the boom system through the hydraulic system to drive the boom system to perform boom operations. Next, a driving method for the boom system in the construction machinery provided by the present application will be described, that is, how the controller controls the rotational speed of the drive motor to control the output power to drive the boom system will be described. Refer to Figure 1 the structure of the construction machinery shown, Figure 6 which is a schematic flow chart of the driving method for the boom system in the construction machinery provided by the present application Figure 1 as Figure 6 shown, the method includes:

[0109] S201. Receive the target speed of the boom system.

[0110] Exemplarily, the above-mentioned target speed represents the expected movement speed of each boom section of the boom system. For example, the construction machinery is usually provided with an operation handle or a human-machine interface, and the controller can receive the target speed input by the user through the operation handle or the human-machine interface. Taking the operation handle as an example, the opening of the operation handle is correspondingly set with the speed of the boom section of the boom system, and the maximum opening is the maximum speed of the boom section. Taking the maximum speed of 4 m / s as an example, when the opening is 50%, the target speed is 2 m / s. Therefore, the controller can obtain the opening of the operation handle to receive the target speed of the boom system.

[0111] It can be understood that the boom system may include multiple boom sections, and each boom section may correspond to an individual operation handle. Accordingly, the target speed of each boom section can be received. When it is not necessary to control a particular boom section, the target speed can be 0. It should be noted that the embodiments of the present application do not limit the number of boom sections to be controlled.

[0112] S202. Control the motor speed of the drive motor according to the correspondence between the target speed of the boom system and the flow rate of the hydraulic system, and the correspondence between the flow rate of the hydraulic system and the motor speed of the drive motor, so as to drive the boom system to perform boom operations.

[0113] Exemplarily, the flow rate of the hydraulic system represents the volume of hydraulic oil output by the hydraulic pump per unit time. The motor speed of the drive motor represents the rotational speed of the rotor of the drive motor, and this motor speed can determine the rotational speed of the hydraulic pump.

[0114] In one example, the controller can preset the correspondence between the target speed of each boom section of the boom system and the flow rate required for that boom section. Accordingly, the flow rate required for each boom section can be determined based on the target speed of each boom section, and the flow rates required for each boom section are summed to obtain the flow rate of the hydraulic system. That is, there is a correspondence between the flow rate of the hydraulic system and the target speed of each boom section of the boom system.

[0115] Optionally, after the boom system starts to operate, the speed difference between the current speed and the target speed of the boom system can be determined. Accordingly, based on the correspondence between the speed difference and the flow rate of the hydraulic system, the correspondence between the target speed and the flow rate of the hydraulic system can be constructed.

[0116] It can be understood that the output flow rate of the hydraulic pump is proportional to the rotational speed of the hydraulic pump, and there is a fixed transmission ratio between the rotational speed of the hydraulic pump and the motor speed of the drive motor. Therefore, there is a correspondence between the flow rate of the hydraulic system and the motor speed of the drive motor. In other words, based on the ratio between the flow rate of the hydraulic system and the rotational speed of the hydraulic pump of the hydraulic system, and the ratio relationship between the rotational speed of the hydraulic pump and the motor speed of the drive motor, the correspondence between the flow rate of the hydraulic system and the motor speed of the drive motor can be constructed.

[0117] Therefore, the controller can, based on the correspondence between the target speed of the boom system and the flow rate of the hydraulic system, after determining the flow rate of the hydraulic system, based on the correspondence between the flow rate of the hydraulic system and the motor speed of the drive motor, determine the motor speed, and then control the motor speed of the drive motor, and then transmit the power to the boom system through the hydraulic system to drive the boom system to perform boom operations.

[0118] The driving method of the boom system in the construction machinery provided by the embodiments of the present application is applicable to a construction machinery where one end of a driving motor is connected to a hydraulic system, and the hydraulic system is connected to the boom system. After receiving the target speed required by the boom system, the controller can control the motor speed of the driving motor through the correspondence between the target speed of the boom system and the flow rate of the hydraulic system, and the correspondence between the flow rate of the hydraulic system and the motor speed of the driving motor, and then transmit the power to the boom system through the hydraulic system to achieve the driving of the boom system. In this way, the controller can drive the hydraulic system by controlling the motor speed of the driving motor to achieve the driving of the boom system, without going through multiple power transmission links such as a gearbox, thereby improving the energy utilization rate. At the same time, through the closed-loop control logic of target speed → hydraulic flow → motor speed, the output speed of the driving motor can be adjusted in real time according to the actual operation requirements of the boom system; moreover, the correspondence between the target speed, the flow rate of the hydraulic system and the motor speed can improve the speed control accuracy and response speed of the boom movement.

[0119] Figure 7 It is a schematic flow chart of the driving method of the boom system in the construction machinery provided by the present application Figure 2 , referring to Figure 3 the construction machinery shown in Figure 7 and the method steps shown in Figure 6 Based on the embodiments, the driving method of the boom system in the construction machinery will be described in detail. The method includes:

[0120] S301. Receive the target speed of the boom system.

[0121] It should be noted that this step can refer to the description of the foregoing step S201 and will not be elaborated here.

[0122] S302. Determine the flow rate of the hydraulic system according to the target speed of the boom system and the correspondence between the target speed of the boom system and the flow rate of the hydraulic system.

[0123] In some possible implementation manners, when the boom system is not started, the flow rate of the hydraulic system can be directly determined according to the target speed of the boom system and the correspondence between the target speed of the boom system and the flow rate of the hydraulic system. In this way, a rough flow rate of the hydraulic system can be quickly determined before the boom movement starts, and then the motor speed can be determined based on the flow rate of the hydraulic system, enabling the motor to quickly respond to the requirements of the boom movement, reducing the response time of the system, and improving the response speed of the boom movement.

[0124] In some possible implementation manners, after the boom system starts to work, the current speed of the boom system can be obtained; the speed difference between the target speed and the current speed can be determined; and the flow rate of the hydraulic system can be determined according to the speed difference and the corresponding relationship between the speed difference and the flow rate of the hydraulic system.

[0125] Exemplarily, the current speed of the boom system represents the current movement speed of each boom section. In other words, it can characterize the speed of the boom rotation. The current speed can be collected by speed sensors installed on each boom section; it can also be obtained by acquiring the current tilt angle of the boom system; according to the current tilt angle, the current tilt angle change amount can be determined; and according to the current tilt angle change amount, the current speed of the boom system can be determined. Among them, the above-mentioned tilt angle change amount reflects the amplitude and position change of the boom movement. Specifically, the controller can determine the current tilt angle change amount based on the tilt angle at the current moment and the tilt angle at the previous moment; and then based on the numerical differentiation method, according to the current tilt angle change amount Δθ and the sampling time interval Δt, according to the formula ω = Δθ / Δt, the angular velocity ω can be determined as the current speed.

[0126] Optionally, after the controller acquires the tilt angle, the acquired tilt angle can be filtered to obtain a more accurate tilt angle. Among them, the filtering method can be, for example, Kalman filtering.

[0127] Furthermore, the flow rate difference can be determined according to the speed difference and the corresponding relationship between the speed difference and the flow rate difference; and the flow rate of the hydraulic system can be updated according to the flow rate difference and the historical flow rate of the hydraulic system. Among them, the flow rate difference represents the flow rate value required to reach the target speed from the current speed, and the historical flow rate of the hydraulic system can be the flow rate of the hydraulic system at the previous moment.

[0128] As mentioned above, there is a corresponding relationship between the target speed of each boom section and the flow rate required for that boom section. Furthermore, the corresponding relationship between the speed difference and the flow rate difference of each boom section can be preset. After determining the current speed of each boom section of the boom system, the speed difference between the current speed of each boom section and the target speed of the corresponding boom can be determined. Furthermore, based on the corresponding relationship between the speed difference and the flow rate difference of each boom section, the flow rate difference of each boom section can be determined, and based on the flow rate difference of each boom section and the historical flow rate of the hydraulic system, the flow rate of the hydraulic system can be determined. For example, the corresponding relationship between the speed difference and the flow rate Q of the hydraulic system can be expressed as: Where Q0 represents the historical flow rate of the hydraulic system; Δω represents the speed difference; K represents the cylinder equivalent area coefficient, which is a preset value; i represents the boom section number, and the value ranges from 1 to N, and N is the total number of boom sections.

[0129] Optionally, the sum of the flow rate differences of each boom section can be determined based on the flow rate differences of each boom section. When the sum of the flow rate differences of each boom section is positive, it indicates that the historical flow rate of the hydraulic system cannot meet the demand of the boom system to reach the target speed. Then, the sum of the flow rate differences of each boom section and the historical flow rate of the hydraulic system are used to update the flow rate of the hydraulic system. When the sum of the flow rate differences of each boom section is negative, it indicates that the historical flow rate of the hydraulic system can meet the demand of some boom sections of the boom system to reach the target speed. The historical flow rate of the hydraulic system can be kept unchanged. Furthermore, the valve opening of the multi-way valve can be adjusted to increase the valve opening with a negative flow rate difference of the boom to increase the flow rate of this boom section, or to decrease the valve opening with a positive flow rate difference of the boom to decrease the flow rate of this boom section, so as to adjust the speed of each boom section.

[0130] In some possible implementation manners, the controller can obtain the current inclination change amount of the boom system; determine the flow rate difference of the hydraulic system according to the speed difference, the current inclination change amount, and the corresponding relationship among the speed difference, the inclination change amount, and the flow rate difference; and determine the flow rate of the hydraulic system according to the flow rate difference of the hydraulic system and the historical flow rate of the hydraulic system. Wherein, the flow rate difference represents the flow rate value required to reach the target speed from the current speed.

[0131] Exemplarily, on the basis of the corresponding relationship between the speed difference and the flow rate difference of each boom section described above, the influencing factor of the current inclination change amount is added, so that the determined flow rate difference of each boom section is more accurate. That is, the corresponding relationship among the speed difference, the current inclination change amount, and the flow rate difference of each boom section can be established. Furthermore, after determining the speed difference between the current speed of each boom section and the target speed of the corresponding boom section, the flow rate differences of each boom section can be determined based on the corresponding relationship among the speed difference, the current inclination change amount, and the flow rate difference of each boom section. The flow rate of the hydraulic system is determined based on the flow rate differences of each boom section and the historical flow rate of the hydraulic system. For example, the corresponding relationship between the speed difference and the flow rate Q of the hydraulic system can be expressed as: Wherein, Δω represents the speed difference; K represents the equivalent area coefficient of the oil cylinder, which is a preset value; i represents the number of boom sections, and the value range is 1 to N, and N is the total number of boom sections.

[0132] Due to external disturbances (such as wind force, sudden load changes, etc.) and internal system errors (such as sensor errors, transmission errors, etc.), there may be a deviation between the current speed and the target speed of the boom. By this method, based on the target speed of the boom system, the current speed of the boom system is obtained in real time. Furthermore, based on the speed difference between the target speed and the current speed, the real-time flow rate of the hydraulic system is determined. Furthermore, based on the real-time flow rate of the hydraulic system, the rotational speed of the drive motor can be feedback-adjusted.

[0133] S303. Determine the motor speed of the drive motor according to the flow rate of the hydraulic system and the corresponding relationship between the flow rate of the hydraulic system and the motor speed of the drive motor, and control the drive motor according to the motor speed to drive the boom system to perform boom operations.

[0134] Exemplarily, the controller can determine the rotational speed of the hydraulic pump of the hydraulic system according to the flow rate of the hydraulic system and a preset proportional value; determine the motor speed of the drive motor according to the rotational speed of the hydraulic pump of the hydraulic system and a preset transmission ratio; wherein, the preset proportional value represents the ratio between the flow rate of the hydraulic system and the rotational speed of the hydraulic pump of the hydraulic system; the preset transmission ratio represents the proportional relationship between the rotational speed of the hydraulic pump and the motor speed of the drive motor.

[0135] For example, there may be a proportional relationship between the flow rate Q of the hydraulic system and the rotational speed of the hydraulic pump of the hydraulic system. This proportional relationship may be, for example, Q = n 泵 × P, where P is the preset proportional value, P is related to the displacement and volumetric efficiency of the hydraulic pump, and is specifically related to the model of the hydraulic pump; n 泵 represents the rotational speed of the hydraulic pump. Further, based on this proportional relationship and the flow rate of the hydraulic system, the rotational speed of the hydraulic pump can be determined.

[0136] Furthermore, the drive motor drives the hydraulic pump to rotate. Thus, based on the transmission ratio between the hydraulic pump and the motor and the rotational speed of the hydraulic pump, the motor speed of the drive motor can be determined. Specifically, n 电机 = n 泵 × S, where n 电机 represents the motor speed, S represents the transmission ratio, and S is related to the connection method between the drive motor and the hydraulic system. If the drive motor is directly connected to the hydraulic system, S can be 1; if they are connected through a transmission mechanism, the value of S can be determined according to the gear parameters.

[0137] When the boom system is not started, after the controller determines the flow rate of the hydraulic system, it can determine the motor speed of the drive motor based on the corresponding relationship between the flow rate of the hydraulic system and the motor speed of the drive motor, and control the drive motor according to the motor speed to drive the boom system to perform boom operations. In this way, a rough motor speed can be quickly determined before the boom movement starts, enabling the motor to quickly respond to the requirements of the boom movement, reducing the response time of the system, and improving the response speed of the boom movement.

[0138] After the boom system starts operating, after the controller determines the real-time flow rate of the hydraulic system based on the current speed of the boom system, it can determine the real-time motor speed of the drive motor based on the corresponding relationship between the flow rate of the hydraulic system and the motor speed of the drive motor, and control the drive motor according to the motor speed to drive the boom system to perform boom operations.

[0139] Optionally, after determining the real-time motor speed, the controller may determine the speed difference between the real-time motor speed and the current motor speed, and adjust the motor speed of the drive motor according to the speed difference and a preset Proportional-Integral-Derivative (PID) control algorithm.

[0140] In this way, the controller can perform feedback adjustment on the motor speed of the drive motor based on the target speed and the current speed, thereby adjusting the flow rate of the hydraulic system and improving the control accuracy of the boom system. For example, if there are requirements for the fluctuation range of the target speed, by this method, the hydraulic flow rate fluctuation can be controlled within a preset threshold by adjusting the motor speed in real time, so as to ensure the operation accuracy and stability of the boom operation.

[0141] In the driving method of the boom system in the construction machinery provided in the embodiments of the present application, after receiving the target speed of the boom system, the controller may determine the flow rate of the hydraulic system based on the corresponding relationship between the target speed and the flow rate of the hydraulic system, and determine the motor speed based on the corresponding relationship between the flow rate of the hydraulic system and the motor speed of the drive motor, and control the drive motor based on the motor speed to drive the boom system to perform boom operation.

[0142] In this way, on the one hand, based on the corresponding relationship between the target speed, the flow rate of the hydraulic system, and the motor speed, the motor speed can be quickly determined, so that the drive motor outputs the power required by the boom system, improving the accuracy of power output, ensuring that the drive motor outputs energy as needed, avoiding energy waste, and improving energy utilization rate; and the power required by the boom system is transmitted through the first power take-off port of the transmission mechanism, so that the transmission mechanism transmits energy as needed, avoiding energy waste caused by excessive output, improving energy utilization rate, and realizing energy saving and reducing operation costs on the premise of ensuring the normal operation of the boom system. On the other hand, through the speed difference between the target speed and the current speed, the motor speed can be adjusted in real time by feedback, so that the boom system can execute various actions more accurately according to the target speed, reducing the action deviation caused by system errors and external interferences, and ensuring the operation accuracy and stability of the boom operation.

[0143] Figure 8 is a schematic structural diagram of a driving device for a boom system in construction machinery provided in the present application. As Figure 8 shown, the driving device for the boom system in the construction machinery can be applied to a controller. The driving device 400 for the boom system in the construction machinery provided in this embodiment includes:

[0144] A receiving module 401, configured to receive the target speed of the boom system;

[0145] A control module 402, configured to control the motor speed of a drive motor according to the correspondence between the target speed of a boom system and the flow rate of a hydraulic system, and the correspondence between the flow rate of the hydraulic system and the motor speed of the drive motor, so as to drive the boom system to perform boom operations.

[0146] In some possible implementation manners, the control module 402 is specifically configured to:

[0147] Determine the flow rate of the hydraulic system according to the target speed of the boom system and the correspondence between the target speed of the boom system and the flow rate of the hydraulic system;

[0148] Determine the motor speed of the drive motor according to the flow rate of the hydraulic system and the correspondence between the flow rate of the hydraulic system and the motor speed of the drive motor, and control the drive motor according to the motor speed.

[0149] In some possible implementation manners, the boom state includes the tilt angle of the boom. The control module 402 is specifically configured to:

[0150] Obtain the current speed of the boom system; and determine the speed difference between the target speed and the current speed;

[0151] Determine the flow rate of the hydraulic system according to the speed difference and the correspondence between the speed difference and the flow rate of the hydraulic system.

[0152] In some possible implementation manners, the control module 402 is specifically configured to:

[0153] Obtain the current tilt angle change amount of the boom system;

[0154] Determine the flow rate difference of the hydraulic system according to the speed difference and the current tilt angle change amount, and the correspondence between the speed difference, the tilt angle change amount and the flow rate difference of the hydraulic system; wherein, the flow rate difference represents the flow rate value required to reach the target speed from the current speed;

[0155] Determine the flow rate of the hydraulic system according to the flow rate difference of the hydraulic system and the historical flow rate of the hydraulic system.

[0156] In some possible implementation manners, the control module 402 is specifically configured to:

[0157] Obtain the current tilt angle of the boom system;

[0158] Determine the current tilt angle change amount according to the current tilt angle;

[0159] Determine the current speed of the boom system according to the current tilt angle change amount.

[0160] In some possible implementation manners, the control module 402 is specifically configured to:

[0161] Determine the rotation speed of the hydraulic pump of the hydraulic system according to the flow rate of the hydraulic system and a preset ratio value; wherein, the preset ratio value represents the ratio between the flow rate of the hydraulic system and the rotation speed of the hydraulic pump of the hydraulic system.

[0162] Determine the motor rotation speed of the drive motor according to the rotation speed of the hydraulic pump of the hydraulic system and a preset transmission ratio; wherein, the preset transmission ratio represents the proportional relationship between the rotation speed of the hydraulic pump and the motor rotation speed of the drive motor.

[0163] In some possible implementation manners, the device further includes a construction module, configured to:

[0164] Construct the corresponding relationship between the target speed of the boom system and the flow rate of the hydraulic system according to the corresponding relationship between the speed difference and the flow rate of the hydraulic system; wherein, the speed difference is the speed difference between the target speed of the boom system and the current speed of the boom system.

[0165] In some possible implementation manners, the construction module is configured to:

[0166] Construct the corresponding relationship between the flow rate of the hydraulic system and the motor rotation speed of the drive motor according to the ratio between the flow rate of the hydraulic system and the rotation speed of the hydraulic pump of the hydraulic system, and the proportional relationship between the rotation speed of the hydraulic pump and the motor rotation speed of the drive motor.

[0167] In some possible implementation manners, the construction machinery further includes a transmission mechanism, which is arranged between the drive motor and the hydraulic system; the drive motor transmits power to the hydraulic system through the transmission mechanism to drive the boom system.

[0168] The driving device of the boom system in the construction machinery provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here in this embodiment.

[0169] Figure 9 It is a schematic structural diagram of the controller provided in this application. As Figure 9 shown, the controller 113 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the controller 113 further includes a communication component 503. Among them, the processor 501, the memory 502, and the communication component 503 are connected through a bus.

[0170] In a specific implementation process, at least one processor 501 executes the computer execution instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0171] For the specific implementation process of the processor 501, reference may be made to the above method embodiments. Their implementation principles and technical effects are similar, and will not be elaborated herein.

[0172] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU for short), or other general-purpose processors, digital signal processors (DSP for short), application specific integrated circuits (ASIC for short), etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

[0173] The memory may include a high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk memory.

[0174] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, the buses in the drawings of this application are not limited to only one bus or one type of bus.

[0175] This application also provides a computer program product, including a computer program which, when executed by a processor, implements the above method.

[0176] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above method.

[0177] The above-readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk. The readable storage medium may be any available medium accessible by a general-purpose or special-purpose computer.

[0178] An exemplary readable storage medium is coupled to the processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium may also be a component of the processor. The processor and the readable storage medium may be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium may also exist as discrete components in a device.

[0179] The division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other may be indirect couplings or communication connections through some interfaces, devices, or units, and may be in electrical, mechanical, or other forms.

[0180] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0181] In addition, the functional units in various embodiments of the present invention may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.

[0182] If a function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs, etc., all kinds of media that can store program codes.

[0183] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When this program is executed, it executes the steps including the above method embodiments; and the aforementioned storage medium includes: ROMs, RAMs, magnetic disks, or optical discs, etc., all kinds of media that can store program codes.

[0184] Finally, it should be noted that: after considering the specification and practicing the invention disclosed herein, those skilled in the art will readily think of other embodiments of the present invention. The present invention is intended to cover any variations, uses, or adaptations of the present invention, which follow the general principles of the present invention and include the common general knowledge or conventional technical means in the technical field not disclosed in the present invention. It is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A driving method for a boom system in a construction machinery, characterized in that, The construction machinery includes a boom system, a hydraulic system, and a drive motor. The drive motor drives the boom system through the hydraulic system. The method includes: Receiving the target speed of the boom system; Controlling the motor speed of the drive motor according to the corresponding relationship between the target speed of the boom system and the flow rate of the hydraulic system, and the corresponding relationship between the flow rate of the hydraulic system and the motor speed of the drive motor, so as to drive the boom system to perform boom operations.

2. The method according to claim 1, wherein The controlling the motor speed of the drive motor according to the corresponding relationship between the target speed of the boom system and the flow rate of the hydraulic system, and the corresponding relationship between the flow rate of the hydraulic system and the motor speed of the drive motor includes: Determining the flow rate of the hydraulic system according to the target speed of the boom system and the corresponding relationship between the target speed of the boom system and the flow rate of the hydraulic system; Determining the motor speed of the drive motor according to the flow rate of the hydraulic system and the corresponding relationship between the flow rate of the hydraulic system and the motor speed of the drive motor, and controlling the drive motor according to the motor speed.

3. The method according to claim 2, wherein The determining the flow rate of the hydraulic system according to the target speed of the boom system and the corresponding relationship between the target speed of the boom system and the flow rate of the hydraulic system includes: Obtaining the current speed of the boom system; and determining the speed difference between the target speed and the current speed; Determining the flow rate of the hydraulic system according to the speed difference and the corresponding relationship between the speed difference and the flow rate of the hydraulic system.

4. The method according to claim 3, characterized in that, The determining the flow rate of the hydraulic system according to the speed difference and the corresponding relationship between the speed difference and the flow rate of the hydraulic system includes: Obtaining the current inclination change amount of the boom system; Determining the flow rate difference of the hydraulic system according to the speed difference and the current inclination change amount, and the corresponding relationship among the speed difference, the inclination change amount, and the flow rate difference of the hydraulic system; wherein, the flow rate difference represents the flow rate value required to reach the target speed from the current speed; Determining the flow rate of the hydraulic system according to the flow rate difference of the hydraulic system and the historical flow rate of the hydraulic system.

5. The method according to claim 3, characterized in that, The obtaining the current speed of the boom system includes: Obtaining the current inclination angle of the boom system; Determining the current inclination change amount according to the current inclination angle; Determining the current speed of the boom system according to the current inclination change amount.

6. The method according to claim 2, wherein The determining the motor speed of the drive motor according to the flow rate of the hydraulic system and the corresponding relationship between the flow rate of the hydraulic system and the motor speed of the drive motor includes: Determining the rotational speed of the hydraulic pump of the hydraulic system according to the flow rate of the hydraulic system and a preset ratio value; wherein, the preset ratio value represents the ratio between the flow rate of the hydraulic system and the rotational speed of the hydraulic pump of the hydraulic system. Determine the motor speed of the drive motor according to the rotational speed of the hydraulic pump of the hydraulic system and a preset transmission ratio; wherein, the preset transmission ratio represents the proportional relationship between the rotational speed of the hydraulic pump and the motor speed of the drive motor.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: Construct a corresponding relationship between the target speed of the boom system and the flow rate of the hydraulic system according to the corresponding relationship between the speed difference and the flow rate of the hydraulic system; wherein, the speed difference is the speed difference between the target speed of the boom system and the current speed of the boom system.

8. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Construct a corresponding relationship between the flow rate of the hydraulic system and the motor speed of the drive motor according to the ratio between the flow rate of the hydraulic system and the rotational speed of the hydraulic pump of the hydraulic system, and the proportional relationship between the rotational speed of the hydraulic pump and the motor speed of the drive motor.

9. The method according to any one of claims 1 to 6, characterized in that, The construction machinery further includes a transmission mechanism, and the transmission mechanism is arranged between the drive motor and the hydraulic system; the drive motor transmits power to the hydraulic system through the transmission mechanism to drive the boom system.

10. A controller, characterized in that, The controller is configured to execute the method according to any one of claims 1-9.

11. An engineering machinery, characterized in that, At least a drive motor, a boom system, a hydraulic system and the controller according to claim 10 are provided in the construction machinery; wherein, the drive motor is connected to the hydraulic system, and the hydraulic system is connected to the boom system; the controller is respectively connected to the boom system, the hydraulic system and the drive motor.

12. A computer-readable storage medium, characterized in that, A computer-executable instruction is stored in the computer-readable storage medium, and when the computer-executable instruction is executed by the controller, it is used to implement the method according to any one of claims 1-9.

13. A computer program product, characterized in that, It includes a computer program, and when the computer program is executed by the controller, it implements the method according to any one of claims 1-9.

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