Method, device, medium and system for matching flow of double pumps under crushing working condition of excavator

Abstract

The invention provides an excavator crushing working condition double-pump flow matching method, device, medium and system. Under the condition that the excavator carries out crushing working condition operation, the pressure difference between the auxiliary pump and the main pump is obtained, and a first pressure difference is obtained; under the condition that the first pressure difference is smaller than a pressure difference threshold value, a current control signal of the auxiliary pump is gradually increased; under the condition that the current control signal of the auxiliary pump is increased every time, the pressure difference between the auxiliary pump and the main pump is obtained again, and a second pressure difference is obtained; and under the condition that the second pressure difference is larger than or equal to the pressure difference threshold value, the current control signal of the auxiliary pump is kept the same as the current control signal of the auxiliary pump at the current moment under the current crushing working condition. The problem that the confluence effect of two hydraulic pumps in an existing scheme is sometimes affected by volume efficiency difference and abrasion failure of the hydraulic pumps under different boundary conditions, so that the flow of an auxiliary pump cannot be converged with a main pump through a confluence one-way valve, and the crushing operation effect is affected is solved.

Description

Technical Field

[0001] The present application relates to the technical field of excavator crushing working conditions, and specifically to a method for matching the flow of dual pumps in an excavator crushing working condition, a device for matching the flow of dual pumps in an excavator crushing working condition, a computer-readable storage medium, and an excavator hydraulic system. Background Art

[0002] Crushing is a common working condition for excavators. During operation, two hydraulic pumps output hydraulic oil at the same time, which then merges through the hydraulic main valve and enters the breaker. However, the merging effect is sometimes affected by factors such as differences in the volumetric efficiency of the hydraulic pumps under different boundary conditions and wear and tear. As a result, the flow of the auxiliary pump cannot pass through the merging one-way valve to merge with the main pump and can only return to the hydraulic oil tank, causing waste. As a result, the flow rate finally entering the breaker fails to meet the target requirements, affecting the crushing operation effect. Summary of the Invention

[0003] The main purpose of the present application is to provide a method for matching the dual-pump flow in the crushing working condition of an excavator, a device for matching the dual-pump flow in the crushing working condition of an excavator, a computer-readable storage medium and an excavator hydraulic system, so as to at least solve the problem in the existing solution that the confluence effect of the two hydraulic pumps is sometimes affected by the difference in volumetric efficiency and wear failure of the hydraulic pumps under different boundary conditions, so that the flow of the auxiliary pump cannot pass through the confluence one-way valve to merge with the main pump, thereby affecting the crushing operation effect.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for matching the flow of dual pumps in the crushing working condition of an excavator is provided, which is applied to a controller in the hydraulic system of the excavator. The hydraulic system of the excavator also includes an engine, a main pump, an auxiliary pump, a converging one-way valve and a breaker hammer device. The engine is respectively connected to the input end of the main pump and the input end of the auxiliary pump, the output end of the auxiliary pump is connected to the input end of the converging one-way valve, and the output end of the main pump is respectively connected to the output end of the converging one-way valve and the breaker hammer device. The method includes: when the excavator is performing a crushing working condition, obtaining the flow of the auxiliary pump and the main pump pressure difference, obtaining a first pressure difference; when the first pressure difference is less than a pressure difference threshold, gradually increasing the current control signal of the auxiliary pump, the current control signal of the auxiliary pump being a current signal for controlling the flow rate of the auxiliary pump; each time the current control signal of the auxiliary pump is increased, obtaining the pressure difference between the auxiliary pump and the main pump again to obtain a second pressure difference; when the second pressure difference is greater than or equal to the pressure difference threshold, maintaining the current control signal of the auxiliary pump the same as the current control signal of the auxiliary pump at the current moment under the current crushing working condition to match the flow rates of the auxiliary pump and the main pump.

[0005] Optionally, the method also includes: when the second pressure difference is greater than or equal to the pressure difference threshold, after a preset time period, obtaining the pressure difference between the auxiliary pump and the main pump again to obtain a third pressure difference; when the third pressure difference is greater than or equal to the pressure difference threshold, keeping the current control signal of the auxiliary pump the same as the current control signal of the auxiliary pump at the current moment under the current crushing working condition; when the third pressure difference is less than the pressure difference threshold, determining the current auxiliary pump current adjustment times; when the current auxiliary pump current adjustment times is less than or equal to the adjustment times threshold, increasing the current control signal of the auxiliary pump with a preset step size, and adding 1 to the current auxiliary pump current adjustment times; when the current auxiliary pump current adjustment times is greater than the adjustment times threshold, generating an abnormal prompt information to prompt that the excavator hydraulic system is abnormal.

[0006] Optionally, the method further includes: when the first pressure difference is less than a pressure difference threshold, determining the current control signal of the auxiliary pump at the current moment as a current control signal starting value.

[0007] Optionally, after keeping the current control signal of the auxiliary pump at the current moment unchanged, the method further includes: determining the current upper limit alarm value as the product of the maximum current adjustment value of the auxiliary pump and a preset percentage; when the first current control signal is greater than the current upper limit alarm value, generating an abnormal prompt information to prompt that the excavator hydraulic system is abnormal, the first current control signal is the current control signal of the auxiliary pump at the current moment; when the first current control signal is less than or equal to the current upper limit alarm value, adjusting the second current control signal at least according to the first current control signal and the current control signal starting value, the second current control signal is the current control signal of the main pump at the current moment.

[0008] Optionally, the second current control signal is adjusted at least based on the first current control signal and the starting value of the current control signal, including: determining the current control signal adjustment value as the difference between the first current control signal and the starting value of the current control signal; and adjusting the second current control signal to the difference between the current control signal of the main pump at the current moment and the current control signal adjustment value.

[0009] Optionally, the second current control signal is adjusted at least based on the first current control signal and the starting value of the current control signal, including: determining the current control signal sum value as the sum of the first current control signal and a preset adjustment value; determining the current control signal adjustment value as the difference between the current control signal sum value and the starting value of the current control signal; and adjusting the second current control signal to the difference between the current control signal of the main pump at the current moment and the current control signal adjustment value.

[0010] Optionally, the method also includes: when the first pressure difference is greater than or equal to the pressure difference threshold, determining that there is no need to adjust the flow of the main pump and the auxiliary pump; when the second pressure difference is less than the pressure difference threshold, increasing the current control signal of the auxiliary pump by a preset step size, and adding 1 to the current auxiliary pump current adjustment times.

[0011] According to another aspect of the present application, a device for matching the flow of two pumps in a crushing condition of an excavator is provided, comprising: a first acquisition unit, for acquiring the pressure difference between the auxiliary pump and the main pump to obtain a first pressure difference when the excavator performs a crushing condition operation; a first processing unit, for gradually increasing the current control signal of the auxiliary pump when the first pressure difference is less than a pressure difference threshold, the current control signal of the auxiliary pump being a current signal for controlling the flow of the auxiliary pump; a second acquisition unit, for acquiring the pressure difference between the auxiliary pump and the main pump again each time the current control signal of the auxiliary pump is increased to obtain a second pressure difference; a second processing unit, for keeping the current control signal of the auxiliary pump the same as the current control signal of the auxiliary pump at the current moment under the current crushing condition when the second pressure difference is greater than or equal to the pressure difference threshold, so as to match the flow of the auxiliary pump with that of the main pump.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the methods for matching the dual pump flow in the crushing working condition of the excavator.

[0013] According to another aspect of the present application, there is provided an excavator hydraulic system, comprising: a controller, a first pressure sensor, a second pressure sensor, an engine, a main pump, an auxiliary pump, a converging one-way valve and a breaker device, wherein the engine is respectively connected to the input end of the main pump and the input end of the auxiliary pump, the output end of the auxiliary pump is connected to the input end of the converging one-way valve, the output end of the main pump is respectively connected to the output end of the converging one-way valve and the breaker device, the first pressure sensor is installed to the output end of the main pump, the second pressure sensor is installed to the output end of the auxiliary pump, the first pressure sensor, the second pressure sensor, the main pump and the auxiliary pump communicate with the controller respectively, and the controller is used to execute any one of the methods for matching the flow of dual pumps in the crushing working condition of the excavator.

[0014] By applying the technical solution of the present application, the pressure difference between the auxiliary pump and the main pump is monitored in real time. Once the pressure difference is detected to be lower than the preset threshold, the auxiliary pump current adjustment is immediately started. This fast response mechanism reduces operation delay and improves the efficiency of the crushing operation; the current control signal of the auxiliary pump is gradually increased, and the current is adjusted according to the pressure difference feedback until the pressure difference is higher than or equal to the threshold. This progressive adjustment method avoids system instability caused by over-regulation and achieves more precise flow matching; by monitoring the increase in the current control signal, the working status of the pump can be evaluated; if the current needs to be greatly increased to achieve the expected confluence effect, it may be a sign of decreased pump efficiency; this provides data support for early fault warning and helps prevent more serious system failures, thereby solving the problem in the existing solution that the confluence effect of the two hydraulic pumps is sometimes affected by the difference in volumetric efficiency of the hydraulic pumps under different boundary conditions and wear failure, making it impossible for the flow of the auxiliary pump to merge with the main pump through the confluence check valve, thereby affecting the crushing operation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings that constitute part of this application are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0016] Figure 1 A schematic flow chart of a method for matching dual pump flow rates in an excavator crushing working condition according to an embodiment of the present application is shown;

[0017] Figure 2 A flow chart of a method for matching the flow rates of two pumps in an excavator crushing condition is shown, after maintaining the current control signal of the auxiliary pump at the current moment unchanged, according to an embodiment of the present application;

[0018] Figure 3A schematic diagram of a process for adjusting a second current control signal according to at least a first current control signal and a current control signal starting value provided in accordance with an embodiment of the present application is shown;

[0019] Figure 4 A schematic flow chart of another method for matching dual pump flow rates in an excavator crushing working condition provided in accordance with an embodiment of the present application is shown;

[0020] Figure 5 A structural block diagram of a dual-pump flow matching device for an excavator in a crushing working condition according to an embodiment of the present application is shown;

[0021] Figure 6 A flow chart of a method for matching dual pump flow rates in an excavator crushing condition provided in accordance with an embodiment of the present application is shown.

[0022] The above drawings include the following reference numerals:

[0023] 100, engine; 200, main pump; 300, auxiliary pump; 400, converging check valve; 500, breaker equipment; 600, first pressure sensor; 700, second pressure sensor; 800, hydraulic oil tank. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] As introduced in the background technology, the crushing condition is a common working condition of the excavator. During the operation, the two hydraulic pumps output hydraulic oil at the same time, and the oil flows into the breaker after merging through the hydraulic main valve. However, the merging effect is sometimes affected by factors such as the difference in volumetric efficiency of the hydraulic pumps under different boundary conditions and wear and failure. There is a situation where the flow of the auxiliary pump cannot pass through the merging one-way valve to merge with the main pump and can only return to the hydraulic oil tank, resulting in waste. The flow that finally enters the breaker fails to meet the target requirement, affecting the crushing operation effect. In order to solve the problem in the existing solution that the merging effect of the two hydraulic pumps is sometimes affected by the difference in volumetric efficiency of the hydraulic pumps under different boundary conditions and wear and failure, so that the flow of the auxiliary pump cannot pass through the merging one-way valve to merge with the main pump, thereby affecting the crushing operation effect, the embodiments of the present application provide a method for matching the flow of dual pumps in the crushing condition of an excavator, a device for matching the flow of dual pumps in the crushing condition of an excavator, a computer-readable storage medium and an excavator hydraulic system.

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0029] In this embodiment, a method for matching the dual-pump flow in the crushing working condition of an excavator is provided, which is applied to a controller in the hydraulic system of the excavator. The hydraulic system of the excavator also includes an engine, a main pump, an auxiliary pump, a converging one-way valve and a breaker hammer device. The engine is respectively connected to the input end of the main pump and the input end of the auxiliary pump, the output end of the auxiliary pump is connected to the input end of the converging one-way valve, and the output end of the main pump is respectively connected to the output end of the converging one-way valve and the breaker hammer device. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0030] The system's power source, the engine, drives the main and auxiliary pumps, which are connected by a through-shaft transmission and draw oil from hydraulic tank 1. The hydraulic oil from the auxiliary pump passes through a merging check valve, then merges with the hydraulic oil from the main pump before entering the hammer control valve spool, serving as the inlet to the breaker control spool. The auxiliary pump can merge with the main pump only if its pressure is at least equal to the pressure differential across the merging check valve. A relief valve is also installed in the inlet circuit to prevent the hydraulic pump's outlet pressure from exceeding a safe value. The two outlet ports of the breaker spool are connected to the breaker, while the return port is connected to the return filter and then to the hydraulic tank. The left pilot port, which requires no control, is connected directly to the tank. The right pilot port is connected to the breaker pilot foot valve, which outputs the corresponding pilot pressure to control the direction of the breaker control spool when the breaker foot valve is operated. The controller outputs current signals to control the displacement of the main and auxiliary pumps. The current control signals are iPump1Set and iPump2Set, respectively. The displacement and current control signals of the two hydraulic pumps are linearly positively correlated. The main and auxiliary pump pressure sensors detect the output pressures of the main and auxiliary pumps, which are then collected by the controller. The corresponding signals are pPump1Mp and pPump2Mp, respectively.

[0031] Figure 1 This is a flow chart of a method for matching the flow of dual pumps in an excavator crushing condition according to an embodiment of the present application. Figure 1 As shown, the method includes the following steps:

[0032] Step S101, when the excavator is performing a crushing operation, obtaining a pressure difference between the auxiliary pump and the main pump to obtain a first pressure difference;

[0033] The auxiliary pump pressure value is obtained by using a second pressure sensor.

[0034] The main pump pressure value is obtained by using a second pressure sensor. The first pressure sensor is installed at the output end of the main pump, and the second pressure sensor is installed at the output end of the auxiliary pump.

[0035] Step S102 , when the first pressure difference is less than the pressure difference threshold, gradually increasing the current control signal of the auxiliary pump, the current control signal of the auxiliary pump being a current signal for controlling the flow rate of the auxiliary pump;

[0036] Among them, the pressure difference threshold is determined by the characteristics of the hydraulic system, and common values ​​are 3 bar, 5 bar, etc.

[0037] Step S103, obtaining the pressure difference between the auxiliary pump and the main pump again each time the current control signal of the auxiliary pump is increased to obtain a second pressure difference;

[0038] Step S104: When the second pressure difference is greater than or equal to the pressure difference threshold, the current control signal of the auxiliary pump is kept the same as the current control signal of the auxiliary pump at the current moment under the current crushing working condition to match the flow rate of the auxiliary pump and the main pump.

[0039] In the above steps, by real-time monitoring of the pressure difference between the auxiliary pump and the main pump, once the pressure difference is detected to be lower than the preset threshold, the auxiliary pump current adjustment is immediately started. This rapid response mechanism reduces operational delays and improves crushing efficiency. The auxiliary pump current control signal is gradually increased, and the current is adjusted according to the pressure difference feedback until the pressure difference is higher than or equal to the threshold. This gradual adjustment method avoids system instability caused by over-regulation and achieves more precise flow matching. By monitoring the increase in the current control signal, the working status of the pump can be evaluated. If the current needs to increase significantly to achieve the expected confluence effect, it may be a sign of decreased pump efficiency. This provides data support for early fault warning and helps prevent more serious system failures, thereby solving the problem in the existing solution that the confluence effect of the two hydraulic pumps is sometimes affected by the difference in volumetric efficiency of the hydraulic pumps under different boundary conditions and wear failure, making it impossible for the auxiliary pump flow to pass through the confluence check valve to merge with the main pump, thereby affecting the crushing effect.

[0040] Among them, the method also includes: when the above-mentioned second pressure difference is greater than or equal to the above-mentioned pressure difference threshold, after a preset time period, obtaining the pressure difference between the above-mentioned auxiliary pump and the above-mentioned main pump again to obtain a third pressure difference; when the above-mentioned third pressure difference is greater than or equal to the above-mentioned pressure difference threshold, keeping the above-mentioned current control signal of the above-mentioned auxiliary pump the same as the above-mentioned current control signal of the above-mentioned auxiliary pump at the current moment under the current above-mentioned crushing working condition; when the above-mentioned third pressure difference is less than the above-mentioned pressure difference threshold, determining the current auxiliary pump current adjustment times; when the above-mentioned current auxiliary pump current adjustment times is less than or equal to the adjustment times threshold, increasing the above-mentioned current control signal of the above-mentioned auxiliary pump with a preset step size, and adding 1 to the above-mentioned current auxiliary pump current adjustment times; when the above-mentioned current auxiliary pump current adjustment times is greater than the above-mentioned adjustment times threshold, generating an abnormal prompt information to prompt that the above-mentioned excavator hydraulic system is abnormal.

[0041] Specifically, the adjustment number threshold can be 5-10 times. When the above-mentioned second pressure difference is greater than or equal to the above-mentioned pressure difference threshold, a specific usage scenario of the present application is: on a busy construction site, an excavator is performing crushing operations, with the goal of efficiently completing the demolition of concrete walls within a limited time. In this scenario, the hydraulic system of the excavator faces the challenges of high load and complex working conditions, among which the merging of the two pumps to provide sufficient flow required by the breaker is the key to ensuring operating efficiency. However, due to factors such as long-term operation, wear and temperature changes of the hydraulic oil, the volumetric efficiency of the hydraulic pump may fluctuate randomly, resulting in the inability of the auxiliary pump's flow to effectively merge with the main pump, thereby affecting the continuity and efficiency of the crushing operation.

[0042] Scenario for implementing this proposal: Initial state: When the crushing operation starts, the system detects that the pressure difference between the auxiliary pump and the main pump is lower than the set threshold, that is, the first pressure difference is less than the pressure difference threshold; automatic compensation process: the system automatically and gradually increases the current control signal of the auxiliary pump until the second pressure difference is greater than or equal to the pressure difference threshold, at which time the system enters the stable monitoring period. After the preset stable monitoring time (for example, 5 minutes), the system detects the pressure difference again and obtains the third pressure difference. If the third pressure difference is still greater than or equal to the pressure difference threshold, it proves that the flow compensation of the auxiliary pump is stable and effective. The system will keep the current control signal of the auxiliary pump unchanged to ensure the continuity and high efficiency of the crushing operation. If the third pressure difference is less than the pressure difference threshold, the system will record the current current adjustment times. If the number does not exceed the set adjustment times threshold (for example, 3 times), the system will increase the current control signal of the auxiliary pump again at a preset step size, trying to further increase the output pressure and flow of the auxiliary pump. If the current current adjustment times exceed the adjustment times threshold, it means that even after multiple compensations, the confluence effect of the auxiliary pump and the main pump cannot be stable. At this time, the system generates an abnormal prompt message, indicating that the hydraulic system may have a serious fault, such as serious leakage or severe wear of the pump.

[0043] When the second pressure difference is greater than or equal to the pressure difference threshold, the benefits of a specific usage scenario of the present application are as follows: the automatic compensation mechanism can respond quickly, reducing or avoiding operation interruptions caused by fluctuations in hydraulic pump efficiency, and ensuring the continuity and efficiency of crushing operations; by monitoring the number of current adjustments and pressure difference changes, the system can identify potential hydraulic system failures early, providing operators and maintenance personnel with specific and clear fault signals, facilitating them to take targeted maintenance measures, and avoiding long shutdowns caused by system failures; automated compensation and fault warnings reduce reliance on on-site operator experience, avoid frequent manual debugging, and reduce maintenance costs and manpower requirements, especially on large construction sites, which can significantly improve the operating efficiency and cost-effectiveness of equipment; the system's abnormal prompt mechanism provides timely warnings, avoiding potential safety accidents caused by hydraulic system failures. This is particularly important for operations in high-risk environments, as it can protect the safety of operators and prevent equipment damage.

[0044] In one embodiment of the present application, the method further includes: when the first pressure difference is less than a pressure difference threshold, determining the current control signal of the auxiliary pump at the current moment as a current control signal starting value.

[0045] Specifically, determining the starting value of the current control signal provides a reference point for subsequent flow matching compensation. This means the system can begin adjustments based on the current situation, rather than simply blindly increasing the current according to a preset value, thereby improving the accuracy and effectiveness of the adjustments.

[0046] In one embodiment of the present application, Figure 2 As shown, after maintaining the current control signal of the auxiliary pump at the current moment unchanged, the method further includes the following steps:

[0047] Step S201, determining the current upper limit alarm value as the product of the maximum current adjustment value of the auxiliary pump and a preset percentage;

[0048] Step S202 , generating an abnormality prompt message to prompt that the hydraulic system of the excavator is abnormal when the first current control signal is greater than the current upper limit alarm value, wherein the first current control signal is the current control signal of the auxiliary pump at the current moment;

[0049] Step S203, when the above-mentioned first current control signal is less than or equal to the above-mentioned current upper limit alarm value, adjust the second current control signal at least based on the above-mentioned first current control signal and the above-mentioned current control signal starting value, and the above-mentioned second current control signal is the current control signal of the above-mentioned main pump at the current moment.

[0050] Specifically, after keeping the above-mentioned current control signal of the auxiliary pump unchanged at the current moment, a specific usage scenario of the present application is: in an ongoing mining project, multiple excavators are performing rock crushing operations. In this environment, the hydraulic system of the excavator needs to continue to operate under harsh conditions, and the control strategy of the dual pump confluence is crucial to ensure the efficiency and reliability of the crushing operation. Over time, the hydraulic pump (especially the auxiliary hydraulic pump) may lose efficiency due to wear, aging or other factors within the system, thereby affecting the confluence effect. In this case, the application of the above-mentioned control method of this proposal can not only maintain the continuity of the operation, but also effectively manage and prevent potential system failures.

[0051] Scenario Details: During operation, the system continuously monitors the current differential pressure. The first time it detects a pressure differential below a preset threshold, it records the auxiliary pump's current control signal as the current control signal start value (iPump2SetStart). The system then automatically increases the auxiliary pump's current until the appropriate pressure differential is reached, maintaining the current at the current value. To prevent excessive energy consumption or system overload caused by continuously increasing the current due to decreased auxiliary pump efficiency, the system establishes an upper current limit alarm (iPump2SetAllow). This value takes into account the auxiliary pump's maximum current adjustment value and a preset reasonable percentage (for example, 70% of the maximum adjustment range) to ensure that even in the event of a decrease in efficiency, the current does not exceed safe and economic limits. Once the auxiliary pump's current control signal (iPump2Set) stabilizes at an appropriate level (not exceeding the upper current limit alarm value), the system adjusts the primary pump's secondary current control signal (iPump1Set) based on the starting and stable current values ​​of the auxiliary and primary pumps to maintain a stable overall system flow and ensure operational performance.

[0052] After keeping the above-mentioned current control signal of the auxiliary pump unchanged at the current moment, the benefits of a specific usage scenario of the present application are: the current upper limit alarm mechanism ensures that the auxiliary pump will not be damaged due to excessive current adjustment, while also avoiding the risk of system overload, ensuring the safety and stability of the crushing operation; by limiting the increase in the auxiliary pump current, the excessive load on the pump body is reduced, which helps to extend the service life of the hydraulic system and reduce the overall maintenance cost of the equipment; the dynamic adjustment of the main pump ensures that even if the efficiency of the auxiliary pump decreases, the system can still provide sufficient total flow to meet the needs of the crushing operation and maintain high operating efficiency; the setting of the current upper limit alarm value avoids unnecessary energy consumption, especially under long-term operation and high-load conditions, which helps to reduce energy consumption and improve the economic benefits of the operation.

[0053] In one embodiment of the present application, the second current control signal is adjusted at least according to the above-mentioned first current control signal and the above-mentioned current control signal starting value, including: determining that the current control signal adjustment value is the difference between the above-mentioned first current control signal and the above-mentioned current control signal starting value; adjusting the above-mentioned second current control signal to the difference between the current control signal of the above-mentioned main pump at the above-mentioned current moment and the above-mentioned current control signal adjustment value.

[0054] Specifically, by reducing the main pump's current control signal by a value equal to the increase in the auxiliary pump's current, the total output flow of the dual-pump system remains stable during the auxiliary pump's flow compensation process. This means that the hydraulic demands of the crushing operation are precisely matched, and operational efficiency or quality will not be affected by sudden changes in flow. Based on flow balance, this dynamic adjustment strategy helps optimize the energy use of the entire hydraulic system. When the auxiliary pump needs to increase its current to compensate for the flow, the main pump reduces its current accordingly, avoiding unnecessary energy waste, reducing overall energy consumption, and improving the operating economy of the construction machinery. Dynamically adjusting the second current control signal can reduce pressure fluctuations within the system and maintain pressure balance, which is particularly important for sensitive hydraulic systems. It helps avoid equipment failures caused by pressure imbalance or overload, and enhances the stability and reliability of the system.

[0055] In one embodiment of the present application, Figure 3 As shown, adjusting the second current control signal at least according to the first current control signal and the starting value of the current control signal includes the following steps:

[0056] Step S301, determining that the current control signal sum value is the sum of the first current control signal and the preset adjustment value;

[0057] Step S302 , determining the current control signal adjustment value as the difference between the current control signal sum value and the current control signal initial value;

[0058] Step S303 : adjusting the second current control signal to the difference between the current control signal of the main pump at the current moment and the current control signal adjustment value.

[0059] Specifically, the introduction of a preset adjustment value (iPump2SetDelta) allows for more precise adjustment of the current control signal. This allows the system to more accurately control the auxiliary pump's output pressure while maintaining flow requirements, avoiding the risk of over-adjustment that could result from directly increasing the current and ensuring smooth operation of the hydraulic system. The presence of a preset adjustment value means the system can react quickly based on the current status and actual needs. When specific operating conditions change, such as increased load or rising hydraulic oil temperature, the system can quickly adjust the current to adapt to the new conditions, ensuring the continuity and efficiency of the crushing operation.

[0060] In one embodiment of the present application, the above method also includes: when the above first pressure difference is greater than or equal to the above pressure difference threshold, determining that there is no need to adjust the flow rate of the above main pump and the above auxiliary pump; when the above second pressure difference is less than the above pressure difference threshold, increasing the above current control signal of the above auxiliary pump with a preset step size, and adding 1 to the current adjustment times of the current of the auxiliary pump.

[0061] Specifically, upon detecting an insufficient second pressure differential, the system immediately takes action, increasing the auxiliary pump's current control signal by a preset step size. This allows the system to react quickly, instantly compensating the hydraulic pump's output to quickly achieve or restore ideal flow matching. The preset step size is based on a deep understanding of the hydraulic pump's characteristics, enabling precise adjustment without over- or under-adjusting. By controlling the incremental current step size rather than making arbitrary, large adjustments, the risk of momentary overload of the auxiliary pump is avoided. This helps protect the hydraulic pump from damage and extend its service life, while also reducing the probability of failure of the entire hydraulic system due to overload. Recording the number of auxiliary pump current adjustments each time provides valuable information for fault diagnosis. If the number of adjustments exceeds a certain threshold, this may indicate significant wear or other faults in the hydraulic pump, requiring further inspection and maintenance. This provides early warning, preventing further problems and ensuring the normal operation of the equipment.

[0062] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the method for matching the dual pump flow rates in the crushing working condition of the excavator of the present application will be described in detail below with reference to specific embodiments.

[0063] This embodiment relates to a specific method for matching the flow rates of dual pumps in the crushing working condition of an excavator. Figure 4 Shown, including:

[0064] First, after the excavator is started, the operating mode and gear are adjusted to the required crushing mode and gear, and the crushing foot valve is operated to perform actual crushing operations. At this time, the controller begins to determine whether (pPump2Mp - pPump1Mp) ≥ pCheckValve, where pCheckValve is the pressure differential set point of the converging check valve. It is determined by the characteristics of the hydraulic system and common values ​​are 3 bar, 5 bar, etc. The specific setting needs to be based on the actual application object.

[0065] Hydraulic system features include:

[0066] Pressure-Flow Relationship: Pressure and flow in a hydraulic system are interrelated. Typically, the output pressure of a hydraulic pump varies with the load, while flow is primarily determined by the pump's displacement and speed. The resistance of valves and actuators in the system affects the actual flow distribution.

[0067] Volumetric efficiency: The volumetric efficiency of a hydraulic pump is the ratio of its actual output flow to its theoretical output flow, reflecting the degree of internal leakage in the hydraulic pump. The higher the efficiency of the pump, the smaller the loss in energy conversion and the better the performance.

[0068] If the above conditions are met, it proves that the dual-pump confluence working process under the excavator's crushing condition is normal at this time, and no subsequent processing is required. If the condition is not met, it is necessary to enter the subsequent processing process, that is, record the iPump2Set at this time as iPump2SetStart, and use KiPump2Set as the change rate, gradually increase iPump2Set, and record whether the kCycle is greater than kCycleAllow. The number of times the cycle is entered is kCycle, where iPump2SetStart is the initial set current of the auxiliary pump, and KiPump2Set is the change rate of the auxiliary pump set current increase. Common values ​​are 20mA / s, 50mA / s, etc. The specific value can be determined in combination with the actual implementation effect of the debugging prototype.

[0069] During the process of increasing the auxiliary pump setting current, the pressure of the auxiliary pump will increase accordingly. At this time, it is necessary to continue to judge whether (pPump2Mp-pPump1Mp) ≥ pCheckValve. If this condition is not met, it is necessary to continue to increase the auxiliary pump setting current. If the condition is met, in order to verify the stability of the condition, it is necessary to control iPump2Set to remain unchanged, and the time tStable is accumulated from 0 to tStableFinal, where tStable is a time accumulation variable, and tStableFinal is the system stabilization time. Common values ​​are 5min, 10min, etc., which can be determined in combination with the actual implementation effect of the debugging prototype.When the time tStable accumulates from 0 to tStableFinal, it is necessary to judge again whether (pPump2Mp-pPump1Mp) ≥ pCheckValve. If (pPump2Mp-pPump1Mp) ≥ pCheckValve is not satisfied, it is necessary to judge whether kCycle> kCycleAllow, where kCycle is the sub-cycle accumulation variable, kCycleAllow is the maximum sub-cycle limit, and the recommended value is 3. If kCycle≤kCycleAllow, the auxiliary pump current needs to be returned. The initial setting value is iPump2Set=iPump2SetStart, and try to increase the pump current for testing again. If kCycle>kCycleAllow, it proves that the current system has a large leakage or other faults. After multiple attempts, the auxiliary pump pressure cannot be increased to meet the requirements. It is necessary to prompt that the hydraulic system is abnormal and further investigation is recommended. If (pPump2Mp-pPump1Mp)≥pCheckValve is met, it can be considered that the preliminary correction of the auxiliary pump pressure is completed, that is, the auxiliary pump can be merged into the main pump, and the iPump2Set at this time needs to be recorded as P Pump2SetInitial, where Pump2SetInitial is the initial result of the auxiliary pump current correction. When the hydraulic pump has some faults such as increased leakage, as long as the deterioration is not particularly obvious, the output flow rate can be increased by increasing the current, thereby increasing the pressure established at the hydraulic pump outlet. If these faults exist, an obvious sign is that when the auxiliary pump output flow rate is increased by the same amount, the corresponding current increment is significantly larger. Therefore, it is necessary to determine whether iPump2SetInitial is ≤ iPump2SetAllow, where iPump2SetAllow is tAllow is the upper limit alarm value for auxiliary pump adjustment, which needs to be determined in combination with the "current-displacement" characteristic curve of the hydraulic pump and can be set to 70% of the maximum current adjustment range of the hydraulic pump. This percentage value needs to be determined in combination with the flow requirements of different models and the current experience of models that have been adjusted and practiced in actual application processes. For example, if the starting current of the hydraulic pump is 400mA and the final current is 700mA, then after calculation, iPump2SetAllow can be set to 610mA. If iPump2SetInitial>iPump2SetAllow, it is necessary to prompt that the hydraulic pump efficiency is abnormal.

[0070] If iPump2SetInitial ≤ iPump2SetAllow, then set iPump2SetFinal = iPump2SetInitial + iPump2SetDelta. iPump2SetDelta is the current stabilization threshold to ensure auxiliary pump pressure stability. It can generally be set to the current corresponding to a 10cc / r hydraulic pump displacement, such as 30mA. This setting further ensures the auxiliary pump's pressure is stable and prevents critical fluctuations. Furthermore, calculate iPump2SetIncrease = iPump2SetFinal - iPump2SetStart. iPump2SetIncrease is the total increase in auxiliary pump current during this correction. Finally, set iPump1Set to decrease iPump2SetIncrease by the same amount as iPump2SetIncrease. This reduces the main pump's current by the same amount, ensuring the combined final flow rate remains unchanged and unaffecting crushing performance. The process ends once the main pump current adjustment is complete or the two aforementioned fault notifications are resolved.

[0071] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0072] The embodiment of the present application also provides a device for matching the dual-pump flow rate of an excavator in a crushing working condition. It should be noted that the device for matching the dual-pump flow rate of an excavator in a crushing working condition in the embodiment of the present application can be used to execute the matching method for the dual-pump flow rate of an excavator in a crushing working condition provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation methods, and those that have been explained will not be repeated here. As used below, the term "module" can implement a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and conceivable.

[0073] The following introduces the dual-pump flow matching device for the excavator crushing working condition provided by the embodiment of the present application.

[0074] Figure 5 This is a structural block diagram of a dual pump flow matching device for an excavator crushing condition provided in accordance with an embodiment of the present application. Figure 5 As shown, the device includes:

[0075] The first acquisition unit 51 is used to obtain the pressure difference between the auxiliary pump and the main pump to obtain a first pressure difference when the excavator is performing a crushing operation; the first processing unit 52 is used to gradually increase the current control signal of the auxiliary pump when the first pressure difference is less than the pressure difference threshold, and the current control signal of the auxiliary pump is a current signal used to control the flow rate of the auxiliary pump; the second acquisition unit 53 is used to obtain the pressure difference between the auxiliary pump and the main pump again each time the current control signal of the auxiliary pump is increased to obtain a second pressure difference; the second processing unit 54 is used to keep the current control signal of the auxiliary pump the same as the current control signal of the auxiliary pump at the current moment under the current crushing operation when the second pressure difference is greater than or equal to the pressure difference threshold, so as to match the flow rate of the auxiliary pump and the main pump.

[0076] In one embodiment of the present application, the above-mentioned device also includes: a third acquisition unit for obtaining the pressure difference between the auxiliary pump and the above-mentioned main pump again after a preset time period when the above-mentioned second pressure difference is greater than or equal to the above-mentioned pressure difference threshold to obtain a third pressure difference; a third processing unit for keeping the above-mentioned current control signal of the above-mentioned auxiliary pump the same as the above-mentioned current control signal of the above-mentioned auxiliary pump at the current moment under the current above-mentioned crushing working condition when the above-mentioned third pressure difference is greater than or equal to the above-mentioned pressure difference threshold; a fourth processing unit for determining the current auxiliary pump current adjustment times when the above-mentioned third pressure difference is less than the above-mentioned pressure difference threshold; a fifth processing unit for increasing the above-mentioned current control signal of the above-mentioned auxiliary pump by a preset step size and adding 1 to the above-mentioned current auxiliary pump current adjustment times when the above-mentioned current auxiliary pump current adjustment times is less than or equal to the adjustment times threshold; a sixth processing unit for generating an abnormal prompt information when the above-mentioned current auxiliary pump current adjustment times is greater than the above-mentioned adjustment times threshold to prompt that the above-mentioned excavator hydraulic system is abnormal.

[0077] Specifically, when the above-mentioned second pressure difference is greater than or equal to the above-mentioned pressure difference threshold, a specific usage scenario of the present application is: on a busy construction site, an excavator is performing crushing operations, with the goal of efficiently completing the demolition of concrete walls within a limited time. In this scenario, the hydraulic system of the excavator faces the challenges of high load and complex working conditions, among which the merging of the two pumps to provide sufficient flow required by the breaker is the key to ensuring operational efficiency. However, due to factors such as long-term operation, wear and temperature changes of the hydraulic oil, the volumetric efficiency of the hydraulic pump may fluctuate randomly, resulting in the inability of the auxiliary pump's flow to effectively merge with the main pump, thereby affecting the continuity and efficiency of the crushing operation.

[0078] Scenario for implementing this proposal: Initial state: When the crushing operation starts, the system detects that the pressure difference between the auxiliary pump and the main pump is lower than the set threshold, that is, the first pressure difference is less than the pressure difference threshold; automatic compensation process: the system automatically and gradually increases the current control signal of the auxiliary pump until the second pressure difference is greater than or equal to the pressure difference threshold, at which time the system enters the stable monitoring period. After the preset stable monitoring time (for example, 5 minutes), the system detects the pressure difference again and obtains the third pressure difference. If the third pressure difference is still greater than or equal to the pressure difference threshold, it proves that the flow compensation of the auxiliary pump is stable and effective. The system will keep the current control signal of the auxiliary pump unchanged to ensure the continuity and high efficiency of the crushing operation. If the third pressure difference is less than the pressure difference threshold, the system will record the current current adjustment times. If the number does not exceed the set adjustment times threshold (for example, 3 times), the system will increase the current control signal of the auxiliary pump again at a preset step size, trying to further increase the output pressure and flow of the auxiliary pump. If the current current adjustment times exceed the adjustment times threshold, it means that even after multiple compensations, the confluence effect of the auxiliary pump and the main pump cannot be stable. At this time, the system generates an abnormal prompt message, indicating that the hydraulic system may have a serious fault, such as serious leakage or severe wear of the pump.

[0079] When the second pressure difference is greater than or equal to the pressure difference threshold, the benefits of a specific usage scenario of the present application are as follows: the automatic compensation mechanism can respond quickly, reducing or avoiding operation interruptions caused by fluctuations in hydraulic pump efficiency, and ensuring the continuity and efficiency of crushing operations; by monitoring the number of current adjustments and pressure difference changes, the system can identify potential hydraulic system failures early, providing operators and maintenance personnel with specific and clear fault signals, facilitating them to take targeted maintenance measures, and avoiding long shutdowns caused by system failures; automated compensation and fault warnings reduce reliance on on-site operator experience, avoid frequent manual debugging, and reduce maintenance costs and manpower requirements, especially on large construction sites, which can significantly improve the operating efficiency and cost-effectiveness of equipment; the system's abnormal prompt mechanism provides timely warnings, avoiding potential safety accidents caused by hydraulic system failures. This is particularly important for operations in high-risk environments, as it can protect the safety of operators and prevent equipment damage.

[0080] In one embodiment of the present application, the apparatus further includes a seventh processing unit configured to determine the current control signal of the auxiliary pump at the current moment as a starting value of the current control signal when the first pressure difference is less than a pressure difference threshold.

[0081] Specifically, determining the starting value of the current control signal provides a reference point for subsequent flow matching compensation. This means the system can begin adjustments based on the current situation, rather than simply blindly increasing the current according to a preset value, thereby improving the accuracy and effectiveness of the adjustments.

[0082] In one embodiment of the present application, after keeping the above-mentioned current control signal of the above-mentioned auxiliary pump unchanged at the current moment, the above-mentioned device also includes: an eighth processing unit for determining the current upper limit alarm value as the product of the maximum current adjustment value of the above-mentioned auxiliary pump and a preset percentage; a ninth processing unit for generating an abnormal prompt information when the first current control signal is greater than the above-mentioned current upper limit alarm value to prompt that the above-mentioned excavator hydraulic system is abnormal, and the above-mentioned first current control signal is the above-mentioned current control signal of the above-mentioned auxiliary pump at the above-mentioned current moment; the tenth processing unit is for adjusting the second current control signal at least according to the above-mentioned first current control signal and the above-mentioned current control signal starting value when the above-mentioned first current control signal is less than or equal to the above-mentioned current upper limit alarm value, and the above-mentioned second current control signal is the current control signal of the above-mentioned main pump at the current moment.

[0083] Specifically, after keeping the above-mentioned current control signal of the auxiliary pump unchanged at the current moment, a specific usage scenario of the present application is: in an ongoing mining project, multiple excavators are performing rock crushing operations. In this environment, the hydraulic system of the excavator needs to continue to operate under harsh conditions, and the control strategy of the dual pump confluence is crucial to ensure the efficiency and reliability of the crushing operation. Over time, the hydraulic pump (especially the auxiliary hydraulic pump) may lose efficiency due to wear, aging or other factors within the system, thereby affecting the confluence effect. In this case, the application of the above-mentioned control method of this proposal can not only maintain the continuity of the operation, but also effectively manage and prevent potential system failures.

[0084] Scenario Details: During operation, the system continuously monitors the current differential pressure. The first time it detects a pressure differential below a preset threshold, it records the auxiliary pump's current control signal as the current control signal start value (iPump2SetStart). The system then automatically increases the auxiliary pump's current until the appropriate pressure differential is reached, maintaining the current at the current value. To prevent excessive energy consumption or system overload caused by continuously increasing the current due to decreased auxiliary pump efficiency, the system establishes an upper current limit alarm (iPump2SetAllow). This value takes into account the auxiliary pump's maximum current adjustment value and a preset reasonable percentage (for example, 70% of the maximum adjustment range) to ensure that even in the event of a decrease in efficiency, the current does not exceed safe and economic limits. Once the auxiliary pump's current control signal (iPump2Set) stabilizes at an appropriate level (not exceeding the upper current limit alarm value), the system adjusts the primary pump's secondary current control signal (iPump1Set) based on the starting and stable current values ​​of the auxiliary and primary pumps to maintain a stable overall system flow and ensure operational performance.

[0085] After keeping the above-mentioned current control signal of the auxiliary pump unchanged at the current moment, the benefits of a specific usage scenario of the present application are: the current upper limit alarm mechanism ensures that the auxiliary pump will not be damaged due to excessive current adjustment, while also avoiding the risk of system overload, ensuring the safety and stability of the crushing operation; by limiting the increase in the auxiliary pump current, the excessive load on the pump body is reduced, which helps to extend the service life of the hydraulic system and reduce the overall maintenance cost of the equipment; the dynamic adjustment of the main pump ensures that even if the efficiency of the auxiliary pump decreases, the system can still provide sufficient total flow to meet the needs of the crushing operation and maintain high operating efficiency; the setting of the current upper limit alarm value avoids unnecessary energy consumption, especially under long-term operation and high-load conditions, which helps to reduce energy consumption and improve the economic benefits of the operation.

[0086] In one embodiment of the present application, the tenth processing unit includes: a first processing module for determining that the current control signal adjustment value is the difference between the above-mentioned first current control signal and the above-mentioned current control signal starting value; a second processing module for adjusting the above-mentioned second current control signal to the difference between the current control signal of the above-mentioned main pump at the above-mentioned current moment and the above-mentioned current control signal adjustment value.

[0087] Specifically, by reducing the main pump's current control signal by a value equal to the increase in the auxiliary pump's current, the total output flow of the dual-pump system remains stable during the auxiliary pump's flow compensation process. This means that the hydraulic demands of the crushing operation are precisely matched, and operational efficiency or quality will not be affected by sudden changes in flow. Based on flow balance, this dynamic adjustment strategy helps optimize the energy use of the entire hydraulic system. When the auxiliary pump needs to increase its current to compensate for the flow, the main pump reduces its current accordingly, avoiding unnecessary energy waste, reducing overall energy consumption, and improving the operating economy of the construction machinery. Dynamically adjusting the second current control signal can reduce pressure fluctuations within the system and maintain pressure balance, which is particularly important for sensitive hydraulic systems. It helps avoid equipment failures caused by pressure imbalance or overload, and enhances the stability and reliability of the system.

[0088] In one embodiment of the present application, the tenth processing unit includes: a third processing module for determining that the current control signal sum value is the sum of the above-mentioned first current control signal and the preset adjustment value; a fourth processing module for determining that the current control signal adjustment value is the difference between the above-mentioned current control signal sum value and the above-mentioned current control signal starting value; and a fifth processing module for adjusting the above-mentioned second current control signal to the difference between the current control signal of the above-mentioned main pump at the above-mentioned current moment and the above-mentioned current control signal adjustment value.

[0089] Specifically, the introduction of a preset adjustment value (iPump2SetDelta) allows for more precise adjustment of the current control signal. This allows the system to more accurately control the auxiliary pump's output pressure while maintaining flow requirements, avoiding the risk of over-adjustment that could result from directly increasing the current and ensuring smooth operation of the hydraulic system. The presence of a preset adjustment value means the system can react quickly based on the current status and actual needs. When specific operating conditions change, such as increased load or rising hydraulic oil temperature, the system can quickly adjust the current to adapt to the new conditions, ensuring the continuity and efficiency of the crushing operation.

[0090] In one embodiment of the present application, the above-mentioned device also includes: an eleventh processing unit for determining that there is no need to adjust the flow of the above-mentioned main pump and the above-mentioned auxiliary pump when the above-mentioned first pressure difference is greater than or equal to the above-mentioned pressure difference threshold; a twelfth processing unit for increasing the above-mentioned current control signal of the above-mentioned auxiliary pump by a preset step size when the above-mentioned second pressure difference is less than the above-mentioned pressure difference threshold, and adding 1 to the current auxiliary pump current adjustment times.

[0091] Specifically, upon detecting an insufficient second pressure differential, the system immediately takes action, increasing the auxiliary pump's current control signal by a preset step size. This allows the system to react quickly, instantly compensating the hydraulic pump's output to quickly achieve or restore ideal flow matching. The preset step size is based on a deep understanding of the hydraulic pump's characteristics, enabling precise adjustment without over- or under-adjusting. By controlling the incremental current step size rather than making arbitrary, large adjustments, the risk of momentary overload of the auxiliary pump is avoided. This helps protect the hydraulic pump from damage and extend its service life, while also reducing the probability of failure of the entire hydraulic system due to overload. Recording the number of auxiliary pump current adjustments each time provides valuable information for fault diagnosis. If the number of adjustments exceeds a certain threshold, this may indicate significant wear or other faults in the hydraulic pump, requiring further inspection and maintenance. This provides early warning, preventing further problems and ensuring the normal operation of the equipment.

[0092] The aforementioned dual-pump flow matching device for an excavator in crushing operation includes a processor and a memory. The aforementioned first acquisition unit, first processing unit, second acquisition unit, and second processing unit are all stored as program units in the memory. The processor executes these program units stored in the memory to implement the corresponding functions. The aforementioned modules may all be located in the same processor; alternatively, the aforementioned modules may be located in different processors in any combination.

[0093] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured. By adjusting kernel parameters, this solves the problem in existing solutions where the confluence of two hydraulic pumps is sometimes affected by differences in volumetric efficiency and wear and tear under different boundary conditions. This prevents the auxiliary pump's flow from passing through the confluence check valve to merge with the main pump, thus affecting the crushing effect.

[0094] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0095] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program. When the program is running, the device where the computer-readable storage medium is located is controlled to execute the method for matching the dual pump flow in the crushing working condition of the excavator.

[0096] An embodiment of the present invention provides a processor, which is used to run a program, wherein when the program is run, the method for matching the dual pump flow rates of the excavator in the crushing working condition is executed.

[0097] An embodiment of the present invention provides a device comprising a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, at least the following steps are implemented: when an excavator is performing a crushing operation, obtaining a pressure difference between the auxiliary pump and the main pump to obtain a first pressure difference; when the first pressure difference is less than a pressure difference threshold, gradually increasing a current control signal of the auxiliary pump, wherein the current control signal of the auxiliary pump is a current signal used to control the flow rate of the auxiliary pump; each time the current control signal of the auxiliary pump is increased, obtaining a pressure difference between the auxiliary pump and the main pump to obtain a second pressure difference; when the second pressure difference is greater than or equal to the pressure difference threshold, maintaining the current control signal of the auxiliary pump identical to the current control signal of the auxiliary pump at the current moment under the current crushing operation to match the flow rates of the auxiliary pump and the main pump. The device herein may be a server, a PC, a PAD, a mobile phone, or the like.

[0098] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program initialized with at least the following method steps: when the excavator performs a crushing operation, obtaining the pressure difference between the auxiliary pump and the main pump to obtain a first pressure difference; when the first pressure difference is less than a pressure difference threshold, gradually increasing the current control signal of the auxiliary pump, the current control signal of the auxiliary pump is a current signal for controlling the flow rate of the auxiliary pump; each time the current control signal of the auxiliary pump is increased, obtaining the pressure difference between the auxiliary pump and the main pump again to obtain a second pressure difference; when the second pressure difference is greater than or equal to the pressure difference threshold, maintaining the current control signal of the auxiliary pump the same as the current control signal of the auxiliary pump at the current moment under the current crushing operation to match the flow rate of the auxiliary pump and the main pump.

[0099] The present application also provides an excavator hydraulic system, such as Figure 6 As shown ( Figure 6 The controller is not shown), the system includes: a controller, an engine 100, a main pump 200, an auxiliary pump 300, a converging one-way valve 400, a breaker device 500, a first pressure sensor 600 and a second pressure sensor 700, the above-mentioned engine is respectively connected to the input end of the above-mentioned main pump and the input end of the above-mentioned auxiliary pump, the output end of the above-mentioned auxiliary pump is connected to the input end of the above-mentioned converging one-way valve, the output end of the above-mentioned main pump is respectively connected to the output end of the above-mentioned converging one-way valve and the above-mentioned breaker device, the above-mentioned first pressure sensor is installed to the output end of the above-mentioned main pump, and the above-mentioned second pressure sensor is installed to the output end of the above-mentioned auxiliary pump. The above-mentioned first pressure sensor, the above-mentioned second pressure sensor, the above-mentioned main pump and the above-mentioned auxiliary pump communicate with the above-mentioned controller respectively, and the above-mentioned controller is used to execute any one of the above-mentioned methods for matching the flow of two pumps in the crushing working condition of the excavator.

[0100] The main pump 200 and the auxiliary pump 300 are also connected to the hydraulic oil tank 800 of the hydraulic system of the excavator respectively.

[0101] Obviously, those skilled in the art will appreciate that the various modules or steps of the present invention described above can be implemented using a general-purpose computing device, can be centralized on a single computing device, or can be distributed across a network of multiple computing devices. They can be implemented using program code executable by the computing device, and thus, can be stored in a storage device and executed by the computing device. In some cases, the steps shown or described herein can be performed in a different order than that shown, or can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0102] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0103] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0104] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0105] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0106] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0107] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0108] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0109] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0110] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A method for matching the flow rates of two pumps in crushing operation of an excavator, applied to a controller in a hydraulic system of the excavator, wherein the hydraulic system further comprises an engine, a main pump, an auxiliary pump, a confluence check valve, and a breaker hammer device, wherein the engine is respectively connected to the input end of the main pump and the input end of the auxiliary pump, the output end of the auxiliary pump is respectively connected to the input end of the confluence check valve, and the output end of the main pump is respectively connected to the output end of the confluence check valve and the breaker hammer device, characterized in that: include: When the excavator is performing a crushing operation, obtaining a pressure difference between the auxiliary pump and the main pump to obtain a first pressure difference; When the first pressure difference is less than a pressure difference threshold, gradually increasing a current control signal of the auxiliary pump, wherein the current control signal of the auxiliary pump is a current signal for controlling a flow rate of the auxiliary pump; each time the current control signal of the auxiliary pump is increased, obtaining the pressure difference between the auxiliary pump and the main pump again to obtain a second pressure difference; When the second pressure difference is greater than or equal to the pressure difference threshold, the current control signal of the auxiliary pump is kept the same as the current control signal of the auxiliary pump at the current moment under the current crushing working condition to match the flow rate of the auxiliary pump and the main pump.

2. The method according to claim 1, characterized in that The method further comprises: When the second pressure difference is greater than or equal to the pressure difference threshold, after a preset time period, obtaining the pressure difference between the auxiliary pump and the main pump again to obtain a third pressure difference; When the third pressure difference is greater than or equal to the pressure difference threshold, maintaining the current control signal of the auxiliary pump in the current crushing working condition to be the same as the current control signal of the auxiliary pump at the current moment; When the third pressure difference is less than the pressure difference threshold, determining the current auxiliary pump current adjustment times; When the current auxiliary pump current adjustment times is less than or equal to the adjustment times threshold, increasing the current control signal of the auxiliary pump by a preset step size, and adding 1 to the current auxiliary pump current adjustment times; When the current auxiliary pump current adjustment times is greater than the adjustment times threshold, abnormality prompt information is generated to prompt that the excavator hydraulic system is abnormal.

3. The method according to claim 1, characterized in that The method further comprises: When the first pressure difference is less than a pressure difference threshold, the current control signal of the auxiliary pump at the current moment is determined as a current control signal starting value.

4. The method according to claim 1, wherein After maintaining the current control signal of the auxiliary pump at the current moment unchanged, the method further includes: Determine the current upper limit alarm value as the product of the maximum current adjustment value of the auxiliary pump and a preset percentage; generating an abnormality prompt message to prompt that the hydraulic system of the excavator is abnormal when the first current control signal is greater than the current upper limit alarm value, wherein the first current control signal is the current control signal of the auxiliary pump at the current moment; When the first current control signal is less than or equal to the current upper limit alarm value, the second current control signal is adjusted at least based on the first current control signal and the current control signal starting value, and the second current control signal is the current control signal of the main pump at the current moment.

5. The method according to claim 4, characterized in that Adjusting the second current control signal based on at least the first current control signal and the current control signal starting value includes: Determine the current control signal adjustment value as the difference between the first current control signal and the current control signal initial value; The second current control signal is adjusted to the difference between the current control signal of the main pump at the current moment and the current control signal adjustment value.

6. The method according to claim 4, characterized in that Adjusting the second current control signal based on at least the first current control signal and the current control signal starting value includes: Determine the current control signal sum value as the sum of the first current control signal and the preset adjustment value; Determine the current control signal adjustment value as the difference between the current control signal sum value and the current control signal initial value; The second current control signal is adjusted to the difference between the current control signal of the main pump at the current moment and the current control signal adjustment value.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: When the first pressure difference is greater than or equal to the pressure difference threshold, determining that there is no need to adjust the flow rates of the main pump and the auxiliary pump; When the second pressure difference is less than the pressure difference threshold, the current control signal of the auxiliary pump is increased by a preset step size, and the current auxiliary pump current adjustment times is increased by 1.

8. A device for matching the flow of dual pumps in crushing working condition of an excavator, characterized in that: include: The first acquisition unit is configured to acquire a pressure difference between the auxiliary pump and the main pump to obtain a first pressure difference when the excavator is performing a crushing operation; a first processing unit, configured to gradually increase a current control signal of the auxiliary pump when the first pressure difference is less than a pressure difference threshold, wherein the current control signal of the auxiliary pump is a current signal for controlling a flow rate of the auxiliary pump; a second acquiring unit, configured to acquire the pressure difference between the auxiliary pump and the main pump again each time the current control signal of the auxiliary pump is increased, to obtain a second pressure difference; The second processing unit is configured to maintain the current control signal of the auxiliary pump identical to the current control signal of the auxiliary pump at the current moment under the current crushing operating condition when the second pressure difference is greater than or equal to the pressure difference threshold, so as to match the flow rate of the auxiliary pump with that of the main pump.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method for matching the dual-pump flow rate in the crushing working condition of an excavator according to any one of claims 1 to 7.

10. An excavator hydraulic system, characterized in that: include: A controller, a first pressure sensor, a second pressure sensor, an engine, a main pump, an auxiliary pump, a converging one-way valve and a breaker device, wherein the engine is respectively connected to the input end of the main pump and the input end of the auxiliary pump, the output end of the auxiliary pump is connected to the input end of the converging one-way valve, the output end of the main pump is respectively connected to the output end of the converging one-way valve and the breaker device, the first pressure sensor is installed to the output end of the main pump, the second pressure sensor is installed to the output end of the auxiliary pump, the first pressure sensor, the second pressure sensor, the main pump and the auxiliary pump communicate with the controller respectively, and the controller is used to execute the matching method of the dual pump flow in the crushing working condition of the excavator according to any one of claims 1 to 7.

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