Hydraulic motor rotating speed control method and system and electric drive machine

Abstract

The invention relates to a hydraulic motor rotating speed control method for electric drive machinery, which is characterized by comprising the following steps: acquiring a pedal travel signal of an accelerator pedal and a current state signal of a hydraulic system; whether the hydraulic system has operation requirements or not is judged based on the collected current state signals of the hydraulic system, wherein the operation requirements comprise the working requirement associated with a working pump and the steering requirement associated with a steering pump; wherein the main demand judgment step of judging whether the hydraulic system has a working demand and / or a steering demand or not is executed; when it is judged that the hydraulic system has the working demand or the steering demand and no overflow occurs, the current rotating speed of a hydraulic motor is regulated and controlled according to a pedal travel signal from an accelerator pedal so as to meet the corresponding operation demand; and when it is judged that the hydraulic system does not have the working requirement or the steering requirement, the current rotating speed of the hydraulic motor is set to be the preset idling speed. The invention further relates to a hydraulic motor rotating speed control system, an electric drive machine, computer equipment and a computer readable storage medium.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and more specifically to a hydraulic motor speed control method and control system for electric drive machinery, and an electric drive machinery including the hydraulic motor speed control system. Background Technology

[0002] Electric drive systems for construction machinery generally consist of a walking system and a hydraulic system. Conventional fuel-powered machines are powered by an engine, with the engine's power output controlled by the accelerator pedal; the walking and hydraulic systems cannot be decoupled. For electric drive machinery, the walking and hydraulic systems are driven by separate walking and hydraulic motors, respectively, allowing for direct decoupling. However, drivers accustomed to conventional fuel-powered machines are not comfortable with separately controlling the walking and hydraulic motors. Using single-pedal control without decoupling the hydraulic and walking systems could potentially cause additional losses to the hydraulic system.

[0003] Therefore, the present invention aims to overcome one or more of the above-mentioned problems. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes an improved hydraulic motor speed control method that enables the coupling control of the walking system and the hydraulic system via a single accelerator pedal when necessary. This eliminates the need to change the driver's operating habits, reduces the driver's workload, and improves operational safety.

[0005] According to one aspect of the present invention, a method for controlling the speed of a hydraulic motor for an electric drive machine is provided, the electric drive machine including a travel motor for providing power to a travel system, a hydraulic motor for providing power to a hydraulic system, an accelerator pedal operated by a driver, the hydraulic motor controlling a working pump and a steering pump, characterized in that the pedal stroke signal of the accelerator pedal and the current status signal of the hydraulic system are collected.

[0006] Based on the collected current status signal of the hydraulic system, it is determined whether the hydraulic system has an operational requirement. The operational requirement includes the operational requirement associated with the working pump and the steering requirement associated with the steering pump.

[0007] The main demand determination step involves judging whether the hydraulic system has operational and / or steering requirements.

[0008] When it is determined that the hydraulic system has a working or steering requirement and there is no overflow, the current speed of the hydraulic motor is adjusted according to the pedal stroke signal from the accelerator pedal to meet the corresponding operating requirements.

[0009] When it is determined that the hydraulic system has no working or steering requirements, the current hydraulic motor speed is set to the predetermined idle speed.

[0010] This means that the hydraulic motor speed is controlled by the accelerator pedal only when necessary (i.e., when there is a need for steering or working and no overflow occurs). When the hydraulic system has neither a need for working nor a need for steering, the hydraulic motor speed is not controlled by the accelerator pedal, and the accelerator pedal only controls the travel motor speed.

[0011] Advantageously, during the main demand determination step, when it is determined that the hydraulic system has no working demand but has a steering demand, and the steering hydraulic system where the steering pump is located has no overflow, the current hydraulic motor speed is controlled based on the pedal stroke signal from the accelerator pedal to meet the steering demand.

[0012] Advantageously, during the main demand determination step, when it is determined that the hydraulic system has a working demand or a working demand and a steering demand, and the working hydraulic system where the working pump is located has no overflow, the current hydraulic motor speed is controlled based on the pedal stroke signal from the accelerator pedal to meet the working demand.

[0013] Advantageously, during the main demand determination step, when it is determined that the hydraulic system has a steering demand and the steering hydraulic system where the steering pump is located is overflowing, or when it is determined that the hydraulic system has a working demand and the working hydraulic system where the working pump is located is overflowing, the current hydraulic motor speed is set to a predetermined idle speed.

[0014] Advantageously, the hydraulic system includes a brake pump for charging the brake accumulator, the brake pump being driven by a hydraulic motor, and the hydraulic motor speed control method includes: after the main demand determination step, determining whether the hydraulic system has a charging demand for the brake accumulator; if the hydraulic system has a charging demand for the brake accumulator, calculating the desired hydraulic motor speed that meets the charging demand, comparing it with the current hydraulic motor speed, and taking the larger one as the current hydraulic motor speed for control; if the hydraulic system does not have a charging demand for the brake accumulator, maintaining the current hydraulic motor speed.

[0015] Advantageously, the hydraulic system includes a fan pump for driving a hydraulic fan, the fan pump being driven by a hydraulic motor, and the hydraulic motor speed control method includes: after the main demand determination step, determining whether the hydraulic system has a working demand for the hydraulic fan; if the hydraulic system has a working demand for the hydraulic fan, calculating the desired speed of the hydraulic motor that meets the working demand of the hydraulic fan, comparing it with the current speed of the hydraulic motor, and taking the larger one as the current speed of the hydraulic motor for control; if the hydraulic system does not have a working demand for the hydraulic fan, maintaining the current speed of the hydraulic motor.

[0016] Advantageously, when the hydraulic motor runs at a predetermined idle speed for a period of time exceeding the sleep timer threshold, the hydraulic motor is controlled to run at a preset sleep speed.

[0017] Advantageously, the step of determining whether the hydraulic system requires operation is only executed when the hydraulic oil temperature in the hydraulic system is greater than or equal to a preset value.

[0018] Advantageously, when the hydraulic oil temperature in the hydraulic system is lower than the preset value, the hydraulic motor is controlled to run at the preset warm-up speed to meet the warm-up requirements.

[0019] Advantageously, the hydraulic motor speed control method is performed in real time.

[0020] The hydraulic motor speed control method of the present invention employs hydraulic triggering to couple and decouple the travel system from the hydraulic system. That is, the hydraulic motor speed only changes with the accelerator pedal travel when the hydraulic system has a specific operational requirement. When the hydraulic system has no operational requirement, the hydraulic motor operates at the lowest permissible speed and does not respond to changes in the accelerator pedal signal. Therefore, it achieves single-pedal control of both the travel motor speed and the hydraulic motor speed, while avoiding the additional waste of the hydraulic system when it is not in operation.

[0021] According to another aspect of the present invention, a hydraulic motor speed control system for electrically driven machinery is provided, characterized in that the hydraulic motor speed control system executes the above-described hydraulic motor speed control method, the hydraulic motor speed control system includes a data acquisition module and a control module, the data acquisition module is used to acquire and input the accelerator pedal travel signal and the current state signal of the hydraulic system into the control module, the control module is connected to a travel motor controller, a hydraulic motor controller, a travel motor and a hydraulic motor, the control module is used to determine whether the hydraulic system has an operational requirement based on the current state signal of the hydraulic system and selectively control the speed of the hydraulic motor based on the accelerator pedal travel signal according to the operational requirement of the hydraulic system.

[0022] In one advantageous embodiment, the control module includes a vehicle controller, which is communicatively connected to the power battery system of the electric drive machinery, the travel motor controller, the hydraulic motor controller, the travel motor, and the hydraulic motor.

[0023] According to another aspect of the present invention, an electric drive machine is provided, characterized in that it includes a walking motor, a walking system, a hydraulic motor, a hydraulic system, and the aforementioned hydraulic motor speed control system, wherein the walking motor is mechanically connected to the walking system to provide power to the walking system, and the hydraulic motor is mechanically connected to the hydraulic system to provide power to the hydraulic system.

[0024] According to another aspect of the present invention, a computer device is provided, characterized in that it includes a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the above-described hydraulic motor speed control method by executing the computer instructions.

[0025] According to another aspect of the present invention, a computer-readable storage medium is provided having a computer program stored thereon, the computer program including executable instructions, characterized in that, when the executable instructions are executed by a processor, the above-described hydraulic motor speed control method is implemented.

[0026] The hydraulic motor speed control system and method according to the present invention uses a single accelerator pedal to control the walking system and hydraulic system in a semi-decoupled control manner. Therefore, it retains the operator's habit of using a single accelerator pedal to control both the walking and hydraulic systems, reducing the operator's workload and improving safety and reliability. Furthermore, based on existing electric-drive machinery, no changes to the overall machine structure or additional hardware are required, maintaining the same cost. Operator convenience is improved solely through control logic. Attached Figure Description

[0027] The features and advantages of an example of the present invention will become apparent from the following detailed description and accompanying drawings, wherein:

[0028] Figure 1 A schematic diagram of the structure of an electric drive machine according to the present invention and a hydraulic motor speed control system for the electric drive machine is shown.

[0029] Figure 2 A schematic diagram of a first embodiment of the hydraulic motor speed control method according to the present invention is shown.

[0030] Figure 3 A schematic diagram showing a second embodiment of the hydraulic motor speed control method according to the present invention; and

[0031] Figure 4 A schematic diagram of the hardware structure of a computer device according to an exemplary embodiment of the present invention is shown. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims and accompanying drawings of this invention are intended to cover non-exclusive inclusion. 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 that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products or devices.

[0034] See Figure 1 As shown, the electric drive mechanism according to the present invention includes a vehicle controller 101 and a power module 20, a travel system 203B, and a hydraulic system 204B, all communicatively connected to the vehicle controller. The power module 20 includes a power battery system 201, a high-voltage distribution box 202, a travel motor controller 203, a hydraulic motor controller 204, a travel motor 203A, and a hydraulic motor 204A. The power battery system 201, high-voltage distribution box 202, travel motor controller 203, and hydraulic motor controller 204 communicate with the vehicle controller 101 via a CAN bus, converting the electrical energy provided by the power battery system 201 into the speed or torque required for the travel motor 203A and hydraulic motor 204A to operate. The travel motor 203A is mechanically connected to the travel system 203B. The travel motor controller 203 controls the travel motor to provide power to the travel system. The hydraulic motor 204A is mechanically connected to the hydraulic system 204B. The hydraulic motor controller 204 controls the hydraulic motor to provide power to the hydraulic system. The hydraulic motor is connected to the working pump, steering pump, or brake pump used for brake accumulators in the hydraulic system to control the operation of these pumps. A sub-hydraulic system containing a working pump can be called a working hydraulic system. A sub-hydraulic system containing a steering pump can be called a steering hydraulic system. The electric drive mechanism also includes an accelerator pedal 301 and a brake pedal operated by the driver to send acceleration or braking commands to the travel system.

[0035] The electrically driven machinery according to the present invention also includes a hydraulic motor speed control system 10. For example... Figure 1 As shown, the hydraulic motor speed control system includes a control module 10A and a data acquisition module 10B. In the illustrated embodiment, the control module 10A includes a vehicle controller or is integrated into the vehicle controller 101. The data acquisition module 10B is used to acquire and input the pedal travel signal of the accelerator pedal 301 and the current status signal of the hydraulic system into the control module 10A. The current status signal of the hydraulic system includes a series of signals indicating the current operating state of the hydraulic system, such as pressure signals from pressure sensor modules 302 associated with the hydraulic system (lowering pilot pressure sensor, lifting pilot pressure sensor, tipping pilot pressure sensor, bucket retraction pilot pressure sensor, brake fluid filling pressure sensor, steering gear pressure sensor, etc.) and operating input signals.

[0036] The control module 10A of the hydraulic motor speed control system 10 receives the current status signal of the hydraulic system and determines whether the hydraulic system has operational needs based on the current status signal, such as the working needs of the working tool, steering needs, the charging needs of the brake accumulator, the working needs of the hydraulic fan, etc. According to the operational needs of the hydraulic system, the control module 10A selectively controls the speed of the hydraulic motor 204A based on the pedal stroke signal of the accelerator pedal 301.

[0037] The following is combined with Figure 2 and Figure 3 The first and second embodiments of the hydraulic motor speed control method according to the present invention will be described respectively.

[0038] exist Figure 2 In the first embodiment shown, the operational needs of the hydraulic system are primarily work requirements or steering requirements. That is, the hydraulic motor controls the work pump and the steering pump. The acquisition module of the hydraulic motor speed control system acquires the accelerator pedal travel signal and the current state signal of the hydraulic system in real time. The control module of the hydraulic motor speed control system determines whether the hydraulic system has work requirements and / or steering requirements based on the acquired current state signal of the hydraulic system. In step S101, it is determined whether the hydraulic system has work requirements or steering requirements. Work requirements are associated with the work pump in the hydraulic system. Steering requirements are associated with the steering pump in the hydraulic system. If the determination result at step S101 is "No", then step S102 is executed, that is, a control command is sent to the hydraulic motor to set the hydraulic motor speed to a preset low idle speed (i.e., R). 怠速 If the judgment result at step S101 is "Yes", then step S103 is executed, that is, to determine whether there is only a steering requirement (that is, the hydraulic system only has a steering requirement and no working requirement).

[0039] If the judgment result at step S103 is "Yes", then step S104 is executed to determine whether steering overflow has occurred. If steering overflow has occurred, a control command is sent to the hydraulic motor to set the hydraulic motor speed to a preset low idle speed. If no overflow has occurred, then step S105 is executed, which controls the hydraulic motor speed based on the accelerator pedal travel signal, so that the hydraulic motor speed varies within a range that meets steering requirements as the accelerator pedal travel changes (i.e., the hydraulic motor speed is R). 转向期望 This enables single-pedal coupling control of the hydraulic system and the walking system.

[0040] If the judgment result at step S103 is "No" (i.e., it means that the hydraulic system has a working demand or both a working demand and a steering demand), then at step S106, it is determined whether a working overflow has occurred. If the judgment result at step S106 is "Yes", then the speed of the hydraulic motor is set to a preset low idle speed. If the judgment result at step S106 is "No", then proceed to step S107, where a control command is sent to the hydraulic motor to control the speed of the hydraulic motor based on the pedal travel signal of the accelerator pedal, so that the speed of the hydraulic motor varies within the range that meets the working demand as the pedal travel of the accelerator pedal changes (i.e., the speed of the hydraulic motor is R). 工作期望 This achieves single-pedal coupled control of the hydraulic and walking systems. When the hydraulic motor operates at R... 工作期望 When the engine is running at a certain speed, the steering pump can also be ensured to operate as needed through the control valve. Therefore, in step S106, the work requirement has a higher priority than the steering requirement.

[0041] As can be seen from the above description of the hydraulic motor speed control method of the present invention, when the hydraulic system has a working or steering requirement and no overflow occurs, the speed of the hydraulic motor is controlled so that it changes in accordance with the change of the pedal stroke signal and varies within the range that meets the corresponding operational requirements. As an embodiment, the speed of the hydraulic motor is adjusted proportionally to the pedal stroke (e.g., the greater the pedal stroke, the greater the speed of the hydraulic motor). Therefore, the hydraulic system and the travel system are coupled and controlled through a single accelerator pedal in this specific situation. However, when the hydraulic system has no working or steering requirement, or when the hydraulic system has a working or steering requirement but overflow occurs, the speed of the hydraulic motor is adjusted to a preset low idle speed. This means that the control of the hydraulic motor is no longer associated with the accelerator pedal, i.e., the hydraulic system and the travel system are decoupled in this specific situation. Thus, the energy consumption of the hydraulic system is kept as low as possible, avoiding unnecessary energy loss.

[0042] The hydraulic motor speed control method according to the present invention is performed in real time. Therefore, it can always be ensured that when an operation request is received from the hydraulic system, the controller selectively couples the hydraulic motor (or the hydraulic system receiving power from the hydraulic motor) with respect to the accelerator pedal (or the walking system that is always associated with the accelerator pedal) according to the demand.

[0043] Unlike Figure 2 The first embodiment shown, Figure 3 In the second embodiment shown, the operational requirements of the hydraulic system include working requirements, steering requirements, brake accumulator filling requirements, and hydraulic fan operating requirements. That is, in this embodiment, the hydraulic motor is used to control the working pump, steering pump, brake pump for the brake accumulator, and fan pump for the hydraulic fan.

[0044] See Figure 3 As shown, it also illustrates the hydraulic motor speed control under low-temperature warm-up conditions. As shown, the current status signal of the hydraulic system collected by the acquisition unit includes the hydraulic oil temperature. The control module compares the received hydraulic oil temperature with a preset value (see step S200). If the hydraulic oil temperature is lower than the preset value, the process proceeds to step S200a. In step S200a, the control module sends a control command to the hydraulic motor to set the hydraulic motor speed to R. 热车 To meet the warm-up requirements. If the hydraulic oil temperature is greater than or equal to the preset value, then the hydraulic system operation requirement judgment step will be performed.

[0045] exist Figure 3 In the embodiment shown, the primary demand determination steps of the hydraulic system's working requirements and steering requirements are performed first.

[0046] In step S201, it is determined whether the hydraulic system has a working requirement or a steering requirement. If the result of the determination in step S201 is "Yes", then step S202 is executed, that is, it is determined whether there is only a steering requirement.

[0047] If the judgment result at step S202 is "Yes", then step S203 is executed to determine whether steering overflow has occurred. If steering overflow has occurred, a control command is sent to the hydraulic motor to set the current hydraulic motor speed to a preset low idle speed. If no overflow has occurred, then step S204 is executed, that is, the hydraulic motor speed is controlled based on the accelerator pedal travel signal, so that the hydraulic motor speed varies within a range that meets steering requirements as the accelerator pedal travel changes (i.e., the current hydraulic motor speed R...). 当前 Set to R 转向期望 This enables single-pedal coupling control of the hydraulic system and the walking system.

[0048] If the judgment result at step S202 is "No" (i.e., it means that the hydraulic system has a working demand or both a working demand and a steering demand), then at step S205, it is determined whether a working overflow has occurred. If the judgment result at step S205 is "No", then proceed to step S206, where a control command is sent to the hydraulic motor to control the speed of the hydraulic motor based on the pedal travel signal of the accelerator pedal, so that the speed of the hydraulic motor changes within the range that meets the working demand as the pedal travel of the accelerator pedal changes (i.e., the current hydraulic motor speed R is adjusted). 当前 Set to R 工作期望 This achieves single-pedal coupled control of the hydraulic and walking systems. When the hydraulic motor operates at R... 工作期望When the engine is running at a certain speed, the steering pump can also be ensured to operate as needed through the control valve. Therefore, in step S205, the work requirement has a higher priority than the steering requirement.

[0049] If the judgment result at step S203 is "Yes" (steering overflow occurs), or if the judgment result at step S205 is "Yes" (working overflow occurs), or if the judgment result at step S201 is "No" (i.e., the hydraulic system has no working or steering requirement), then proceed to step S207. In step S207, the current hydraulic motor speed R is set to... 当前 Set to the default R 怠速 .

[0050] Next, the auxiliary demand assessment step is performed. Auxiliary demands include, but are not limited to, the need for filling the brake accumulator with fluid and the need for the hydraulic fan to operate.

[0051] In step S208, it is determined whether the hydraulic system requires filling the brake accumulator with fluid. Hydraulic braking is generally powered by a brake accumulator, and the vehicle controller needs to control the speed of the hydraulic motor to fill the brake accumulator. When the brake accumulator requires filling, the hydraulic motor can be controlled to operate at a specific speed to meet the rapid filling requirement. If the result of the determination in step S208 is "Yes", then step S209 is executed, that is, the control module sends a control command to the hydraulic motor to make the hydraulic motor operate at a specific filling speed R. 充液 The system operates to meet the charging requirements of the brake accumulator. At this time, the speed R of the first auxiliary reference hydraulic motor is set... 辅1 Set to R 充液 Filling is complete; disengage the speed control of the hydraulic motor (the hydraulic motor speed can be switched to idle speed). Filling speed R 充液 The preset values ​​are for specific brake accumulators in the hydraulic system. These preset values ​​are stored in the control module.

[0052] If the judgment result at step S208 is "No", then at step S210, the speed R of the first auxiliary reference hydraulic motor will be adjusted. 辅1 Set to R idle speed.

[0053] Simultaneously, in step S211, it is determined whether the hydraulic system requires the hydraulic fan to operate. If the result of the determination in step S211 is "Yes", then step S212 is executed, that is, the control module sends a control command to the hydraulic motor, causing the hydraulic motor to operate at the desired speed R. 风扇期望 This allows the hydraulic fan to operate normally, thus meeting its operational requirements. 风扇期望The control module can determine the required fan pump speed and thus the desired hydraulic motor speed based on the pulse spectrum of the relationship between fan speed and fan pump speed, according to the fan speed requirement. At this time, the second auxiliary reference hydraulic motor speed R is set... 辅2 Set to R 风扇期望 If the judgment result at step S211 is "No" (i.e., there is no need for the hydraulic fan to work), then proceed to step S213. At step S213, the speed R of the second auxiliary reference hydraulic motor is set. 辅2 Set to R 怠速 .

[0054] Next, proceed to step S214 and compare R. 辅1 R 辅2 R 当前 and R 怠速 The size between and determine R 辅1 =R 辅2 =R 当前 =R 怠速 If the condition is met (indicating no working / steering requirement, or working / steering overflow, no filling requirement, and hydraulic fan working requirement), then proceed to step S215. If the result of step S214 is "No", then proceed to step S216, from R... 辅1 R 辅2 R 当前 and R 怠速 The largest value is selected as the current hydraulic motor speed for control.

[0055] In step S215, it is determined whether the duration of the hydraulic motor's idle speed operation exceeds the sleep timer threshold. If the result of the determination in step S215 is "Yes", proceed to step S217. In step S217, the speed of the hydraulic motor is set to a sleep speed lower than the idle speed, thereby further saving energy. If the result of the determination in step S215 is "No", then step S218 is executed, sending a control command to the hydraulic motor to maintain the current hydraulic motor speed at R. 怠速 .

[0056] Figure 3 Although the auxiliary demand judgment steps in the illustrated embodiment are presented in parallel as filling demand and hydraulic fan operating demand, it is understood that these demands can also be judged sequentially in a certain order. For example, when it is determined that there is a filling demand, R... 充液 The current hydraulic motor speed is compared with the speed obtained during the main demand determination, and the larger value is taken as the current hydraulic motor speed for control. Next, the hydraulic fan operating demand is determined. If a hydraulic fan demand is found, the calculated R... 风扇期望The current hydraulic motor speed is compared with the speed obtained in the previous judgment step, and the larger one is taken as the current hydraulic motor speed for control.

[0057] Reference Figure 3 The described hydraulic motor speed control method can be performed in real time. That is, the current state signal of the hydraulic system is acquired in real time, and the operational needs of the hydraulic system are determined in real time. Changes in operational needs will trigger changes in the current hydraulic motor speed. During execution... Figure 3 During the hydraulic motor speed control method shown, in the priority demand judgment step, if there is a working or steering demand in the hydraulic system and no overflow occurs, the hydraulic motor speed is controlled to vary according to the change in the accelerator pedal travel, and always within the range that meets the corresponding working or steering demand. From the driver's perspective, the coupled control of the hydraulic system and the travel system is achieved through the operation of a single accelerator pedal.

[0058] The specific limitations and beneficial effects of the aforementioned hydraulic motor speed control method can be found in the description and limitations of the control logic above, and will not be repeated here. Each of the above modules can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0059] Figure 4 This is a schematic diagram of the hardware structure of a computer device according to an exemplary embodiment. For example... Figure 4 As shown, the device includes one or more processors 210 and memory 220, including persistent memory, volatile memory, and a hard disk. Figure 4 Taking a processor as an example, the device may also include an input device 230 and an output device 240. The processor, memory, input device, and output device can be connected via a bus or other means.

[0060] Processor 210 can be a central processing unit (CPU). The processor can also be other general-purpose processors, digital signal processors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof. The general-purpose processor can be a microprocessor or any conventional processor.

[0061] The memory 220, as a non-transitory computer-readable storage medium, includes persistent memory, volatile memory, and a hard disk, and can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules. The processor executes various server functions and data processing by running the non-transitory software programs, instructions, and modules stored in the memory, thereby implementing the aforementioned hydraulic motor speed control method.

[0062] The memory 220 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data that is needed and required. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the data processing device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0063] Input device 230 can receive input digital or character information, and generate key signal inputs related to user settings and function control. Output device 240 may include display devices such as a display screen.

[0064] When computer instructions stored in memory are executed by the processor, they are executed as follows: Figure 4 The method shown.

[0065] This invention also provides a computer-readable storage medium storing computer-executable instructions. When these instructions are executed by a computer's processor, the processor can perform the aforementioned hydraulic motor speed control method. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; the storage medium can also include any combination of the above types of memory.

[0066] The above description merely illustrates exemplary embodiments of the hydraulic motor speed control method and system according to the present invention. The method and apparatus are not limited to the specific embodiments described herein. Throughout this specification, the terms "an example," "another example," "example," etc., mean that a certain element / component (e.g., feature, structure, and / or characteristic) associated with the example is included in at least one example described herein, and may appear and / or may not appear in other examples. Furthermore, it is understood that multiple elements of any example described may be combined in any suitable manner in multiple different examples, unless the context clearly indicates otherwise.

[0067] This specification uses examples to disclose the invention, including preferred embodiments, and enables any person skilled in the art to implement the invention. The patentable scope of the invention is defined by the claims, but may include other examples that may be conceived by a person skilled in the art. Such other examples should fall within the scope of the claims if they have structural elements that are not distinct from the literal language of the claims, or if they include equivalent structural elements that are not substantially distinct from the literal language of the claims.

Claims

1. A method for controlling the speed of a hydraulic motor in electrically driven machinery, the electrically driven machinery comprising a travel motor for providing power to a travel system, a hydraulic motor for providing power to a hydraulic system, an accelerator pedal operated by a driver, and the hydraulic motor controlling a working pump and a steering pump, characterized in that, The hydraulic motor speed control method includes: Collect the pedal travel signal of the accelerator pedal and the current status signal of the hydraulic system; Based on the collected current status signal of the hydraulic system, it is determined whether the hydraulic system has an operational requirement. The operational requirement includes the operational requirement associated with the working pump and the steering requirement associated with the steering pump. The main demand determination step involves judging whether the hydraulic system has operational and / or steering requirements. When it is determined that the hydraulic system has a working or steering requirement and there is no overflow, the current speed of the hydraulic motor is adjusted according to the pedal stroke signal from the accelerator pedal to meet the corresponding operating requirements. When it is determined that the hydraulic system has no working or steering requirements, the current hydraulic motor speed is set to the predetermined idle speed.

2. The hydraulic motor speed control method according to claim 1, characterized in that, During the main demand determination step, if it is determined that the hydraulic system has no working demand but has a steering demand, and the steering hydraulic system where the steering pump is located has no overflow, then the current hydraulic motor speed is controlled based on the pedal stroke signal from the accelerator pedal to meet the steering demand.

3. The hydraulic motor speed control method according to claim 1, characterized in that, During the main demand determination step, if it is determined that the hydraulic system has a working demand or a working demand and a steering demand, and the working hydraulic system where the working pump is located has not overflowed, the current hydraulic motor speed is controlled based on the pedal stroke signal from the accelerator pedal to meet the working demand.

4. The hydraulic motor speed control method according to claim 1, characterized in that, During the main demand determination step, when it is determined that the hydraulic system has a steering demand and the steering hydraulic system where the steering pump is located is overflowing, or when it is determined that the hydraulic system has a working demand and the working hydraulic system where the working pump is located is overflowing, the current hydraulic motor speed is set to the predetermined idle speed.

5. The hydraulic motor speed control method according to any one of claims 1-4, characterized in that, The hydraulic system includes a brake pump for charging the brake accumulator, the brake pump being driven by a hydraulic motor. The hydraulic motor speed control method includes: after the main demand judgment step, determining whether the hydraulic system has a charging demand for the brake accumulator; if the hydraulic system has a charging demand for the brake accumulator, calculating the desired hydraulic motor speed that meets the charging demand, comparing it with the current hydraulic motor speed, and taking the larger one as the current hydraulic motor speed for control; if the hydraulic system does not have a charging demand for the brake accumulator, maintaining the current hydraulic motor speed.

6. The hydraulic motor speed control method according to any one of claims 1-4, characterized in that, The hydraulic system includes a fan pump for driving a hydraulic fan, the fan pump being driven by a hydraulic motor. The hydraulic motor speed control method includes: after the main demand judgment step, determining whether the hydraulic system has a working demand for the hydraulic fan; if the hydraulic system has a working demand for the hydraulic fan, calculating the expected speed of the hydraulic motor that meets the working demand of the hydraulic fan, comparing it with the current speed of the hydraulic motor, and taking the larger one as the current speed of the hydraulic motor for control; if the hydraulic system does not have a working demand for the hydraulic fan, maintaining the current speed of the hydraulic motor.

7. The hydraulic motor speed control method according to claim 5 or 6, characterized in that, When the hydraulic motor runs at a predetermined idle speed for a period of time exceeding the sleep timer threshold, the hydraulic motor is controlled to run at a preset sleep speed.

8. The hydraulic motor speed control method according to claim 1, characterized in that, The step of determining whether the hydraulic system requires operation is only executed when the hydraulic oil temperature in the hydraulic system is greater than or equal to the preset value.

9. The hydraulic motor speed control method according to claim 8, characterized in that, When the hydraulic oil temperature in the hydraulic system is lower than the preset value, the hydraulic motor is controlled to run at the preset warm-up speed to meet the warm-up requirements.

10. The hydraulic motor speed control method according to any one of claims 1-9, characterized in that, The hydraulic motor speed control method is performed in real time.

11. A hydraulic motor speed control system for electrically driven machinery, characterized in that, The hydraulic motor speed control system executes the hydraulic motor speed control method according to any one of claims 1-10. The hydraulic motor speed control system includes a data acquisition module and a control module. The data acquisition module is used to acquire the pedal stroke signal of the accelerator pedal and the current status signal of the hydraulic system and input them into the control module. The control module is connected to the travel motor controller, the hydraulic motor controller, the travel motor, and the hydraulic motor. The control module is used to determine whether the hydraulic system has an operational requirement based on the current status signal of the hydraulic system and selectively control the speed of the hydraulic motor based on the pedal stroke signal of the accelerator pedal according to the operational requirement of the hydraulic system.

12. The hydraulic motor speed control system for electrically driven machinery according to claim 11, characterized in that, The control module includes a vehicle controller, which is communicatively connected to the electric drive machinery's power battery system, travel motor controller, hydraulic motor controller, travel motor, and hydraulic motor.

13. An electrically driven machine, characterized in that, It includes a walking motor, a walking system, a hydraulic motor, a hydraulic system, and a hydraulic motor speed control system according to claim 11 or 12, wherein the walking motor is mechanically connected to the walking system to provide power to the walking system, and the hydraulic motor is mechanically connected to the hydraulic system to provide power to the hydraulic system.

14. A computer device, characterized in that, The device includes a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the hydraulic motor speed control method according to any one of claims 1-10.

15. A computer-readable storage medium having a computer program stored thereon, the computer program including executable instructions, characterized in that, When the executable instruction is executed by the processor, the hydraulic motor speed control method according to any one of claims 1-10 is implemented.

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