Hydraulic system control method and device and operation machine

Abstract

The invention discloses a hydraulic system control method and device and an operation machine, and relates to the technical field of hydraulic systems. A power source of the hydraulic system comprises a hydraulic pump and an energy accumulator, and the energy accumulator is connected with an oil outlet of the hydraulic pump in an on-off mode. The method comprises the steps that the instruction flow change rate is obtained, and the instruction flow change rate is the change rate of the required flow of the hydraulic system; and under the condition that the instruction flow change rate is larger than a change rate threshold value, the energy accumulator is controlled to communicate with an oil outlet of the hydraulic pump. The rapid control requirement can be accurately recognized through the instruction flow change rate, rapid and accurate control over the flow of the main pump can be achieved by controlling the energy accumulator to be communicated with the oil outlet of the hydraulic pump, and the problems that the hydraulic pump accelerates slowly under the rapid start working condition and the hydraulic system is large in impact under the rapid stop working condition are solved. Therefore, the operation requirement of frequent and quick start and stop of operation machinery can be met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hydraulic systems, in particular to a hydraulic system control method, a hydraulic system control device, a working machine, a machine readable storage medium and an electronic device. BACKGROUND

[0002] At present, for working machines equipped with hydraulic systems, higher requirements are often put forward for the dynamic response performance of the hydraulic system during operation. Taking excavators as an example, the starting speed needs to meet the working condition demand of rapid response. However, due to the constraints of the original engine start-stop performance, the existing hydraulic system is difficult to adapt to the frequent and rapid start-stop operation requirements of the working machine. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a hydraulic system control method, a hydraulic system control device, a working machine, a machine readable storage medium and an electronic device, to solve the problem that the existing hydraulic system in the prior art is difficult to adapt to the frequent and rapid start-stop operation requirements of the working machine.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a hydraulic system control method, the power source of the hydraulic system includes a hydraulic pump and an accumulator, the accumulator is in on-off connection with the oil outlet of the hydraulic pump; the method comprises: obtaining an instruction flow rate change rate, the instruction flow rate change rate being the change rate of the required flow rate of the hydraulic system; in the case where the instruction flow rate change rate is greater than the change rate threshold, controlling the accumulator to be in communication with the oil outlet of the hydraulic pump.

[0005] In the embodiments of the present application, in the case where the instruction flow rate change rate is greater than the change rate threshold, the accumulator is controlled to be in communication with the oil outlet of the hydraulic pump, comprising: in the case where the instruction flow rate change rate is greater than the change rate threshold, obtaining the pressure of the accumulator and the oil outlet pressure of the hydraulic pump; in the case where the pressure of the accumulator and the oil outlet pressure of the hydraulic pump meet a preset condition, controlling the accumulator to be in communication with the oil outlet of the hydraulic pump.

[0006] In the embodiments of the present application, the preset condition comprises at least one of the following: the hydraulic system is in a braking working condition, and the oil outlet pressure of the hydraulic pump is greater than the pressure of the accumulator; the hydraulic system is in a starting working condition, and the oil outlet pressure of the hydraulic pump is less than the pressure of the accumulator.

[0007] In this embodiment of the application, the accumulator and the oil outlet of the hydraulic pump are connected on and off via a proportional valve; The control of connecting the accumulator to the oil outlet of the hydraulic pump includes: When the hydraulic system is in startup condition, the required replenishment flow rate and the control pressure difference of the accumulator are obtained. The control pressure difference is the difference between the pressure of the accumulator and the outlet pressure of the hydraulic pump. The opening degree of the proportional valve is determined based on the required oil replenishment flow rate and the control pressure difference.

[0008] In this embodiment of the application, obtaining the required refueling flow rate includes: Obtain the required flow rate of the hydraulic system, the real-time speed of the hydraulic pump, and the pump displacement; The required replenishment flow rate is determined based on the required flow rate of the hydraulic system, the real-time speed of the hydraulic pump, and the pump displacement.

[0009] In this embodiment of the application, the method further includes: when the hydraulic system is in braking condition and the rate of change of the command flow is greater than the rate of change threshold, determining the target speed of the hydraulic pump to be 0.

[0010] In this embodiment of the application, obtaining the command flow change rate includes: The handle electrical signal is acquired by pushing the operating handle corresponding to the actuator in the hydraulic system. Based on the handle electrical signal, the command flow rate change rate is determined; The rate of change of the command flow is linearly related to the pushing rate of the operating handle.

[0011] In this embodiment of the application, the method further includes: When the hydraulic system is in startup mode and in single-action mode, the oil inlet valve of the control working link is fully opened and pump control is performed; When the hydraulic system is in startup mode and is performing a compound action, the opening degree of the oil inlet valve of the working link of the compound action is controlled.

[0012] A second aspect of this application provides a hydraulic system control device, wherein the power source of the hydraulic system includes a hydraulic pump and an accumulator, and the accumulator is connectable to the oil outlet of the hydraulic pump; the device includes: The acquisition module is used to acquire the command flow rate change rate, which is the change rate of the required flow rate of the hydraulic system; The control module is used to control the connection between the accumulator and the oil outlet of the hydraulic pump when the rate of change of the commanded flow is greater than the rate of change threshold.

[0013] A third aspect of this application provides a working machine, including a hydraulic system, wherein the working machine controls the hydraulic system using the method described above.

[0014] A fourth aspect of this application provides an electronic device, the electronic device comprising: At least one processor; A memory connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the hydraulic system control method described above by executing the instructions stored in the memory.

[0015] A fifth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned hydraulic system control method.

[0016] The above technical solution involves setting the power source of the hydraulic system to include a hydraulic pump and an accumulator. The outlet ports of the accumulator and the hydraulic pump are connectable. When the rate of change of the required flow rate of the hydraulic system (i.e., the rate of change of the commanded flow rate) exceeds a threshold, the accumulator is connected to the outlet port of the hydraulic pump. When the rate of change of the commanded flow rate exceeds the threshold, it indicates that rapid flow control is required. In the case of rapid start-up, by connecting the accumulator to the outlet port of the hydraulic pump, the accumulator can replenish energy for rapid pressure build-up, achieving accumulator-assisted start-up, improving flow response time, realizing rapid start-up, reducing start-up time, and meeting requirements. In the case of rapid stop-down, due to the mismatch between the hydraulic pump speed change and valve control response time, pressure shock and overflow of the main pump can occur, resulting in energy loss. By connecting the accumulator to the outlet port of the hydraulic pump, the high-pressure oil generated by the hydraulic pump can enter the accumulator, achieving rapid stop and reducing system shock. At the same time, the accumulator can be filled with high-pressure oil, recovering high-pressure flow and preparing for the next rapid start-up, reducing system oscillation and improving energy recovery efficiency. By controlling the rate of change of the command flow, the demand for rapid control can be accurately identified. By controlling the connection between the accumulator and the oil outlet of the hydraulic pump, the flow of the main pump can be controlled quickly and accurately. This solves the problems of slow acceleration of the hydraulic pump under rapid start-up conditions and large impact of the hydraulic system under rapid stop conditions, thus adapting to the operation requirements of frequent and rapid start-up and stop of the working machinery.

[0017] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 The illustration shows a schematic flowchart of a hydraulic system control method according to an embodiment of this application; Figure 2 A schematic diagram of the hydraulic principle of an accumulator-assisted electrified engineering machinery hydraulic system according to an embodiment of this application is shown. Figure 3 A schematic diagram illustrating the control signal transmission according to an embodiment of this application is shown. Figure 4 A flowchart illustrating a variable speed + variable displacement control method based on graded operating conditions according to an embodiment of this application is shown. Figure 5 A schematic diagram of the accumulator charging hydraulic circuit according to an embodiment of this application is shown. Figure 6 A flowchart illustrating the motor speed + accumulator energy recovery braking matching control method according to an embodiment of this application is shown. Figure 7 This illustration schematically shows a structural diagram of a hydraulic system control device according to an embodiment of the present application; Figure 8 The diagram illustrates the internal structure of a computer device according to an embodiment of this application.

[0019] Explanation of reference numerals in the attached figures 1.1-Power battery; 1.2-Inverter; 1.3-Permanent magnet synchronous motor; 1.4-Fixed displacement gear pump; 1.5-Proportional directional valve; 1.6-First safety relief valve; 1.7-Accumulator; 1.8-First pressure sensor; 1.9-Check valve; 1.10-Hydraulic oil tank; 2.1-First working main valve; 2.2-Second working main valve; 2.3-Third working main valve; 2.4-Fourth working main valve; 2.5-Second safety relief valve; 2.6-Third safety relief valve; 2.7-Fourth safety relief valve Flow valve; 2.8-Fifth safety relief valve; 2.9-Working cylinder; 2.10-Rotary motor; 2.11-Second pressure sensor; 2.12-Third pressure sensor; 2.13-Fourth pressure sensor; 2.14-Fifth pressure sensor; 410-Acquisition module; 420-Control module; A01-Processor; A02-Network interface; A03-Internal memory; A04-Display screen; A05-Input device; A06-Non-volatile storage medium; B01-Operating system; B02-Computer program. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0021] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0022] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0023] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0024] Please refer to Figure 1 , Figure 1 The illustration schematically shows a flow chart of a hydraulic system control method according to an embodiment of this application. Figure 1 As shown in the figure, this application provides a hydraulic system control method, which can be applied to all working machines equipped with hydraulic systems. For the sake of easy explanation, this embodiment mainly uses an excavator as an example.

[0025] This application provides a hydraulic system control method. The power source of the hydraulic system includes a hydraulic pump and an accumulator 1.7, wherein the accumulator 1.7 is switched on and off with the oil outlet of the hydraulic pump. The method includes the following steps: Step 210: Obtain the command flow rate change rate, wherein the command flow rate change rate is the rate of change of the required flow rate of the hydraulic system; Step 220: When the rate of change of the command flow is greater than the rate of change threshold, control the accumulator 1.7 to connect with the oil outlet of the hydraulic pump.

[0026] The above technical solution involves configuring the power source of the hydraulic system, including a hydraulic pump and an accumulator 1.7. The outlet ports of the accumulator 1.7 and the hydraulic pump are connectable and disconnectable. When the rate of change of the required flow rate of the hydraulic system, i.e., the rate of change of the commanded flow rate, exceeds a threshold, the connection between the accumulator 1.7 and the outlet port of the hydraulic pump is controlled. When the rate of change of the commanded flow rate exceeds the threshold, it indicates that rapid flow control is required. In the case of rapid start-up, by controlling the connection between the accumulator 1.7 and the oil outlet of the hydraulic pump, the accumulator 1.7 can be replenished with energy for rapid pressure build-up, enabling assisted start-up, improving flow response time, achieving rapid start-up, reducing start-up time, and meeting requirements. In the case of rapid stop-up, due to the mismatch between the hydraulic pump speed change and valve control response time, pressure shock and overflow of the main pump may occur, resulting in energy loss. By controlling the connection between the accumulator 1.7 and the oil outlet of the hydraulic pump, the high-pressure oil generated by the hydraulic pump can enter the accumulator 1.7, achieving rapid stop and reducing system shock. At the same time, the accumulator 1.7 can be filled with high-pressure oil source to recover high-pressure flow, preparing for the next rapid start-up, reducing system oscillation, and improving energy recovery efficiency. By controlling the rate of change of the flow rate, the demand for rapid control can be accurately identified. By controlling the connection between the accumulator 1.7 and the oil outlet of the hydraulic pump, the flow rate of the main pump can be controlled quickly and accurately. This solves the problems of slow acceleration of the hydraulic pump under rapid start-up conditions and large impact of the hydraulic system under rapid stop conditions, thus adapting to the operation requirements of frequent and rapid start-up and stop of the working machinery.

[0027] The aforementioned hydraulic pump can be an electric motor pump or a combination of an engine and a pump. For an electric motor pump, it can be a combination of an electric motor and a fixed displacement pump, with an accumulator 1.7 providing the power source. In some feasible implementations, a prime mover and a variable displacement pump structure can also be used, where the prime mover can be an electric motor or an engine.

[0028] The aforementioned command flow rate change rate can be obtained directly by input or determined by an operating handle. The operating handle is used to control the actuator in the hydraulic system. The operating handle can be an electro-hydraulic proportional handle with a built-in sensor that outputs an electrical signal. The command flow rate change rate can be determined based on the electrical signal.

[0029] In some embodiments, the command flow rate change is linearly related to the actuation rate of the operating handle; accordingly, acquiring the command flow rate change includes: First, the handle electrical signal is acquired by pushing the operating handle corresponding to the actuator in the hydraulic system. In this embodiment, each actuator in the hydraulic system can be associated with an operating handle, which is used to control the corresponding actuator. These actuators include hydraulic cylinders, motors, etc. The handle electrical signal refers to the magnitude of the electrical signal that converts the physical displacement (or force) of the operating handle into a signal used to control the position of the hydraulic valve core (or the speed or displacement of the hydraulic pump). The electrical signal can be a voltage signal or current information; this embodiment primarily uses a voltage signal as an example. When the handle electrical signal is a voltage signal, this voltage value is a continuous, proportional signal that determines the direction and speed of movement of the actuator (e.g., hydraulic cylinder or motor). The handle electrical signal can be acquired in real time by a controller. The rate of change of the commanded flow is linearly related to the rate of push of the operating handle; the faster the operating handle is pushed, the faster the rate of change of the commanded flow, and vice versa.

[0030] Then, based on the handle electrical signal, the command flow rate change rate is determined.

[0031] In this embodiment, if the collected handle electrical signal is not 0, it can be determined according to the voltage-flow relationship. Calculate the traffic demand value (i.e., the demanded traffic), where, This refers to the controller voltage, i.e., the controller electrical signal. The handle voltage dead zone is defined. Then, the derivative of the flow demand value is calculated to determine the required rate of change of the commanded flow rate for the system. If the detected electrical signal from the handle is 0, the entire device will not operate and will be in standby mode.

[0032] It should be noted that the aforementioned handle electrical signal can be a handle electrical signal corresponding to one or more actuators. In the case of handle electrical signals corresponding to multiple actuators, the required flow rate corresponding to each actuator can be calculated separately, and then the required flow rates corresponding to each actuator can be added together to obtain the flow demand value. Finally, the derivative of the flow demand value can be used to obtain the command flow rate change rate.

[0033] For example, if two controller electrical signals are obtained, the flow demand value for each connection can be calculated separately. , Calculate the demand flow Finally, the rate of change of the command flow rate is obtained by differentiation. .

[0034] By acquiring the handle's electrical signal, the required flow rate and the rate of flow change can be accurately calculated based on the handle's electrical signal, which facilitates the speed control of the hydraulic pump and the precise matching control of the accumulator 1.7 and the main valve.

[0035] In step 220, if the commanded flow rate change rate is greater than a change rate threshold, the accumulator 1.7 is connected to the outlet of the hydraulic pump. The change rate threshold can be a pre-set threshold based on actual conditions; the same or different thresholds can be set for starting and braking conditions. The commanded flow rate change rate and the change rate threshold can be compared. If the commanded flow rate change rate is greater than the change rate threshold, it indicates a rapid start-up condition for the starting condition and a rapid braking condition for the braking condition. When the commanded flow rate change rate is greater than the change rate threshold, the accumulator 1.7 is connected to the outlet of the hydraulic pump; when the commanded flow rate change rate is less than the change rate threshold, the hydraulic pump can be controlled to meet the requirements.

[0036] Taking an excavator as an example, the hydraulic pump in the excavator's hydraulic system is an electric pump. The starting and braking conditions are explained below: Under starting conditions, the aforementioned rate of change threshold can be determined based on the motor's performance limits, i.e.: the rate of change threshold is... ;in, For pump displacement, This is the motor's ultimate acceleration, which is related to the motor's peak torque, pump inlet load pressure, and efficiency. It needs to be calculated in real time based on the operating conditions. , Motor's ultimate acceleration Pump displacement, Maximum torque of the motor Overall efficiency Main pump outlet pressure, The main pump suction port pressure. First, determine if the rate of change of the demand command flow rate (i.e., the rate of increase in flow rate), Q, exceeds the motor performance limit. ,like This indicates a slow start-up condition. In this case, the operator's control lever starts slowly, and the variable speed motor is sufficient to meet control requirements; the 1.7 accumulator does not require energy release or oil replenishment. If... This indicates a rapid start-up condition. In this case, the motor's speed change response is slow and cannot meet control requirements, necessitating matching control of the motor and accumulator 1.7. The accumulator 1.7 can be connected to the oil outlet of the hydraulic pump, allowing for rapid pressure build-up and rapid start-up through accumulator 1.7 replenishment.

[0037] Under braking conditions, the aforementioned rate of change threshold can be the flow acceleration threshold. .like If the system is in slow braking mode, the motor speed will be [missing value]. Set as Slow braking can be achieved entirely through main valve control, with no pressure surge in the system. If This indicates a rapid braking condition. At this time, the valve response is relatively fast, while the motor response is relatively slow, which will cause the main pump port pressure to rise rapidly. The accumulator 1.7 can be connected to the oil outlet of the hydraulic pump, and the accumulator 1.7 can perform high-pressure oil recovery to reduce the system pressure shock.

[0038] In some embodiments, when the command flow rate changes at a rate greater than a threshold value, controlling the accumulator 1.7 to connect with the outlet of the hydraulic pump includes: First, when the rate of change of the commanded flow rate is greater than the rate of change threshold, the pressure of the accumulator 1.7 and the oil outlet pressure of the hydraulic pump are obtained; In this embodiment, the pressure of the accumulator 1.7 and the pressure of the hydraulic pump outlet can be collected in real time by installing pressure sensors on the accumulator 1.7 and the hydraulic pump outlet, respectively.

[0039] Then, when the pressure of the accumulator 1.7 and the oil outlet pressure of the hydraulic pump meet the preset conditions, the accumulator 1.7 is connected to the oil outlet of the hydraulic pump.

[0040] In this embodiment, the aforementioned preset conditions can be set according to different operating conditions. The pressure of the accumulator 1.7 and the oil outlet pressure of the hydraulic pump can be compared to determine whether the preset conditions are met. If the preset conditions are met, it means that the accumulator 1.7 can be used to replenish energy for rapid pressure building or the high-pressure oil can be recovered through the accumulator 1.7, that is, the connection between the accumulator 1.7 and the oil outlet of the hydraulic pump can be controlled. Otherwise, the connection between the accumulator 1.7 and the oil outlet of the hydraulic pump is controlled to be disconnected.

[0041] By controlling the connection between the accumulator 1.7 and the hydraulic pump outlet when the pressure of the accumulator 1.7 and the hydraulic pump outlet meet preset conditions, the control becomes more reliable.

[0042] In some embodiments, the preset conditions include at least one of the following: The hydraulic system is in braking condition, and the oil outlet pressure of the hydraulic pump is greater than the pressure of the accumulator 1.7. The hydraulic system is in startup mode, and the outlet pressure of the hydraulic pump is less than the pressure of the accumulator 1.7.

[0043] In this embodiment, when the hydraulic system is in braking condition, the preset condition includes that the oil outlet pressure of the motor pump is greater than the pressure of the accumulator 1.7, which ensures that rapid high-pressure oil recovery can be performed during braking. When the hydraulic system is in starting condition, the preset condition includes that the oil outlet pressure of the motor pump is less than the pressure of the accumulator 1.7, which ensures that the accumulator 1.7 is connected to the oil outlet of the hydraulic pump during starting, thereby achieving rapid pressure build-up.

[0044] In some embodiments, the accumulator 1.7 is connected to the oil outlet of the hydraulic pump via a proportional valve; in this embodiment, the proportional valve may be a valve group consisting of one or more valves. By opening the proportional valve, the connection between the accumulator 1.7 and the oil outlet of the hydraulic pump can be controlled, thereby allowing for accurate and convenient control of the connection between the accumulator 1.7 and the oil outlet of the hydraulic pump.

[0045] Accordingly, in order to further accurately control the connection between the accumulator 1.7 and the oil outlet of the hydraulic pump, the control of the connection between the accumulator 1.7 and the oil outlet of the hydraulic pump includes: First, when the hydraulic system is in startup condition, the required replenishment flow rate and the control pressure difference of the accumulator 1.7 are obtained. The control pressure difference is the difference between the pressure of the accumulator 1.7 and the outlet pressure of the hydraulic pump. In this embodiment, the control pressure difference of the accumulator 1.7 can be the pressure difference across the proportional valve. This can be obtained by acquiring the pressure of the accumulator 1.7 and the outlet pressure of the hydraulic pump, and then calculating the difference, which can be expressed as: ,in, The pressure of the accumulator is 1.7. This refers to the outlet pressure of the hydraulic pump. To control the pressure differential, the above-mentioned required replenishment flow rate is the necessary replenishment flow rate, which can be determined by subtracting the output flow rate of the hydraulic pump from the required flow rate of the hydraulic system.

[0046] In some embodiments, obtaining the required refueling flow rate includes: The first step is to obtain the required flow rate of the hydraulic system, the real-time speed of the hydraulic pump, and the pump displacement; In this embodiment, the required flow rate of the hydraulic system can be obtained based on the handle electrical signal, specifically based on the voltage-flow relationship. Calculate the required flow rate (i.e., the required flow rate). The real-time speed of the hydraulic pump can be acquired in real time. Taking a motor-driven hydraulic pump as an example, the real-time speed of the motor is acquired. The real-time speed of the hydraulic pump can then be obtained. The pump displacement can be measured.

[0047] The second step is to determine the required replenishment flow rate based on the required flow rate of the hydraulic system, the real-time speed of the hydraulic pump, and the pump displacement.

[0048] In this embodiment, the aforementioned required oil replenishment flow rate can be expressed as: ,in, Pump displacement; The volumetric efficiency coefficient is a key performance indicator for measuring the degree of internal leakage in a hydraulic pump, and it can be determined in advance. Replenish fuel flow to meet demand; For demand traffic.

[0049] By analyzing the required flow rate of the hydraulic system, the real-time speed of the hydraulic pump, and the pump displacement, the required replenishment flow rate can be accurately determined, which helps to improve control accuracy.

[0050] Then, based on the required oil replenishment flow rate and the control pressure difference, the opening degree of the proportional valve is determined.

[0051] In this embodiment, the opening degree of the proportional valve can be determined by the output current of the proportional valve, wherein the output current of the proportional valve... ,in, The area coefficient is the flow rate factor. The oil density is used. Based on the required oil replenishment flow rate and control pressure difference, the output current of the proportional valve is calculated according to the above formula, and then the opening degree of the proportional valve is controlled.

[0052] By determining the required oil replenishment flow rate and controlling the differential pressure, the opening degree of the proportional valve is determined, so that the accumulator 1.7 can meet the flow rate requirements after being connected to the oil outlet of the hydraulic pump, making the control more accurate and reliable.

[0053] In some embodiments, the method further includes: when the hydraulic system is in braking condition and the rate of change of the commanded flow is greater than a rate of change threshold, determining the target rotational speed of the hydraulic pump to be 0.

[0054] In this embodiment, the hydraulic cylinder is stopped quickly by instantaneously closing the main valve of the working connection. The hydraulic pump decelerates slowly, making a smooth stop impossible and prone to pressure buildup, overflow, and system shock. To address this, by connecting the accumulator to the hydraulic pump's outlet, flow recovery during the main pump's deceleration process is achieved, and the system pressure is slowly increased within the accumulator, reducing system shock and recovering high-pressure energy. After the hydraulic pump stops, its mechanical friction and volumetric losses are reduced to zero, and it no longer consumes external energy. All the feedback oil and pressure generated can be more efficiently guided to the accumulator 1.7 for storage, improving the purity and efficiency of energy recovery.

[0055] The working link in the aforementioned hydraulic system is used to drive actuators (cylinders, motors, etc.). The working link comprises a complete hydraulic circuit controlled by an independent valve core unit on the same multi-way directional valve. This circuit drives an independent actuator (or a group of strictly synchronized actuators). To further meet the requirements for rapid response, the working link can also be controlled. For simplicity, this embodiment mainly uses a two-link example. It should be noted that systems with more than two links and their controls are alternatives to this embodiment.

[0056] In some embodiments, the method further includes: When the hydraulic system is in startup mode and in single-action mode, the oil inlet valve of the control working link is fully opened and pump control is performed; In this embodiment, the single-action condition occurs when only one actuator (such as a single cylinder or motor) is operated, and the valve core commands for all other working links are zero. In the single-action condition, pump control is implemented. Pump control may include: fully opening the inlet to minimize throttling losses, ensuring that almost all hydraulic pump pressure is used to overcome the load; calculating an optimal return back pressure based on load requirements or shock resistance requirements; and dynamically adjusting the valve core opening through closed-loop control to output corresponding current, precisely maintaining this pressure and allowing the hydraulic pump to provide all the flow and pressure required for the single action at maximum efficiency. Through pump control, the hydraulic pump provides all the power, while the valve only performs on / off and fine-tuning, resulting in good dynamic response.

[0057] When the hydraulic system is in startup mode and is performing a compound action, the opening degree of the oil inlet valve of the working link of the compound action is controlled.

[0058] In this embodiment, a compound action condition occurs when two or more actuators simultaneously receive operating commands (e.g., an excavator simultaneously raises its boom and retracts its stick). If a compound action is detected, the motor speed control is the primary method, and multi-actuator flow distribution is achieved by adjusting the valve cores of the working links. The flow rate that each actuator should receive can be calculated based on the voltage signals of each operating handle. Through a closed-loop algorithm, different current signals are output to the valve cores of each working link to precisely control their opening degree, thereby distributing the total flow rate provided by the hydraulic pump to each actuator according to a preset ratio and compensating for flow coupling interference caused by different load pressures. By controlling the opening degree of the inlet valve of the working link in the compound action, the smoothness and controllability of the compound action are ensured.

[0059] When the hydraulic system is in startup mode, the oil inlet valve of the working link is controlled in different ways according to single action and compound action, and intelligently switches between two optimal control strategies to make the control more accurate and reliable.

[0060] In some embodiments, taking an excavator as an example, if rapid braking and rotation are detected, due to the excavator's large rotational inertia, high-pressure oil will form at the oil outlet during rotation. This oil is often released through overflow, causing not only an increase in oil temperature but also energy waste. Based on the independent control circuit of the load port, the oil outlet valve core can be controlled separately to connect the high-pressure oil of the rotary motor 2.10 and the accumulator 1.7, thereby realizing energy recovery from the accumulator 1.7.

[0061] It should be noted that the above-mentioned hydraulic system control method is also applicable to single-valve-core systems, which is the most basic and classic hydraulic circuit architecture that directly and independently controls an actuator (hydraulic cylinder or motor) through only one main control valve core. It is equivalent to an independent manifestation of a multi-way valve system.

[0062] The following explanation uses an excavator's hydraulic system as an example to illustrate the solution. Please refer to [link / reference]. Figure 2 , Figure 2This diagram schematically illustrates the hydraulic principle of an electric construction machinery hydraulic system based on an accumulator 1.7 according to an embodiment of this application. The excavator's hydraulic system mainly consists of a motor pump + accumulator 1.7 power source module and a multi-way valve control module. The power source module includes a hydraulic oil tank 1.10, a power battery 1.1, an inverter 1.2, a permanent magnet synchronous motor 1.3, a fixed displacement gear pump 1.4, a proportional directional valve 1.5, and an accumulator 1.7. The accumulator 1.7 is connected to the outlet of the fixed displacement gear pump 1.4 via the proportional directional valve 1.5. The accumulator 1.7 is also connected to a first safety relief valve 1.6 and a first pressure sensor 1.8. A check valve 1.9 is installed between the fixed displacement gear pump 1.4 and the proportional directional valve 1.5. The multi-way valve control module includes a first working link main valve 2.1, a second working link main valve 2.2, a third working link main valve 2.3, and a fourth working link main valve 2.4. The first working link main valve 2.1 and the second working link main valve 2.2 are used to control the working link cylinder 2.9, and the third working link main valve 2.3 and the fourth working link main valve 2.4 are used to control the rotary motor 2.10. The first working link main valve 2.1 is connected to a second safety relief valve 2.5, the second working link main valve 2.2 is connected to a third safety relief valve 2.6, the third working link main valve 2.3 is connected to a fourth safety relief valve 2.7, and the fourth working link main valve 2.4 is connected to a fifth safety relief valve 2.8. It is also equipped with a second pressure sensor 2.11, a third pressure sensor 2.12, a fourth pressure sensor 2.13 and a fifth pressure sensor 2.14. The second pressure sensor 2.11 is used to measure the pressure in the rod chamber of the working cylinder 2.9, the third pressure sensor 2.12 is used to measure the pressure in the rodless chamber of the working cylinder 2.9, and the fourth pressure sensor 2.13 and the fifth pressure sensor 2.14 are used to measure the pressure at both ends of the rotary motor 2.10, respectively.

[0063] Please refer to Figure 3 , Figure 3 This schematically illustrates a control signal transmission diagram according to an embodiment of this application. The excavator's vehicle controller acquires the voltage value of the operating handle command signal, based on the voltage-flow relationship equation. Perform command flow Calculation and command flow rate change Total flow rate required for controller commands Command flow rate change rate Segmented control is implemented, with precise matching control between the motor and accumulator 1.7 for different flow requirements, to achieve rapid start-stop control of the variable speed electric excavator; in terms of valve control, based on the flow requirements of each section... It can achieve pump control as the primary mechanism and valve control as a secondary mechanism based on single-action and compound-action. In single-action mode, the first working main valve 2.1, the second working main valve 2.2, the third working main valve 2.3, and the fourth working main valve 2.4 can be fully opened, and flow control is achieved entirely by controlling the motor speed. In compound-action mode, flow distribution is achieved by controlling the displacement of the first working main valve 2.1, the second working main valve 2.2, the third working main valve 2.3, and the fourth working main valve 2.4.

[0064] During startup, the vehicle controller collects the handle's electrical signal in real time. Based on this signal, it calculates the required flow rate and the rate of flow change, and then controls the motor speed and achieves precise matching control of the accumulator 1.7 and the main valve. The power source operates in two main modes during startup: First, slow startup with single-motor variable-speed control. In this mode, the operator's start-up speed is relatively slow, and the variable-speed motor is sufficient to meet the control requirements. Second, rapid startup. In this mode, the variable-speed motor response is slower and cannot meet the control requirements, necessitating matching control of the motor and accumulator 1.7. The accumulator 1.7 provides supplementary power for rapid pressure build-up and startup. The main valve operates in two modes: a single-action mode, where the working main valve core can be fully opened to achieve complete pump control, reducing pressure loss and improving system efficiency. Please refer to [link to relevant documentation]. Figure 4 , Figure 4 The flowchart illustrating a variable speed + variable displacement control method based on graded operating conditions according to an embodiment of this application is shown, including the following steps: Step 1: The vehicle controller collects the handle command voltage signal in real time. If the collected voltage signal is 0, the entire unit does not move and is in standby mode, controlling the motor speed to the lowest possible speed. run.

[0065] Step 2: If the collected handle electrical signal is not 0, then according to the voltage-flow relationship... Calculate the flow demand value for each link

[0066] Step 3: Calculate the total demand flow The total flow rate change rate is calculated. Based on the handle signal and the calculation results of Q1 and Q2, the required command flow rate Q of the system and its rate of change can be determined. .

[0067] Step 4: Based on the command flow rate change calculated in Step 3, control the power source (motor set + accumulator 1.7) and the main valve of the working link respectively.

[0068] Step 5: Based on the instruction flow demand Q and the rate of change The power source section is controlled, including the coordinated operation of the motor set and accumulator 1.7, to meet the system's flow demand. First, it is determined whether the rate of change of the demand command flow (i.e., the rate of flow increase) exceeds the motor's performance limit, i.e., whether the following equation is satisfied: ,in, .

[0069] Step 6: Compare with Step 5, if... This indicates a slow start-up condition. In this case, the operator's control lever starts slowly, and the variable speed motor is sufficient to meet control requirements. The 1.7 accumulator does not require energy release or oil replenishment. The motor speed is: .

[0070] Step 7: Compare with Step 5, if... In rapid start-up mode, the motor's slow speed response cannot meet control requirements. Therefore, matched control of the motor and accumulator 1.7 is necessary. The accumulator 1.7 provides supplemental energy for rapid voltage build-up and quick start-up. The motor outputs its maximum speed increase rate based on its performance limits. In specific control operations, the real-time speed of the motor can be collected. 1.7 pressure accumulator Main pump oil port pressure The required replenishment flow rate is calculated as follows: According to the pressure difference across the proportional valve controlled by accumulator 1.7, the following is true: Calculate the output current of the proportional valve. The accumulator is connected to the motor pump by controlling the output current of the proportional valve.

[0071] Step 8: The main working valve is divided into two working conditions. If it is a single-action working condition, the pump control is executed, the oil inlet is fully open, the maximum current is input, and the oil outlet is pressure controlled to output the corresponding current.

[0072] Step 9: If a compound action is detected, the speed control of the motor will be the main method, and the multi-flow distribution will be achieved by adjusting the working valve core.

[0073] During braking, the motor requires a certain amount of time to decelerate. During rapid braking, the valve control response is fast, causing the valve to close while the motor remains in a deceleration state. Without accumulator 1.7, the pump outlet pressure would inevitably rise rapidly, eventually overflowing, leading to severe oil overheating and system oscillation. By introducing accumulator 1.7 and a valve core control system, during rapid braking, the accumulator 1.7 valve group opens to recover high-pressure oil, preventing overflow and reducing system impact. Additionally, due to the excavator's heavy-load inertia during rotation, high-pressure oil is generated at the oil outlet. This high-pressure energy is recovered by connecting the oil outlet to accumulator 1.7 via an independent control circuit at the load port for use in the next startup. Please refer to [link to relevant documentation]. Figure 5 , Figure 5 The diagram schematically illustrates the charging hydraulic circuit of the accumulator 1.7 according to an embodiment of this application. Specifically, please refer to... Figure 6 , Figure 6 The flowchart illustrating the motor speed + accumulator energy recovery braking matching control method according to an embodiment of this application is shown. The vehicle controller performs the following steps: Step 1: If the collected electrical signal from the handle is not 0, then according to the voltage-flow relationship... Calculate the flow demand value for each link

[0074] Step 3: Calculate the total demand flow The total flow rate change rate is calculated; based on the handle signal and the calculation results of Q1 and Q2, the required command flow rate Q and its change rate are determined. .

[0075] Step 4: Based on the command flow rate change calculated in Step 3, control the power source (motor set + accumulator 1.7) and the main valve of the working link respectively.

[0076] Step 5: Based on the instruction flow demand Q and the rate of change The power source section is controlled, including the coordinated operation of the motor unit and accumulator 1.7, to meet the system's flow demand. First, it is determined whether the rate of change of the demand command flow constitutes rapid braking, i.e., whether the following equation is satisfied: .

[0077] Step 6: Compare with Step 5, if... If the system is in slow braking mode, the motor speed is set to [speed value]. Slow braking can be achieved entirely through the main valve control, with no pressure shock in the system.

[0078] Step 7: Compare with Step 5, if... If the speed is 0, it indicates a rapid braking condition. In this case, the valve response is fast, while the motor response is slow, causing the main pump inlet pressure to spike rapidly. After the motor speed is set to 0, the pump inlet pressure is monitored. and accumulator 1.7 pressure If a comparison is made, Then, the control valve 1.5 of accumulator 1.7 is opened to recover the high-pressure oil of accumulator 1.7, reducing the pressure shock of the system.

[0079] Step 8: Regarding the main valve of the working link, if rapid braking and rotation are detected, due to the excavator's large rotational inertia, high-pressure oil will form at the oil outlet during rotation. This oil is often released through overflow, causing not only an increase in oil temperature but also energy waste. An independent control circuit based on the load port can be used to separately control the oil outlet valve core (fourth working link main valve 2.4) to operate in the right position, connecting the high-pressure oil of the rotation motor 2.10 and the accumulator 1.7, thus achieving energy recovery from the accumulator 1.7.

[0080] By constructing a hydraulic system that combines a variable-speed motor, a fixed-displacement pump, and an accumulator for assisted starting, and based on the estimated flow signal input from the handle, an accumulator is used to assist starting when the motor's acceleration time does not meet the excavator's requirements. This improves the flow response time and satisfies the needs. Upon stopping, because the valve response speed is faster than the motor response speed, the high-pressure oil generated by the pump driven by the motor enters the accumulator, achieving rapid stopping and reducing system pressure shock.

[0081] Figure 1 This is a flowchart illustrating the hydraulic system control method in this embodiment. It should be understood that, although... Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0082] This embodiment provides a working machine, including a hydraulic system, wherein the working machine uses the method described above to control the hydraulic system.

[0083] In this embodiment, the aforementioned operating machinery can be construction machinery such as excavators and cranes, or it can be, for example, emergency equipment, agricultural machinery, or operating robots. The above method can be executed through a controller on the operating machinery, or a separate controller can be used to execute the above method to control the hydraulic system.

[0084] The operating machinery can accurately identify rapid control needs by controlling the rate of change of the command flow rate. By controlling the connection between the accumulator 1.7 and the oil outlet of the hydraulic pump, the main pump flow can be controlled quickly and accurately, which solves the problem of slow acceleration of the hydraulic pump in rapid response conditions. This allows it to adapt to the operating requirements of the operating machinery for frequent and rapid start-stop.

[0085] Please refer to Figure 7 , Figure 7 This illustration schematically shows a structural diagram of a hydraulic system control device according to an embodiment of this application. This embodiment provides a hydraulic system control device, wherein the power source of the hydraulic system includes a hydraulic pump and an accumulator 1.7, and the accumulator 1.7 is connectable to the oil outlet of the hydraulic pump; the device includes an acquisition module 410 and a control module 420, wherein: The acquisition module 410 is used to acquire the command flow rate change rate, which is the change rate of the required flow rate of the hydraulic system; The control module 420 is used to control the accumulator 1.7 to connect with the oil outlet of the hydraulic pump when the command flow rate change rate is greater than the change rate threshold.

[0086] The hydraulic system control device includes a processor and a memory. The aforementioned acquisition module 410 and control module 420 are stored in the memory as program units, and the processor executes the aforementioned program modules stored in the memory to implement the corresponding functions.

[0087] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and the hydraulic system control is achieved by adjusting the kernel parameters.

[0088] The memory may include non-permanent memory in computer-readable media, such as 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.

[0089] This invention provides a processor for running a program, wherein the program executes the hydraulic system control method during runtime.

[0090] This application provides a machine-readable storage medium storing a program that, when executed by a processor, implements the aforementioned hydraulic system control method.

[0091] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 8 As shown in the figure, the computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A06. The network interface A02 is used for communication with external terminals via a network connection. When the computer program is executed by the processor A01, it implements a hydraulic system control method. The display screen A04 can be a liquid crystal display (LCD) or an e-ink display. The input device A05 can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0092] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0093] In one embodiment, the hydraulic system control device provided in this application can be implemented as a computer program, and the computer program can be implemented in such a way as... Figure 8 The computer device shown runs on this system. The computer device's memory can store the various program modules that make up the hydraulic system control device, for example... Figure 7 The acquisition module 410 and control module 420 are shown. The computer program, composed of these various program modules, causes the processor to execute the steps in the hydraulic system control methods of the various embodiments of this application described in this specification.

[0094] Figure 8 The computer device shown can be used as follows Figure 7 The acquisition module 410 in the hydraulic system control device shown executes step 210. The computer device can execute step 220 through the control module 420.

[0095] This application provides an electronic device comprising: at least one processor; and a memory connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the aforementioned hydraulic system control method by executing the instructions stored in the memory. The power source of the hydraulic system includes a hydraulic pump and an accumulator 1.7, the accumulator 1.7 being connectable to and disconnectable from the oil outlet of the hydraulic pump; when the processor executes the instructions, it performs the following steps: The command flow rate change rate is obtained, where the command flow rate change rate is the rate of change of the required flow rate of the hydraulic system. When the rate of change of the commanded flow rate is greater than the rate of change threshold, the accumulator 1.7 is connected to the oil outlet of the hydraulic pump.

[0096] In one embodiment, when the command flow rate change rate is greater than a change rate threshold, controlling the accumulator 1.7 to connect with the oil outlet of the hydraulic pump includes: When the rate of change of the commanded flow rate is greater than the rate of change threshold, the pressure of the accumulator 1.7 and the outlet pressure of the hydraulic pump are obtained; When the pressure of the accumulator 1.7 and the oil outlet pressure of the hydraulic pump meet the preset conditions, the accumulator 1.7 is connected to the oil outlet of the hydraulic pump.

[0097] In one embodiment, the preset condition includes at least one of the following: The hydraulic system is in braking condition, and the oil outlet pressure of the hydraulic pump is greater than the pressure of the accumulator 1.7. The hydraulic system is in startup mode, and the outlet pressure of the hydraulic pump is less than the pressure of the accumulator 1.7.

[0098] In one embodiment, the accumulator 1.7 is connected to the oil outlet of the hydraulic pump via a proportional valve. The control of the accumulator 1.7 being connected to the oil outlet of the hydraulic pump includes: When the hydraulic system is in startup condition, the required replenishment flow rate and the control pressure difference of the accumulator 1.7 are obtained. The control pressure difference is the difference between the pressure of the accumulator 1.7 and the outlet pressure of the hydraulic pump. The opening degree of the proportional valve is determined based on the required oil replenishment flow rate and the control pressure difference.

[0099] In one embodiment, obtaining the required refueling flow rate includes: Obtain the required flow rate of the hydraulic system, the real-time speed of the hydraulic pump, and the pump displacement; The required replenishment flow rate is determined based on the required flow rate of the hydraulic system, the real-time speed of the hydraulic pump, and the pump displacement.

[0100] In one embodiment, the method further includes: when the hydraulic system is in braking condition and the rate of change of the commanded flow is greater than a rate of change threshold, determining the target rotational speed of the hydraulic pump to be 0.

[0101] In one embodiment, obtaining the command traffic change rate includes: The handle electrical signal is acquired by pushing the operating handle corresponding to the actuator in the hydraulic system. Based on the handle electrical signal, the command flow rate change rate is determined; The rate of change of the command flow is linearly related to the pushing rate of the operating handle.

[0102] In one embodiment, the method further includes: When the hydraulic system is in startup mode and in single-action mode, the oil inlet valve of the control working link is fully opened and pump control is performed; When the hydraulic system is in startup mode and is performing a compound action, the opening degree of the oil inlet valve of the working link of the compound action is controlled.

[0103] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0104] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0105] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0106] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0107] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0108] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0109] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0110] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0111] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A hydraulic system control method characterized by, The power source of the hydraulic system comprises a hydraulic pump and an accumulator, the accumulator is in on-off connection with an oil outlet of the hydraulic pump; the method comprises: an instruction flow rate change rate is obtained, the instruction flow rate change rate being a change rate of a required flow rate of the hydraulic system; in a case where the instruction flow rate change rate is greater than a change rate threshold, the accumulator is controlled to be in communication with the oil outlet of the hydraulic pump.

2. The method of claim 1, wherein, in a case where the instruction flow rate change rate is greater than a change rate threshold, the accumulator is controlled to be in communication with the oil outlet of the hydraulic pump, comprising: in a case where the instruction flow rate change rate is greater than a change rate threshold, a pressure of the accumulator and an oil outlet pressure of the hydraulic pump are obtained; in a case where the pressure of the accumulator and the oil outlet pressure of the hydraulic pump satisfy a preset condition, the accumulator is controlled to be in communication with the oil outlet of the hydraulic pump.

3. The method of claim 2, wherein, the preset condition comprises at least one of the following: the hydraulic system is in a braking working condition, and the oil outlet pressure of the hydraulic pump is greater than the pressure of the accumulator; the hydraulic system is in a starting working condition, and the oil outlet pressure of the hydraulic pump is less than the pressure of the accumulator.

4. The method of claim 2, wherein, the accumulator is in on-off connection with the oil outlet of the hydraulic pump through a proportional valve; the control of the accumulator in communication with the oil outlet of the hydraulic pump comprises: in a case where the hydraulic system is in a starting working condition, a required oil supplement flow rate and a control pressure difference of the accumulator are obtained, the control pressure difference being a difference between the pressure of the accumulator and the oil outlet pressure of the hydraulic pump; according to the required oil supplement flow rate and the control pressure difference, an opening degree of the proportional valve is determined.

5. The method of claim 4, wherein, the obtaining of the required oil supplement flow rate comprises: a required flow rate of the hydraulic system, a real-time rotating speed of the hydraulic pump and a pump displacement are obtained; according to the required flow rate of the hydraulic system, the real-time rotating speed of the hydraulic pump and the pump displacement, a required oil supplement flow rate is determined.

6. The method of claim 1, wherein, the method further comprises: in a case where the hydraulic system is in a braking working condition and the instruction flow rate change rate is greater than a change rate threshold, a target rotating speed of the hydraulic pump is determined as 0.

7. The method of claim 1, wherein, the obtaining of the instruction flow rate change rate comprises: an electric signal of a handle is obtained, the electric signal of the handle being obtained by pushing an operation handle corresponding to an executing mechanism in the hydraulic system; an instruction flow rate change rate is determined based on the electric signal of the handle; wherein the instruction flow rate change rate is linearly related to a pushing speed of the operation handle.

8. The method of claim 1, wherein, the method further comprises: in a case where the hydraulic system is in a starting working condition and is a single action, an inlet valve of a working link is controlled to be fully opened, and pump control is performed; in a case where the hydraulic system is in a starting working condition and is a composite action, an opening degree of an inlet valve of a working link of the composite action is controlled.

9. A hydraulic system control device characterized by comprising: The power source of the hydraulic system comprises a hydraulic pump and an accumulator, the accumulator is in on-off connection with an oil outlet of the hydraulic pump; the device comprises: an obtaining module, configured to obtain an instruction flow rate change rate, the instruction flow rate change rate being a change rate of a required flow rate of the hydraulic system; A control module is configured to control the accumulator to communicate with the oil outlet of the hydraulic pump when the instruction flow rate of change is greater than a change rate threshold.

10. A work machine characterized by, The working machine comprises a hydraulic system, and the working machine is controlled by the method of any one of claims 1-8.

11. A machine-readable storage medium having stored thereon instructions, the instructions comprising: The instruction is used to cause the machine to perform the method of any one of claims 1-8.

12. An electronic device, comprising: The electronic device comprises: at least one processor; a memory connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the method of any one of claims 1-8 by executing the instructions stored in the memory.

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